WO2020015756A1 - 换电控制系统及方法 - Google Patents
换电控制系统及方法 Download PDFInfo
- Publication number
- WO2020015756A1 WO2020015756A1 PCT/CN2019/096897 CN2019096897W WO2020015756A1 WO 2020015756 A1 WO2020015756 A1 WO 2020015756A1 CN 2019096897 W CN2019096897 W CN 2019096897W WO 2020015756 A1 WO2020015756 A1 WO 2020015756A1
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- WIPO (PCT)
- Prior art keywords
- battery
- power exchange
- power
- rack
- electric vehicle
- Prior art date
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- 238000000034 method Methods 0.000 title claims abstract description 229
- 230000002950 deficient Effects 0.000 claims description 49
- 238000007599 discharging Methods 0.000 claims description 20
- 238000009434 installation Methods 0.000 claims description 13
- 230000008859 change Effects 0.000 claims description 10
- 238000012544 monitoring process Methods 0.000 claims description 8
- 230000004048 modification Effects 0.000 claims description 6
- 238000012986 modification Methods 0.000 claims description 6
- 230000032258 transport Effects 0.000 abstract description 10
- 230000006872 improvement Effects 0.000 description 59
- 230000008569 process Effects 0.000 description 56
- 230000005611 electricity Effects 0.000 description 37
- 238000002360 preparation method Methods 0.000 description 32
- 230000007246 mechanism Effects 0.000 description 14
- 238000004891 communication Methods 0.000 description 6
- 238000012216 screening Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
-
- 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
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
- B60L50/66—Arrangements of 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
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
-
- 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
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
- B60S5/06—Supplying batteries to, or removing batteries from, vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/90—Vehicles comprising electric prime movers
- B60Y2200/91—Electric vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- 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
-
- 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
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
-
- 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
- Y02T90/40—Application of hydrogen technology to transportation, e.g. using fuel cells
Definitions
- the invention belongs to the field of power exchange control, and particularly relates to a power exchange control system and method.
- the quick-change type is usually performed in a substation.
- the substation s power exchange equipment removes the insufficient or no-charged batteries from the vehicle, puts them on a unified charging stand, and then charges them on the secondary charging stand. Remove the new or fully charged battery and insert it into the vehicle. In this way, both the battery replacement and the battery replacement need to be performed between the vehicle and the charging stand. The power exchange takes longer and the efficiency is lower.
- the technical problem to be solved by the present invention is to overcome the disadvantages of using the same power exchange equipment in the prior art to remove the battery and insert the battery, which results in a long time consuming and low efficiency of power exchange, and provides a power exchange control system and method. .
- the present invention provides a power exchange control system, including: a control unit and a power exchange device;
- the control unit is configured to determine a battery model suitable for an electric vehicle
- the control unit is further configured to select a battery placement rack that meets the first condition from at least one battery placement rack as the first battery placement rack, and select a battery placement rack that meets the second condition from the at least one battery placement rack as the first battery placement rack.
- the power exchange device is used to move to a preset power exchange position, remove a power-deficient battery from the electric vehicle, transport the power-deficient battery to the second rack and place the empty battery And then move to the first battery placing rack, remove the battery type battery from the first battery placing rack, transport the battery type battery to the preset power exchange position and install it in the In the electric vehicle, the preset power exchange position is a position suitable for taking out and installing a battery from the electric vehicle.
- control unit is further configured to monitor the power of a battery placed on the battery placing rack;
- the first condition is set as a fully charged battery in which the battery model is placed;
- the first condition is preferentially set as a fully charged battery in which the battery type is placed, and if the at least one battery placing rack does not have a battery placing rack that meets the first condition, the first condition
- the setting is modified to be the battery with the highest battery capacity in which the battery model is placed.
- control unit is further configured to randomly select a battery placement rack as the first battery placement rack from the battery placement racks that meet the first condition when more than one battery placement rack meets the first condition.
- a battery rack, or a battery rack closest to the electric vehicle or a platform for parking the electric vehicle as the first battery rack, or a second battery rack and a battery rack A battery placing rack on a path between battery vehicles is used as the first battery placing rack, or a battery placing rack located on the path and closest to the electric vehicle or the vehicle carrying platform is selected as the first battery placing rack.
- control unit is further configured to randomly select a battery placement rack as the second battery placement rack from the battery placement racks that meet the second condition when more than one battery placement rack meets the second condition.
- the battery placing rack, or a battery placing rack closest to the electric vehicle or the vehicle carrying platform is selected as the second battery placing rack.
- the battery placing racks are arranged on both sides of the vehicle-carrying platform in a direction in which the electric vehicle enters the vehicle-carrying platform.
- the control The unit is also used for:
- the multifunctional battery placing rack is used as the first battery placing rack and the second battery placing rack at the same time.
- the empty battery storage compartment is further used for charging the power-deficient battery.
- the empty battery storage compartment has a battery charging circuit
- the battery charging circuit has fixed power parameters, and the power parameters match the battery model
- the battery charging circuit has an adjustable power parameter
- the control unit is further configured to adjust the power parameter according to the battery model so that the power parameter matches the battery model.
- control unit is further configured to scan a license plate of the electric vehicle, and determine a battery model applicable to the electric vehicle through the license plate.
- the power exchange device is controlled by the control unit:
- control unit Before the electric vehicle is parked on the vehicle carrying platform, the control unit sends the following instructions to the power exchange equipment and is executed by the power exchange equipment:
- a parking instruction is used to order the power exchange device to be parked in a preset waiting position in advance.
- the preset waiting position is the same position as the preset power exchange position.
- the preset waiting position is a position within a first distance threshold from the preset power exchange position
- the control unit is further configured to send a fine-tuning instruction to the battery-removing and power-changing device after the electric vehicle is parked on the vehicle-carrying platform, and the fine-tuning instruction is used to instruct the power-changing device from the preset The waiting position is moved to the preset power exchange position.
- the preset power-changing position is a dockable state when the following conditions are simultaneously satisfied; otherwise, the preset power-changing position is a non-parking state:
- the preset power exchange position is vacant
- the preset power exchange position is determined to be below or above the vehicle-carrying platform according to the structure of the vehicle-carrying platform.
- the power exchange device is controlled by the control unit:
- the control unit is further configured to send the following instructions to the electric vehicle after the electric vehicle is parked on a vehicle carrying platform and be executed by the power exchange device:
- a battery unloading instruction for instructing the power exchange device to remove the power-deficient battery from the electric vehicle
- a first movement instruction for instructing the power exchange device to move to the second battery placement rack
- a battery discharge instruction for instructing the power exchange device to place the power-deficient battery in the empty battery storage bin
- a second movement instruction for instructing the power exchange device to move to the first battery placement rack
- a third movement instruction for instructing the power exchange device to move to the preset power exchange position
- the battery installation instruction is used to instruct the power exchange device to install the battery of the battery type on the electric vehicle.
- the invention also provides a power exchange control system, comprising: a control unit and at least two power exchange equipment;
- the control unit is configured to select a battery placement rack that meets the first condition from at least one battery placement rack as the first battery placement rack, and select a battery placement rack that meets the second condition from the at least one battery placement rack as the second battery placement rack.
- the control unit is further configured to configure at least one of the at least two power-changing devices as a battery-replacement device, and configure at least one of the at least two power-changing devices to replace the battery.
- the battery-equipped power exchange device is used for transporting a battery to be installed, and the battery to be installed is a battery that is removed from the first battery rack and is suitable for the electric vehicle and is to be installed in the electric vehicle;
- the battery-removing and power-changing device is used for transporting a power-deficient battery, and the power-deficient battery is a battery removed from the electric vehicle and to be placed in the empty battery storage compartment.
- control unit is further configured to monitor the power of a battery placed on the battery placing rack;
- the first condition is set to place a fully-charged battery suitable for the electric vehicle
- the first condition is preferentially set to place a fully-charged battery suitable for the electric vehicle. If the at least one battery rack does not have a battery rack that meets the first condition, the first A conditional modification is set to place a battery with the highest power suitable for the electric vehicle.
- control unit is further configured to randomly select a battery placement rack as the first battery placement rack from the battery placement racks that meet the first condition when more than one battery placement rack meets the first condition.
- control unit is further configured to randomly select a battery placement rack as the second battery placement rack from the battery placement racks that meet the second condition when more than one battery placement rack meets the second condition.
- the battery placing rack, or a battery placing rack closest to the electric vehicle or a vehicle carrying platform for parking the electric vehicle is selected as the second battery placing rack.
- the battery placing racks are arranged on both sides of the vehicle-carrying platform in a direction in which the electric vehicle enters the vehicle-carrying platform.
- the control The unit is also used for:
- the multifunctional battery placing rack as any one of the first battery placing rack and the second battery placing rack;
- any one of the following conditions is used as a necessary condition for using the multi-functional battery rack as the first battery rack:
- the number of battery placement racks that meet the first condition is less than the number of battery placement racks that meet the second condition;
- the number of battery racks that meet the first condition is less than the number of battery racks that meet the second condition, and the absolute value of the difference between the two is less than the first difference threshold.
- the number of battery racks that meet the first condition is less than the first number threshold
- the number of battery placement racks that meet the second condition is less than the number of battery placement racks that meet the first condition
- the number of battery racks that meet the second condition is less than the number of battery racks that meet the first condition, and the absolute value of the difference between the two is less than the second difference threshold.
- the number of battery racks that meet the second condition is less than the second number threshold.
- the battery storage compartment is further used for charging the battery.
- the at least two power replacement devices are single-function power replacement devices
- the single-function power exchange device has a first structure and can only be configured as a battery-replacement device, or has a second structure and can only be configured as a battery-replacement device;
- the multifunctional power exchange device has both a first structure and a second structure, and can be configured as any one of a battery-removal device and a battery-replacement device.
- the power exchange device configured as the battery-equipped power exchange device is a power exchange device closest to the first battery rack;
- the power exchange device configured as the battery discharge power exchange device is a power exchange device closest to the electric vehicle or a vehicle carrying platform for parking the electric vehicle;
- each of the battery placing racks has a predetermined binding relationship with at least one of the power exchange apparatuses;
- the power exchange apparatus configured as the battery-mounted power exchange apparatus has a binding with the first battery placing rack A power exchange device with a fixed relationship, or a power exchange device that has a binding relationship with the first battery placing rack and is closest to the first battery placing rack;
- the power exchange device configured as the battery discharge replacing device is A power exchange device having a binding relationship with the second battery placing rack, or a battery changing rack having a binding relationship with the second battery placing rack and closest to the electric vehicle or a vehicle carrying platform for parking the electric vehicle Power exchange equipment.
- the applicable battery model of the electric vehicle is predictable:
- the control unit is further configured to select a battery placement rack that meets a first condition from the at least one battery placement rack as the first battery placement rack before the electric vehicle is parked on the vehicle carrying platform, and to provide the first battery placement rack to the electric vehicle.
- the battery-replacement device sends a battery-receiving instruction, and the battery-receiving instruction is used to instruct the battery-replacement device to remove the battery to be installed from the first battery placing rack;
- the battery loading and power exchange device is further configured to execute the battery taking instruction
- the control unit is further configured to send a first movement instruction to the battery replacement device after the battery replacement device executes the battery taking instruction, and the first movement instruction is used to instruct the battery replacement device
- the battery replacement device is parked in advance at a first preset waiting position, where the first preset waiting position is a position that does not exceed a first distance threshold from the vehicle platform;
- the battery-equipped power exchange device is further configured to execute the first movement instruction.
- the battery model applicable to the electric vehicle is predicted in the following manner: the vehicle carrying platform is limited to parking of the electric vehicle to which the battery of the model is applicable.
- control unit is further configured to send a second movement instruction to the battery unloading and power exchange device before the electric vehicle is parked on a vehicle carrying platform, and the second movement instruction is used to instruct the battery unloading
- the power exchange device is parked in advance at a second preset waiting position; the battery discharge power exchange device is further configured to execute the second movement instruction.
- the second preset waiting position is the same position as the preset power exchange position, and the preset power exchange position is suitable for being parked from The location of the battery in the electric vehicle on the vehicle platform will be described.
- the second preset waiting position is a position that does not exceed a second distance threshold from the preset power exchange position
- the preset power exchange position is A position suitable for taking a battery from an electric vehicle parked on the car platform
- the control unit is further configured to send a fine-tuning instruction to the battery-removing and power-changing device after the electric vehicle is parked on the vehicle-carrying platform, and the fine-tuning instruction is used to instruct the battery-removing and power-changing device from the The second preset waiting position is moved to the preset power exchange position.
- the preset power-changing position is a dockable state when the following conditions are simultaneously satisfied; otherwise, the preset power-changing position is a non-parking state:
- the preset power exchange position is vacant
- the preset power exchange position is determined to be below or above the vehicle-carrying platform according to the structure of the vehicle-carrying platform.
- control unit is further configured to send a third movement instruction to the battery unloading and power exchange device after the electric vehicle is parked on a vehicle carrying platform, and the third movement instruction is used to instruct the battery unloading
- the power exchange device is moved and parked at a preset power exchange position, the preset power exchange position is a position suitable for taking a battery from an electric vehicle parked on the car platform; the battery discharge power exchange device is also used to perform The third movement instruction.
- control unit is further configured to: after the electric vehicle is parked on the vehicle carrying platform and the battery-removing and power-changing device is parked at the preset power-changing position, the battery-removing and power-changing device is Sending a battery unloading instruction, the battery unloading instruction being used to instruct the battery unloading and power exchange device to remove the lacking battery from the electric vehicle;
- the battery discharging and power replacement device is further configured to execute the battery discharging instruction
- the control unit is further configured to send a fourth movement instruction to the battery removal and power exchange device after the battery removal and power exchange device executes the battery removal instruction, and the fourth movement instruction is used to instruct the battery removal
- the battery replacement device is moved to the second battery placement rack and the lacking battery is placed in the empty battery placement bin;
- the battery discharging and power replacement device is further configured to execute the fourth movement instruction.
- control unit is further configured to change the power to the installed battery after the battery-removing power-removing device leaves the preset power-changing position or leaves the preset power-changing position beyond a third distance threshold.
- the device sends a fifth movement instruction, where the fifth movement instruction is used to instruct the battery-equipped power exchange device to move to the preset power exchange position;
- the battery-equipped power exchange device is further configured to execute the fifth movement instruction
- the control unit is further configured to send a battery-installation instruction to the battery-replacement device after the battery-replacement device executes the fifth movement instruction, and the battery-replacement instruction is used to instruct the battery-replacement device to change
- the electric equipment installs the battery to be installed in the electric vehicle;
- the battery-packed power exchange device is further configured to execute the battery-packed instruction.
- the invention also provides a power exchange control system, comprising: a control unit and at least two power exchange equipment;
- the control unit is configured to determine a battery model applicable to the electric vehicle to be replaced
- the control unit is further configured to select a battery placement rack that meets the first condition from at least one battery placement rack as the first battery placement rack, and select a battery placement rack that meets the second condition from the at least one battery placement rack as the first battery placement rack.
- the control unit is further configured to configure at least one of the at least two power-changing devices as a battery-replacement device, and configure at least one of the at least two power-changing devices to replace the battery.
- the battery-equipped power exchange device is used for transporting a battery to be installed, and the battery to be installed is a battery of the battery type that is removed from the first battery rack and is to be installed in the electric vehicle;
- the battery-removing and power-changing device is used for transporting a power-deficient battery, and the power-deficient battery is a battery removed from the electric vehicle and to be placed in the empty battery storage compartment.
- control unit is further configured to monitor the power of a battery placed on the battery placing rack;
- the first condition is set as a fully charged battery in which the battery model is placed;
- the first condition is preferentially set as a fully charged battery in which the battery type is placed, and if the at least one battery placing rack does not have a battery placing rack that meets the first condition, the first condition
- the setting is modified to be the battery with the highest battery capacity in which the battery model is placed.
- control unit is further configured to randomly select a battery placement rack as the first battery placement rack from the battery placement racks that meet the first condition when more than one battery placement rack meets the first condition.
- control unit is further configured to randomly select a battery placement rack as the second battery placement rack from the battery placement racks that meet the second condition when more than one battery placement rack meets the second condition.
- the battery placing rack, or a battery placing rack closest to the electric vehicle or the vehicle carrying platform is selected as the second battery placing rack.
- the battery placing racks are arranged on both sides of the vehicle-carrying platform in a direction in which the electric vehicle enters the vehicle-carrying platform.
- the control The unit is also used for:
- the multifunctional battery placing rack as any one of the first battery placing rack and the second battery placing rack;
- any one of the following conditions is used as a necessary condition for using the multi-functional battery rack as the first battery rack:
- the number of battery placement racks that meet the first condition is less than the number of battery placement racks that meet the second condition;
- the number of battery racks that meet the first condition is less than the number of battery racks that meet the second condition, and the absolute value of the difference between the two is less than the first difference threshold.
- the number of battery racks that meet the first condition is less than the first number threshold
- the number of battery placement racks that meet the second condition is less than the number of battery placement racks that meet the first condition
- the number of battery racks that meet the second condition is less than the number of battery racks that meet the first condition, and the absolute value of the difference between the two is less than the second difference threshold.
- the number of battery racks that meet the second condition is less than the second number threshold.
- the battery storage compartment is further used for charging the battery.
- the at least two power replacement devices are single-function power replacement devices
- the single-function power exchange device has a first structure and can only be configured as a battery-replacement device, or has a second structure and can only be configured as a battery-replacement device;
- the multifunctional power exchange device has both a first structure and a second structure, and can be configured as any one of a battery-removal device and a battery-replacement device.
- the power exchange device configured as the battery-equipped power exchange device is a power exchange device closest to the first battery rack;
- the power exchange device configured as the battery discharge power exchange device is a power exchange device closest to the electric vehicle or a vehicle carrying platform for parking the electric vehicle;
- each of the battery placing racks has a predetermined binding relationship with at least one of the power exchange apparatuses;
- the power exchange apparatus configured as the battery-mounted power exchange apparatus has a binding with the first battery placing rack A power exchange device with a fixed relationship, or a power exchange device that has a binding relationship with the first battery placing rack and is closest to the first battery placing rack;
- the power exchange device configured as the battery discharge replacing device is A power exchange device having a binding relationship with the second battery placing rack, or a battery changing rack having a binding relationship with the second battery placing rack and closest to the electric vehicle or a vehicle carrying platform for parking the electric vehicle Power exchange equipment.
- control unit is further configured to send a battery-receiving instruction to the battery-recharging device after selecting the first battery rack, and the battery-receiving instruction is used to instruct the battery-recharging device Removing the battery to be installed from the first battery placing rack;
- the battery loading and power exchange device is further configured to execute the battery taking instruction
- the control unit is further configured to send a first movement instruction to the battery replacement device after the battery replacement device executes the battery taking instruction, and the first movement instruction is used to instruct the battery replacement device
- the battery replacement device is parked in advance at a first preset waiting position, where the first preset waiting position is a position that does not exceed a first distance threshold from the vehicle platform;
- the battery-equipped power exchange device is further configured to execute the first movement instruction.
- control unit is further configured to scan a license plate of the electric vehicle, and determine a battery model applicable to the electric vehicle through the license plate.
- control unit is further configured to send a second movement instruction to the battery unloading and power exchange device before the electric vehicle is parked on a vehicle carrying platform, and the second movement instruction is used to instruct the battery unloading
- the power exchange device is parked in advance at a second preset waiting position; the battery discharge power exchange device is further configured to execute the second movement instruction.
- the second preset waiting position is the same position as the preset power exchange position, and the preset power exchange position is suitable for being parked from The location of the battery in the electric vehicle on the vehicle platform will be described.
- the second preset waiting position is a position that does not exceed a second distance threshold from the preset power exchange position
- the preset power exchange position is A position suitable for taking a battery from an electric vehicle parked on the car platform
- the control unit is further configured to send a fine-tuning instruction to the battery-removing and power-changing device after the electric vehicle is parked on the vehicle-carrying platform, and the fine-tuning instruction is used to instruct the battery-removing and power-changing device from the The second preset waiting position is moved to the preset power exchange position.
