WO2021148030A1

WO2021148030A1 - Battery replacement control method and system, electronic device, and storage medium

Info

Publication number: WO2021148030A1
Application number: PCT/CN2021/073637
Authority: WO
Inventors: 张建平; 黄春华
Original assignee: 奥动新能源汽车科技有限公司
Priority date: 2020-01-23
Filing date: 2021-01-25
Publication date: 2021-07-29
Also published as: CN111301215A; CN115972972A

Abstract

A battery replacement control method and system, an electronic device, and a storage medium. The battery replacement control method is achieved by means of cooperation between a vehicle clamping lane (1) and a battery replacement device (2); the vehicle clamping lane (1) has a liftable vehicle loading platform (11); a battery replacement device traveling platform (12) for traveling of the battery replacement device (2) is provided on the vehicle clamping lane (1), and a battery replacement position is provided in the battery replacement device traveling platform (12). The method comprises: controlling the vehicle loading platform (11) to reach a first height; controlling the battery replacement device (2) to reach the battery replacement position for removal of a battery pack; controlling the battery replacement device (2) to drive off the battery replacement position; controlling the battery replacement device (2) to unload the battery pack removed from an electric vehicle; controlling the battery replacement device (2) to load a battery pack matching with the electric vehicle; controlling the battery replacement device (2) to reach the battery replacement position for installation of the battery pack; controlling the battery replacement device (2) to drive off the battery replacement position; and controlling the vehicle loading platform (11) to restore to an initial height. By means of control on the vehicle clamping lane (1) and the battery replacement device (2), the process of removing a battery and installing a battery is integrated, the battery replacement time of a vehicle is saved, and the battery replacement efficiency is improved.

Description

Switching control method and system, electronic equipment and storage medium

This application claims the priority of the Chinese patent application 2020100769175 whose filing date is 2020/1/23. This application quotes the full text of the aforementioned Chinese patent application.

Technical field

The present invention relates to the field of power exchange control, in particular to a power exchange control method and system, electronic equipment and storage medium.

Background technique

There are mainly two charging methods for existing electric vehicles, one is a direct charging type, and the other is a quick-change type. Among them, the direct charging type requires a charging pile to charge the electric vehicle, but the charging time is longer and the efficiency is low. The battery swapping type needs to set up a swap station, which can be achieved by replacing the battery pack of the electric vehicle to achieve rapid battery swapping, which shortens a long time compared with the direct charging type. However, the battery swapping process includes removing the battery pack and installing the battery pack, and there is still battery pack replacement time Longer, the problem of lower power exchange efficiency.

An existing battery replacement method is bottom battery replacement, that is, the battery replacement device that disassembles the battery pack is removed from the bottom of the vehicle and the battery pack is installed. In the process of battery replacement at the bottom, the vehicle needs to drive on a vehicle platform with a fixed height, so as to provide enough space under the vehicle for the battery pack to be disassembled and assembled. However, because the height of this vehicle loading platform is fixed, only the replacement equipment can be raised and lowered in the height direction. Therefore, the entire replacement process places a heavy burden on the replacement equipment and requires higher requirements, and there is further optimization and improvement. Space for electrical efficiency.

Summary of the invention

The technical problem to be solved by the present invention is to overcome the fixed height of the vehicle-carrying platform in the prior art and only the power replacement equipment can lift in the height direction, which causes the entire power replacement process to have a large burden on the power replacement equipment and higher requirements. Disadvantages, it provides a method and system, electronic equipment and storage medium that can further optimize the battery swap process and improve the battery swap control efficiency.

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

A power exchange control method, which is realized by the cooperation of a car clamping lane and a power exchange device, the car clamping lane has a liftable car carrying plane, and the clamping lane is provided with a vehicle for the power exchange equipment to travel. The battery-swap equipment walking plane is provided with a battery-swap position in the walking plane;

The power exchange control method includes:

Controlling the vehicle-carrying plane to reach the first height;

Controlling the battery swapping device to reach the battery swapping position to remove the battery pack;

Controlling the power swapping device to move away from the power swapping position;

Controlling the battery swapping device to unload the battery pack removed from the electric vehicle;

Controlling the battery swapping device to load a battery pack that matches the electric vehicle;

Controlling the battery swapping device to reach the battery swapping position to install the battery pack;

Control the vehicle loading plane to return to the initial height.

Preferably, there is a battery swapping station in the plane of the vehicle, the battery swapping station is used to power the electric vehicle to replace the battery pack, and the battery swapping station corresponds to the battery swapping position up and down;

The first height is higher than the initial height;

The controlling the vehicle-carrying plane to reach the first height includes:

After the electric vehicle is parked on the vehicle-carrying plane and the battery pack under the electric vehicle is aligned with the power exchange station, the vehicle-carrying plane is raised to the first height, so that the vehicle The height difference between the plane of the vehicle and the traveling plane of the power swap device exceeds the height of the power swap device.

Preferably, the controlling the battery swapping device to reach the battery swapping position to remove the battery pack includes:

Controlling the battery swapping device to reach the swapping position without a battery pack;

Adjust the posture of the battery replacement device to remove the battery pack from the electric vehicle.

Preferably, before said controlling said battery swapping device to move away from the battery swapping position, the method further includes:

After the battery pack is removed from the electric vehicle by the battery swapping device, the vehicle loading plane is controlled to reach the second height, so that the height difference between the car loading plane and the walking plane of the battery swapping device exceeds that of the battery pack. The height of the electrical device after the battery pack is loaded, the second height being higher than the initial height.

Preferably, the controlling the battery swapping device to reach the battery swapping position to install the battery pack includes:

Controlling the power swapping device to reach the power swapping position;

The posture of the battery swapping device is adjusted to install the battery pack loaded by the battery swapping device in an electric vehicle.

Preferably, after controlling the battery swapping device to reach the battery swapping position to install the battery pack, and before controlling the battery swapping device to move away from the battery swapping position, the method further includes:

Controlling the vehicle-carrying plane to reach the first height.

Preferably, the adjusting the posture of the battery replacement device to remove the battery pack from the electric vehicle includes:

Adjusting the relative positional relationship between the battery swapping platform of the battery swapping device and the car-carrying plane in the horizontal and/or vertical directions to meet the battery removal conditions;

The battery swapping device is controlled to perform a battery removal action, and the battery removal action is used to remove the battery pack from the electric vehicle.

The adjusting the relative positional relationship in the vertical direction between the battery swapping platform of the battery swapping device and the car-carrying plane to meet the battery removal condition includes:

Controlling the power exchange platform to reach the third height;

Controlling the vehicle-carrying plane to reach the fourth height, so that the battery swapping platform passes through the battery swapping station and the distance from the bottom of the electric vehicle is a negative distance, which satisfies the battery removal height condition;

And/or, said adjusting the relative positional relationship in the horizontal direction between the battery swapping platform of the battery swapping device and the car-carrying plane to meet the battery removal conditions, including:

Control the horizontal movement of the battery swapping platform so that the battery swapping platform and the battery pack on the electric vehicle are aligned to meet the battery removal alignment condition.

