WO2022048626A1 - 底部换电方法 - Google Patents
底部换电方法 Download PDFInfo
- Publication number
- WO2022048626A1 WO2022048626A1 PCT/CN2021/116391 CN2021116391W WO2022048626A1 WO 2022048626 A1 WO2022048626 A1 WO 2022048626A1 CN 2021116391 W CN2021116391 W CN 2021116391W WO 2022048626 A1 WO2022048626 A1 WO 2022048626A1
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- Prior art keywords
- height
- vehicle
- battery
- power
- swapping
- Prior art date
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- 238000000034 method Methods 0.000 title claims abstract description 101
- 230000001276 controlling effect Effects 0.000 claims description 99
- 238000009434 installation Methods 0.000 claims description 99
- 230000002159 abnormal effect Effects 0.000 claims description 19
- 230000002596 correlated effect Effects 0.000 claims description 2
- 238000003032 molecular docking Methods 0.000 abstract description 3
- 230000000875 corresponding effect Effects 0.000 description 9
- 230000008569 process Effects 0.000 description 9
- 238000001514 detection method Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000011900 installation process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000008092 positive effect Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
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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
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- 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
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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
Definitions
- the present application relates to the field of power exchange control, and in particular, to a power exchange device and a bottom power exchange method for a power exchange vehicle.
- the direct charging type needs to set up charging piles to charge electric vehicles, but the charging time is long and the efficiency is low.
- the battery replacement type needs to set up a replacement station, and the electric vehicle can be quickly replaced by replacing the battery pack, which shortens a long time compared with the direct charging type.
- the battery replacement process includes removing the battery pack and installing the battery pack, and there is still a battery pack replacement time. Longer, lower power exchange efficiency.
- a current power exchange method is bottom power exchange, that is, the power exchange device for disassembling and assembling the battery pack disassembles and installs the battery pack from the bottom of the vehicle.
- the vehicle In the process of battery swapping at the bottom, the vehicle needs to ride on a vehicle platform with a fixed height, so as to provide enough space under the vehicle for the battery replacement device to disassemble and install the battery pack.
- the height of this vehicle platform is fixed, only the power exchange equipment can be lifted and lowered in the height direction. Therefore, the entire power exchange process imposes a heavy burden on the power exchange equipment and requires high requirements, resulting in lower power exchange efficiency. Affects the success rate of battery disassembly.
- the technical problem to be solved by this application is to provide a bottom power exchange method in order to overcome the defects of low power exchange efficiency and low success rate of battery disassembly and assembly in the bottom power exchange method in the prior art.
- a bottom power exchange method the power exchange equipment using the bottom power exchange method has a power exchange platform for disassembling and assembling batteries, which is used to replace the battery at the bottom of the power exchange vehicle on the vehicle platform, and the bottom power exchange method includes: :
- Controlling the power-changing device to adjust to the power-changing alignment position of the power-changing vehicle the power-changing platform is higher than the driving height of the vehicle-carrying platform, and the driving height is used to represent when the power-changing vehicle is driving in or out the height of the vehicle platform;
- Controlling the power-swapping vehicle to adjust to a power-swapping height where the power-swapping height is used to represent the height at which the power-swapping vehicle matches the power-swapping device during power-swapping;
- the battery swapping device is controlled to remove or install the battery of the battery swapping vehicle.
- the battery swapping vehicle is adjusted to the battery swapping height, so as to provide the height of the vehicle suitable for disassembling and assembling the battery of the battery swapping device, quickly realizing the battery disassembling and assembling operation, saving the battery swapping time of the vehicle, thereby improving the
- the power exchange efficiency is improved, and the power exchange platform is accurately docked with the bottom of the vehicle in the height direction, thereby improving the success rate of battery disassembly and assembly.
- the step of controlling the battery-swapping vehicle to adjust to a battery-swapping height includes:
- the vehicle-carrying platform is controlled to move below the driving height, so as to adjust the battery-changing vehicle to the battery-changing height.