- the preset power-changing position is a dockable state when the following conditions are simultaneously satisfied; otherwise, the preset power-changing position is a non-parking state:
- the preset power exchange position is vacant
- the preset power exchange position is determined to be below or above the vehicle-carrying platform according to the structure of the vehicle-carrying platform.
- control unit is further configured to send a third movement instruction to the battery unloading and power exchange device after the electric vehicle is parked on a vehicle carrying platform, and the third movement instruction is used to instruct the battery unloading
- the power exchange device is moved and parked at a preset power exchange position, the preset power exchange position is a position suitable for taking a battery from an electric vehicle parked on the car platform; the battery discharge power exchange device is also used to perform The third movement instruction.
- control unit is further configured to: after the electric vehicle is parked on the vehicle carrying platform and the battery-removing and power-changing device is parked at the preset power-changing position, the battery-removing and power-changing device is Sending a battery unloading instruction, the battery unloading instruction being used to instruct the battery unloading and power exchange device to remove the lacking battery from the electric vehicle;
- the battery discharging and power replacement device is further configured to execute the battery discharging instruction
- the control unit is further configured to send a fourth movement instruction to the battery removal and power exchange device after the battery removal and power exchange device executes the battery removal instruction, and the fourth movement instruction is used to instruct the battery removal
- the battery replacement device is moved to the second battery placement rack and the lacking battery is placed in the empty battery placement bin;
- the battery discharging and power replacement device is further configured to execute the fourth movement instruction.
- control unit is further configured to change the power to the installed battery after the battery-removing power-removing device leaves the preset power-changing position or leaves the preset power-changing position beyond a third distance threshold.
- the device sends a fifth movement instruction, where the fifth movement instruction is used to instruct the battery-equipped power exchange device to move to the preset power exchange position;
- the battery-equipped power exchange device is further configured to execute the fifth movement instruction
- the control unit is further configured to send a battery-installation instruction to the battery-replacement device after the battery-replacement device executes the fifth movement instruction, and the battery-replacement instruction is used to instruct the battery-replacement device to change
- the electric equipment installs the battery to be installed in the electric vehicle;
- the battery-packed power exchange device is further configured to execute the battery-packed instruction.
- the invention also provides a power exchange control method, including:
- a battery placement rack that meets a first condition is selected from at least one battery placement rack as a first battery placement rack, the battery placement rack has a plurality of battery placement bins for placing batteries, and the first condition is set to place the Battery type battery;
- the preset power exchange position is a position suitable for taking out and installing a battery from the electric vehicle;
- the power replacement control method further includes: monitoring the power of a battery placed on the battery placing rack;
- the first condition is set as a fully charged battery in which the battery model is placed;
- the first condition is preferentially set as a fully charged battery in which the battery type is placed, and if the at least one battery placing rack does not have a battery placing rack that meets the first condition, the first condition
- the setting is modified to be the battery with the highest battery capacity in which the battery model is placed.
- the power exchange control method further includes:
- a battery rack is randomly selected from the battery racks that meet the first condition as the first battery rack, or a distance from the electric vehicle is selected. Or the nearest battery placing rack for parking the electric vehicle as the first battery placing rack, or selecting a battery located on the path between the second battery placing rack and the battery vehicle
- the placement rack is used as the first battery placement rack, or a battery placement rack located on the path and closest to the electric vehicle or the vehicle carrying platform is selected as the first battery placement rack;
- a battery rack is randomly selected from the battery racks meeting the second condition as the second battery rack, or a distance is selected
- the nearest battery placement rack of the electric vehicle or the vehicle carrying platform serves as the second battery placement rack.
- the power exchange control method further includes:
- the multifunctional battery placing rack is used as the first battery placing rack and the second battery placing rack at the same time.
- the empty battery storage compartment is further used for charging the power-deficient battery.
- the empty battery storage compartment has a battery charging circuit
- the battery charging circuit has fixed power parameters, and the power parameters match the battery model
- the battery charging circuit has an adjustable power parameter
- the power exchange control method further includes: adjusting the power parameter according to the battery model so that the power parameter matches the battery model.
- the determining a battery model applicable to the electric vehicle to be replaced includes:
- the license plate of the electric vehicle is scanned, and the battery model applicable to the electric vehicle is determined by the license plate.
- the method for controlling a power exchange device further includes:
- the power exchange device Before the electric vehicle is parked on the vehicle carrying platform, the power exchange device is caused to park in advance at a preset waiting position.
- the preset waiting position is the same position as the preset power exchange position.
- the preset waiting position is a position within a first distance threshold from the preset power exchange position
- the power exchange control method further includes:
- the power exchange device After the electric vehicle is parked on the vehicle-carrying platform, the power exchange device is caused to move from the preset waiting position to the preset power exchange position.
- the preset power-changing position is a dockable state when the following conditions are simultaneously satisfied; otherwise, the preset power-changing position is a non-parking state:
- the preset power exchange position is vacant
- the preset power exchange position is determined to be below or above the vehicle-carrying platform according to the structure of the vehicle-carrying platform.
- the invention also provides a power exchange control method, including:
- a battery placement rack that meets a first condition is selected from at least one battery placement rack, and the battery placement rack has a plurality of battery placement bins for placing batteries, and the first condition is set to be suitable for Batteries for electric vehicles;
- At least one of the at least two power replacement devices as a battery-mounted power replacement device, where the battery-mounted power replacement device is used to transport a battery to be installed, and the battery to be installed is placed from the first battery Removing a battery suitable for the electric vehicle and to be installed in the electric vehicle;
- the battery removal power replacement device is used for transporting a power shortage battery, and the power shortage battery is removed from the electric vehicle And a battery to be placed in the empty battery storage compartment.
- the power replacement control method further includes: monitoring the power of a battery placed on the battery placing rack;
- the first condition is set to place a fully-charged battery suitable for the electric vehicle
- the first condition is preferentially set to place a fully-charged battery suitable for the electric vehicle. If the at least one battery rack does not have a battery rack that meets the first condition, the first A conditional modification is set to place a battery with the highest power suitable for the electric vehicle.
- the power exchange control method further includes:
- a battery rack is randomly selected from the battery racks that meet the first condition as the first battery rack, or a distance from the electric vehicle is selected. Or the nearest battery placing rack for parking the electric vehicle carrying platform as the first battery placing rack;
- a battery rack is randomly selected from the battery racks meeting the second condition as the second battery rack, or a distance is selected
- the nearest battery placement rack of the electric vehicle or the vehicle carrying platform serves as the second battery placement rack.
- the power exchange control method further includes:
- the multifunctional battery placing rack as any one of the first battery placing rack and the second battery placing rack;
- any one of the following conditions is used as a necessary condition for using the multi-functional battery rack as the first battery rack:
- the number of battery placement racks that meet the first condition is less than the number of battery placement racks that meet the second condition;
- the number of battery racks that meet the first condition is less than the number of battery racks that meet the second condition, and the absolute value of the difference between the two is less than the first difference threshold.
- the number of battery racks that meet the first condition is less than the first number threshold
- the number of battery placement racks that meet the second condition is less than the number of battery placement racks that meet the first condition
- the number of battery racks that meet the second condition is less than the number of battery racks that meet the first condition, and the absolute value of the difference between the two is less than the second difference threshold.
- the number of battery racks that meet the second condition is less than the second number threshold.
- the at least two power replacement devices are single-function power replacement devices
- the single-function power exchange device has a first structure and can only be configured as a battery-replacement device, or has a second structure and can only be configured as a battery-replacement device;
- the multifunctional power exchange device has both a first structure and a second structure, and can be configured as any one of a battery-removal device and a battery-replacement device.
- the power exchange device configured as the battery-equipped power exchange device is a power exchange device closest to the first battery rack;
- the power exchange device configured as the battery discharge power exchange device is a power exchange device closest to the electric vehicle or a vehicle carrying platform for parking the electric vehicle;
- each of the battery placing racks has a predetermined binding relationship with at least one of the power exchange apparatuses;
- the power exchange apparatus configured as the battery-mounted power exchange apparatus has a binding with the first battery placing rack A power exchange device with a fixed relationship, or a power exchange device that has a binding relationship with the first battery placing rack and is closest to the first battery placing rack;
- the power exchange device configured as the battery discharge replacing device is A power exchange device having a binding relationship with the second battery placing rack, or a battery changing rack having a binding relationship with the second battery placing rack and closest to the electric vehicle or a vehicle carrying platform for parking the electric vehicle Power exchange equipment.
- the battery model applicable to the electric vehicle is predictable before the electric vehicle is parked on a vehicle carrying platform;
- the power exchange control method further includes:
- a battery placement rack that meets a first condition is selected from the at least one battery placement rack as a first battery placement rack, and the battery-replacement equipment is ordered to The first battery placing rack removes the battery to be installed;
- the battery replacement device After the battery replacement device removes the battery to be installed from the first battery rack, the battery replacement device is commanded to be parked in a first preset waiting position in advance, the first preset waiting The position is a position that does not exceed a first distance threshold from the vehicle-carrying platform.
- the battery model applicable to the electric vehicle is predicted in the following manner: the vehicle carrying platform is limited to parking of the electric vehicle to which the battery of the model is applicable.
- the power exchange control method further includes:
- the battery-removing and power-changing device is ordered to park in advance at a second preset waiting position.
- the second preset waiting position is the same position as the preset power exchange position, and the preset power exchange position is suitable for being parked from The location of the battery in the electric vehicle on the vehicle platform will be described.
- the second preset waiting position is a position that does not exceed a second distance threshold from the preset power exchange position
- the preset power exchange position is A position suitable for taking a battery from an electric vehicle parked on the car platform
- the power exchange control method further includes: after the electric vehicle is parked on the vehicle carrying platform, instructing the battery unloading power exchange device to move from the second preset waiting position to the preset power exchange position.
- the preset power-changing position is a dockable state when the following conditions are simultaneously satisfied; otherwise, the preset power-changing position is a non-parking state:
- the preset power exchange position is vacant
- the preset power exchange position is determined to be below or above the vehicle-carrying platform according to the structure of the vehicle-carrying platform.
- the power exchange control method further includes:
- the battery-removing and power-changing device is ordered to move and park at a preset power-changing position, and the preset power-changing position is suitable for the electric vehicle parked from the car-carrying platform.
- the location where the vehicle takes the battery is not limited to the battery.
- the power exchange control method further includes:
- the battery-removing power exchange device After the electric vehicle is parked on the car-carrying platform and the battery-removing power exchange device is parked at the preset power-changing position, the battery-removing power exchange device is ordered to remove the power shortage from the electric vehicle. battery;
- the battery-removing and power-removing device After the battery-removing and power-removing device removes the power-loss battery from the electric vehicle, the battery-removing and power-removing device is commanded to move to the second battery placing rack and place the power-losing battery in the Empty battery compartment.
- the power exchange control method further includes:
- the battery-equipped power exchange device After the battery-equipped power exchange device is moved to the preset power exchange position, the battery-equipped power exchange device is commanded to load the battery to be installed into the electric vehicle.
- the battery-replacement equipment has a movement track between the first battery rack and the electric vehicle to realize the transportation of the battery to be installed;
- the unloading and battery replacement equipment has a movement trajectory between the electric vehicle and the second battery placing rack, so as to realize the transportation of the lack of batteries.
- the two power exchange devices have different responsibilities and jointly complete the power exchange task, so that the entire power exchange time is shortened by at least half the time compared to the case where only one power exchange device is used to achieve power exchange, and the power exchange speed and efficiency are improved.
- the invention also provides a power exchange control method, including:
- a battery placement rack that meets a first condition is selected from at least one battery placement rack as a first battery placement rack, the battery placement rack has a plurality of battery placement bins for placing batteries, and the first condition is set to place the Battery type battery;
- At least one of the at least two power replacement devices as a battery-mounted power replacement device, where the battery-mounted power replacement device is used to transport a battery to be installed, and the battery to be installed is placed from the first battery Removing the battery of the battery model that is to be installed in the electric vehicle;
- the battery removal power replacement device is used for transporting a power shortage battery, and the power shortage battery is removed from the electric vehicle And a battery to be placed in the empty battery storage compartment.
- the power replacement control method further includes: monitoring the power of a battery placed on the battery placing rack;
- the first condition is set as a fully charged battery in which the battery model is placed;
- the first condition is preferentially set as a fully charged battery in which the battery type is placed, and if the at least one battery placing rack does not have a battery placing rack that meets the first condition, the first condition
- the setting is modified to be the battery with the highest battery capacity in which the battery model is placed.
- the power exchange control method further includes:
- a battery rack is randomly selected from the battery racks that meet the first condition as the first battery rack, or a distance from the electric vehicle is selected. Or the nearest battery placing rack for parking the electric vehicle carrying platform as the first battery placing rack;
- a battery rack is randomly selected from the battery racks meeting the second condition as the second battery rack, or a distance is selected
- the nearest battery placement rack of the electric vehicle or the vehicle carrying platform serves as the second battery placement rack.
- the power exchange control method further includes:
- the multifunctional battery placing rack as any one of the first battery placing rack and the second battery placing rack;
- any one of the following conditions is used as a necessary condition for using the multi-functional battery rack as the first battery rack:
- the number of battery placement racks that meet the first condition is less than the number of battery placement racks that meet the second condition;
- the number of battery racks that meet the first condition is less than the number of battery racks that meet the second condition, and the absolute value of the difference between the two is less than the first difference threshold.
- the number of battery racks that meet the first condition is less than the first number threshold
- the number of battery placement racks that meet the second condition is less than the number of battery placement racks that meet the first condition
- the number of battery racks that meet the second condition is less than the number of battery racks that meet the first condition, and the absolute value of the difference between the two is less than the second difference threshold.
- the number of battery racks that meet the second condition is less than the second number threshold.
- the at least two power replacement devices are single-function power replacement devices
- the single-function power exchange device has a first structure and can only be configured as a battery-replacement device, or has a second structure and can only be configured as a battery-replacement device;
- the multifunctional power exchange device has both a first structure and a second structure, and can be configured as any one of a battery-removal device and a battery-replacement device.
- the power exchange device configured as the battery-equipped power exchange device is a power exchange device closest to the first battery rack;
- the power exchange device configured as the battery discharge power exchange device is a power exchange device closest to the electric vehicle or a vehicle carrying platform for parking the electric vehicle;
- each of the battery placing racks has a predetermined binding relationship with at least one of the power exchange apparatuses;
- the power exchange apparatus configured as the battery-mounted power exchange apparatus has a binding with the first battery placing rack A power exchange device with a fixed relationship, or a power exchange device that has a binding relationship with the first battery placing rack and is closest to the first battery placing rack;
- the power exchange device configured as the battery discharge replacing device is A power exchange device having a binding relationship with the second battery placing rack, or a battery changing rack having a binding relationship with the second battery placing rack and closest to the electric vehicle or a vehicle carrying platform for parking the electric vehicle Power exchange equipment.
- the power exchange control method further includes:
- the battery replacement device After the battery replacement device removes the battery to be installed from the first battery rack, the battery replacement device is commanded to be parked in a first preset waiting position in advance, the first preset waiting The position is a position that does not exceed a first distance threshold from the vehicle-carrying platform.
- the determining a battery model applicable to the electric vehicle to be replaced includes:
- the license plate of the electric vehicle is scanned, and the battery model applicable to the electric vehicle is determined by the license plate.
- the power exchange control method further includes:
- the battery-removing and power-changing device is ordered to park in advance at a second preset waiting position.
- the second preset waiting position is the same position as the preset power exchange position, and the preset power exchange position is suitable for being parked from The location of the battery in the electric vehicle on the vehicle platform will be described.
- the second preset waiting position is a position that does not exceed a second distance threshold from the preset power exchange position
- the preset power exchange position is A position suitable for taking a battery from an electric vehicle parked on the car platform
- the power exchange control method further includes: after the electric vehicle is parked on the vehicle carrying platform, instructing the battery unloading power exchange device to move from the second preset waiting position to the preset power exchange position.
- the preset power-changing position is a dockable state when the following conditions are simultaneously satisfied; otherwise, the preset power-changing position is a non-parking state:
- the preset power exchange position is vacant
- the preset power exchange position is determined to be below or above the vehicle-carrying platform according to the structure of the vehicle-carrying platform.
- the power exchange control method further includes:
- the battery-removing and power-changing device is ordered to move and park at a preset power-changing position, and the preset power-changing position is suitable for the electric vehicle parked from the car-carrying platform.
- the location where the vehicle takes the battery is not limited to the battery.
- the power exchange control method further includes:
- the battery-removing power exchange device After the electric vehicle is parked on the car-carrying platform and the battery-removing power exchange device is parked at the preset power-changing position, the battery-removing power exchange device is ordered to remove the power shortage from the electric vehicle. battery;
- the battery-removing and power-removing device After the battery-removing and power-removing device removes the power-loss battery from the electric vehicle, the battery-removing and power-removing device is commanded to move to the second battery placing rack and place the power-losing battery in the Empty battery compartment.
- the power exchange control method further includes:
- the battery-removing power exchange device After the battery-removing power exchange device leaves the preset power-changing position or leaves the preset power-changing position for more than a third distance threshold, ordering the battery-replacement power-changing device to move to the preset power-changing position;
- the battery-equipped power exchange device After the battery-equipped power exchange device is moved to the preset power exchange position, the battery-equipped power exchange device is commanded to load the battery to be installed into the electric vehicle.
- the positive progress effect of the present invention is that the present invention confirms the battery model applicable to the electric vehicle through the control unit, and facilitates the selection of the first battery rack and the battery to be installed.
- the control of the control unit is used to change the vehicle. Two power-changing devices were used throughout the electricity process:
- the battery-replacement equipment has a movement track between the first battery rack and the electric vehicle to realize the transportation of the battery to be installed;
- the unloading and battery replacement equipment has a movement trajectory between the electric vehicle and the second battery placing rack, so as to realize the transportation of the lack of batteries.
- the two power exchange devices have different responsibilities and jointly complete the power exchange task, so that the entire power exchange time is shortened by at least half the time compared to the case where only one power exchange device is used to achieve power exchange, and the power exchange speed and efficiency are improved.
- the positive progress effect of the present invention is that the present invention can reduce the number of movements of the power exchange equipment during the power exchange process, shorten the time for power exchange, and improve the power exchange efficiency.
- FIG. 1 is a schematic block diagram of a power exchange control system according to Embodiment 1 of the present invention.
- FIG. 2 is a schematic side view of a vehicle-carrying platform with a first structure according to Embodiment 1 of the present invention
- FIG. 3 is a schematic side view of a vehicle-carrying platform with a second structure according to Embodiment 1 of the present invention.
- FIG. 4 is a schematic block diagram of a power exchange control system according to Embodiments 2 and 8 of the present invention.
- FIG. 5 is a schematic plan view of a power exchange control system configured with a battery replacement device and a battery replacement device in Embodiments 10 and 12 of the present invention
- FIG. 6 is a schematic side view of a vehicle-carrying platform with a first structure in Embodiments 11 and 13 of the present invention.
- FIG. 7 is a schematic side view of a vehicle-carrying platform with a second structure according to Embodiments 11 and 13 of the present invention.
- FIG. 8 is a flowchart of a power exchange control method according to Embodiment 20 of the present invention.
- FIG. 9 is a flowchart of a power exchange control method according to Embodiment 24 of the present invention.
- FIG. 10 is a flowchart of a power exchange control method according to Embodiment 25 of the present invention.
- FIG. 11 is a flowchart of a power exchange control method according to Embodiment 30 of the present invention.
- FIG. 12 is a flowchart of a power exchange control method according to Embodiment 31 of the present invention.
- FIG. 13 is a flowchart of a power exchange control method according to Embodiment 32 of the present invention.
- FIG. 15 is a flowchart of a power exchange control method according to Embodiment 38 of the present invention.
- FIG. 1 shows a power exchange control system of this embodiment.
- the power exchange control system 10 includes a control unit 11 and a power exchange device 12.
- the control unit 11 is in communication connection with the power exchange device 12, and the communication connection is preferably a wireless communication connection, which can be specifically implemented through communication means such as 2G, 3G, 4G, Bluetooth, and of course, it is not excluded in some special
- the communication connection may also be a wired communication connection.