Preferably, the adjusting the posture of the battery swapping device to install the battery pack loaded by the battery swapping device in the electric vehicle includes:

Adjusting the relative positional relationship between the battery swapping platform of the battery swapping device and the car-carrying plane in the horizontal and/or vertical directions to meet the battery loading conditions;

The battery replacement device is controlled to perform a battery loading operation, and the battery loading operation is used to install the loaded battery pack in the electric vehicle.

The adjusting the relative positional relationship between the battery swapping platform of the battery swapping device and the vehicle-carrying plane in the vertical direction to meet the battery loading conditions includes:

Controlling the power exchange platform to reach the fifth height;

Controlling the vehicle-carrying plane to reach the sixth height, so that the battery swapping platform passes through the battery swapping station and the distance from the bottom of the electric vehicle is a negative distance, which satisfies the battery height condition;

And/or, said adjusting the relative positional relationship in the horizontal direction between the battery swapping platform of the battery swapping device and the car-carrying plane to meet the battery loading conditions, including:

Control the horizontal movement of the battery swapping platform so that the battery swapping platform is aligned with the outer box of the battery pack on the electric vehicle to meet the battery-installation alignment condition.

Preferably, the first height is less than or equal to the second height.

Preferably, the fourth height is lower than the initial height.

Preferably, the sixth height is lower than the initial height.

Preferably, the switching control method further includes:

After the battery pack is removed by the battery swap device and before leaving the battery swap position, restore the battery swap platform to the initial position without the battery pack;

And/or, after the battery pack is installed on the battery swapping device and before moving away from the battery swapping position, the battery swapping platform is restored to the initial position without the battery pack.

Preferably, the controlling the battery replacement device to unload the battery pack removed from the electric vehicle specifically includes: controlling the battery replacement device to drive to the battery rack and remove the battery from the electric vehicle The package is returned to the battery rack.

Preferably, a first track for the battery replacement device to travel is arranged in the traveling plane of the battery replacement device, and the first track is connected to the battery rack and the battery replacement position;

The switching control method further includes:

During the process of the power swapping device traveling to the power swapping position through the first track, it is determined whether the power swapping device has reached a preset first positioning point, and the first positioning point is located at the power swapping position. If it is on the traveling path of the device, control the power-swap device to slow down and walk until it reaches the power-swap position, and then stop.

Preferably, the switching control method further includes:

Pre-stored the total distance of the first track and the first distance from the battery rack to the first positioning point;

Control the power-swap device to travel the first distance at a first speed, control the power-swap device to travel a second distance at a second speed, determine whether the power-swap device reaches the power-swap position, and if so, control the substation The battery swapping device stops walking, if otherwise, the battery swapping device is controlled to travel the second distance at the second speed again and it is judged whether the battery swapping device reaches the battery swapping position, and the cycle is repeated until the battery swapping device reaches In the switching position, the first speed is greater than the second speed, and the second distance is less than the difference between the total distance of the first track and the first distance.

A power-swap control system that controls a lane and a power-swap device. The lane has a liftable car-carrying plane, and the lane is provided with a walking plane for the power-swap device to travel. , A battery swap position is provided in the traveling plane of the battery swap device;

The power exchange control system includes:

The battery removal control module is used to control the vehicle-carrying plane to reach the first height, control the power swap device to reach the power swap position to remove the battery pack, control the power swap device to move away from the power swap position, and control The battery replacement device unloads the battery pack removed from the electric vehicle;

The battery pack control module is used to control the battery pack to load the battery pack matching the electric vehicle, control the battery pack device to reach the battery pack position to install the battery pack, and control the battery pack device to leave the place The switch position is used to control the vehicle-carrying plane to return to the initial height.

The first height is higher than the initial height;

Controlling the vehicle-carrying plane to reach the first height includes:

Preferably, controlling the battery swapping device to reach the battery swapping position to remove the battery pack includes:

Preferably, the battery removal control module is also used to control the battery replacement device to move away from the battery replacement position:

After the battery pack is removed from the electric vehicle by the battery swapping device, the vehicle loading plane is controlled to reach the second height so that the height difference between the car loading plane and the walking plane of the battery swapping device exceeds all levels. For the height of the battery pack after the battery pack is loaded, the second height is higher than the initial height.

Preferably, controlling the battery swapping device to reach the battery swapping position to install the battery pack includes:

Controlling the power swapping device to reach the power swapping position;

Preferably, the battery loading control module is also used to control the battery swapping device to reach the battery swapping position for installing the battery pack, and before controlling the battery swapping device to move away from the battery swapping position:

Controlling the vehicle-carrying plane to reach the first height.

Preferably, adjusting the posture of the battery replacement device to remove the battery pack from the electric vehicle includes:

Adjusting the relative positional relationship between the battery swapping platform of the battery swapping device and the car-carrying plane in the vertical direction to meet the battery removal conditions, including:

Controlling the power exchange platform to reach the third height;

And/or, adjusting the relative positional relationship between the battery swapping platform of the battery swapping device and the car-carrying plane in the horizontal direction to meet the battery removal conditions, including:

Preferably, adjusting the posture of the battery swapping device to install the battery pack loaded by the battery swapping device in the electric vehicle includes:

Adjusting the relative positional relationship between the battery swapping platform of the battery swapping device and the car-carrying plane in the vertical direction to meet the battery loading conditions includes:

Controlling the power exchange platform to reach the fifth height;

And/or, adjusting the relative positional relationship in the horizontal direction between the battery swapping platform of the battery swapping device and the car-carrying plane to meet the battery loading conditions, including:

Preferably, the first height is less than or equal to the second height.

Preferably, the fourth height is lower than the initial height.

Preferably, the sixth height is lower than the initial height.

Preferably, the battery removal control module is also used for restoring the battery swapping platform to the initial position without the battery pack after the battery swapping device has finished removing the battery pack and before moving away from the swapping position;

And/or, the battery loading control module is also used for restoring the battery swapping platform to the initial position without the battery pack after the battery pack is installed on the battery swapping device and before moving away from the battery swapping position.

Preferably, controlling the battery swapping device to unload the battery pack removed from the electric vehicle specifically includes: controlling the battery swapping device to drive to the battery rack and returning the battery pack removed from the electric vehicle Give the battery rack.

The battery removal control module and the battery installation control module are also used for:

Preferably, the battery removal control module and the battery installation control module are also used for:

Control the power swapping device to travel the first distance at a first speed, control the power swapping device to travel a second distance at a second speed, determine whether the power swapping device reaches the power swap position, and if so, control the substation The battery swapping device stops walking, if otherwise, the battery swapping device is controlled to travel the second distance at the second speed again and it is judged whether the battery swapping device reaches the battery swapping position, and the cycle is repeated until the battery swapping device reaches In the switching position, the first speed is greater than the second speed, and the second distance is less than the difference between the total distance of the first track and the first distance.