- the battery-swapping vehicle is effectively adjusted to the battery-swapping height, so as to provide a height suitable for the battery-removing device of the battery-swapping device, and quickly realize the battery removal and installation operation.
- the bottom power-swapping method when controlling the vehicle-carrying platform to move below the driving height, the bottom power-swapping method further includes:
- the height of the power exchange platform is maintained.
- the height of the power exchange platform is maintained, that is, the power exchange platform does not need to be operated, and the power exchange vehicle is effectively adjusted to the power exchange height only by controlling the vehicle platform, so as to provide suitable
- the height of the vehicle in which the battery is disassembled and installed by the battery replacement device can be quickly realized.
- the bottom power-swapping method when controlling the vehicle-carrying platform to move below the driving height, the bottom power-swapping method further includes:
- the power exchange platform is controlled to rise to a high level.
- the power-changing platform is controlled to rise synchronously while the vehicle-carrying platform is controlled to descend, so as to realize the synchronous control of the height of the power-changing platform and the bottom of the vehicle, so as to provide a vehicle suitable for the battery-removing equipment of the power-changing device. It can quickly realize the battery disassembly and assembly operation, thereby improving the power exchange efficiency.
- the bottom power-swapping method before the step of controlling the power-swapping device to be adjusted to the power-swapping alignment position of the power-swapping vehicle, the bottom power-swapping method further includes:
- vehicle information of the battery-swapping vehicle where the vehicle information is used for highly correlated matching with the battery-swapping vehicle;
- the step of controlling the battery-swapping vehicle to adjust to a battery-swapping height includes:
- the battery-swapping vehicle is controlled to adjust to a battery-swapping height matched based on the vehicle information.
- the corresponding power exchange height is generated, which can be effectively applied to various types of vehicles, and provides an intelligent and convenient power exchange matching method, thereby improving power exchange efficiency and disassembly. Battery installation success rate.
- the vehicle information includes battery thickness information.
- the corresponding power exchange height is generated, which can be effectively applied to various types of battery sizes, and provides an intelligent and convenient power exchange matching method, thereby improving power exchange efficiency. And the success rate of battery removal.
- the bottom power-swapping method before the step of controlling the power-swapping device to be adjusted to the power-swapping alignment position of the power-swapping vehicle, the bottom power-swapping method further includes:
- the bottom battery swapping method further includes:
- the power swapping device is controlled to drive out of the vehicle bottom of the power swapping vehicle.
- an obstacle-free passage can be provided for the battery swapping device, thereby improving the replacement efficiency.
- the removal and drive-in efficiency of the electrical equipment; when the battery is removed from the battery, when the battery is removed from the vehicle, the battery can be provided to the battery-loaded battery by adjusting the battery to the removal height. Barrier-free passage, thus improving the efficiency of removing and driving out the power exchange equipment.
- the disassembly drive-out height is higher than the disassembly drive-in height, and the disassembly drive-in height is higher than the power exchange height.
- the overall height of the battery with the battery on the battery is higher than its own height.
- the dismounting drive-out height is set higher than the dismounting drive-in height, so as to improve the moving efficiency of the power exchange device.
- the bottom power-swapping method further includes:
- the vehicle platform is controlled to be adjusted to the driving height
- the battery-swapping vehicle is controlled to drive into the vehicle platform from the driving height
- the dismounting drive-in height is higher than the driving height
- the dismounting drive-out height is higher than the stated ride height
- the vehicle-carrying platform is adjusted to the driving height before power-changing, so that different power-changing vehicles can smoothly drive into the vehicle-carrying platform, thereby completing the power-changing process.