- the control unit 11 is configured to determine a battery model suitable for an electric vehicle. Specifically, the control unit 11 may scan the license plate of the electric vehicle, and determine the battery model applicable to the electric vehicle through the license plate.
- the control unit 11 is further configured to select a battery placement rack that meets the first condition from at least one battery placement rack 13 as the first battery placement rack 13A, and select a battery that meets the second condition from the at least one battery placement rack 13
- the placement rack serves as a second battery placement rack 13B.
- the battery placement rack has a plurality of battery placement bins for placing batteries.
- the first condition is set to store the battery of the battery type, and the second condition is set to have Empty battery compartment.
- the power exchange device 12 is configured to move to a preset power exchange position, remove a power-deficient battery from the electric vehicle, transport the power-deficient battery to the second rack 13B, and place it in the empty A battery storage compartment, and then moved to the first battery storage rack 13A, removing the battery type battery from the first battery storage rack 13A, and transporting the battery type battery to the preset power exchange position
- the preset power exchange position is a position suitable for taking out and installing a battery from the electric vehicle.
- control unit 11 confirms the battery model applicable to the electric vehicle, which can facilitate the selection of the first battery rack; during the entire process of powering the vehicle, the power-changing device 12 moves smoothly and improves the power-changing. Speed and efficiency.
- the preset power exchange position can be understood as that when the power exchange device 12 is located in the preset power exchange position, the battery can be removed from the electric vehicle or the battery can be installed in the electric vehicle with minimal movement.
- the preset power exchange position may be determined according to a structure of a car loading platform where the electric vehicle is parked, and the preset power exchange position is located below or above the car loading platform.
- the car platform 15 is higher than the ground level and has a hollow area in the middle.
- the battery box of the electric vehicle 14 is located above the hollowed-out area.
- the preset power exchange position P1 is usually located below the car-mounted platform, especially below the hollowed-out area. Aim at the battery case of the electric vehicle 14.
- the electricity exchange device 12 For the electric vehicle 14 parked on the vehicle carrying platform 15 to exchange electricity, the electricity exchange device 12 only needs to be vertically raised at the preset electricity exchange position P1 for removing the power-deficient battery from the electric vehicle
- the unlocked unlocking mechanism passing through the hollowed out area, inserting the unlocking mechanism into the gap between the battery outer box and the battery of the electric vehicle 14, and the lock block of the battery box can be touched to switch the lack of battery Unlock to remove the lacking battery.
- the power exchange device 12 only needs to vertically lift the battery to be installed in the electric vehicle, and the installation can be completed.
- a lifting platform 151 is provided in the middle of the vehicle platform 15, and a hollow area is provided in the middle of the lifting platform 151.
- the electric vehicle 14 changes power
- the vehicle platform 15 needs to be driven in and parked on the lifting platform 151 and the battery box of the electric vehicle 14 is located above the hollowed out area.
- the preset power exchange position P2 is usually It is located above the vehicle-carrying platform 15, especially below the hollowed-out area after the lifting platform 151 is raised.
- the power exchange device 12 For the electric vehicle 14 parked on the lifting platform 151 for power exchange, the power exchange device 12 only needs to be vertically raised at the preset power exchange position P2 for lifting the power-deficient battery from the electric vehicle 14
- the unlocked unlocking mechanism through the hollowed out area, inserting the unlocking structure into the gap between the battery outer box and the battery of the electric vehicle 14, and the lock block of the battery box can be touched to unlock the lack of battery Unlock to remove the lacking battery.
- the power exchange device 12 only needs to vertically lift the battery to be installed in the electric vehicle, and then the installation can be completed.
- the vehicle-carrying platform is not limited to the above-mentioned structure, and may also be other structures.
- the preset power exchange position may further be based on the structure of the vehicle-carrying platform, in combination with the power-changing device 12 to obtain a power-loss battery or Set the conditions such as the moving path of the structure required to install the battery.
- the power exchange control system of this embodiment is a further improvement based on Embodiment 1, and is mainly reflected in the setting of the first condition.
- the first condition is used as a basis for selecting the first battery placing rack 13A.
- other preferred matching conditions may be further set.
- the matching conditions are mainly related to the power of the battery, and the control unit 11 is further configured to monitor the power of the battery placed on the battery rack.
- the first condition may be set as a fully charged battery in which the battery model is placed.
- the control unit 11 is configured to determine whether there is a battery placement rack that meets the first condition in the at least one battery placement rack, and if so, select one of them as the first battery placement rack 13A. If there is no battery rack that meets the first condition, the control unit 11 may issue an alarm signal to indicate that the electric vehicle cannot be replaced with electricity.
- the first condition may be preferentially set as a battery with the battery model and fully charged, if the at least one battery rack does not have a battery that meets the first
- the battery placing rack with conditions the first condition is modified and set to a battery with the highest battery type in which the battery model is placed.
- the first condition is set to a fully charged battery with the battery model placed by default, and the control unit 11 is configured to determine whether there is a battery placement in the at least one battery placement rack that meets the default first condition. If it is, then select one of them as the first battery placement rack 13A. If not, then:
- the first condition is modified to set the battery with the highest battery type and the battery with the highest capacity, and it is judged again whether there is a battery shelf in the at least one battery shelf that meets the current first condition, and if so, one of them is selected as First battery holder 13A. If there is still no battery rack that meets the first condition, the control unit 11 may issue an alarm signal to indicate that the electric vehicle cannot be replaced with electricity.
- the empty battery storage compartment is also used to charge the power-deficient battery.
- the empty battery storage bin has a battery charging circuit, and the battery charging circuit may have fixed power parameters that match the battery model; or the battery charging circuit has an adjustable A power parameter, the control unit is further configured to adjust the power parameter according to the battery model, so that the power parameter matches the battery model.
- the power parameters include current, voltage, and the like.
- the first condition may be set to other conditions according to requirements.
- the power exchange control system of this embodiment is a further improvement on the basis of Embodiment 1 or 2. It is mainly reflected in the selection of the first battery placing frame 13A and the second battery placing frame 13B by the control unit 11. When the number of battery placing racks is two or even more, it is likely that two or more battery placing racks meet the first condition or the second condition at the same time.
- the control unit 11 may further set selection requirements of the first battery placing rack 13A and the second battery placing rack 13B according to requirements.
- control unit 11 may be used to determine whether more than one battery racks meet the first condition. If yes, then:
- a battery placing rack or a distance closest to the electric vehicle is selected from the battery placing racks that meet the first condition.
- the closest battery placement rack for the vehicle platform platform where the electric vehicle is parked serves as the first battery placement rack 13A;
- a battery placement rack located on a path between the second battery placement rack and the battery vehicle is selected as the first battery placement rack, or a path located away from the electric vehicle or vehicle is selected.
- the nearest battery placing rack of the vehicle carrying platform is used as the first battery placing rack.
- control unit 11 may be used to determine that there are more than one battery racks that meet the second condition. If yes, then :
- a battery placing rack or a distance closest to the electric vehicle is selected from the battery placing racks that meet the second condition.
- the closest battery placement rack for the vehicle platform on which the electric vehicle is parked serves as the second battery placement rack 13B.
- the battery rack can be driven into the electric vehicle along the electric vehicle.
- the direction of the car platform is arranged on both sides of the car platform.
- the vehicle-carrying platform may be a dedicated platform for vehicle power exchange or other common platforms that can be parked by the vehicle and facilitate power exchange.
- the selection of the first battery placing frame 13A and the second battery placing frame 13B is relatively independent, that is, the first battery placing frame 13A and the second battery placing can be set according to different needs, respectively. Requirements for the selection of frame 13B.
- the power exchange control system of this embodiment is a further improvement on the basis of Embodiment 1 or 2. It is mainly reflected in the selection of the first battery placing frame 13A and the second battery placing frame 13B by the control unit 11. Different from Embodiment 3, in this embodiment, when selecting the first battery placing rack 13A and the second battery placing rack 13B, the relationship between the two will be considered to a certain extent.
- control unit 11 may be configured to determine whether a multi-functional battery placing rack exists in the at least one battery placing rack, and the multi-functional battery placing rack satisfies both the first condition and the second condition. Battery holder.
- the first battery rack 13A can be selected from the battery racks that meet the first condition and the battery rack that meets the second condition can be selected according to the solution in Embodiment 3.
- the second battery placing rack 13B can be selected from the battery racks that meet the first condition and the battery rack that meets the second condition can be selected according to the solution in Embodiment 3.
- control unit 11 may also use the multifunctional battery placing rack as the first battery placing rack and the second battery placing rack at the same time. This reduces the travel distance of the power exchange device 12.
- the power exchange control system of this embodiment is a further improvement on the basis of Embodiment 1, and is mainly reflected in the control process of the power exchange device 12 by the control unit 11.
- the entire power exchange process can be divided into a power exchange preparation process before the electric vehicle is parked on the car platform and an electric power exchange operation process after the electric vehicle is parked on the car platform.
- the power exchange device 12 is controlled by the control unit 11.
- control unit 11 sends the following instructions to the power exchange device 12 and is executed by the power exchange device 12:
- a parking instruction is used to instruct the power exchange device 12 to be parked in a preset waiting position in advance.
- the preset waiting position is related to the preset power exchange position, and may be the same position as the preset power exchange position or a position near the preset power exchange position.
- control unit 11 determines whether the preset power exchange position is a parkable state, thereby setting the preset waiting position. When the following conditions are met at the same time, the preset power exchange position is a parkable state; otherwise, the preset power exchange position is a non-parkable state:
- Condition (2) There is a path for the power exchange device 12 to move to the preset power exchange position
- Condition (3) It is predicted that when the power exchange device 12 is parked at the preset power exchange position, the power exchange device 12 will not cause an obstacle to the electric vehicle driving into the vehicle carrying platform.
- condition (3) can be satisfied is usually related to the structure of the car platform.
- Embodiment 1 Taking the car platform of the first structure in Embodiment 1 as an example, since an electric vehicle is parked on the car platform when the power is changed, and the preset power exchange position is usually located below the car platform, In general, even if the power exchange device 12 is parked at the preset power exchange position before the electric vehicle enters the vehicle carrying platform, the power exchange device 12 will not drive into the vehicle The electric vehicle on the platform creates a barrier and can satisfy condition (3).
- the preset power-changing position is usually also located above the vehicle-carrying platform. Therefore, if the power exchange device 12 is parked at the preset power exchange position before the electric vehicle enters the car platform, then when the electric vehicle enters the car platform, the power exchange device 12 is likely to block incoming electric vehicles. Therefore, for the vehicle platform of the second structure, the preset power exchange position usually cannot meet the condition (3), and thus becomes a non-parking state.
- the preset waiting position is the same position as the preset power exchange position.
- the preset waiting position is a position that does not exceed a second distance threshold from the preset power exchange position, that is, a position near the preset power exchange position.
- the power exchange preparation process is completed, and the power exchange control system waits for the electric vehicle to drive in and park on the car loading platform to enter the power exchange operation process.
- control unit 11 determines whether the preset waiting position is the same position as the preset power exchange position:
- a battery removal instruction is sent to the power exchange device 12, and the battery removal instruction is used to instruct the power exchange device 12 to remove the power shortage battery from the electric vehicle, and the power exchange device 12 executes all The battery removal instructions;
- a fine adjustment instruction is sent to the power exchange device 12, and the fine adjustment instruction is used to instruct the power exchange device 12 to move from the preset waiting position to the preset power exchange position, the power exchange device 12 executes the fine-tuning instruction; then, the control unit 11 sends the battery-removal instruction to the power-changing device 12 after the power-changing device 12 executes the fine-tuning instruction, and the power-changing device 12 executes The battery removal instruction.
- control unit 11 sends a first movement instruction to the power exchange device 12, and the first movement instruction is used to instruct the power exchange device to move to the second battery rack; the power exchange device 12 Executing the first movement instruction.
- control unit 11 sends a battery discharge instruction to the power exchange device 12, and the battery discharge instruction is used to instruct the power exchange device to place the lacking battery in the empty battery storage bin;
- the power exchange device 12 executes the battery discharge instruction.
- control unit 11 sends a second movement instruction to the power exchange device 12, and the second movement instruction is used to instruct the power exchange device to move to the first battery rack; the power exchange device 12 Executing the second movement instruction.
- control unit 11 sends a battery fetch instruction to the power exchange device 12, the battery fetch instruction is used to instruct the power exchange device to remove the battery of the battery type from the first battery rack;
- the power exchange device 12 executes the battery fetch instruction.
- control unit 11 sends a third movement instruction to the power exchange device 12, and the battery fetch instruction is used to instruct the power exchange device to move to the preset power exchange position; the power exchange device 12 executes The battery fetch instruction.
- control unit 11 sends a battery loading instruction to the power exchange device 12, and the battery loading instruction is used to instruct the power exchange device to install the battery of the battery type in the electric vehicle;
- the device 12 executes the battery loading instruction.
- the control unit 11 instructs the power exchange device 12 to drive away from the preset power exchange position.
- the power exchange control system of this embodiment completes part of the control during the power exchange preparation process, which greatly shortens the power exchange time after the electric vehicle enters the loading platform and improves the power exchange efficiency.
- FIG. 4 shows a power exchange control system of this embodiment. This system is basically the same as Embodiment 1, except that it includes at least two power exchange devices 12.
- the control unit 11 is further configured to configure at least one of the at least two power exchange devices 12 as a battery-equipped power exchange device 12A.
- the battery-equipped power exchange device 12A is used for transporting a battery to be installed, and the battery to be installed is a battery of the battery type that is removed from the first battery rack 13A and is to be installed in the electric vehicle.
- the control unit 11 is further configured to configure at least one of the at least two power exchange devices 12 as a battery discharge power exchange device 12B.
- the battery-removing and battery-changing device 12B is used for transporting a battery that is lacking in electricity, and that battery is a battery that is removed from the electric vehicle and is to be placed in the empty battery storage compartment.
- the control unit 11 confirms the battery model applicable to the electric vehicle, which can facilitate the selection of the first battery rack and the battery to be installed; in the entire process of powering the vehicle, two power replacements are used
- Device 12 is a battery-replacement device 12A and a battery-removal device 12B, respectively.
- the movement trajectory of the battery-replacement device 12A is between the first battery rack 13A and the electric vehicle to realize the transportation of the battery to be installed and the battery to be unloaded.
- the movement trajectory of the power exchange device 12B is between the electric vehicle and the second battery rack 13B to realize the transportation of the power shortage battery.
- the two power exchange devices have different responsibilities and jointly complete the power exchange task, so that the entire power exchange time Compared with using only one power exchange device to achieve power exchange, it shortens the time by at least half, and improves the power exchange speed and efficiency.
- the power exchange control system of this embodiment is a further improvement based on Embodiment 6.
- the improvement of Embodiment 6 in this embodiment is basically the same as the improvement of Embodiment 2 in Embodiment 1.
- the difference is that the control unit 11 also The power of each battery can be monitored in real time, which facilitates the selection of the first battery rack 13A.
- the power exchange control system of this embodiment is a further improvement on the basis of Embodiment 6 or 7.
- the improvement of Embodiment 6 or 7 of this embodiment is basically the same as the improvement of Embodiment 3 from Embodiment 1 or 2.
- the difference is The reason is that in this embodiment, in order to further facilitate the location of each battery rack, the first battery rack 13A / the second battery rack 13B are selected, and the moving distance of the battery-replacement device 12A / the battery-removal device 12B is shortened.
- the battery racks can be arranged on both sides of the vehicle-carrying platform along the direction in which the electric vehicle enters the vehicle-carrying platform.
- the power exchange control system of this embodiment is a further improvement on the basis of Embodiment 6 or 7. It is mainly reflected in the selection of the first battery placing frame 13A and the second battery placing frame 13B by the control unit 11. Different from Embodiment 8, in this embodiment, when the first battery placing rack 13A and the second battery placing rack 13B are selected, the relationship between the two is considered to a certain extent.
- control unit 11 may be configured to determine whether a multi-functional battery placing rack exists in the at least one battery placing rack, and the multi-functional battery placing rack satisfies both the first condition and the second condition. Battery holder.
- the first battery rack 13A can be selected from the battery racks that meet the first condition and the battery rack that meets the second condition can be selected according to the solution of Embodiment 8.
- the second battery placing rack 13B can be selected from the battery racks that meet the first condition and the battery rack that meets the second condition can be selected according to the solution of Embodiment 8.
- control unit 11 may also preferentially use the multi-functional battery placing rack, and select an identity from any of the following four ways to configure its identity:
- the multi-functional battery placing rack is used as the first battery placing rack 13A and the second battery placing rack 13B at the same time.
- the second method is to use the multifunctional battery placing rack as any one of the first battery placing rack 13A and the second battery placing rack 13B.
- any one of the following conditions is used as the multi-functional battery placement rack as the first battery placement rack 13A Necessary conditions:
- Condition (2) among the remaining battery placement racks, the number of battery placement racks that meet the first condition is less than the number of battery placement racks that meet the second condition;
- Condition (3) Among the remaining battery racks, the number of battery racks that meet the first condition is less than the number of battery racks that meet the second condition, and the absolute value of the difference between the two is less than A first difference threshold;
- Condition (4) Of the remaining battery racks, the number of battery racks that meet the first condition is less than the first number threshold.
- condition (1) is taken as a necessary condition for using the multi-functional battery placing rack as the first battery placing rack 13A, that is, correspondingly, the control unit 11 needs to judge the at least one battery placement Except for the multi-functional battery placement rack in the rack, whether the remaining battery placement racks do not meet the first condition, and if so, use the multi-purpose battery placement rack as the first battery placement rack 13A;
- condition (2) is taken as a necessary condition for the multi-functional battery rack as the first battery rack 13A, that is, correspondingly, the control unit 11 needs to determine that the at least one battery rack is Whether the number of battery racks that meet the first condition in the remaining battery racks is less than the number of battery racks that meet the second condition, and if so, the multi-function battery rack The rack is used as the first battery rack 13A (for example, there are two battery racks that meet the first condition and three battery racks that meet the second condition, then the multifunctional battery rack is used as the first battery Frame 13A);
- condition (3) is taken as a necessary condition for the multi-functional battery rack as the first battery rack 13A, that is, correspondingly, the control unit 11 needs to determine whether the at least one battery rack is The multi-functional battery rack, whether the number of battery racks in the remaining battery racks that meet the first condition is less than the number of battery racks that meet the second condition, and the absolute value of the difference between the two is small Based on the first difference threshold, if yes, use the multi-functional battery rack as the first battery rack 13A (for example, there are two battery racks that meet the first condition, and six battery racks that meet the second condition If the first difference threshold is 3, the multi-functional battery rack is used as the first battery rack 13A);
- condition (4) is taken as a necessary condition for the multi-functional battery rack as the first battery rack 13A, that is, correspondingly, the control unit 11 needs to determine whether the at least one battery rack is Whether the number of battery placement racks in the remaining battery placement racks that meet the first condition is less than the first number threshold, and if so, using the multi-purpose battery placement racks as the first battery placement racks 13A (for example, if there is one battery placement rack that meets the first condition and the first quantity threshold is 2, the multi-functional battery placement rack is used as the first battery placement rack 13A).
- any one of the conditions is used as the second battery placement rack 13B. Necessary conditions:
- Condition (2) among the remaining battery placement racks, the number of battery placement racks that meet the second condition is less than the number of battery placement racks that meet the first condition;
- Condition (3) Among the remaining battery racks, the number of battery racks that meet the second condition is less than the number of battery racks that meet the first condition, and the absolute value of the difference between the two is less than A second difference threshold;
- Condition (4) Of the remaining battery racks, the number of battery racks that meet the second condition is less than the second number threshold.
- the power exchange control system of this embodiment is a further improvement on the basis of Embodiment 6, and is mainly reflected in the configuration of the control unit 11 for the battery-replaced equipment 12A and the battery-removed equipment 12B.
- the power exchange device 12 can be roughly divided into two types:
- the single-function power exchange device has a relatively simple structure, which can have a first structure and can only be configured as a battery replacement device 12A, or a second structure and can only be configured as a battery discharge device 12B;
- the multifunctional power exchange device has a relatively complicated structure, and has both the first structure and the second structure, and can be configured as any one of a battery replacement device 12B and a battery replacement device 12A.