An electronic device includes a memory, a processor, and a computer program that is stored on the memory and can run on the processor, and the processor implements the above-mentioned method when the program is executed.

A computer-readable storage medium has a computer program stored thereon, and when the program is executed by a processor, the steps of the method described above are realized.

On the basis of conforming to common knowledge in the field, the above-mentioned preferred conditions can be combined arbitrarily to obtain preferred embodiments of the present invention.

The positive and progressive effect of the present invention is that: the present invention changes the height of the vehicle plane through the control of the lane clamping and the battery swapping equipment, and changes the height of the vehicle's bottom in accordance with the progress of the battery swap, thereby realizing the overall process of removing and installing battery packs It saves the time for battery replacement of the vehicle and improves the efficiency of battery replacement.

Description of the drawings

Figure 1 is a schematic top view of the lanes and the layout of power-swap equipment.

Fig. 2 is a flowchart of a power exchange control method according to Embodiment 1 of the present invention.

Fig. 3 is a side view of the vehicle carrying plane reaching the initial height according to the first embodiment of the present invention.

Fig. 4 is a side view of the mid-car plane reaching the first height according to the first embodiment of the present invention.

Fig. 5 is a flowchart of step S2 in the power exchange control method according to Embodiment 1 of the present invention.

Fig. 6 is a schematic diagram of a process in which a power swapping device reaches a power swapping position according to Embodiment 1 of the present invention.

Fig. 7 is a side view of the power swapping device after reaching the power swapping position according to Embodiment 1 of the present invention.

Fig. 8 is a side view of the power exchange platform according to Embodiment 1 of the present invention after reaching a third height.

Fig. 9 is a side view of the mid-car plane after reaching the fourth height according to the first embodiment of the present invention.

Fig. 10 is a side view of the battery exchange platform returning to the initial position after carrying the battery pack according to the first embodiment of the present invention, and the plane of the car is raised to a second height.

Fig. 11 is a flowchart of step S6 in the power exchange control method according to Embodiment 1 of the present invention.

Fig. 12 is a side view of the battery swapping device in the first embodiment of the present invention after it reaches the battery swapping position after loading the battery pack.

Fig. 13 is a side view of the power exchange platform according to Embodiment 1 of the present invention after reaching a fifth height.

Fig. 14 is a side view of the mid-car plane after reaching the sixth height according to the first embodiment of the present invention.

Fig. 15 is a side view of the battery exchange platform returning to the initial position after the battery pack is installed according to Embodiment 1 of the present invention, and the vehicle carrying plane is raised to the first height.

Fig. 16 is a schematic diagram of modules of a power exchange control system according to Embodiment 2 of the present invention.

Fig. 17 is a schematic structural diagram of an electronic device according to Embodiment 3 of the present invention.

Detailed ways

The present invention will be further described by way of examples below, but the present invention is not limited to the scope of the described examples.

Before describing the embodiments of the present invention in detail, a brief description will be given of lane clamping and power exchange equipment. As shown in Figure 1, the lane 1 is a device used in disassembling and installing battery packs. It is usually used in substations. Its main function is to adjust the height of the vehicle according to the bottom power exchange method, thereby providing Sufficient space at the bottom of the vehicle for battery replacement.

The lane 1 has a car-carrying plane 11, which is used to carry the electric vehicle 9 and can be raised and lowered in the height direction. The raising and lowering can be realized by a related lifting mechanism. Since the mechanical structure of the lifting mechanism is not the focus of the present invention, No specific explanation here. In the figure, the car-carrying plane 11 is not a continuous and complete plane, but is segmented, that is, there are two car-carrying planes 11 on both sides that can carry wheels 91, and the hollow area in the middle of the two car-carrying planes 11 can be called The battery replacement station is used to power the motor vehicle 9 to replace the battery pack. When the vehicle is parked on the vehicle loading plane 11, the battery pack at the bottom of the vehicle (located in the outer box of the battery pack as shown in the figure) is aligned with the battery replacement station. In the following embodiments, the two car-carrying planes 11 are controlled synchronously, that is, they rise or fall at the same time and the height is always the same.

The battery swapping device 2 is a bottom battery swapping device, used to remove and install the battery pack from the bottom of the vehicle, and has a liftable battery swap platform, a lifting mechanism that controls the lifting of the battery swap platform, and other components. On the clamping lane 1 is provided a battery-swap device walking plane 12 for the battery-swap device 2 to travel. A battery swap position is provided in the walking plane 12 of the battery swap device. The switch position corresponds to the switch station up and down, that is, when the switch device 2 is in the switch position, the switch device 2 only needs to adjust the height of the switch platform up and down, and coordinate with a small amount of horizontal movement or no horizontal movement. The battery exchange platform passes through the battery exchange station to reach the bottom of the vehicle, thereby completing the disassembly or installation of the battery pack. A first track for the power swap device to travel can also be arranged in the walking plane 12 of the power swap device. One end of the first rail leads to the switching position, and the other end can lead to the battery rack or other positions near the battery rack.

The arrow in Figure 1 is a feasible walking route for the battery swapping device 2, that is, from one end of the battery swapping device walking plane 12 into the vehicle bottom, and then drive out of the bottom of the vehicle from the other end. Of course, the battery swapping device 2 can also be used The other walking route is to enter the bottom of the vehicle from one end of the walking plane 12 of the battery replacement device, and then retreat from the same end to exit the bottom of the vehicle.

It should be noted that the above content and the drawings only schematically show a lane and power exchange device applicable to the following embodiments, but it does not mean that the following embodiments can only be used for the above-mentioned structure or style of clamping Lanes and power-swap equipment, lanes and power-swap equipment with the same or similar functions and power-swap principles are also applicable to the following embodiments.

Example 1

This embodiment provides a control method for battery replacement, which is implemented by cooperating with a lane clamping and a battery replacement device. Fig. 2 shows a flowchart of this embodiment. Referring to Fig. 2, the power exchange control method of this embodiment includes:

S1: Control the plane of the vehicle to reach the first height;

S2: Control the battery swapping equipment to reach the battery swapping position to remove the battery pack;

S3: Control the swapping equipment to move away from the swapping position;

S4: Control the battery replacement equipment to unload the battery pack removed from the electric vehicle;

S5: Control the battery pack that matches the electric vehicle to be loaded in the battery swapping equipment;

S6: Control the replacement equipment to reach the replacement position to install the battery pack;

S7: Control the swapping equipment to move away from the swapping position;

S8: Control the plane of the vehicle to return to the initial height.

Wherein, as shown in Fig. 3, the initial height h0 is the height of the car-carrying plane 11 when it is not raised or lowered. When the car-carrying plane 11 is at the initial height h0, it can be on the same plane as the walking plane 12 of the power exchange equipment and the plane of the clamping lane. Before the electric vehicle enters the lane, the loading plane is always at the initial height to facilitate the vehicle's entry.