- the first structure includes a structure required to realize removal of the battery to be installed from the first battery rack 13A and installation on the electric vehicle, for example, removing the battery to be installed from the first battery A gripping mechanism removed from a battery placing rack 13A, a lifting mechanism for mounting the battery to be mounted on the electric vehicle, and the like.
- the second structure includes a structure required to realize the removal of the power-deficient battery from the electric vehicle and placement on the second battery rack 13B. For example, the power-deficient battery is removed from the electric vehicle.
- the at least two power exchange devices 12 may be single-function power exchange devices (but the single-function power exchange device having the first structure and the single-function power device having the second structure All of the power exchange equipment are required); or, they are all multi-function power exchange equipment; or, some are single-function power exchange equipment, and some are multi-function power exchange equipment.
- the control unit 11 may determine the position of the first battery placing rack 13A after selecting the first battery placing rack 13A, and screen the single-function power exchange equipment having the first structure and Multifunctional power exchange equipment (indicated by ⁇ in the figure), calculate the distance from each single-function power exchange equipment and multifunctional power exchange equipment with the first structure to the first battery rack 13A, and select the closest one
- the battery replacement device is configured as a battery-mounted battery replacement device 12A, and an arrow at 12A in the figure indicates a moving direction of the battery-mounted battery replacement device 12A.
- the control unit 11 may screen the single-function power exchange equipment and the multi-function power exchange equipment (shown with ⁇ in the figure) having the second structure, and calculate each of the single-function power exchange equipment and the multi-function electricity exchange equipment having the second structure.
- the distance from the functional power exchange equipment to the electric vehicle 14 or the vehicle carrying platform 15 is selected as the closest power exchange equipment to be configured as a battery discharge power exchange equipment 12B.
- the arrow at 12B in the figure indicates the equipment The moving direction of the battery replacement device 12B.
- each of the battery racks has a predetermined binding relationship with at least one of the power exchange apparatuses, that is, each battery rack can only be bound by Take out and discharge the battery of the power exchange equipment with a fixed relationship.
- the control unit 11 When the control unit 11 is configured with a battery-replacement device 12A, the control unit 11 preferably has a binding relationship with the first battery rack 13A, or has a binding relationship with the first battery rack 13A and a distance.
- the first battery placing rack 13A is the closest power exchange device. Specifically, after the control unit 11 selects the first battery rack 13A, the control unit 11 may screen single-function power exchange equipment and multi-function power exchange that have a binding relationship with the first battery rack 13A and have a first structure.
- the closest power exchange device is configured as a battery-replacement device 12A.
- the power exchange device has a binding relationship with the second battery placing rack 13B, or has a binding relationship with the second battery placing rack 13B and has a distance.
- the control unit 11 selects the second battery rack 13B, it can screen single-function power exchange equipment and multi-function power exchange that have a binding relationship with the second battery rack 13B and have a second structure.
- Equipment randomly select a battery replacement device 12B configured therefrom, or further calculate the distance from the screened electrical replacement device to the electric vehicle or the distance to the vehicle platform, and select the closest electrical replacement device It is configured as a battery-removing device 12B.
- the power exchange control system of this embodiment is a further improvement based on Embodiment 6, and is mainly reflected in the power exchange control process of the power exchange control system.
- the power exchange control process in this embodiment is divided into a power exchange preparation process before the electric vehicle is parked on the car platform and a power exchange operation process after the electric vehicle is parked on the car platform.
- control unit 11 is configured to select the second battery placing rack 13B in advance before the electric vehicle is parked on the vehicle carrying platform, and then configure a battery discharging power replacement device 12B.
- select the second battery placing rack 13B refer to Embodiment 7-9
- configuring the battery unloading and power replacement device 12B refer to Embodiment 10.
- control unit 11 is further configured to send a third movement instruction to the battery-removal power-replacement device 12B after the electric vehicle is parked on a vehicle carrying platform, and the third movement instruction is used for
- the battery-removing and power-changing device 12B is instructed to move and park at a preset power-changing position.
- the battery discharging and power replacement device 12B is further configured to execute the third movement instruction.
- the control unit 11 is further configured to send the electric vehicle to the battery-removing device 12B after the electric vehicle is parked on the vehicle-carrying platform and the battery-removing device 12B is parked at the preset power-changing position.
- a battery unloading instruction which is used to instruct the battery unloading replacement device 12B to remove the lacking battery from the electric vehicle.
- the battery discharging and power replacement device 12B is further configured to execute the battery removing instruction.
- the preset power exchange position is a position suitable for taking a battery from an electric vehicle parked on the vehicle carrying platform. It can be understood that the battery unloading power exchange device 12B is located in the preset power exchange When in position, the battery-removing and power-changing device 12B can remove the battery from the electric vehicle parked on the car platform with a minimum of actions.
- the preset power exchange position may be determined according to the structure of the vehicle-carrying platform. The preset power-changing position is located below or above the vehicle-carrying platform.
- the car-carrying platform is basically the same as the car-carrying platform in Embodiment 6, except that the battery-changing device 12 is replaced with the battery-changing device in Embodiment 6. 12B, as shown in FIG. 6, the car platform 15 is higher than the ground level and has a hollow area in the middle.
- the preset power exchange position P1 is usually located below the car-mounted platform, especially below the hollowed-out area, aligned with the battery of the electric vehicle 14 Out of the box.
- the battery-removal power exchange device 12B For the electric vehicle 14 parked on the vehicle carrying platform 15 for power exchange, the battery-removal power exchange device 12B only needs to be vertically raised at the preset power exchange position P1 for lifting the power-deficient battery from the electric power.
- the unlocking mechanism unlocked on the vehicle penetrates the hollowed out area, inserts the unlocking mechanism into the gap between the battery outer box and the battery of the electric vehicle 14, and the lock block of the battery box is touched to unlock the The electric battery is unlocked, and then the lack of battery is removed.
- the car platform is basically the same as the car platform in Example 6. The difference is that the battery replacement device 12 in Example 6 is replaced by a battery discharge and power replacement.
- the device 12B as shown in FIG. 7, has a lifting platform 151 in the middle of the car platform 15, and a hollow area is provided in the middle of the lifting platform 151.
- the electric vehicle 14 changes power, it needs to drive into the car platform 15 and park on the car platform 15.
- the preset power exchange position P2 is usually located above the vehicle carrying platform 15, Especially after the lifting platform 151 is raised, the hollowed area is below.
- the battery-removal power exchange device 12B For the electric vehicle 14 parked on the lifting platform 151 for power exchange, the battery-removal power exchange device 12B only needs to be vertically raised at the preset power exchange position P2 for lifting the power-deficient battery from the electric vehicle
- the vehicle-carrying platform is not limited to the above structure, and may also be other structures.
- the preset power exchange position may be further combined with the second structure of the battery-removing power-changing device 12B according to the structure of the vehicle-carrying platform.
- the structure is set based on conditions such as the moving path of the second structure when the battery is lacking.
- the control unit 11 is further configured to send a fourth movement instruction to the battery removal power exchange device 12B after the battery removal power exchange device 12B executes the battery removal instruction, and the fourth movement instruction is used to command
- the battery-removing and power-changing device 12B is moved to the second battery placing rack 13B and the deficient battery is placed in the empty battery placing bin.
- the battery discharging and power replacement device 12B is further configured to execute the fourth movement instruction.
- the control unit 11 is further configured to scan the license plate of the electric vehicle after the electric vehicle is parked on a car platform or when the license plate of the electric vehicle can be observed, and pass the license plate. Determine the battery model applicable to the electric vehicle, and then select the first battery rack 13A, and then configure a battery-replacement device 12A, and send a battery-receiving instruction to the battery-replacement device 12A.
- the battery-replacement device 12A is instructed to remove the battery to be installed from the first battery placing rack 13A.
- the battery-equipped power exchange device 12A is further configured to execute the battery fetch instruction.
- For the process of selecting the first battery placing rack 13A refer to Embodiment 7-9, and for the process of configuring the battery-replacement device 12A, refer to Embodiment 10.
- the control unit 11 is further configured to send a first movement instruction to the battery replacement device 12A after the battery replacement device 12A executes the battery taking instruction, and the first movement instruction is used to instruct
- the battery-equipped power exchange device 12A is parked in advance at a first preset waiting position, and the first preset waiting position is a position within a first distance threshold from the vehicle-carrying platform.
- the battery-equipped power exchange device is further configured to execute the first movement instruction.
- the control unit 11 is further configured to, after the battery-removing and power-changing device 12B leaves the preset power-changing position or leaves the predetermined-power-changing position and exceeds a third distance threshold, send a signal to the battery-powered power-changing device 12A.
- a fifth movement instruction is sent, and the fifth movement instruction is used to instruct the battery-equipped power exchange device 12A to move to the preset power exchange position.
- the battery-equipped power exchange device 12A is further configured to execute the fifth movement instruction.
- the control unit 11 is further configured to send a battery loading instruction to the battery loading and replacing device 12A after the battery loading and replacing device 12A executes the fifth movement instruction, and the battery loading and charging instruction is used to instruct the battery loading and replacement device 12A.
- the battery-equipped power exchange device 12A loads the battery to be loaded into the electric vehicle.
- the battery-packed power exchange device 12A is further configured to execute the battery-packed instruction. So far, the electric vehicle has been replaced with electricity, and the battery-equipped electricity exchange device 12A is driven away from the preset electricity exchange position.
- the power exchange control system of this embodiment is a further improvement based on Embodiment 6, and is mainly reflected in the power exchange control process of the power exchange control system.
- the power exchange control process in this embodiment is divided into a power exchange preparation process before the electric vehicle is parked on the car platform and a power exchange operation process after the electric vehicle is parked on the car platform.
- the control instructions of the control unit are different from those in the eleventh embodiment during the power replacement preparation process and the power replacement operation process.
- control unit 11 may select the second battery rack 13B in advance, configure the battery removal power replacement device 12B, and control the battery removal power replacement device 12B to complete a part of the instructions. Save time when removing batteries.
- selecting the second battery placing rack 13B refer to Embodiment 7-9
- configuring the battery unloading and power replacement device 12B refer to Embodiment 10.
- control unit 11 controls the battery-removing and power-changing device 12B to complete a part of the instructions, including: the control unit 11 determines whether the preset power-changing position is a parkable state, thereby setting a second preset waiting Position, a second movement instruction is sent to the battery unloading and power exchange device 12B, and the second movement instruction is used to instruct the battery unloading and power exchange device 12B to park in advance at the second preset waiting position.
- the battery-removing and power-changing device 12B is further configured to execute the second movement instruction.
- the second preset waiting position is related to the preset power exchange position, and may be the same position as the preset power exchange position or a position near the preset power exchange position (for the preset power exchange position). For a description of setting the power exchange position, refer to Example 11).
- the determining whether the preset power exchange position is a parkingable state may specifically include:
- the preset power exchange position is a parking-capable state; otherwise, the preset power exchange position is a non-parking state:
- Condition (3) It is predicted that when the battery-removing and power-changing device 12B is parked at the preset power-changing position, the battery-removing and power-changing device 12B will not cause an obstacle to the electric vehicle driving into the vehicle carrying platform.
- condition (3) can be satisfied is usually related to the structure of the car platform.
- Example 11 Taking the vehicle-carrying platform of the first structure in Example 11 as an example, since the electric vehicle is parked on the vehicle-carrying platform when the power is changed, and the preset power-changing position is usually located below the vehicle-carrying platform, In general, even if the battery-removing and power-changing device 12B is parked at the preset power-changing position before the electric vehicle enters the car platform, the battery-removing and power-changing device 12B will not The electric vehicle on the vehicle-carrying platform causes obstruction and can satisfy the condition (3).
- the preset power-changing position is usually also located above the vehicle-carrying platform. Therefore, if the battery-removing and power-changing device 12B is parked at the preset power-changing position before the electric vehicle enters the car-carrying platform, then when the electric vehicle enters the car-carrying platform, the The battery replacement device 12B is likely to block the incoming electric vehicle. Therefore, for the vehicle platform of the second structure, the preset power exchange position usually cannot meet the condition (3), and thus becomes a non-parking state.
- the second preset waiting position is the same position as the preset power exchange position.
- the second preset waiting position is a position that does not exceed a second distance threshold from the preset power exchange position, that is, near the preset power exchange position. position.
- the power exchange preparation process is completed, and the power exchange control system waits for the electric vehicle to drive in and park on the car loading platform to enter the power exchange operation process.
- control unit 11 determines whether the second preset waiting position where the battery discharge power replacement device 12B is located is the same as the preset power exchange position:
- the electric device 12B is further configured to execute the battery unloading instruction;
- a fine-tuning instruction is sent to the battery-removing and power-changing device 12B, and the fine-tuning instruction is used to instruct the battery-removing and power-changing device 12B to move from the second preset waiting position to the preset power-changing position
- the battery-removing and power-changing device 12B is used to execute the fine-tuning instruction; then, the control unit 11 sends the battery-removing instruction to the battery-removing and power-changing device 12B; And execute the battery unloading instruction.
- the control unit 11 is further configured to send a fourth movement instruction to the battery removal power exchange device 12B after the battery removal power exchange device 12B executes the battery removal instruction, and the fourth movement instruction is used to command
- the battery-removing and power-changing device 12B is moved to the second battery placing rack 13B and the deficient battery is placed in the empty battery placing bin.
- the battery discharging and power replacement device 12B is further configured to execute the fourth movement instruction.
- control unit 11 is further configured to scan the license plate of the electric vehicle after the electric vehicle is parked on a car platform or when the license plate of the electric vehicle can be observed, and pass the license plate. Determine the battery model applicable to the electric vehicle, and then select the first rack 13A, and then configure the battery-replacement device 12A, and send a battery-receiving instruction to the battery-replacement device 12A.
- the battery-packed power exchange device 12A is instructed to remove the battery to be mounted from the first battery rack.
- the battery-equipped power exchange device 12A is further configured to execute the battery fetch instruction.
- the control unit 11 is further configured to send a first movement instruction to the battery replacement device 12A after the battery replacement device 12A executes the battery taking instruction, and the first movement instruction is used to instruct
- the battery-equipped power exchange device 12A is parked in advance at a first preset waiting position, and the first preset waiting position is a position within a first distance threshold from the vehicle-carrying platform.
- the battery-equipped power exchange device 12A is further configured to execute the first movement instruction.
- the control unit 11 is further configured to, after the battery-removing and power-changing device 12B leaves the preset power-changing position or leaves the predetermined-power-changing position and exceeds a third distance threshold, send a signal to the battery-powered power-changing device 12A.
- a fifth movement instruction is sent, and the fifth movement instruction is used to instruct the battery-equipped power exchange device 12A to move to the preset power exchange position.
- the battery-equipped power exchange device 12A is further configured to execute the fifth movement instruction.
- the control unit 11 is further configured to send a battery loading instruction to the battery loading and replacing device 12A after the battery loading and replacing device 12A executes the fifth movement instruction, and the battery loading and charging instruction is used to instruct the battery loading and replacement device 12A.
- the battery-equipped power exchange device 12A loads the battery to be loaded into the electric vehicle.
- the battery-packed power exchange device 12A is further configured to execute the battery-packed instruction. So far, the electric vehicle has been replaced with electricity, and the control unit 11 instructs the battery-equipped electricity exchange device 12A to drive away from the preset electricity exchange position.
- the power exchange control system of this embodiment completes part of the control during the power exchange preparation process, which greatly shortens the power exchange time after the electric vehicle enters the loading platform and improves the power exchange efficiency.
- FIG. 4 shows a power exchange control system of this embodiment.
- This embodiment is basically the same as Embodiment 6, except that the battery suitable for an electric vehicle in this embodiment generally refers to the same battery type as that of the electric vehicle.
- the power exchange control system of this embodiment is a further improvement based on Embodiment 13.
- the improvement of Embodiment 13 in this embodiment is basically the same as the improvement of Embodiment 7 over Embodiment 6.
- the difference is that the first The condition may be set to place a fully-charged battery suitable for the electric vehicle;
- the first condition may be preferentially set to place a fully charged battery suitable for the electric vehicle, if the at least one battery rack does not have
- the battery condition rack of the first condition is modified to set the first condition to store a battery suitable for the electric vehicle and having the highest power.
- the first condition is set by default to a battery that is suitable for the electric vehicle and is fully charged, and the control unit 11 is configured to determine whether there is a battery in the at least one battery rack that meets the default first condition. Battery rack, if yes, select one of them as the first battery rack 13A, if not, then:
- the first condition is modified to set a battery with the highest capacity suitable for the electric vehicle, and it is judged again whether there is a battery placement rack that meets the current first condition in the at least one battery placement rack, and if so, select from it One serves as a first battery placing stand 13A. If there is still no battery rack that meets the first condition, the control unit 11 may issue an alarm signal to indicate that the electric vehicle cannot be replaced with electricity.
- the power exchange control system of this embodiment is a further improvement on the basis of Embodiment 13 or 14.
- the improvement of Embodiment 13 or 14 in this embodiment is basically the same as that of Embodiment 8 or 6 or 7. The difference is that, in this embodiment, if the battery vehicle is not parked yet, a battery rack closest to the vehicle platform for parking the electric vehicle is selected as the first battery rack 13A. . Similarly, if the battery vehicle has not been parked, a battery rack closest to the vehicle platform for parking the electric vehicle is selected as the second battery rack 13B.
- the vehicle-carrying platform may be a dedicated platform for vehicle power exchange or other common platforms for vehicle parking and convenient power exchange.
- the power exchange control system of this embodiment is a further improvement based on Embodiment 13 or 14.
- Embodiment 13 or 14 in this embodiment please refer to the improvement of Embodiment 9 to Embodiment 6 or 7.
- the power exchange control system of this embodiment is a further improvement on Embodiment 13.
- the improvement of Embodiment 13 in this embodiment is basically the same as that of Embodiment 10 over Embodiment 6. The difference is that if If the electric vehicle is not parked yet, it is preferred that the electric power exchange equipment is closest to the vehicle carrying platform for parking the electric vehicle. Similarly, if the electric vehicle 14 has not been parked, the distances between the screened power exchange equipment and the car platform 15 are calculated.
- each of the battery placing racks has a preset binding relationship with at least one of the power exchange devices
- the battery vehicle has not been parked, it is preferable to have a binding relationship with the second battery placing frame 13B and the closest power exchange device to the vehicle platform for parking the electric vehicle. Similarly, if the battery vehicle has not been parked, the distance from the screened power exchange equipment to the vehicle carrying platform is calculated.
- the power exchange control system of this embodiment is a further improvement based on Embodiment 13.
- the improvement of Embodiment 13 in this embodiment is basically the same as the improvement of Embodiment 11 in Embodiment 6. The difference is that this implementation
- this implementation For a process of selecting the second battery placing rack 13B in the example, refer to Embodiment 14-16, and for a process of configuring the battery unloading and power replacement device 12B, refer to Embodiment 17.
- control unit 11 is further configured to select the first battery placing rack 13A after the electric vehicle is parked on a vehicle carrying platform, and then configure a battery-replacement device 12A to the battery-receiving device.
- the battery replacement device 12A sends a battery take instruction, which is used to instruct the battery replacement device 12A to remove the battery to be installed from the first battery placing rack 13A.
- the battery-equipped power exchange device 12A is further configured to execute the battery fetch instruction.
- the power exchange control system of this embodiment is a further improvement based on Embodiment 13.
- the improvement of Embodiment 13 in this embodiment is basically the same as the improvement of Embodiment 12 in Embodiment 6. The difference is that in this embodiment,
- the control unit 11 may also select The first battery placing rack 13A, the battery-replacement device 12A is configured, and the battery-replacement device 12A is controlled to complete a part of the instructions to save battery installation time.
- the process of selecting the second battery placing rack 13B refer to Embodiment 14-16
- for the process of configuring the battery unloading and power replacement device 12B refer to Embodiment 17.
- the battery model applicable to the electric vehicle can be predicted in the following manner: the vehicle-carrying platform is limited to parking of the electric vehicle to which the battery of the model is applicable. For example, it is preset that a certain vehicle-carrying platform is limited to parking of electric vehicles of a specific type of battery. Then, whether or not the electric vehicle has been parked on the vehicle-carrying platform, it can be determined that the applicable battery type of the electric vehicle must be the specific model.