As shown in Fig. 4, the first height h1 is higher than the initial height h0. Step S1 may specifically include the step of raising the plane to the first height h1 after the electric vehicle is parked on the plane of the vehicle and the battery pack on the bottom of the electric vehicle is aligned with the battery exchange station, so that the plane of the vehicle is exchanged with electricity. The height difference between the traveling planes of the equipment exceeds the height of the battery swapping device, so that the battery swapping device without the battery pack can smoothly reach the battery swapping position located below the car-carrying plane, and perform the operation of removing the battery pack for the electric vehicle.

Fig. 5 shows a flowchart of step S2. Referring to Fig. 5, step S2 specifically includes:

S21. Control the battery replacement equipment to reach the battery replacement position without carrying the battery pack;

S22. Adjust the posture of the battery replacement device to remove the battery pack from the electric vehicle.

Specifically, in the process of controlling the battery swapping device to move to the battery swapping position in step S21, it may specifically include the step of judging whether the battery swapping device has reached the preset first positioning point, as shown in FIG. 6 (the car is omitted in the figure). ), the first positioning point P1 is located on the travel path of the power swapping device 2 (that is, in the direction indicated by the arrow). If it is determined that the power swapping device 2 has reached the preset first positioning point P1, the power swapping device 2 will be controlled to decelerate and walk until The step of reaching the battery replacement position, and then the step of controlling the stop of the battery replacement device 2 is executed.

In this embodiment, the total distance L0 of the track can be pre-stored (if the first track starts from the battery rack, the total distance of the first track is the total distance from the battery rack to the switch position) and the battery rack to the first The first distance L1 of the locating point P1, the foregoing steps may specifically include:

Control the battery swapping device 2 to travel the first distance L1 at the first speed v1 (to P1 in Figure 6), and control the battery swapping device 2 to travel the second distance L2 at the second speed v2 (such as reaching P1' in Figure 6), Determine whether the battery swapping device 2 has reached the battery swapping position, if so, control the battery swapping device 2 to stop walking, if not, control the battery swapping device 2 to travel the second distance L2 again at the second speed v2 (such as reaching P1" in Figure 6) and It is judged whether the power swapping device 2 reaches the power swapping position, and the cycle is repeated until the power swapping device 2 reaches the power swapping position.

Wherein, the first speed v1 is greater than the second speed v2. In this embodiment, the battery swapping device first drives to the first positioning point at a higher speed, and then drives to the swap position at a lower speed, that is, the battery swaps The device first drives to the first positioning point adjacent to the battery swap position, and then continuously adjusts and judges the position of the battery swap device with a slightly smaller second distance, so that the battery swap device can be accurately positioned at the battery swap position.

Also, considering the high-speed driving of the battery replacement device, when it is judged that the battery replacement device reaches the first positioning point, there is a situation that the actual distance traveled by the battery replacement device is greater than the first distance. Therefore, the battery replacement device travels at the second speed The second distance may be less than the difference between the total distance of the first track and the first distance. Even if an error occurs during the first distance of walking, the error generated before can be compensated by multiple times of walking for the second distance to ensure that the replacement equipment accurately reaches the replacement position.

In addition, in this embodiment, a visual method can be used to determine whether the battery swapping device is accurately positioned at the battery swapping position. For example, the battery swapping device can be equipped with a vision camera to take pictures of the power swapping device while it is walking. Based on the comparison result of the first actual image of the car at the battery swapping station and the first standard image corresponding to the battery swapping device at the battery swapping position, it can be determined whether the battery swapping device is accurately positioned at the battery swapping position.

FIG. 7 shows a schematic diagram of the power swapping device 2 after reaching the power swapping position.

Specifically, step S22 may specifically include the step of adjusting the relative positional relationship in the vertical direction between the power swap platform of the power swap device and the car-carrying plane to meet the battery removal conditions. Specifically, it may include controlling the power swap platform to reach the third Height steps (Figure 8 shows a schematic diagram of the battery swapping platform 221 after reaching the third height), and the steps of controlling the carriage plane to reach the fourth height (Figure 9 shows the steps after the carriage plane 11 reaches the fourth height h4) Schematic diagram), so that the distance between the battery swapping platform and the bottom of the electric vehicle is a negative distance to meet the battery removal height condition. The height of the battery removal condition needs to be determined according to the operation process of the battery replacement device when the battery is removed. It usually needs to meet the battery removal structure on the battery replacement platform (such as the battery unlocking mechanism that unlocks the battery pack from the battery pack outer box) in the height direction The outer box of the battery pack that has enough contact with the bottom of the vehicle is required. The battery swapping platform reaches the third height above the initial position of the battery swapping platform, that is, there is an upward lift relative to the initial position. In order to cooperate with the third height, the fourth height may be lower than the first height, or even lower than the initial height.

Step S22 may specifically include the step of adjusting the relative positional relationship between the battery swapping platform of the battery swapping equipment and the car-carrying plane in the horizontal direction to meet the battery removal conditions. Specifically, it may include the step of controlling the horizontal movement of the battery swapping platform to Make the battery replacement platform align with the battery pack on the electric vehicle to meet the alignment conditions for battery removal. The alignment conditions for battery removal also need to be determined according to the operation process of the battery replacement device when the battery is removed. It usually needs to meet the battery removal structure on the battery replacement platform (such as the battery unlocking mechanism that unlocks the battery pack from the outer box of the battery pack). Align vertically with the locking mechanism on the outer box of the battery pack and other requirements.

Step S22 specifically includes the step of controlling the battery replacement device to perform a battery removal action, wherein the battery removal action is used to remove the battery pack from the electric vehicle. The battery removal action needs to be determined according to the operation process of the battery replacement device when the battery is removed, and may include the translation of the battery replacement platform, so that the battery unlocking mechanism can unlock the battery pack.

In this embodiment, after controlling the battery swapping device to remove the battery pack from the electric vehicle in step S2 and before controlling the battery swapping device to drive away from the battery swapping position in step S3, the battery swap control method of this embodiment may also include reverting the battery pack. Steps for the electric platform to the initial position without the battery pack.

In this embodiment, after controlling the battery swapping device to remove the battery pack from the electric vehicle in step S2 and before controlling the battery swapping device to drive away from the battery swap position in step S3, the battery swap control method of this embodiment may also include controlling the load. The step of the vehicle level reaching the second height, so that the height difference between the vehicle-carrying level and the walking plane of the power replacement device exceeds the height of the power replacement device after the battery pack is loaded. Wherein, as shown in Fig. 10, after the battery pack is loaded, the battery swapping platform returns to the initial position, and the car-carrying plane 11 is lifted to the second height h2. The second height h2 is higher than the initial height h0, the battery swapping device corresponding to the first height h1 does not carry a battery pack but the electric vehicle carries a battery pack, and the battery swapping device corresponding to the second height h2 carries a battery pack but the electric vehicle does not carry There is a battery pack, and also, the chassis of the electric vehicle with the battery pack is lower than the chassis of the electric vehicle without the battery pack, so the first height h1 is less than or equal to the second height h2.