- control unit 11 controls the battery replacement device 12A to complete a part of the instructions, including: the control unit 11 sends a battery take instruction to the battery replacement device 12A, and the battery take instruction is used to instruct the
- the battery-replacement device 12A removes the battery to be installed from the first battery placing rack 13A.
- the battery-equipped power exchange device 12A is further configured to execute the battery fetch instruction.
- the control unit 11 is further configured to send a first movement instruction to the battery replacement device 12A after the battery replacement device 12A executes the battery taking instruction, and the first movement instruction is used to instruct
- the battery-equipped power exchange device 12A is parked in advance at a first preset waiting position, the first preset waiting position is near the vehicle-carrying platform, and is a position that is within a first distance threshold from the vehicle-carrying platform .
- the battery-equipped power exchange device 12A is further configured to execute the first movement instruction.
- the power exchange preparation process is completed, and the power exchange control system waits for the electric vehicle to drive in and park on the car loading platform to enter the power exchange operation process.
- control unit 11 determines whether the second preset waiting position where the battery discharge power replacement device 12B is located is the same as the preset power exchange position:
- the electric device 12B is further configured to execute the battery unloading instruction;
- a fine-tuning instruction is sent to the battery-removing and power-changing device 12B, and the fine-tuning instruction is used to instruct the battery-removing and power-changing device 12B to move from the second preset waiting position to the preset power-changing position
- the battery-removing and power-changing device 12B is used to execute the fine-tuning instruction; then, the control unit 11 sends the battery-removing instruction to the battery-removing and power-changing device 12B; And execute the battery unloading instruction.
- the control unit 11 is further configured to send a fourth movement instruction to the battery removal power exchange device 12B after the battery removal power exchange device 12B executes the battery removal instruction, and the fourth movement instruction is used to command
- the battery-removing and power-changing device 12B is moved to the second battery placing rack 13B and the deficient battery is placed in the empty battery placing bin.
- the battery discharging and power replacement device 12B is further configured to execute the fourth movement instruction.
- the control unit 11 is further configured to send to the battery-installed power exchange device after the battery-removed power replacement device 12B leaves the preset power-change location or leaves the preset power-change location beyond a third distance threshold.
- a fifth movement instruction where the fifth movement instruction is used to instruct the battery-equipped power exchange device 12A to move to the preset power exchange position.
- the battery-equipped power exchange device 12A is further configured to execute the fifth movement instruction.
- the control unit 11 is further configured to send a battery loading instruction to the battery loading and replacing device 12A after the battery loading and replacing device 12A executes the fifth movement instruction, and the battery loading and charging instruction is used to instruct the battery loading and replacement device 12A.
- the battery-equipped power exchange device 12A loads the battery to be loaded into the electric vehicle.
- the battery-packed power exchange device 12A is further configured to execute the battery-packed instruction. So far, the electric vehicle has been replaced with electricity, and the control unit 11 instructs the battery-equipped electricity exchange device 12A to drive away from the preset electricity exchange position.
- the power exchange control system of this embodiment completes part of the control during the power exchange preparation process, which greatly shortens the power exchange time after the electric vehicle enters the loading platform and improves the power exchange efficiency.
- FIG. 8 shows a power exchange control method in this embodiment.
- the power exchange control method includes:
- Step 21 Determine the battery model applicable to the electric vehicle. Specifically, the license plate of the electric vehicle may be scanned, and the battery model applicable to the electric vehicle may be determined through the license plate.
- Step 22 Select a battery placement rack that meets the first condition from at least one battery placement rack as the first battery placement rack.
- the battery placement rack has a plurality of battery placement bins for placing batteries, and the first condition is set to place There is a battery of said battery type.
- Step 23 Select a battery placement rack that meets the second condition from the at least one battery placement rack as the second battery placement rack, and the second strip is set to have an empty battery placement bin.
- Step 24 The power replacement device is moved to a preset power replacement position, the power-deficient battery is removed from the electric vehicle, and the power-deficient battery is transported to the second rack and placed on the empty battery.
- the preset power exchange position is a position suitable for taking out and installing a battery from the electric vehicle.
- Step 25 Move the power exchange device to the first battery rack, remove the battery of the battery type from the first battery rack, and transport the battery of the battery type to the preset battery replacement.
- the electric position is installed on the electric vehicle.
- confirming the applicable battery model of the electric vehicle can facilitate the selection of the first battery placement rack; during the entire process of powering the vehicle, the power-changing device moves smoothly, improving the power-changing speed and efficiency.
- the preset power exchange position can be understood as that when the power exchange device is located at the preset power exchange position, the battery can be removed from the electric vehicle or installed in the electric vehicle with minimal movement.
- the preset power exchange position may be determined according to a structure of a car loading platform where the electric vehicle is parked, and the preset power exchange position is located below or above the car loading platform.
- the power exchange control method in this embodiment is a further improvement based on Embodiment 20, and is mainly reflected in the setting of the first condition.
- the first condition is used as a basis for selecting the first battery placing rack.
- other preferred matching conditions may be further set.
- the matching condition is mainly related to the power of the battery, and the power exchange control method further includes: monitoring the power of the battery placed on the battery rack.
- the first condition is set as a fully charged battery in which the battery model is placed.
- step 22 determines whether there is a battery placement rack that meets the first condition in the at least one battery placement rack, and if so, selects one of them as the first battery placement rack. If there is no battery rack that meets the first condition, a warning signal is issued, indicating that the electric vehicle cannot be replaced with electricity.
- the first condition is preferentially set as a battery with the battery model and fully charged, if the at least one battery rack does not have the first condition
- the battery placement rack the first condition is modified to set the battery with the highest battery capacity and the battery type.
- the first condition is set as a fully charged battery by default, and step 22 determines whether there is a battery placement rack that meets the default first condition in the at least one battery placement rack. If yes, then choose one of them as the first battery holder, if not, then:
- the first condition is modified to set the battery with the highest battery type and the battery with the highest capacity, and it is judged again whether there is a battery shelf in the at least one battery shelf that meets the current first condition, and if so, one of them is selected as First battery holder. If there is still no battery rack that meets the first condition, an alarm signal may be issued to indicate that the electric vehicle cannot be replaced with electricity.
- the empty battery storage compartment is also used to charge the power-deficient battery.
- the empty battery storage bin has a battery charging circuit, and the battery charging circuit may have fixed power parameters that match the battery model; or the battery charging circuit has an adjustable A power parameter, the control unit is further configured to adjust the power parameter according to the battery model, so that the power parameter matches the battery model.
- the power parameters include current, voltage, and the like.
- the first condition may be set to other conditions according to requirements.
- the power exchange control method in this embodiment is a further improvement on the basis of Embodiment 20 or 21, which is mainly reflected in the selection of the first battery placing rack and the second battery placing rack.
- the method may further set the selection requirements of the first battery placing rack and the second battery placing rack according to requirements.
- step 22 further includes determining whether there are more than one battery racks that meet the first condition, and if so, then :
- a battery rack closest to the electric vehicle or a distance from the battery rack that meets the first condition is selected for parking.
- the closest battery placing rack of the vehicle carrying platform of the electric vehicle is used as the first battery placing rack;
- a battery placement rack located on a path between the second battery placement rack and the battery vehicle is selected as the first battery placement rack, or a path located away from the electric vehicle or vehicle is selected.
- the nearest battery placing rack of the vehicle carrying platform is used as the first battery placing rack.
- step 23 further includes determining that there are more than one battery racks that meet the second condition. If yes, then:
- a battery placing rack closest to the electric vehicle or a distance for parking is selected from the battery placing racks that meet the second condition.
- the nearest battery placement rack of the vehicle platform of the electric vehicle serves as the second battery placement rack.
- the battery placement rack can be driven into the car carrying platform along the electric vehicle
- the directions are arranged on both sides of the vehicle-carrying platform.
- the vehicle-carrying platform may be a dedicated platform for vehicle power exchange or other common platforms that can be parked by the vehicle and facilitate power exchange.
- the selection of the first battery placement rack and the second battery placement rack is relatively independent, that is, the selection of the first battery placement rack and the second battery placement rack can be set according to different needs, respectively. Claim.
- the power exchange control method in this embodiment is a further improvement on the basis of Embodiment 20 or 21, which is mainly reflected in the selection of the first battery placing rack and the second battery placing rack. Different from Embodiment 21, in this embodiment, when selecting the first battery placing rack and the second battery placing rack, the relationship between the two will be considered to a certain extent.
- the method further includes determining whether a multi-functional battery rack exists in the at least one battery rack, and the multi-function battery rack is a battery rack that meets the first condition and the second condition. .
- the first battery rack can be selected from the battery racks that meet the first condition, and the first battery rack can be selected from the battery racks that meet the second condition according to the solution in Embodiment 21. Two battery racks.
- the multifunctional battery placing rack can also be used as the first battery placing rack and the second battery placing rack at the same time. This reduces the moving distance of the power exchange equipment.
- the power exchange control method in this embodiment is a further improvement based on Embodiment 20, and is mainly reflected in the control flow of the power exchange equipment.
- the entire power exchange process can be divided into a power exchange preparation process before the electric vehicle is parked on the car platform and an electric power exchange operation process after the electric vehicle is parked on the car platform.
- the power exchange control method includes: causing the power exchange equipment to be parked in a preset waiting position in advance.
- the preset waiting position is related to the preset power exchange position, and may be the same position as the preset power exchange position or a position near the preset power exchange position.
- the preset waiting position is the same position as the preset power exchange position.
- the preset waiting position is a position that does not exceed a first distance threshold from the preset power exchange position.
- the preset power exchange position is a parkable state; otherwise, the preset power exchange position is a non-parkable state:
- the preset power exchange position is vacant
- the power replacement control method includes:
- the power exchange device After the power exchange device removes the power-deficient battery from the electric vehicle, causing the power exchange device to move to the second battery rack;
- the power exchange control system of this embodiment completes part of the control during the power exchange preparation process, which greatly shortens the power exchange time after the electric vehicle enters the loading platform and improves the power exchange efficiency.
- FIG. 10 illustrates a power exchange control method in this embodiment.
- the power exchange control method includes:
- Step 21 ' Select a battery placement rack that meets the first condition from at least one battery placement rack as the first battery placement rack.
- the battery rack includes a plurality of battery storage bins for storing batteries.
- the first condition is set to store batteries suitable for electric vehicles.
- the batteries suitable for electric vehicles generally refer to the same as the electric vehicles.
- the batteries used are of the same type.
- Step 22 ' Select a battery placement rack that meets the second condition from the at least one battery placement rack as the second battery placement rack.
- the second condition is set to have an empty battery storage compartment.
- Step 23 ' Configure at least one of the at least two power replacement devices as a battery-mounted power replacement device.
- the battery-replacement device is used to transport batteries to be installed, and the batteries to be installed are batteries that are removed from the first battery rack and are suitable for the electric vehicle and are to be installed in the electric vehicle. .
- Step 24 ' Configure at least one of the at least two power exchange devices as a battery discharge power replacement device.
- the battery-removing and power-changing device is used for transporting a power-deficient battery
- the power-deficient battery is a battery removed from the electric vehicle and to be placed in the empty battery storage compartment.
- step 22 ' may adopt other sequences, such as first performing step 22 ', then step 24', step 21 ', and step 23 in this order. ', Or step 21', then step 23 ', step 22', and step 24 '.
- two power-changing devices are used, which are a battery-powered power-removal device and a battery-power-removal power-replacement device.
- the two electric replacement devices have different The responsibility of jointly completing the task of power exchange makes the entire time of power exchange shorten at least half of the time compared with the use of only one power exchange equipment to improve the speed and efficiency of power exchange.
- the power exchange control method of this embodiment is a further improvement based on Embodiment 25.
- the improvement of Embodiment 25 in this embodiment is basically the same as the improvement of Embodiment 21 in Embodiment 20.
- the difference is that the power exchange The control method further includes: monitoring a power amount of a battery placed on the battery placing rack, which is helpful for selecting a first battery placing rack.
- the power exchange control method of this embodiment is a further improvement on the basis of Embodiment 25 or 26.
- the improvement of Embodiment 25 or 26 in this embodiment is basically the same as that of Embodiment 22 or 20 or 21.
- the battery The racks can be arranged on both sides of the vehicle-carrying platform in the direction that the electric vehicle drives into the vehicle-carrying platform.
- the power exchange control method in this embodiment is a further improvement on the basis of Embodiment 25 or 26, which is mainly reflected in the selection of the first battery placing rack and the second battery placing rack. Different from Embodiment 27, in this embodiment, when the first battery placing rack and the second battery placing rack are selected, the relationship between the two is considered to a certain extent.
- the power exchange control method further includes:
- the first battery placement rack can be selected from the battery placement racks that meet the first condition, and the second battery placement rack is selected from the battery placement racks that meet the second condition, according to the solution of Embodiment 27.
- the multi-functional battery placing rack is preferentially used, and any one of the following four ways is used to configure identity:
- the first method is to use the multifunctional battery placing rack as the first battery placing rack and the second battery placing rack simultaneously.
- the second method is to use the multifunctional battery placing rack as any one of the first battery placing rack and the second battery placing rack.
- any one of the following conditions is used as the first battery placement rack. Necessary conditions:
- Condition (2) among the remaining battery placement racks, the number of battery placement racks that meet the first condition is less than the number of battery placement racks that meet the second condition;
- Condition (3) Among the remaining battery racks, the number of battery racks that meet the first condition is less than the number of battery racks that meet the second condition, and the absolute value of the difference between the two is less than A first difference threshold;
- Condition (4) Of the remaining battery racks, the number of battery racks that meet the first condition is less than the first number threshold.
- Condition (2) among the remaining battery placement racks, the number of battery placement racks that meet the second condition is less than the number of battery placement racks that meet the first condition;
- Condition (3) Among the remaining battery racks, the number of battery racks that meet the second condition is less than the number of battery racks that meet the first condition, and the absolute value of the difference between the two is less than A second difference threshold;
- Condition (4) Of the remaining battery racks, the number of battery racks that meet the second condition is less than the second number threshold.
- the power exchange control method of this embodiment is a further improvement on the basis of Embodiment 25, and is mainly reflected in the configuration of step 23 'for the battery replacement device and step 24' for the battery replacement device.
- the power exchange equipment can be roughly divided into two types:
- the single-function power exchange device has a relatively simple structure, which can have a first structure and can only be configured as a battery replacement device, or a second structure and can only be configured as a battery replacement device;
- the multifunctional power exchange device has a relatively complicated structure, and has both the first structure and the second structure, and can be configured as any one of a battery replacement device and a battery replacement device.
- the first structure includes a structure required to realize removal of the battery to be installed from the first battery rack and installation on the electric vehicle, for example, removing the battery to be installed from the first battery.
- the second structure includes a structure required to achieve removal of the power-deficient battery from the electric vehicle and placement on the second battery rack, for example, unlocking the power-deficient battery from the electric vehicle.
- the at least two power exchange devices may be single-function power exchange devices (but the single-function power exchange device having the first structure and the single-function power exchange device having the second structure All electrical equipment is required); or, they are all multifunctional power exchange equipment; or, some are single-function power exchange equipment, and some are multifunctional power exchange equipment.
- the power-changing device configured as the battery-equipped power exchange device in step 23 ' is preferably closest to the first battery rack Power exchange equipment.
- step 23 ' is performed after the first battery placing rack is selected in step 21', and may include: determining a position of the first battery placing rack, and screening single-function power exchange equipment and multi-function power exchange having the first structure. The device calculates the distance from each of the single-function power exchange device and the multi-function power exchange device with the first structure to the first battery rack, and selects the closest one to be configured as the battery-replaced device.
- the power-changing device that is configured as the battery-discharging and power-changing device in step 24 ′ is preferably the nearest power-changing to the electric vehicle Equipment (if the electric vehicle has not been parked, it is preferred to be the closest power exchange equipment to the car platform for parking the electric vehicle).
- step 24 ′ may include: screening the single-function power exchange device and the multi-function power exchange device having the second structure, and calculating each of the single-function power exchange device and the multi-function power exchange device having the second structure to the The distance of the electric vehicle (if the electric vehicle is not parked yet, the distance between the screened platform of the power exchange equipment and the vehicle carrying platform is calculated separately), and the nearest one is selected as the battery unloading and power exchange equipment.
- each of the battery racks has a predetermined binding relationship with at least one of the power exchange apparatuses, that is, each battery rack can only be bound by Take out and discharge the battery of the power exchange equipment with a fixed relationship.
- Step 23 ′ When configuring the battery replacement device, it is preferred that the battery replacement device has a binding relationship with the first battery rack, or has a binding relationship with the first battery rack and is away from the first battery. Place the nearest power replacement equipment.
- step 23 ′ may include: after selecting the first battery placement rack, screening single-function power exchange equipment and multi-function electricity exchange equipment having a binding relationship with the first battery placement rack and having a first structure, One of them is randomly selected to be configured as a battery replacement device, or the position of the first battery rack is further determined, and the distances between the screened power exchange device and the first battery rack are calculated, and the nearest one is selected.
- the electrical device is configured as a battery replacement device.
- Step 24 When configuring a battery-removal power replacement device, it is preferred that the power replacement device has a binding relationship with the second battery rack, or has a binding relationship with the second battery rack, and is closest to the electric vehicle. (If the battery vehicle is not parked yet, it is preferably a power exchange device that has a binding relationship with the second battery placement rack and is closest to the vehicle platform for parking the electric vehicle).
- step 24 ′ may include: after selecting the second battery rack, selecting single-function power exchange equipment and multi-function power exchange equipment having a binding relationship with the second battery rack and having a second structure, One of them is randomly selected to be configured as a battery-removing electrical replacement device, or the distance between the screened electrical replacement device and the electric vehicle is calculated separately (if the battery vehicle is not parked, the screened electrical replacement device is calculated to the vehicle) Distance of the vehicle platform), and select a nearest electric replacement device to be configured as a battery unloading electric replacement device.
- the power exchange control method of this embodiment is a further improvement based on Embodiment 25, and is mainly reflected in the power exchange control process of the power exchange control method.
- the power exchange control process in this embodiment is divided into a power exchange preparation process before the electric vehicle is parked on the car platform and a power exchange operation process after the electric vehicle is parked on the car platform.
- the power replacement control method includes: selecting the second battery placement rack in advance, and then configuring a battery replacement power replacement device.
- selecting the second battery placing rack refer to Embodiment 26-28
- configuring a battery unloading and power replacement device refer to Embodiment 29.
- the power replacement control method includes: instructing the battery-removal power replacement device to move and park at a preset power replacement position.
- the battery-removing power exchange device After the electric vehicle is parked on the car-carrying platform and the battery-removing power exchange device is parked at the preset power-changing position, the battery-removing power exchange device is ordered to remove the power shortage from the electric vehicle. battery.
- the preset power exchange position is a position suitable for taking a battery from an electric vehicle parked on the vehicle carrying platform. It can be understood that the battery discharge power replacement device is located at the preset power exchange position At this time, the battery-removing and power-changing device can remove the battery from the electric vehicle parked on the vehicle-carrying platform with minimal movement.
- the preset power exchange position may specifically be determined according to the structure of the vehicle-carrying platform. The preset power exchange position is located below or above the vehicle-carrying platform. (For a detailed description of the preset power exchange position, see the embodiment. 25).
- the preset power exchange position may further be set according to the structure of the vehicle-carrying platform, in combination with the second structure of the battery unloading power exchange equipment, and the conditions such as the movement path of the second structure when the battery is lacking.
- the battery-removing and power-removing device After the battery-removing and power-removing device removes the power-loss battery from the electric vehicle, the battery-removing and power-removing device is commanded to move to the second battery placing rack and place the power-losing battery in the Empty battery compartment.
- the power replacement control method further includes: selecting the first battery placement rack, and then configuring the battery replacement apparatus, and ordering the battery replacement apparatus to be taken from the first battery placement rack
- the battery to be installed is described below.
- selecting the first battery placing rack refer to Embodiment 26-28
- configuring a battery-replacement device refer to Embodiment 29.
- the battery-powered power-changing device After the battery-removing and power-changing device leaves the preset power-changing position or leaves the preset-power-changing position for more than a third distance threshold, the battery-powered power-changing device is commanded to move to the preset power-changing position.
- the battery-equipped power exchange device After the battery-equipped power exchange device is moved to the preset power-changing position, the battery-equipped power exchange device is commanded to load the battery to be installed into the electric vehicle. So far, the electric vehicle has been replaced with electricity.
- the battery-equipped power exchange device is instructed to drive away from the preset power exchange position.
- the power exchange control method of this embodiment is a further improvement based on Embodiment 25, and is mainly reflected in the power exchange control process of the power exchange control method.
- the power exchange control process in this embodiment is divided into a power exchange preparation process before the electric vehicle is parked on the car platform and an electric power exchange operation process after the electric vehicle is parked on the car platform. As shown in FIG. 12, in the power replacement preparation process and the power replacement operation flow, the steps included in the power replacement control method are different from those in Embodiment 30.
- the power replacement control method includes: selecting the second battery placement rack in advance, configuring the battery removal power replacement device, and ordering the battery removal power replacement device to complete a part of the operation in order to save Battery removal time.
- selecting the second battery placing rack refer to Embodiment 26-28
- configuring a battery unloading and power replacement device refer to Embodiment 29.
- ordering the battery-removing and power-changing device to complete a part of operations includes: determining whether the preset power-changing position is in a parkable state, thereby setting a second preset waiting position, and ordering the battery-removing and power-changing device in advance Parked at the second preset waiting position.
- the second preset waiting position is related to the preset power exchange position, and may be the same position as the preset power exchange position or a position near the preset power exchange position (for the preset power exchange position). (Refer to Example 30 for specific description of the power exchange position).
- the determining whether the preset power exchange position is a parkingable state may specifically include:
- the preset power exchange position is a parking-capable state; otherwise, the preset power exchange position is a non-parking state:
- Condition (2) There is a path for the battery unloading and power exchange device to move to the preset power exchange position
- Condition (3) It is predicted that when the battery-removing and power-changing device is parked at the preset power-changing position, the battery-removing and power-changing device will not cause an obstacle to the electric vehicle entering the vehicle-carrying platform.
- condition (3) can be satisfied is usually related to the structure of the car platform.
- the second preset waiting position is the same position as the preset power exchange position.
- the second preset waiting position is a position that does not exceed a second distance threshold from the preset power exchange position, that is, near the preset power exchange position. position.
- the power exchange control method further includes: The first battery placing rack is selected in advance, the battery-recharging device is configured, and the battery-recharging device is instructed to complete a part of the operation to save battery installation time.
- the battery model applicable to the electric vehicle can be predicted in the following manner: the vehicle-carrying platform is limited to parking of the electric vehicle to which the battery of the model is applicable.
- a certain vehicle-carrying platform is limited to parking of electric vehicles of a specific type of battery. Then, whether or not the electric vehicle has been parked on the vehicle-carrying platform, it can be determined that the applicable battery type of the electric vehicle must be the specific model.
- ordering the battery-replacement device to complete a part of the operation includes: ordering the battery-replacement device to remove the battery to be installed from the first battery placement rack.
- the battery replacement device After the battery replacement device removes the battery to be installed from the first battery rack, the battery replacement device is commanded to be parked in a first preset waiting position in advance, the first preset waiting The position is near the vehicle-carrying platform, and is a position that is within a first distance threshold from the vehicle-carrying platform.
- the power replacement control method includes: determining whether the second preset waiting position where the battery discharge power replacement device is located is the same as the preset power replacement position:
- the battery-removing device executes the battery-removing instruction, the battery-removing device is instructed to move to the second battery placement rack and place the lacking battery in the empty battery storage compartment. .
- the battery-powered power-changing device After the battery-removing and power-changing device leaves the preset power-changing position or leaves the preset-power-changing position for more than a third distance threshold, the battery-powered power-changing device is commanded to move to the preset power-changing position.
- the battery-equipped power exchange device After the battery-equipped power exchange device is moved to the preset power exchange position, the battery-equipped power exchange device is commanded to load the battery to be installed into the electric vehicle. So far, the electric vehicle has been replaced with electricity.
- the battery-equipped power exchange device is ordered to drive away from the preset power exchange position.
- the power exchange control method of this embodiment completes part of the control during the power exchange preparation process, which greatly shortens the power exchange time after the electric vehicle enters the loading platform and improves the power exchange efficiency.
- FIG. 13 illustrates a power exchange control method in this embodiment.
- the power exchange control method includes:
- Step 21 ' Determine the battery model suitable for the electric vehicle to be replaced.
- Step 22 ' Select a battery placement rack that meets the first condition from at least one battery placement rack as the first battery placement rack.
- the battery rack includes a plurality of battery storage bins for storing batteries.
- the first condition is set to store a battery of the battery type.
- the battery suitable for an electric vehicle generally refers to the same as the electric vehicle.
- the batteries used are of the same type.
- Step 23 ' Select a battery placement rack that meets the second condition from the at least one battery placement rack as the second battery placement rack.
- the second condition is set to have an empty battery storage compartment.
- Step 24 ' Configure at least one of the at least two power replacement devices as a battery-mounted power replacement device.
- the battery-equipped power exchange device is used for transporting batteries to be installed, and the batteries to be installed are batteries of the battery type that are removed from the first battery rack and are to be installed in the electric vehicle.
- Step 25 ' Configure at least one of the at least two power exchange devices as a battery discharge power replacement device.
- the battery-removing and power-changing device is used for transporting a power-deficient battery
- the power-deficient battery is a battery removed from the electric vehicle and to be placed in the empty battery storage compartment.
- step 23 is only one possible ordering of the above steps.
- the above steps may adopt other sequences, such as first performing step 23 ', then step 25', step 21 ', and step 23 in this order.
- Step 24' or step 21 ', then step 22', step 24 ', step 23', and step 25 '.
- confirming the applicable battery model of the electric vehicle is convenient for selecting the first battery rack and retrieving the battery to be installed; in the entire process of replacing the vehicle with electricity, two electricity exchange devices are used, one for battery installation
- the power trajectory and battery-removal equipment, the movement trajectory of the battery-replacement equipment is between the first battery rack and the electric vehicle to achieve the transportation of the battery to be installed.
- the movement trajectory of the battery-removal equipment is between the electric vehicle and the
- the two batteries are placed between the racks to realize the transportation of power-deficient batteries.
- the two power exchange devices have different responsibilities and jointly complete the power exchange task, so that the entire power exchange time is at least compared to using only one power exchange device to achieve power exchange. Cut the time in half, improve the speed and efficiency of power exchange.
- the power exchange control method of this embodiment is a further improvement based on Embodiment 32.
- the improvement of Embodiment 32 in this embodiment is basically the same as the improvement of Embodiment 26 over Embodiment 25, except that the difference
- the first condition may be a fully charged battery in which the battery model is placed;
- the first condition may be preferentially set as a battery with the battery model and fully charged, if the at least one battery rack does not have a battery that meets the first
- the battery placing rack with conditions the first condition is modified and set to a battery with the highest battery type in which the battery model is placed.
- step 22 ' specifically includes: the first condition is set by default as a fully charged battery in which the battery model is placed, and determining whether there is a battery placement rack in the at least one battery placement rack that meets the default first condition. , If yes, select one of them as the first battery rack, if not, then:
- the first condition is modified to set the battery with the highest battery type and the battery with the highest capacity, and it is judged again whether there is a battery shelf in the at least one battery shelf that meets the current first condition, and if so, one of them is selected as First battery holder. If there is still no battery rack that meets the first condition, an alarm signal may be issued to indicate that the electric vehicle cannot be replaced with electricity.
- the power exchange control method in this embodiment is a further improvement on the basis of Embodiment 32 or 33.
- the improvement of Embodiment 32 or 33 in this embodiment is basically the same as the improvement of Embodiment 27 in Embodiment 25 or 26.
- the difference is that in order to shorten the moving distance and moving time of the battery-equipped battery replacement device and speed up the electricity exchange efficiency, a battery placement closest to the electric vehicle is selected from the battery placement racks that meet the first condition.
- the first battery placing rack is a battery placing rack or a battery placing rack closest to the vehicle platform for parking the electric vehicle.
- a battery placing rack or a distance closest to the electric vehicle is selected from the battery placing racks that meet the second condition.
- the second battery placement rack is the closest battery placement rack to the parking platform of the electric vehicle.
- the vehicle-carrying platform may be a dedicated platform for vehicle power exchange or other common platforms for vehicle parking and convenient power exchange.
- the power exchange control method in this embodiment is a further improvement on the basis of Embodiment 32 or 33.
- Embodiment 32 or 33 in this embodiment refer to the improvement of Embodiment 27 in Embodiment 25 or 26.
- the power exchange control method of this embodiment is a further improvement based on Embodiment 32.
- the improvement of Embodiment 32 in this embodiment is basically the same as the improvement of Embodiment 29 in Embodiment 25, except that this embodiment
- the power-changing device configured as the battery-removing power-removing device in step 25 ' is preferably closest to the electric vehicle. Or the closest power exchange device to the car platform used to park the electric vehicle.
- step 25 ' may include: screening a single-function power exchange device and a multi-function power exchange device having a second structure, and calculating each of the single-function power switch and the multi-function power exchange device having a second structure to the The distance of the electric vehicle or the distance to the vehicle-carrying platform), the one closest to the power exchange device is selected as the battery unloading power replacement device.
- Step 25 ' When configuring a battery-removing power replacement device, it is preferred that the power replacement device has a binding relationship with the second battery rack, or has a binding relationship with the second battery rack and is closest to the electric vehicle. Or the closest power exchange equipment to the vehicle platform used to park the electric vehicle.
- step 25 ' may include: after selecting the second battery placing rack, screening single-function and multi-function electricity exchange devices having a binding relationship with the second battery placing rack and having a second structure, One of them is randomly selected and configured as a battery-removing power-replacement device, or the distance between the screened power-removing device to the electric vehicle or the vehicle-carrying platform is calculated separately, and the closest power-removing device is configured to be unloaded Battery replacement equipment.
- the power exchange control method of this embodiment is a further improvement based on Embodiment 32.
- the improvement of Embodiment 13 in this embodiment is basically the same as the improvement of Embodiment 30 over Embodiment 25. The difference is that As shown in FIG. 14, the power exchange control process in this embodiment is divided into a power exchange preparation process before the electric vehicle is parked on the vehicle platform and a power exchange operation process after the electric vehicle is parked on the vehicle platform.
- the power replacement control method includes: selecting the second battery placement rack in advance, and then configuring a battery replacement power replacement device.
- selecting the second battery placing rack refer to Embodiments 33-35
- configuring a battery unloading and power replacement device refer to Embodiment 36.
- Embodiment 30 for a specific description of the preset power exchange position, refer to Embodiment 30.
- the power exchange control method further includes: after the electric vehicle is parked on a vehicle carrying platform or when the license plate of the electric vehicle can be observed, scanning the license plate of the electric vehicle and passing the electric vehicle The license plate determines the battery model applicable to the electric vehicle, and then selects the first battery rack, and then configures a battery-replacement device to order the battery-replacement device to remove the standby battery from the first battery rack. Install the battery.
- a method of selecting the first battery placing rack refer to Embodiments 33 to 35
- a method of configuring a battery replacement device refer to Embodiment 36.
- the battery replacement device After the battery replacement device removes the battery to be installed from the first battery rack, the battery replacement device is commanded to be parked in a first preset waiting position in advance, the first preset waiting The position is a position that does not exceed a first distance threshold from the vehicle-carrying platform.
- the battery-powered power-changing device After the battery-removing and power-changing device leaves the preset power-changing position or leaves the preset-power-changing position for more than a third distance threshold, the battery-powered power-changing device is commanded to move to the preset power-changing position.
- the battery-equipped power exchange device After the battery-equipped power exchange device is moved to the preset power-changing position, the battery-equipped power exchange device is commanded to load the battery to be installed into the electric vehicle. So far, the electric vehicle has been replaced with electricity.
- the battery-equipped power exchange device is instructed to drive away from the preset power exchange position.
- the power exchange control method of this embodiment is a further improvement based on Embodiment 32, and is mainly reflected in the power exchange control process of the power exchange control method.
- the power exchange control process in this embodiment is divided into a power exchange preparation process before the electric vehicle is parked on the car platform and an electric power exchange operation process after the electric vehicle is parked on the car platform. As shown in FIG. 15, in the power replacement preparation process and the power replacement operation flow, the steps included in the power replacement control method are different from those in Embodiment 37.
- the power replacement control method includes: selecting the second battery placement rack in advance, configuring the battery removal power replacement device, and ordering the battery removal power replacement device to complete a part of the operation in order to save Battery removal time.
- selecting the second battery placing rack refer to Embodiments 33-35
- configuring a battery unloading and power replacement device refer to Embodiment 36.
- ordering the battery-removing and power-changing device to complete a part of operations includes: determining whether the preset power-changing position is in a parkable state, thereby setting a second preset waiting position, and ordering the battery-removing and power-changing device in advance Parked at the second preset waiting position.
- the second preset waiting position is related to the preset power exchange position, and may be the same position as the preset power exchange position or a position near the preset power exchange position (for the preset power exchange position). (Refer to Example 30 for specific description of the power exchange position).
- the determining whether the preset power exchange position is a parkingable state may specifically include:
- the preset power exchange position is a parking-capable state; otherwise, the preset power exchange position is a non-parking state:
- Condition (2) There is a path for the battery unloading and power exchange device to move to the preset power exchange position
- Condition (3) It is predicted that when the battery-removing and power-changing device is parked at the preset power-changing position, the battery-removing and power-changing device will not cause an obstacle to the electric vehicle driving into the vehicle carrying platform.
- condition (3) can be satisfied is usually related to the structure of the car platform.
- the second preset waiting position is the same position as the preset power exchange position.
- the second preset waiting position is a position that does not exceed a second distance threshold from the preset power exchange position, that is, near the preset power exchange position. position.
- the power replacement control method includes: determining whether the second preset waiting position where the battery discharge power replacement device is located is the same as the preset power replacement position:
- the battery-removing device executes the battery-removing instruction, the battery-removing device is instructed to move to the second battery placement rack and place the lacking battery in the empty battery storage compartment. .
- the power exchange control method further includes: after the electric vehicle is parked on a vehicle carrying platform or when the license plate of the electric vehicle can be observed, scanning the license plate of the electric vehicle and passing the electric vehicle The license plate determines the battery model suitable for the electric vehicle, and then selects the first rack, and then configures a battery-replacement device to order the battery-replacement device to remove the battery to be installed from the first battery rack. battery.
- the battery replacement device After the battery replacement device removes the battery to be installed from the first battery rack, the battery replacement device is commanded to be parked in a first preset waiting position in advance, the first preset waiting The position is a position that does not exceed a first distance threshold from the vehicle-carrying platform.
- the battery-powered power-changing device After the battery-removing and power-changing device leaves the preset power-changing position or leaves the preset-power-changing position for more than a third distance threshold, the battery-powered power-changing device is commanded to move to the preset power-changing position.
- the battery-equipped power exchange device After the battery-equipped power exchange device is moved to the preset power exchange position, the battery-equipped power exchange device is commanded to load the battery to be installed into the electric vehicle. So far, the electric vehicle has been replaced with electricity.
- the battery-equipped power exchange device is ordered to drive away from the preset power exchange position.
- the power exchange control method of this embodiment completes part of the control during the power exchange preparation process, which greatly shortens the power exchange time after the electric vehicle enters the loading platform and improves the power exchange efficiency.