In this embodiment, in step S3, after the battery pack is removed by the battery swapping device and before moving away from the battery swap position, the battery swap platform is restored to the initial position without the battery pack.

In this embodiment, in step S4, the battery replacement device is controlled to drive to the battery rack and the battery pack removed from the electric vehicle is returned to the battery rack. The return here can be the battery pack being directly put into the battery rack by the battery replacement device, or indirectly, that is, the battery pack is put into the battery rack through a transfer device (such as a palletizer).

So far, the operation of disassembling the battery pack of the electric vehicle is completed, and the operation of installing the battery pack can be performed on the electric vehicle later.

Specifically, after step S4 in this embodiment and before step S6, the car-carrying plane can be controlled to maintain the second height, so that the height difference between the car-carrying plane and the walking plane of the battery pack exceeds that after the battery pack is loaded by the battery pack. the height of.

In this embodiment, in step S5, the battery replacement device can directly take the battery pack to be installed on the electric vehicle from the battery rack that returns the battery pack or indirectly, that is, take it through a transfer device (such as a palletizer). The battery pack to be installed on the electric vehicle; the battery replacement device can also drive to other battery racks to directly or indirectly fetch the battery pack to be installed on the electric vehicle.

Fig. 11 shows a flowchart of step S6. Referring to Fig. 11, step S6 specifically includes:

S61. Control the replacement equipment to reach the replacement position;

S62. Adjust the posture of the battery replacement device to install the battery pack loaded in the battery replacement device in the electric vehicle.

Specifically, in the process of controlling the power-swap device to move to the power-swap position in step S61, the power-swap device can be accurately positioned at the power-swap position by means of the first positioning point as in step S21 described above. Fig. 12 shows a schematic diagram after the battery pack is reloaded by the battery replacement device and reaches the battery replacement position.

Specifically, step S62 may specifically include the step of adjusting the relative positional relationship between the power-swap platform of the power-swap equipment and the vehicle-carrying plane in the vertical direction to meet the battery loading conditions. Specifically, it may include controlling the power-swap platform to reach the fifth Height steps (Figure 13 shows a schematic diagram of the battery swapping platform 221 after reaching the fifth height), and the steps of controlling the carriage plane to reach the sixth height (Figure 14 shows the steps after the carriage plane 11 reaches the sixth height h6) Schematic diagram), so that the distance between the battery swapping platform and the bottom of the electric vehicle is a negative distance, which satisfies the battery height condition. The battery height conditions need to be determined according to the operation process of the battery replacement equipment when the battery is installed. It is usually necessary to meet the battery pack structure in the height direction. The battery pack on the battery pack platform is enough to fit into the battery pack outer box under the vehicle. Require. The battery swapping platform reaches the fifth height above the initial position of the battery swapping platform, that is, there is an upward lift relative to the initial position. In order to cooperate with the fifth height, the sixth height may be lower than the second height, or even lower than the initial height.

Step S62 may specifically include the step of adjusting the relative positional relationship between the battery swapping platform of the battery swapping equipment and the car-carrying plane in the horizontal direction to meet the battery loading conditions. Specifically, it may include the step of controlling the horizontal movement of the battery swapping platform to The battery replacement platform is aligned with the outer box of the battery pack on the electric vehicle to meet the battery alignment conditions. The alignment conditions of the battery installation also need to be determined according to the operation process of the battery replacement equipment when the battery is installed, and usually need to meet the battery installation structure on the battery replacement platform (such as the battery lock that locks the battery pack in the outer box of the battery pack). Mechanism) can be vertically aligned with the requirements of the locking mechanism on the outer box of the battery pack.

Step S62 specifically includes the step of controlling the battery replacement device to perform a battery loading action, wherein the battery loading action is used to install the loaded battery pack in the electric vehicle. The battery loading action needs to be determined according to the operation process of the battery replacement device when the battery is installed, and may include a translational battery replacement platform so that the battery locking mechanism can lock the battery pack.

In this embodiment, after controlling the battery swapping device to reach the swapping position to install the battery pack in step S6 and before controlling the battery swapping device to move away from the swapping position in step S7, the power swap control method of this embodiment may also include restoring the battery pack. Steps for the electric platform to the initial position without the battery pack.

In this embodiment, after controlling the battery swapping device to reach the battery swapping position for installing the battery pack in step S6 and before controlling the battery swapping device to drive away from the battery swapping position in step S7, the battery swap control method of this embodiment may further include controlling the load. The step of the vehicle plane reaching the first height, so that the height difference between the vehicle-carrying plane and the walking plane of the power-swap equipment exceeds the height of the power-swap equipment. Wherein, as shown in FIG. 15, the battery pack returns to the initial position after the battery pack is installed on the battery swapping platform, and the vehicle-carrying plane 11 is lifted to the first height h1.

So far, the operation of installing the battery pack on the electric vehicle is completed.

Finally, step S8 is used to restore the car-carrying plane to the initial state before the power exchange.

This embodiment realizes the overall process of battery removal and battery installation through the control of lane clamping and power replacement equipment, which saves the time for vehicle power replacement and improves the efficiency of power replacement.

Example 2

This embodiment provides a power swap control system, which controls lane clamping and power swap equipment. FIG. 16 shows a schematic diagram of modules of this embodiment. Referring to FIG. 16, the power replacement control system of this embodiment includes: a battery removal control module 41 and a battery installation control module 42.

The battery removal control module 41 is used to control the vehicle plane to reach the first height, control the battery replacement equipment to reach the battery replacement position to remove the battery pack, control the battery replacement equipment to drive away from the battery replacement position, and control the battery replacement equipment to be unloaded and removed from the electric vehicle Battery pack.

The battery loading control module 42 is used to control the battery swapping equipment to load battery packs that match the electric vehicle, control the swapping equipment to reach the swap position to install the battery pack, control the swapping equipment to move away from the swap position, and control the loading plane to return to the original high.

Among them, the initial height is the height where the vehicle loading plane is when it is not raised or lowered. When the vehicle loading plane is at the initial height, it can be located on the same plane as the walking plane of the battery swapping equipment and the plane of the lane. Before the electric vehicle enters the lane, the loading plane is always at the initial height to facilitate the vehicle's entry.

In this embodiment, the first height is higher than the initial height. Control the vehicle plane to reach the first height, including:

After the electric vehicle is parked on the car-carrying plane and the battery pack under the electric car is aligned with the battery swapping station, lift the car-carrying plane to the first height, so that the height between the car-carrying plane and the walking plane of the battery-swapping equipment The difference exceeds the height of the replacement equipment. In turn, the battery swapping device that does not carry the battery pack can smoothly reach the swapping position located below the car-carrying plane, and the battery pack removal operation of the electric vehicle can be performed.

In this embodiment, controlling the battery swapping device to reach the battery swapping position to remove the battery pack specifically includes:

Control the battery swapping equipment to reach the battery swap position without carrying the battery pack;

In order to control the replacement equipment to accurately reach the replacement position, the battery removal control module 41 is also used to:

During the process of the battery swapping device moving to the battery swapping position through the first track, it is judged whether the battery swapping device has reached the preset first positioning point. The first positioning point is located on the travel path of the battery swapping device. If so, control the battery swapping The equipment slows down and walks until it reaches the power-swap position, and then stops.

In this embodiment, the battery removal control module 41 can pre-store the total distance of the first track and the first distance from the battery rack to the first positioning point; control the battery replacement device to travel the first distance at the first speed, and control the battery replacement device to travel the first distance at the first speed. The second speed travels the second distance, judge whether the battery replacement device reaches the battery replacement position, if so, control the battery replacement device to stop walking, if otherwise, control the battery replacement device to travel the second distance at the second speed again and determine whether the battery replacement device reaches the battery replacement position Position, the cycle repeats until the replacement equipment reaches the replacement position.

Wherein, the first speed is greater than the second speed. In this embodiment, the power-swap device first drives to the first positioning point at a higher speed, and then drives to the power-swap position at a lower speed, that is, the power-swap device first Drive to the first positioning point adjacent to the battery swap position, and then continuously adjust and determine the position of the battery swap device with a slightly smaller second distance, so that the battery swap device can be accurately positioned at the battery swap position.

Specifically, adjusting the posture of the battery replacement device to remove the battery pack from the electric vehicle includes:

Adjust the horizontal and/or vertical relative positional relationship between the battery swapping platform of the battery swapping equipment and the car-carrying plane to meet the battery removal conditions;

Control the battery replacement device to perform the battery removal action, which is used to remove the battery pack from the electric vehicle. Among them, the battery removal action is used to remove the battery pack from the electric vehicle. The battery removal action needs to be determined according to the operation process of the battery replacement device when the battery is removed, and may include the translation of the battery replacement platform so that the battery unlocking mechanism can unlock the battery pack.

Adjust the relative positional relationship between the battery swapping platform of the battery swapping equipment and the car-carrying plane in the vertical direction to meet the battery removal conditions, including:

Control the power exchange platform to reach the third height;

The vehicle carrying plane is controlled to reach the fourth height, so that the battery exchange platform passes through the battery exchange station and the distance from the bottom of the electric vehicle is a negative distance, which satisfies the battery removal height condition. The height of the battery removal condition needs to be determined according to the operation process of the battery replacement device when the battery is removed. It usually needs to meet the battery removal structure on the battery replacement platform (such as the battery unlocking mechanism that unlocks the battery pack from the battery pack outer box) in the height direction The outer box of the battery pack that has enough contact with the bottom of the vehicle is required. The battery swapping platform reaches the third height above the initial position of the battery swapping platform, that is, there is an upward lift relative to the initial position. In order to cooperate with the third height, the fourth height may be lower than the first height, or even lower than the initial height.

Adjust the relative positional relationship between the battery swapping platform of the battery swapping equipment and the plane of the vehicle in the horizontal direction to meet the battery removal conditions, including:

Control the horizontal movement of the battery swapping platform so that the battery swapping platform aligns with the battery pack on the electric vehicle and meets the alignment conditions for battery removal. The alignment conditions for battery removal also need to be determined according to the operation process of the battery replacement device when the battery is removed. It usually needs to meet the battery removal structure on the battery replacement platform (such as the battery unlocking mechanism that unlocks the battery pack from the outer box of the battery pack). Align vertically with the locking mechanism on the outer box of the battery pack and other requirements.

In this embodiment, the battery removal control module 41 is also used to control the battery replacement device to restore the battery replacement platform to the initial position without the battery pack after removing the battery pack from the electric vehicle and before controlling the battery replacement device to drive away from the battery replacement position. .

In this embodiment, the battery removal control module 41 is also used to control the battery replacement device to move away from the battery replacement position:

After the battery pack is removed from the electric vehicle by the battery swapping device, the vehicle loading plane is controlled to reach the second height, so that the height difference between the car loading plane and the walking plane of the battery swapping device exceeds the height after the battery pack is loaded by the battery swapping device. 2. The height is higher than the initial height. In this embodiment, the battery removal control module 41 is also used to control the battery replacement device to unload the battery pack removed from the electric vehicle, which specifically includes: controlling the battery replacement device to drive to the battery rack and remove the battery from the electric vehicle Return the bag to the battery rack. The return here can be that the battery pack is directly placed in the battery rack by the battery replacement device, or indirectly, that is, the battery pack is placed into the battery rack through a transfer device (such as a palletizer).

Specifically, the battery loading control module 42 controls the vehicle loading plane to be maintained at the second height during the period when the battery replacement device is controlled to move away from the battery replacement position and the new battery pack is reloaded back to the battery replacement position, so that the vehicle loading plane is maintained at the second height. The height difference between the walking planes of the equipment exceeds the height of the replacement equipment after the battery pack is loaded.

The battery replacement equipment can directly take the battery pack to be installed on the electric vehicle from the battery rack that returns the battery pack or indirectly, that is, take the battery pack to be installed on the electric vehicle through a transfer device (such as a palletizer); The electrical equipment can also drive to other battery racks to directly or indirectly fetch the battery pack to be installed on the electric vehicle.

In this embodiment, controlling the battery swapping device to arrive at the battery swapping position to install the battery pack includes:

Control the replacement equipment to reach the replacement position;

Adjust the posture of the battery swapping device to install the battery pack loaded on the battery swapping device in an electric vehicle.

Specifically, the battery loading control module 42 is also used for:

The battery control module is also used for:

Prestore the total distance of the first track and the first distance from the battery rack to the first positioning point;

Control the battery replacement device to travel the first distance at the first speed, control the battery replacement device to travel the second distance at the second speed, determine whether the battery replacement device reaches the battery replacement position, if so, control the battery replacement device to stop walking, if not, control the battery replacement The device travels at the second speed again for a second distance and judges whether the swapping device reaches the swapping position. The cycle repeats until the swapping device reaches the swapping position. The first speed is greater than the second speed, and the second distance is less than the total distance of the first track. The difference from the first distance.

Specifically, adjusting the posture of the battery swapping device to install the battery pack loaded by the battery swapping device in an electric vehicle includes:

Adjust the relative positional relationship between the battery swapping platform of the battery swapping equipment and the plane of the vehicle in the horizontal and/or vertical directions to meet the battery loading conditions;

Control the battery replacement equipment to perform the battery loading action, which is used to install the loaded battery pack in the electric vehicle. The battery loading action needs to be determined according to the operation process of the battery replacement device when the battery is installed, and may include a translational battery replacement platform so that the battery locking mechanism can lock the battery pack.