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Abstract
Description
Claims (94)
- 一种换电控制系统,其特征在于,包括:控制单元和换电设备;所述控制单元用于确定电动车辆适用的电池型号;所述控制单元还用于从至少一电池放置架中选取符合第一条件的电池放置架作为第一电池放置架,从所述至少一电池放置架中选取符合第二条件的电池放置架作为第二电池放置架,所述电池放置架具有若干用于放置电池的电池放置仓,所述第一条件设置为放置有所述电池型号的电池,所述第二条件设置为具有空的电池放置仓;所述换电设备用于移动至预设换电位置,从所述电动车辆上取下缺电电池,将所述缺电电池运输到所述第二放置架并放置于所述空的电池放置仓,然后移动至所述第一电池放置架,从所述第一电池放置架取下所述电池型号的电池,将所述电池型号的电池运输到所述预设换电位置并安装于所述电动车辆,所述预设换电位置为适于从所述电动车辆取、装电池的位置。
- 如权利要求1所述的换电控制系统,其特征在于,所述控制单元还用于监控所述电池放置架上放置的电池的电量;所述第一条件设置为放置有所述电池型号且满电的电池;或,所述第一条件优先设置为放置有所述电池型号且满电的电池,若所述至少一电池放置架中不具有符合所述第一条件的电池放置架,则所述第一条件修改设置为放置有所述电池型号且电量最高的电池。
- 如权利要求1或2所述的换电控制系统,其特征在于,所述控制单元还用于在符合所述第一条件的电池放置架超过一个时,从符合所述第一条件的电池放置架中,随机选取一个电池放置架作为所述第一电池放置架,或选取距离所述电动车辆或用于停泊所述电动车辆的载车平台最近的一个电池放置架作为所述第一电池放置架,或选取位于所述第二电池放置架与所述电池车辆之间的路径上的一个电池放置架作为所述第一电池放置架,或选取位于所述路径上且距离所述电动车辆或所述载车平台最近的一个电池放置架作为所述第一电池放置架;和/或,所述控制单元还用于在符合所述第二条件的电池放置架超过一个时,从符合所述第二条件的电池放置架中,随机选取一个电池放置架作为所述第二电池放置架,或选取距离所述电动车辆或所述载车平台最近的一个电池放置架作为所述第二电池放置架。
- 如权利要求3所述的换电控制系统,其特征在于,所述电池放置架沿所述电动车辆驶入所述载车平台方向排布于所述载车平台的两侧。
- 如权利要求1所述的换电控制系统,其特征在于,若所述至少一电池放置架中存在多功能电池放置架,所述多功能电池放置架为所述第一条件和所述第二条件均符合的电池放置架,则所述控制单元还用于:将所述多功能电池放置架同时作为所述第一电池放置架和所述第二电池放置架。
- 如权利要求1所述的换电控制系统,其特征在于,所述空的电池放置仓还用于为所述缺电电池充电。
- 如权利要求6所述的换电控制系统,其特征在于,所述空的电池放置仓具有电池充电电路;所述电池充电电路具有固定的电力参数,所述电力参数与所述电池型号相匹配;或,所述电池充电电路具有可调节的电力参数,所述控制单元还用于根据所述电池型号调节所述电力参数,以使得所述电力参数与所述电池型号相匹配。
- 如权利要求1所述的换电控制系统,其特征在于,所述控制单元还用于扫描所述电动车辆的车牌,通过所述车牌确定所述电动车辆适用的电池型号。
- 如权利要求1所述的换电控制系统,其特征在于,所述换电设备受控于所述控制单元:所述控制单元在所述电动车辆停泊于载车平台之前,向所述换电设备发送以下指令并由所述换电设备执行:停泊指令,用于命令所述换电设备预先停泊于预设等待位置。
- 如权利要求9所述的换电控制系统,其特征在于,当预设换电位置为可停泊状态时,所述预设等待位置与所述预设换电位置为同一位置。
- 如权利要求9所述的换电控制系统,其特征在于,当预设换电位置为不可停泊状态时,所述预设等待位置为距离所述预设换电位置不超过第一距离阈值的位置;所述控制单元还用于在所述电动车辆停泊于所述载车平台之后,向所述卸电池换电设备发送微调指令,所述微调指令用于命令所述换电设备从所述预设等待位置移动至所述预设换电位置。
- 如权利要求10或11所述的换电控制系统,其特征在于,当以下条件同时满足时,所述预设换电位置为可停泊状态,否则,所述预设换电位置为不可停泊状态:所述预设换电位置为空位;存在供所述换电设备移动至所述预设换电位置的通路;预测所述换电设备停泊于所述预设换电位置时,所述换电设备不会对驶入所述载车平台的电动车辆造成阻挡。
- 如权利要求10或11所述的换电控制系统,其特征在于,根据所述载车平台的结构决定所述预设换电位置位于所述载车平台的下方或上方。
- 如权利要求1所述的换电控制系统,其特征在于,所述换电设备受控于所述控制单元:所述控制单元还用于在所述电动车辆停泊于载车平台之后,向所述电动车辆发送以下指令并由所述换电设备执行:卸电池指令,用于命令所述换电设备从所述电动车辆取下所述缺电电池;第一移动指令,用于命令所述换电设备移动至所述第二电池放置架;放电池指令,用于命令所述换电设备将所述缺电电池放置于所述空的电池放置仓;第二移动指令,用于命令所述换电设备移动至所述第一电池放置架;取电池指令,用于命令所述换电设备从所述第一电池放置架取下所述电池型号的电池;第三移动指令,用于命令所述换电设备移动至所述预设换电位置;装电池指令,用于命令所述换电设备将所述电池型号的电池安装于所述电动车辆。
- 一种换电控制系统,其特征在于,包括:控制单元和至少两换电设备;所述控制单元用于从至少一电池放置架中选取符合第一条件的电池放置架作为第一电池放置架,从所述至少一电池放置架中选取符合第二条件的电池放置架作为第二电池放置架,所述电池放置架具有若干用于放置电池的电池放置仓,所述第一条件设置为放置有适用于电动车辆的电池,所述第二条件设置为具有空的电池放置仓;所述控制单元还用于将所述至少两换电设备中的至少一个换电设备配置为装电池换电设备,将所述至少两换电设备中的至少一个换电设备配置为卸电池换电设备;所述装电池换电设备用于运输待装电池,所述待装电池为从所述第一电池放置架取下的、适用于所述电动车辆且将要安装于所述电动车辆的电池;所述卸电池换电设备用于运输缺电电池,所述缺电电池为从所述电动车辆取下的且将要放置于所述空的电池放置仓的电池。
- 如权利要求15所述的换电控制系统,其特征在于,所述控制单元还用于监控所述电池放置架上放置的电池的电量;所述第一条件设置为放置有适用于所述电动车辆且满电的电池;或,所述第一条件优先设置为放置有适用于所述电动车辆且满电的电池,若所述至少一电池放置架中不具有符合所述第一条件的电池放置架,则所述第一条件修改设置为放置有适用于所述电动车辆且电量最高的电池。
- 如权利要求15或16所述的换电控制系统,其特征在于,所述控制单元还用于在符合所述第一条件的电池放置架超过一个时,从符合所述第一条件的电池放置架中,随机选取一个电池放置架作为所述第一电池放置架,或选取距离所述电动车辆或用于停泊所述电动车辆的载车平台最近的一个电池放置架作为所述第一电池放置架;和/或,所述控制单元还用于在符合所述第二条件的电池放置架超过一个时,从符合所述第二条件的电池放置架中,随机选取一个电池放置架作为所述第二电池放置架,或选取距离所述电动车辆或用于停泊所述电动车辆的载车平台最近的一个电池放置架作为所述第二电池放置架。
- 如权利要求17所述的换电控制系统,其特征在于,所述电池放置架沿所述电动车辆驶入所 述载车平台方向排布于所述载车平台的两侧。
- 如权利要求15所述的换电控制系统,其特征在于,若所述至少一电池放置架中存在多功能电池放置架,所述多功能电池放置架为所述第一条件和所述第二条件均符合的电池放置架,则所述控制单元还用于:将所述多功能电池放置架同时作为所述第一电池放置架和所述第二电池放置架;或,将所述多功能电池放置架作为所述第一电池放置架和所述第二电池放置架中的任意一个;或,将以下任意一个条件作为将所述多功能电池放置架作为第一电池放置架的必要条件:其余的电池放置架均不符合所述第一条件;其余的电池放置架中,符合所述第一条件的电池放置架的数量少于符合所述第二条件的电池放置架的数量;其余的电池放置架中,符合所述第一条件的电池放置架的数量少于符合所述第二条件的电池放置架的数量,且两者的差值的绝对值少于第一差值阈值;其余的电池放置架中,符合所述第一条件的电池放置架的数量少于第一数量阈值;或,将任意一个条件作为将所述多功能电池放置架作为第二电池放置架的必要条件:其余的电池放置架均不符合所述第二条件;其余的电池放置架中,符合所述第二条件的电池放置架的数量少于符合所述第一条件的电池放置架的数量;其余的电池放置架中,符合所述第二条件的电池放置架的数量少于符合所述第一条件的电池放置架的数量,且两者的差值的绝对值少于第二差值阈值;其余的电池放置架中,符合所述第二条件的电池放置架的数量少于第二数量阈值。
- 如权利要求15所述的换电控制系统,其特征在于,所述电池放置仓还用于为电池充电。
- 如权利要求15所述的换电控制系统,其特征在于,所述至少两换电设备均为单功能换电设备;或,均为多功能换电设备;或,部分为单功能换电设备,部分为多功能换电设备;所述单功能换电设备具有第一结构且仅能被配置为装电池换电设备,或具有第二结构且仅能被配置为卸电池换电设备;所述多功能换电设备兼具第一结构和第二结构且可被配置为卸电池换电设备和装电池换电设备中的任意一种。
- 如权利要求15所述的换电控制系统,其特征在于,被配置为所述装电池换电设备的换电设备为距离所述第一电池放置架最近的换电设备;或,被配置为所述卸电池换电设备的换电设备为距离所述电动车辆或用于停泊所述电动车辆的载车平台最近的换电设备;或,每个所述电池放置架与至少一个所述换电设备具有预设的绑定关系;被配置为所述装电池换电设备的换电设备为与所述第一电池放置架具有绑定关系的换电设备,或与所述第一电池放置架具有绑定关系且距离所述第一电池放置架最近的换电设备;被配置为所述卸电池换电设备的换电设备为与所述第二电池放置架具有绑定关系的换电设备,或与所述第二电池放置架具有绑定关系且距离所述电动车辆或用于停泊所述电动车辆的载车平台最近的换电设备。
- 如权利要求15所述的换电控制系统,其特征在于,若在所述电动车辆停泊于载车平台之前,所述电动车辆适用的电池型号是可预知的:所述控制单元还用于在所述电动车辆停泊于所述载车平台之前,从所述至少一电池放置架中选取符合第一条件的电池放置架作为第一电池放置架,以及向所述装电池换电设备发送取电池指令,所述取电池指令用于命令所述装电池换电设备从所述第一电池放置架取下所述待装电池;所述装电池换电设备还用于执行所述取电池指令;所述控制单元还用于在所述装电池换电设备执行完所述取电池指令后,向所述装电池换电设备发送第一移动指令,所述第一移动指令用于命令所述装电池换电设备预先停泊于第一预设等待位置,所述第一预设等待位置为距离所述载车平台不超过第一距离阈值的位置;所述装电池换电设备还用于执行所述第一移动指令。
- 如权利要求23所述的换电控制系统,其特征在于,通过以下方式预知所述电动车辆适用的电池型号:所述载车平台仅限于供适用所述型号的电池的电动车辆停泊。
- 如权利要求15所述的换电控制系统,其特征在于,所述控制单元还用于在所述电动车辆停泊于载车平台之前,向所述卸电池换电设备发送第二移动指令,所述第二移动指令用于命令所述卸电池换电设备预先停泊于第二预设等待位置;所述卸电池换电设备还用于执行所述第二移动指令。
- 如权利要求25所述的换电控制系统,其特征在于,当预设换电位置为可停泊状态时,所述第二预设等待位置与所述预设换电位置为同一位置,所述预设换电位置为适于从停泊于所述载车平台的电动车辆取电池的位置。
- 如权利要求25所述的换电控制系统,其特征在于,当预设换电位置为不可停泊状态时,所述第二预设等待位置为距离所述预设换电位置不超过第二距离阈值的位置,所述预设换电位置为适于从停泊于所述载车平台的电动车辆取电池的位置;所述控制单元还用于在所述电动车辆停泊于所述载车平台之后,向所述卸电池换电设备发送微调指令,所述微调指令用于命令所述卸电池换电设备从所述第二预设等待位置移动至所述预设换电位置。
- 如权利要求26或27所述的换电控制系统,其特征在于,当以下条件同时满足时,所述预设 换电位置为可停泊状态,否则,所述预设换电位置为不可停泊状态:所述预设换电位置为空位;存在供所述卸电池换电设备移动至所述预设换电位置的通路;预测所述卸电池换电设备停泊于所述预设换电位置时,所述卸电池换电设备不会对驶入所述载车平台的电动车辆造成阻挡。
- 如权利要求26或27所述的换电控制系统,其特征在于,根据所述载车平台的结构决定所述预设换电位置位于所述载车平台的下方或上方。
- 如权利要求15所述的换电控制系统,其特征在于,所述控制单元还用于在所述电动车辆停泊于载车平台之后,向所述卸电池换电设备发送第三移动指令,所述第三移动指令用于命令所述卸电池换电设备移动并停泊于预设换电位置,所述预设换电位置为适于从停泊于所述载车平台的电动车辆取电池的位置;所述卸电池换电设备还用于执行所述第三移动指令。
- 如权利要求26、27、30中任意一项所述的换电控制系统,其特征在于,所述控制单元还用于在所述电动车辆停泊于所述载车平台且所述卸电池换电设备停泊于所述预设换电位置之后,向所述卸电池换电设备发送卸电池指令,所述卸电池指令用于命令所述卸电池换电设备从所述电动车辆取下所述缺电电池;所述卸电池换电设备还用于执行所述卸电池指令;所述控制单元还用于在所述卸电池换电设备执行完所述卸电池指令后,向所述卸电池换电设备发送第四移动指令,所述第四移动指令用于命令所述卸电池换电设备移动至所述第二电池放置架并将所述缺电电池放置于所述空的电池放置仓;所述卸电池换电设备还用于执行所述第四移动指令。
- 如权利要求26、27、30中任意一项所述的换电控制系统,其特征在于,所述控制单元还用于在所述卸电池换电设备离开所述预设换电位置或离开所述预设换电位置超过第三距离阈值之后,向所述装电池换电设备发送第五移动指令,所述第五移动指令用于命令所述装电池换电设备移动至所述预设换电位置;所述装电池换电设备还用于执行所述第五移动指令;所述控制单元还用于在所述装电池换电设备执行所述第五移动指令后,向所述装电池换电设备发送装电池指令,所述装电池指令用于命令所述装电池换电设备将所述待装电池装入所述电动车辆;所述装电池换电设备还用于执行所述装电池指令。
- 一种换电控制系统,其特征在于,包括:控制单元和至少两换电设备;所述控制单元用于确定待换电的电动车辆适用的电池型号;所述控制单元还用于从至少一电池放置架中选取符合第一条件的电池放置架作为第一电池放置 架,从所述至少一电池放置架中选取符合第二条件的电池放置架作为第二电池放置架,所述电池放置架具有若干用于放置电池的电池放置仓,所述第一条件设置为放置有所述电池型号的电池,所述第二条件设置为具有空的电池放置仓;所述控制单元还用于将所述至少两换电设备中的至少一个换电设备配置为装电池换电设备,将所述至少两换电设备中的至少一个换电设备配置为卸电池换电设备;所述装电池换电设备用于运输待装电池,所述待装电池为从所述第一电池放置架取下的、所述电池型号的且将要安装于所述电动车辆的电池;所述卸电池换电设备用于运输缺电电池,所述缺电电池为从所述电动车辆取下的且将要放置于所述空的电池放置仓的电池。
- 如权利要求33所述的换电控制系统,其特征在于,所述控制单元还用于监控所述电池放置架上放置的电池的电量;所述第一条件设置为放置有所述电池型号且满电的电池;或,所述第一条件优先设置为放置有所述电池型号且满电的电池,若所述至少一电池放置架中不具有符合所述第一条件的电池放置架,则所述第一条件修改设置为放置有所述电池型号且电量最高的电池。
- 如权利要求33或34所述的换电控制系统,其特征在于,所述控制单元还用于在符合所述第一条件的电池放置架超过一个时,从符合所述第一条件的电池放置架中,随机选取一个电池放置架作为所述第一电池放置架,或选取距离所述电动车辆或用于停泊所述电动车辆的载车平台最近的一个电池放置架作为所述第一电池放置架;和/或,所述控制单元还用于在符合所述第二条件的电池放置架超过一个时,从符合所述第二条件的电池放置架中,随机选取一个电池放置架作为所述第二电池放置架,或选取距离所述电动车辆或所述载车平台最近的一个电池放置架作为所述第二电池放置架。
- 如权利要求35所述的换电控制系统,其特征在于,所述电池放置架沿所述电动车辆驶入所述载车平台方向排布于所述载车平台的两侧。
- 如权利要求33所述的换电控制系统,其特征在于,若所述至少一电池放置架中存在多功能电池放置架,所述多功能电池放置架为所述第一条件和所述第二条件均符合的电池放置架,则所述控制单元还用于:将所述多功能电池放置架同时作为所述第一电池放置架和所述第二电池放置架;或,将所述多功能电池放置架作为所述第一电池放置架和所述第二电池放置架中的任意一个;或,将以下任意一个条件作为将所述多功能电池放置架作为第一电池放置架的必要条件:其余的电池放置架均不符合所述第一条件;其余的电池放置架中,符合所述第一条件的电池放置架的数量少于符合所述第二条件的电池放置架的数量;其余的电池放置架中,符合所述第一条件的电池放置架的数量少于符合所述第二条件的电池放置架的数量,且两者的差值的绝对值少于第一差值阈值;其余的电池放置架中,符合所述第一条件的电池放置架的数量少于第一数量阈值;或,将任意一个条件作为将所述多功能电池放置架作为第二电池放置架的必要条件:其余的电池放置架均不符合所述第二条件;其余的电池放置架中,符合所述第二条件的电池放置架的数量少于符合所述第一条件的电池放置架的数量;其余的电池放置架中,符合所述第二条件的电池放置架的数量少于符合所述第一条件的电池放置架的数量,且两者的差值的绝对值少于第二差值阈值;其余的电池放置架中,符合所述第二条件的电池放置架的数量少于第二数量阈值。
- 如权利要求33所述的换电控制系统,其特征在于,所述电池放置仓还用于为电池充电。
- 如权利要求33所述的换电控制系统,其特征在于,所述至少两换电设备均为单功能换电设备;或,均为多功能换电设备;或,部分为单功能换电设备,部分为多功能换电设备;所述单功能换电设备具有第一结构且仅能被配置为装电池换电设备,或具有第二结构且仅能被配置为卸电池换电设备;所述多功能换电设备兼具第一结构和第二结构且可被配置为卸电池换电设备和装电池换电设备中的任意一种。
- 如权利要求33所述的换电控制系统,其特征在于,被配置为所述装电池换电设备的换电设备为距离所述第一电池放置架最近的换电设备;或,被配置为所述卸电池换电设备的换电设备为距离所述电动车辆或用于停泊所述电动车辆的载车平台最近的换电设备;或,每个所述电池放置架与至少一个所述换电设备具有预设的绑定关系;被配置为所述装电池换电设备的换电设备为与所述第一电池放置架具有绑定关系的换电设备,或与所述第一电池放置架具有绑定关系且距离所述第一电池放置架最近的换电设备;被配置为所述卸电池换电设备的换电设备为与所述第二电池放置架具有绑定关系的换电设备,或与所述第二电池放置架具有绑定关系且距离所述电动车辆或用于停泊所述电动车辆的载车平台最近的换电设备。
- 如权利要求33所述的换电控制系统,其特征在于,所述控制单元还用于在选取所述第一电 池放置架后,向所述装电池换电设备发送取电池指令,所述取电池指令用于命令所述装电池换电设备从所述第一电池放置架取下所述待装电池;所述装电池换电设备还用于执行所述取电池指令;所述控制单元还用于在所述装电池换电设备执行完所述取电池指令后,向所述装电池换电设备发送第一移动指令,所述第一移动指令用于命令所述装电池换电设备预先停泊于第一预设等待位置,所述第一预设等待位置为距离所述载车平台不超过第一距离阈值的位置;所述装电池换电设备还用于执行所述第一移动指令。
- 如权利要求33所述的换电控制系统,其特征在于,所述控制单元还用于扫描所述电动车辆的车牌,通过所述车牌确定所述电动车辆适用的电池型号。
- 如权利要求33所述的换电控制系统,其特征在于,所述控制单元还用于在所述电动车辆停泊于载车平台之前,向所述卸电池换电设备发送第二移动指令,所述第二移动指令用于命令所述卸电池换电设备预先停泊于第二预设等待位置;所述卸电池换电设备还用于执行所述第二移动指令。
- 如权利要求43所述的换电控制系统,其特征在于,当预设换电位置为可停泊状态时,所述第二预设等待位置与所述预设换电位置为同一位置,所述预设换电位置为适于从停泊于所述载车平台的电动车辆取电池的位置。
- 如权利要求43所述的换电控制系统,其特征在于,当预设换电位置为不可停泊状态时,所述第二预设等待位置为距离所述预设换电位置不超过第二距离阈值的位置,所述预设换电位置为适于从停泊于所述载车平台的电动车辆取电池的位置;所述控制单元还用于在所述电动车辆停泊于所述载车平台之后,向所述卸电池换电设备发送微调指令,所述微调指令用于命令所述卸电池换电设备从所述第二预设等待位置移动至所述预设换电位置。
- 如权利要求44或45所述的换电控制系统,其特征在于,当以下条件同时满足时,所述预设换电位置为可停泊状态,否则,所述预设换电位置为不可停泊状态:所述预设换电位置为空位;存在供所述卸电池换电设备移动至所述预设换电位置的通路;预测所述卸电池换电设备停泊于所述预设换电位置时,所述卸电池换电设备不会对驶入所述载车平台的电动车辆造成阻挡。
- 如权利要求44或45所述的换电控制系统,其特征在于,根据所述载车平台的结构决定所述预设换电位置位于所述载车平台的下方或上方。