Adjust the relative positional relationship between the battery swapping platform of the battery swapping equipment and the car-carrying plane in the vertical direction to meet the battery installation conditions, including:

Control the battery exchange platform to reach the fifth height;

The vehicle loading plane is controlled to reach the sixth height, so that the battery exchange platform passes through the battery exchange station and the distance from the bottom of the electric vehicle is a negative distance, which satisfies the battery height condition. The battery height conditions need to be determined according to the operation process of the battery replacement equipment when the battery is installed. It is usually necessary to meet the battery pack structure in the height direction. The battery pack on the battery pack platform is enough to fit into the battery pack outer box under the vehicle. Require. The battery swapping platform reaches the fifth height above the initial position of the battery swapping platform, that is, there is an upward lift relative to the initial position. In order to cooperate with the fifth height, the sixth height may be lower than the second height, or even lower than the initial height.

Adjusting the relative positional relationship between the battery swapping platform of the battery swapping device and the car-carrying plane in the horizontal direction to meet the battery loading conditions, including:

Control the horizontal movement of the battery exchange platform so that the battery exchange platform is aligned with the outer box of the battery pack on the electric vehicle to meet the battery alignment conditions. The alignment conditions of the battery installation also need to be determined according to the operation process of the battery replacement equipment when the battery is installed, and usually need to meet the battery installation structure on the battery replacement platform (such as the battery lock that locks the battery pack in the outer box of the battery pack). Mechanism) can be vertically aligned with the requirements of the locking mechanism on the outer box of the battery pack.

In this embodiment, the battery loading control module 42 is also used for restoring the battery swapping platform to the initial position without the battery pack after the battery pack is installed on the battery swapping device and before the battery pack is moved away.

In this embodiment, the battery loading control module 42 is also used to control the battery swapping device to reach the battery swapping position to install the battery pack, and before controlling the battery swapping device to move away from the battery swapping position:

Control the vehicle carrying plane to reach the first height, so that the height difference between the vehicle carrying plane and the walking plane of the power exchange equipment exceeds the height of the power exchange equipment. Among them, the battery pack returns to the initial position after the battery pack is installed on the battery swapping platform, and the plane of the vehicle is raised to the first height.

Finally, restore the car-carrying plane to the initial state before the power change.

This embodiment realizes the overall process of battery removal and battery installation through the control of lane clamping and battery replacement equipment, which saves vehicle battery replacement time and improves battery replacement efficiency.

Example 3

FIG. 17 is a schematic structural diagram of an electronic device according to Embodiment 3 of the present invention. The electronic device includes a memory, a processor, and a computer program that is stored on the memory and can run on the processor, and the processor implements a method of Embodiment 1 when the processor executes the program. The electronic device 50 shown in FIG. 17 is only an example, and should not bring any limitation to the function and application scope of the embodiment of the present invention.

As shown in FIG. 17, the electronic device 50 may be in the form of a general-purpose computing device, for example, it may be a server device. The components of the electronic device 50 may include, but are not limited to: the aforementioned at least one processor 51, the aforementioned at least one memory 52, and a bus 53 connecting different system components (including the memory 52 and the processor 51).

The bus 53 includes a data bus, an address bus, and a control bus.

The memory 52 may include a volatile memory, such as a random access memory (RAM) 521 and/or a cache memory 522, and may further include a read-only memory (ROM) 523.

The memory 52 may also include a program/utility tool 525 having a set of (at least one) program module 525. Such program module 524 includes but is not limited to: an operating system, one or more application programs, other program modules, and program data. Each of the examples or some combination may include the realization of a network environment.

The processor 51 executes various functional applications and data processing by running a computer program stored in the memory 52, such as the method provided in Embodiment 1 of the present invention.

The electronic device 50 may also communicate with one or more external devices 54 (such as keyboards, pointing devices, etc.). This communication can be performed through an input/output (I/O) interface 55. In addition, the model-generated device 50 can also communicate with one or more networks (for example, a local area network (LAN), a wide area network (WAN), and/or a public network, such as the Internet) through the network adapter 56. As shown in FIG. 17, the network adapter 56 communicates with other modules of the device 50 generated by the model through the bus 53. It should be understood that although not shown in the figure, other hardware and/or software modules can be used in conjunction with the device 50 generated by the model, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (disk Array) systems, tape drives, and data backup storage systems.

It should be noted that although several units/modules or sub-units/modules of the electronic device are mentioned in the above detailed description, this division is only exemplary and not mandatory. In fact, according to the embodiments of the present invention, the features and functions of two or more units/modules described above can be embodied in one unit/module. Conversely, the features and functions of one unit/module described above can be further divided into multiple units/modules to be embodied.

Example 4

This embodiment provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of a method provided in Embodiment 1 are implemented.

Among them, the readable storage medium may more specifically include but not limited to: portable disk, hard disk, random access memory, read only memory, erasable programmable read only memory, optical storage device, magnetic storage device or any of the above The right combination.

In a possible implementation manner, the present invention can also be implemented in the form of a program product, which includes program code. When the program product runs on a terminal device, the program code is used to make the terminal device execute the implementation. Steps in any of the methods described in Example 1.

Wherein, the program code used to execute the present invention can be written in any combination of one or more programming languages, and the program code can be completely executed on the user equipment, partially executed on the user equipment, as an independent The software package is executed, partly on the user’s device, partly on the remote device, or entirely on the remote device.

Although the specific embodiments of the present invention are described above, those skilled in the art should understand that this is only an example, and the protection scope of the present invention is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principle and essence of the present invention, but these changes and modifications all fall within the protection scope of the present invention.

Claims

A power swap control method, characterized in that the power swap control method is realized by the cooperation of a car clamping lane and a power swap device, the car clamping lane has a liftable car carrying plane, and the car clamping lane is provided with A battery-swap device walking plane on which the battery-swap device travels, and a battery-swap position is provided in the battery-swap device walking plane;

The power exchange control method includes:

Controlling the vehicle-carrying plane to reach the first height;

Controlling the battery swapping device to reach the battery swapping position to remove the battery pack;

Controlling the power swapping device to move away from the power swapping position;

Controlling the battery swapping device to unload the battery pack removed from the electric vehicle;

Controlling the battery swapping device to load a battery pack that matches the electric vehicle;

Controlling the battery swapping device to reach the battery swapping position to install the battery pack;

Controlling the power swapping device to move away from the power swapping position;

Control the vehicle loading plane to return to the initial height.
The power replacement control method according to claim 1, wherein a power replacement station is provided in the plane of the vehicle, and the power replacement station is used to power the electric vehicle to replace the battery pack, and the power replacement station is compatible with The switch positions correspond up and down;

The first height is higher than the initial height;

The controlling the vehicle-carrying plane to reach the first height includes:

After the electric vehicle is parked on the vehicle-carrying plane and the battery pack under the electric vehicle is aligned with the power exchange station, the vehicle-carrying plane is raised to the first height, so that the vehicle The height difference between the plane of the vehicle and the traveling plane of the power swap device exceeds the height of the power swap device.
The battery swap control method according to at least one of claims 1 and 2, wherein the controlling the battery swap device to reach the battery swap position to remove the battery pack comprises:

Controlling the battery swapping device to reach the swapping position without a battery pack;

Adjust the posture of the battery replacement device to remove the battery pack from the electric vehicle.
The power swap control method according to at least one of claims 1 to 3, wherein before controlling the power swap device to move away from the power swap position, the method further comprises:

After the battery pack is removed from the electric vehicle by the battery swapping device, the vehicle loading plane is controlled to reach the second height, so that the height difference between the car loading plane and the walking plane of the battery swapping device exceeds that of the battery pack. The height of the electrical device after the battery pack is loaded, the second height being higher than the initial height.
The battery swap control method according to at least one of claims 1 to 4, wherein the controlling the battery swap device to reach the battery swap position to install the battery pack includes:

Controlling the power swapping device to reach the power swapping position;

The posture of the battery swapping device is adjusted to install the battery pack loaded by the battery swapping device in an electric vehicle.
The power swap control method according to at least one of claims 1-5, wherein after the control of the power swap device reaches the power swap position to install the battery pack, the power swap device is controlled to drive Before leaving the switch position, it also includes:

Controlling the vehicle-carrying plane to reach the first height.
The battery swap control method according to claim 3, wherein the adjusting the posture of the battery swap device to remove the battery pack from the electric vehicle comprises:

Adjusting the relative positional relationship between the battery swapping platform of the battery swapping device and the car-carrying plane in the horizontal and/or vertical directions to meet the battery removal conditions;

The battery swapping device is controlled to perform a battery removal action, and the battery removal action is used to remove the battery pack from the electric vehicle.
The power replacement control method according to claim 7, wherein a power replacement station is provided in the plane of the vehicle, and the power replacement station is used to power the electric vehicle to replace the battery pack, and the power replacement station is compatible with The switch positions correspond up and down;

The adjusting the relative positional relationship in the vertical direction between the battery swapping platform of the battery swapping device and the car-carrying plane to meet the battery removal condition includes:

Controlling the power exchange platform to reach the third height;

Controlling the vehicle-carrying plane to reach the fourth height, so that the battery swapping platform passes through the battery swapping station and the distance from the bottom of the electric vehicle is a negative distance, which satisfies the battery removal height condition;

And/or, said adjusting the relative positional relationship in the horizontal direction between the battery swapping platform of the battery swapping device and the car-carrying plane to meet the battery removal conditions, including:

Control the horizontal movement of the battery swapping platform so that the battery swapping platform and the battery pack on the electric vehicle are aligned to meet the battery removal alignment condition.
The battery replacement control method according to claim 5, wherein the adjusting the attitude of the battery replacement device to install the battery pack loaded by the battery replacement device in the electric vehicle comprises:

Adjusting the relative positional relationship between the battery swapping platform of the battery swapping device and the car-carrying plane in the horizontal and/or vertical directions to meet the battery loading conditions;

The battery replacement device is controlled to perform a battery loading operation, which is used to install the loaded battery pack in the electric vehicle.
The power replacement control method according to claim 9, wherein a power replacement station is provided in the plane of the vehicle, and the power replacement station is used to power the electric vehicle to replace the battery pack, and the power replacement station is connected to the battery pack. The switch positions correspond up and down;

The adjusting the relative positional relationship between the battery swapping platform of the battery swapping device and the vehicle-carrying plane in the vertical direction to meet the battery loading conditions includes:

Controlling the power exchange platform to reach the fifth height;

Controlling the vehicle-carrying plane to reach the sixth height, so that the battery swapping platform passes through the battery swapping station and the distance from the bottom of the electric vehicle is a negative distance, which satisfies the battery height condition;

And/or, said adjusting the relative positional relationship in the horizontal direction between the battery swapping platform of the battery swapping device and the car-carrying plane to meet the battery loading conditions, including:

Control the horizontal movement of the battery swapping platform so that the battery swapping platform is aligned with the outer box of the battery pack on the electric vehicle to meet the battery-installation alignment condition.
8. The method for controlling power exchange according to claim 4, wherein the first height is less than or equal to the second height.
8. The method for controlling power exchange according to claim 8, wherein the fourth height is lower than the initial height.
The method for controlling power exchange according to claim 10, wherein the sixth height is lower than the initial height.
The power swap control method according to at least one of claims 1-13, wherein the power swap control method further comprises:

After the battery pack is removed by the battery swap device and before leaving the battery swap position, restore the battery swap platform to the initial position without the battery pack;

And/or, after the battery pack is installed on the battery swapping device and before moving away from the battery swapping position, the battery swapping platform is restored to the initial position without the battery pack.
The battery swap control method according to at least one of claims 1 and 2, wherein the controlling the battery swapping device to unload the battery pack unloaded from the electric vehicle specifically includes: controlling the swapping device The electrical equipment drives to the battery rack and returns the battery pack removed from the electric vehicle to the battery rack.
The battery replacement control method according to claim 15, wherein a first track for the battery replacement device to travel is arranged in the walking plane of the battery replacement device, and the first track connects the battery rack and the battery holder. Describe the battery replacement position;

The switching control method further includes:

During the process of the power swapping device traveling to the power swapping position through the first track, it is determined whether the power swapping device has reached a preset first positioning point, and the first positioning point is located at the power swapping position. If it is on the traveling path of the device, control the power-swap device to slow down and walk until it reaches the power-swap position, and then stop.
15. The power swap control method according to claim 16, wherein the power swap control method further comprises:

Pre-stored the total distance of the first track and the first distance from the battery rack to the first positioning point;

Control the power swapping device to travel the first distance at a first speed, control the power swapping device to travel a second distance at a second speed, determine whether the power swapping device reaches the power swap position, and if so, control the substation The battery swapping device stops walking, if otherwise, the battery swapping device is controlled to travel the second distance at the second speed again and it is judged whether the battery swapping device reaches the battery swapping position, and the cycle is repeated until the battery swapping device reaches In the switching position, the first speed is greater than the second speed, and the second distance is less than the difference between the total distance of the first track and the first distance.
A power swap control system, characterized in that it controls the car clamping lane and the power swap equipment, the car clamping lane has a liftable car loading plane, and the car clamping lane is provided with a swapping device for the power swap equipment to travel. A traveling plane of the electrical equipment, in which a battery-changing position is provided;

The power exchange control system includes:

The battery removal control module is used to control the vehicle-carrying plane to reach the first height, control the power swap device to reach the power swap position to remove the battery pack, control the power swap device to move away from the power swap position, and control The battery replacement device unloads the battery pack removed from the electric vehicle;

The battery loading control module is used to control the battery swapping device to load the battery pack matching the electric vehicle, control the battery swapping device to reach the swap position to install the battery pack, and control the battery swapping device to leave the place. The battery replacement position is used to control the vehicle-carrying plane to return to the initial height.
An electronic device comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to achieve at least one of claims 1-17 The method described.
A computer-readable storage medium having a computer program stored thereon, wherein the program is executed by a processor to implement the steps of the method according to at least one of claims 1-17.