- 如权利要求33所述的换电控制系统,其特征在于,所述控制单元还用于在所述电动车辆停泊于载车平台之后,向所述卸电池换电设备发送第三移动指令,所述第三移动指令用于命令所述卸电池换电设备移动并停泊于预设换电位置,所述预设换电位置为适于从停泊于所述载车平台的电动车辆 取电池的位置;所述卸电池换电设备还用于执行所述第三移动指令。
- 如权利要求44、45、48中任意一项所述的换电控制系统,其特征在于,所述控制单元还用于在所述电动车辆停泊于所述载车平台且所述卸电池换电设备停泊于所述预设换电位置之后,向所述卸电池换电设备发送卸电池指令,所述卸电池指令用于命令所述卸电池换电设备从所述电动车辆取下所述缺电电池;所述卸电池换电设备还用于执行所述卸电池指令;所述控制单元还用于在所述卸电池换电设备执行完所述卸电池指令后,向所述卸电池换电设备发送第四移动指令,所述第四移动指令用于命令所述卸电池换电设备移动至所述第二电池放置架并将所述缺电电池放置于所述空的电池放置仓;所述卸电池换电设备还用于执行所述第四移动指令。
- 如权利要求44、45、48中任意一项所述的换电控制系统,其特征在于,所述控制单元还用于在所述卸电池换电设备离开所述预设换电位置或离开所述预设换电位置超过第三距离阈值之后,向所述装电池换电设备发送第五移动指令,所述第五移动指令用于命令所述装电池换电设备移动至所述预设换电位置;所述装电池换电设备还用于执行所述第五移动指令;所述控制单元还用于在所述装电池换电设备执行所述第五移动指令后,向所述装电池换电设备发送装电池指令,所述装电池指令用于命令所述装电池换电设备将所述待装电池装入所述电动车辆;所述装电池换电设备还用于执行所述装电池指令。
- 一种换电控制方法,其特征在于,包括:确定电动车辆适用的电池型号;从至少一电池放置架中选取符合第一条件的电池放置架作为第一电池放置架,所述电池放置架具有若干用于放置电池的电池放置仓,所述第一条件设置为放置有所述电池型号的电池;从所述至少一电池放置架中选取符合第二条件的电池放置架作为第二电池放置架,所述第二条设置为具有空的电池放置仓;令换电设备移动至预设换电位置,从所述电动车辆上取下缺电电池,将所述缺电电池运输到所述第二放置架并放置于所述空的电池放置仓,所述预设换电位置为适于从所述电动车辆取、装电池的位置;令所述换电设备移动至所述第一电池放置架,从所述第一电池放置架取下所述电池型号的电池,将所述电池型号的电池运输到所述预设换电位置并安装于所述电动车辆。
- 如权利要求51所述的换电控制方法,其特征在于,所述换电控制方法还包括:监控所述电池放置架上放置的电池的电量;所述第一条件设置为放置有所述电池型号且满电的电池;或,所述第一条件优先设置为放置有所述电池型号且满电的电池,若所述至少一电池放置架中不具有符合所述第一条件的电池放置架,则所述第一条件修改设置为放置有所述电池型号且电量最高的电池。
- 如权利要求51所述的换电控制方法,其特征在于,所述换电控制方法还包括:在符合所述第一条件的电池放置架超过一个时,从符合所述第一条件的电池放置架中,随机选取一个电池放置架作为所述第一电池放置架,或选取距离所述电动车辆或用于停泊所述电动车辆的载车平台最近的一个电池放置架作为所述第一电池放置架,或选取位于所述第二电池放置架与所述电池车辆之间的路径上的一个电池放置架作为所述第一电池放置架,或选取位于所述路径上且距离所述电动车辆或所述载车平台最近的一个电池放置架作为所述第一电池放置架;和/或,在符合所述第二条件的电池放置架超过一个时,从符合所述第二条件的电池放置架中,随机选取一个电池放置架作为所述第二电池放置架,或选取距离所述电动车辆或所述载车平台最近的一个电池放置架作为所述第二电池放置架。
- 如权利要求51所述的换电控制方法,其特征在于,所述换电控制方法还包括:判断所述至少一电池放置架中是否存在多功能电池放置架,所述多功能电池放置架为所述第一条件和所述第二条件均符合的电池放置架;若存在,则:将所述多功能电池放置架同时作为所述第一电池放置架和所述第二电池放置架。
- 如权利要求51所述的换电控制方法,其特征在于,所述空的电池放置仓还用于为所述缺电电池充电。
- 如权利要求55所述的换电控制方法,其特征在于,所述空的电池放置仓具有电池充电电路;所述电池充电电路具有固定的电力参数,所述电力参数与所述电池型号相匹配;或,所述电池充电电路具有可调节的电力参数,所述换电控制方法还包括:根据所述电池型号调节所述电力参数,以使得所述电力参数与所述电池型号相匹配。
- 如权利要求51所述的换电控制方法,其特征在于,所述确定待换电的电动车辆适用的电池型号,具体包括:扫描所述电动车辆的车牌,通过所述车牌确定所述电动车辆适用的电池型号。
- 如权利要求51所述的换电控制方法,其特征在于,所述换电设控制方法还包括:在所述电动车辆停泊于载车平台之前,令所述换电设备预先停泊于预设等待位置。
- 如权利要求58所述的换电控制方法,其特征在于,当预设换电位置为可停泊状态时,所述预设等待位置与所述预设换电位置为同一位置。
- 如权利要求58所述的换电控制方法,其特征在于,当预设换电位置为不可停泊状态时,所述预设等待位置为距离所述预设换电位置不超过第一距离阈值的位置;所述换电控制方法还包括:在所述电动车辆停泊于所述载车平台之后,令所述换电设备从所述预设等待位置移动至所述预设换电位置。
- 如权利要求59或60所述的换电控制方法,其特征在于,当以下条件同时满足时,所述预设换电位置为可停泊状态,否则,所述预设换电位置为不可停泊状态:所述预设换电位置为空位;存在供所述换电设备移动至所述预设换电位置的通路;预测所述换电设备停泊于所述预设换电位置时,所述换电设备不会对驶入所述载车平台的电动车辆造成阻挡。
- 如权利要求59或60所述的换电控制方法,其特征在于,根据所述载车平台的结构决定所述预设换电位置位于所述载车平台的下方或上方。
- 一种换电控制方法,其特征在于,包括:从至少一电池放置架中选取符合第一条件的电池放置架作为第一电池放置架,所述电池放置架具有若干用于放置电池的电池放置仓,所述第一条件设置为放置有适用于电动车辆的电池;从所述至少一电池放置架中选取符合第二条件的电池放置架作为第二电池放置架,所述第二条件设置为具有空的电池放置仓;将所述至少两换电设备中的至少一个换电设备配置为装电池换电设备,所述装电池换电设备用于运输待装电池,所述待装电池为从所述第一电池放置架取下的、适用于所述电动车辆且将要安装于所述电动车辆的电池;将所述至少两换电设备中的至少一个换电设备配置为卸电池换电设备,所述卸电池换电设备用于运输缺电电池,所述缺电电池为从所述电动车辆取下的且将要放置于所述空的电池放置仓的电池。
- 如权利要求63所述的换电控制方法,其特征在于,所述换电控制方法还包括:监控所述电池放置架上放置的电池的电量;所述第一条件设置为放置有适用于所述电动车辆且满电的电池;或,所述第一条件优先设置为放置有适用于所述电动车辆且满电的电池,若所述至少一电池放置架中不具有符合所述第一条件的电池放置架,则所述第一条件修改设置为放置有适用于所述电动车辆且电量最高的电池。
- 如权利要求63或64所述的换电控制方法,其特征在于,所述换电控制方法还包括:在符合所述第一条件的电池放置架超过一个时,从符合所述第一条件的电池放置架中,随机选取 一个电池放置架作为所述第一电池放置架,或选取距离所述电动车辆或用于停泊所述电动车辆的载车平台最近的一个电池放置架作为所述第一电池放置架;和/或,在符合所述第二条件的电池放置架超过一个时,从符合所述第二条件的电池放置架中,随机选取一个电池放置架作为所述第二电池放置架,或选取距离所述电动车辆或所述载车平台最近的一个电池放置架作为所述第二电池放置架。
- 如权利要求65所述的换电控制方法,其特征在于,所述换电控制方法还包括:判断所述至少一电池放置架中是否存在多功能电池放置架,所述多功能电池放置架为所述第一条件和所述第二条件均符合的电池放置架;若存在,则:将所述多功能电池放置架同时作为所述第一电池放置架和所述第二电池放置架;或,将所述多功能电池放置架作为所述第一电池放置架和所述第二电池放置架中的任意一个;或,将以下任意一个条件作为将所述多功能电池放置架作为第一电池放置架的必要条件:其余的电池放置架均不符合所述第一条件;其余的电池放置架中,符合所述第一条件的电池放置架的数量少于符合所述第二条件的电池放置架的数量;其余的电池放置架中,符合所述第一条件的电池放置架的数量少于符合所述第二条件的电池放置架的数量,且两者的差值的绝对值少于第一差值阈值;其余的电池放置架中,符合所述第一条件的电池放置架的数量少于第一数量阈值;或,将任意一个条件作为将所述多功能电池放置架作为第二电池放置架的必要条件:其余的电池放置架均不符合所述第二条件;其余的电池放置架中,符合所述第二条件的电池放置架的数量少于符合所述第一条件的电池放置架的数量;其余的电池放置架中,符合所述第二条件的电池放置架的数量少于符合所述第一条件的电池放置架的数量,且两者的差值的绝对值少于第二差值阈值;其余的电池放置架中,符合所述第二条件的电池放置架的数量少于第二数量阈值。
- 如权利要求63所述的换电控制方法,其特征在于,所述至少两换电设备均为单功能换电设备;或,均为多功能换电设备;或,部分为单功能换电设备,部分为多功能换电设备;所述单功能换电设备具有第一结构且仅能被配置为装电池换电设备,或具有第二结构且仅能被配置为卸电池换电设备;所述多功能换电设备兼具第一结构和第二结构且可被配置为卸电池换电设备和装电池换电设备中的任意一种。
- 如权利要求63所述的换电控制方法,其特征在于,被配置为所述装电池换电设备的换电设备为距离所述第一电池放置架最近的换电设备;或,被配置为所述卸电池换电设备的换电设备为距离所述电动车辆或用于停泊所述电动车辆的载车平台最近的换电设备;或,每个所述电池放置架与至少一个所述换电设备具有预设的绑定关系;被配置为所述装电池换电设备的换电设备为与所述第一电池放置架具有绑定关系的换电设备,或与所述第一电池放置架具有绑定关系且距离所述第一电池放置架最近的换电设备;被配置为所述卸电池换电设备的换电设备为与所述第二电池放置架具有绑定关系的换电设备,或与所述第二电池放置架具有绑定关系且距离所述电动车辆或用于停泊所述电动车辆的载车平台最近的换电设备。
- 如权利要求63所述的换电控制方法,其特征在于,若在所述电动车辆停泊于载车平台之前,所述电动车辆适用的电池型号是可预知的;所述换电控制方法还包括:在所述电动车辆停泊于所述载车平台之前,从所述至少一电池放置架中选取符合第一条件的电池放置架作为第一电池放置架,以及命令所述装电池换电设备从所述第一电池放置架取下所述待装电池;在所述装电池换电设备从所述第一电池放置架取下所述待装电池后,命令所述装电池换电设备预先停泊于第一预设等待位置,所述第一预设等待位置为距离所述载车平台不超过第一距离阈值的位置。
- 如权利要求69所述的换电控制方法,其特征在于,通过以下方式预知所述电动车辆适用的电池型号:所述载车平台仅限于供适用所述型号的电池的电动车辆停泊。
- 如权利要求63所述的换电控制方法,其特征在于,所述换电控制方法还包括:在所述电动车辆停泊于载车平台之前,命令所述卸电池换电设备预先停泊于第二预设等待位置。
- 如权利要求71所述的换电控制方法,其特征在于,当预设换电位置为可停泊状态时,所述第二预设等待位置与所述预设换电位置为同一位置,所述预设换电位置为适于从停泊于所述载车平台的电动车辆取电池的位置。
- 如权利要求72所述的换电控制方法,其特征在于,当预设换电位置为不可停泊状态时,所述第二预设等待位置为距离所述预设换电位置不超过第二距离阈值的位置,所述预设换电位置为适于从停泊于所述载车平台的电动车辆取电池的位置;所述换电控制方法还包括:在所述电动车辆停泊于所述载车平台之后,命令所述卸电池换电设备从所述第二预设等待位置移动至所述预设换电位置。
- 如权利要求72或73所述的换电控制方法,其特征在于,当以下条件同时满足时,所述预设 换电位置为可停泊状态,否则,所述预设换电位置为不可停泊状态:所述预设换电位置为空位;存在供所述卸电池换电设备移动至所述预设换电位置的通路;预测所述卸电池换电设备停泊于所述预设换电位置时,所述卸电池换电设备不会对驶入所述载车平台的电动车辆造成阻挡。
- 如权利要求72或73所述的换电控制方法,其特征在于,根据所述载车平台的结构决定所述预设换电位置位于所述载车平台的下方或上方。
- 如权利要求63所述的换电控制方法,其特征在于,所述换电控制方法还包括:在所述电动车辆停泊于载车平台之后,命令所述卸电池换电设备移动并停泊于预设换电位置,所述预设换电位置为适于从停泊于所述载车平台的电动车辆取电池的位置。
- 如权利要求72、73、76中任意一项所述的换电控制方法,其特征在于,所述换电控制方法还包括:在所述电动车辆停泊于所述载车平台且所述卸电池换电设备停泊于所述预设换电位置之后,命令所述卸电池换电设备从所述电动车辆取下所述缺电电池;在所述卸电池换电设备从所述电动车辆取下所述缺电电池后,命令所述卸电池换电设备移动至所述第二电池放置架并将所述缺电电池放置于所述空的电池放置仓。
- 如权利要求72、73、76中任意一项所述的换电控制方法,其特征在于,所述换电控制方法还包括:在所述卸电池换电设备离开所述预设换电位置或离开所述预设换电位置超过第三距离阈值之后,命令所述装电池换电设备移动至所述预设换电位置;在所述装电池换电设备移动至所述预设换电位置后,命令所述装电池换电设备将所述待装电池装入所述电动车辆。
- 一种换电控制方法,其特征在于,包括:确定待换电的电动车辆适用的电池型号;从至少一电池放置架中选取符合第一条件的电池放置架作为第一电池放置架,所述电池放置架具有若干用于放置电池的电池放置仓,所述第一条件设置为放置有所述电池型号的电池;从所述至少一电池放置架中选取符合第二条件的电池放置架作为第二电池放置架,所述第二条件设置为具有空的电池放置仓;将所述至少两换电设备中的至少一个换电设备配置为装电池换电设备,所述装电池换电设备用于运输待装电池,所述待装电池为从所述第一电池放置架取下的、所述电池型号且将要安装于所述电动车辆的电池;将所述至少两换电设备中的至少一个换电设备配置为卸电池换电设备,所述卸电池换电设备用于运输缺电电池,所述缺电电池为从所述电动车辆取下的且将要放置于所述空的电池放置仓的电池。
- 如权利要求79所述的换电控制方法,其特征在于,所述换电控制方法还包括:监控所述电池放置架上放置的电池的电量;所述第一条件设置为放置有所述电池型号且满电的电池;或,所述第一条件优先设置为放置有所述电池型号且满电的电池,若所述至少一电池放置架中不具有符合所述第一条件的电池放置架,则所述第一条件修改设置为放置有所述电池型号且电量最高的电池。
- 如权利要求79或80所述的换电控制方法,其特征在于,所述换电控制方法还包括:在符合所述第一条件的电池放置架超过一个时,从符合所述第一条件的电池放置架中,随机选取一个电池放置架作为所述第一电池放置架,或选取距离所述电动车辆或用于停泊所述电动车辆的载车平台最近的一个电池放置架作为所述第一电池放置架;和/或,在符合所述第二条件的电池放置架超过一个时,从符合所述第二条件的电池放置架中,随机选取一个电池放置架作为所述第二电池放置架,或选取距离所述电动车辆或所述载车平台最近的一个电池放置架作为所述第二电池放置架。
- 如权利要求81所述的换电控制方法,其特征在于,所述换电控制方法还包括:判断所述至少一电池放置架中是否存在多功能电池放置架,所述多功能电池放置架为所述第一条件和所述第二条件均符合的电池放置架;若存在,则:将所述多功能电池放置架同时作为所述第一电池放置架和所述第二电池放置架;或,将所述多功能电池放置架作为所述第一电池放置架和所述第二电池放置架中的任意一个;或,将以下任意一个条件作为将所述多功能电池放置架作为第一电池放置架的必要条件:其余的电池放置架均不符合所述第一条件;其余的电池放置架中,符合所述第一条件的电池放置架的数量少于符合所述第二条件的电池放置架的数量;其余的电池放置架中,符合所述第一条件的电池放置架的数量少于符合所述第二条件的电池放置架的数量,且两者的差值的绝对值少于第一差值阈值;其余的电池放置架中,符合所述第一条件的电池放置架的数量少于第一数量阈值;或,将任意一个条件作为将所述多功能电池放置架作为第二电池放置架的必要条件:其余的电池放置架均不符合所述第二条件;其余的电池放置架中,符合所述第二条件的电池放置架的数量少于符合所述第一条件的电池放置 架的数量;其余的电池放置架中,符合所述第二条件的电池放置架的数量少于符合所述第一条件的电池放置架的数量,且两者的差值的绝对值少于第二差值阈值;其余的电池放置架中,符合所述第二条件的电池放置架的数量少于第二数量阈值。
- 如权利要求79所述的换电控制方法,其特征在于,所述至少两换电设备均为单功能换电设备;或,均为多功能换电设备;或,部分为单功能换电设备,部分为多功能换电设备;所述单功能换电设备具有第一结构且仅能被配置为装电池换电设备,或具有第二结构且仅能被配置为卸电池换电设备;所述多功能换电设备兼具第一结构和第二结构且可被配置为卸电池换电设备和装电池换电设备中的任意一种。
- 如权利要求79所述的换电控制方法,其特征在于,被配置为所述装电池换电设备的换电设备为距离所述第一电池放置架最近的换电设备;或,被配置为所述卸电池换电设备的换电设备为距离所述电动车辆或用于停泊所述电动车辆的载车平台最近的换电设备;或,每个所述电池放置架与至少一个所述换电设备具有预设的绑定关系;被配置为所述装电池换电设备的换电设备为与所述第一电池放置架具有绑定关系的换电设备,或与所述第一电池放置架具有绑定关系且距离所述第一电池放置架最近的换电设备;被配置为所述卸电池换电设备的换电设备为与所述第二电池放置架具有绑定关系的换电设备,或与所述第二电池放置架具有绑定关系且距离所述电动车辆或用于停泊所述电动车辆的载车平台最近的换电设备。
- 如权利要求79所述的换电控制方法,其特征在于,所述换电控制方法还包括:在选取所述第一电池放置架后,命令所述装电池换电设备从所述第一电池放置架取下所述待装电池;在所述装电池换电设备从所述第一电池放置架取下所述待装电池后,命令所述装电池换电设备预先停泊于第一预设等待位置,所述第一预设等待位置为距离所述载车平台不超过第一距离阈值的位置。
- 如权利要求79所述的换电控制方法,其特征在于,所述确定待换电的电动车辆适用的电池型号,具体包括:扫描所述电动车辆的车牌,通过所述车牌确定所述电动车辆适用的电池型号。
- 如权利要求79所述的换电控制方法,其特征在于,所述换电控制方法还包括:在所述电动车辆停泊于载车平台之前,命令所述卸电池换电设备预先停泊于第二预设等待位置。
- 如权利要求87所述的换电控制方法,其特征在于,当预设换电位置为可停泊状态时,所述第二预设等待位置与所述预设换电位置为同一位置,所述预设换电位置为适于从停泊于所述载车平台的电动车辆取电池的位置。
- 如权利要求87所述的换电控制方法,其特征在于,当预设换电位置为不可停泊状态时,所述第二预设等待位置为距离所述预设换电位置不超过第二距离阈值的位置,所述预设换电位置为适于从停泊于所述载车平台的电动车辆取电池的位置;所述换电控制方法还包括:在所述电动车辆停泊于所述载车平台之后,命令所述卸电池换电设备从所述第二预设等待位置移动至所述预设换电位置。
- 如权利要88或89所述的换电控制方法,其特征在于,当以下条件同时满足时,所述预设换电位置为可停泊状态,否则,所述预设换电位置为不可停泊状态:所述预设换电位置为空位;存在供所述卸电池换电设备移动至所述预设换电位置的通路;预测所述卸电池换电设备停泊于所述预设换电位置时,所述卸电池换电设备不会对驶入所述载车平台的电动车辆造成阻挡。
- 如权利要求88或89所述的换电控制方法,其特征在于,根据所述载车平台的结构决定所述预设换电位置位于所述载车平台的下方或上方。
- 如权利要求79所述的换电控制方法,其特征在于,所述换电控制方法还包括:在所述电动车辆停泊于载车平台之后,命令所述卸电池换电设备移动并停泊于预设换电位置,所述预设换电位置为适于从停泊于所述载车平台的电动车辆取电池的位置。
- 如权利要求88、89、92中任意一项所述的换电控制方法,其特征在于,所述换电控制方法还包括:在所述电动车辆停泊于所述载车平台且所述卸电池换电设备停泊于所述预设换电位置之后,命令所述卸电池换电设备从所述电动车辆取下所述缺电电池;在所述卸电池换电设备从所述电动车辆取下所述缺电电池后,命令所述卸电池换电设备移动至所述第二电池放置架并将所述缺电电池放置于所述空的电池放置仓。
- 如权利要求88、89、92中任意一项所述的换电控制方法,其特征在于,所述换电控制方法还包括:在所述卸电池换电设备离开所述预设换电位置或离开所述预设换电位置超过第三距离阈值之后,命令所述装电池换电设备移动至所述预设换电位置;在所述装电池换电设备移动至所述预设换电位置后,命令所述装电池换电设备将所述待装电池装入所述电动车辆。
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JP2024037901A (ja) | 2024-03-19 |
KR20210034644A (ko) | 2021-03-30 |
JP2021532012A (ja) | 2021-11-25 |
JP7405824B2 (ja) | 2023-12-26 |
US20210268930A1 (en) | 2021-09-02 |
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