- the step of controlling the battery-swap vehicle to be adjusted to the battery-swap height it is also detected whether the adjusted height of the battery-swap vehicle reaches the battery-swap height, and if not, an alarm signal is output; and/or ,
- step of controlling the battery-swap vehicle to be adjusted to the disassembly drive-in height it is also detected whether the adjusted height of the battery-swap vehicle reaches the disassembly drive-in height, and if not, an alarm signal is output; and/or,
- the step of controlling the battery-swap vehicle to be adjusted to the dismantling drive-out height it is also detected whether the adjusted height of the battery-swap vehicle reaches the dismantling drive-out height, and if not, an alarm signal is output; and/or,
- step of controlling the vehicle-carrying platform to be adjusted to the driving height it is also detected whether the adjusted vehicle-carrying platform reaches the driving height, and if not, an alarm signal is output.
- the accuracy of the height adjustment is further determined by detecting whether the current height reaches the target height. If the target height is not reached, an alarm is output to prompt the user, thereby improving the control accuracy. and efficiency.
- the bottom power-swapping method further includes:
- the bottom power-swapping method further includes:
- the bottom power-swapping method before the step of controlling the power-swapping device to be adjusted to the power-swapping alignment position of the power-swapping vehicle, the bottom power-swapping method further includes:
- the bottom battery swapping method further includes:
- Controlling the battery swapping vehicle to be adjusted to the installation drive-out height, and the installation drive-out height is used to represent the height of the vehicle bottom of the battery swapping device after the battery is installed;
- the power swapping device is controlled to drive out of the vehicle bottom of the power swapping vehicle.
- the battery swapping device when the battery swapping device drives into the vehicle bottom for battery installation, the battery swapping device can be provided with a barrier-free passage by adjusting the battery swapping vehicle to the installation height.
- the installation and drive-in efficiency of the battery swapping device is improved; when the battery swapping device is driven out from the bottom of the vehicle after the battery is installed, by adjusting the battery swapping vehicle to the installation drive-out height, it is possible to provide the battery swapping device with Barrier-free passage, thus improving the installation and exit efficiency of the power exchange equipment.
- the installation drive-in height is higher than the installation drive-out height, and the installation drive-out height is higher than the power exchange height.
- the overall height of the battery with the battery on the battery is higher than its own height.
- the installation drive-in height is set higher than the installation drive-out height, thereby improving the moving efficiency of the power exchange device.
- the bottom battery swapping method further includes:
- the vehicle platform is controlled to be adjusted to the driving height
- the battery-swapping vehicle is controlled to drive out of the vehicle platform from the driving height
- the installation driving-out height is higher than the driving height
- the installation driving-in height higher than the stated ride height
- the vehicle-carrying platform is adjusted to the driving height after power-changing, so that different power-changing vehicles can smoothly drive out of the vehicle-carrying platform, thereby completing the power-changing process.
- the step of controlling the battery-swap vehicle to be adjusted to the battery-swap height it is also detected whether the adjusted height of the battery-swap vehicle reaches the battery-swap height, and if not, an alarm signal is output; and/or ,
- step of controlling the battery-swap vehicle to be adjusted to the installation drive-in height it is also detected whether the adjusted height of the battery-swap vehicle reaches the installation drive-in height, and if not, an alarm signal is output; and/or,
- step of controlling the battery-swap vehicle to be adjusted to the installation drive-out height it is also detected whether the adjusted height of the battery-swap vehicle reaches the installation drive-out height, and if not, an alarm signal is output; and/or,
- step of controlling the vehicle-carrying platform to be adjusted to the driving height it is also detected whether the adjusted vehicle-carrying platform reaches the driving height, and if not, an alarm signal is output.
- the accuracy of the height adjustment is further determined by detecting whether the current height reaches the target height. If the target height is not reached, an alarm is output to prompt the user, thereby improving the control accuracy. and efficiency.
- the bottom power-swapping method further includes:
- the bottom power-changing method further includes:
- the bottom power-swapping method when the battery is disassembled, after the step of controlling the power-swapping vehicle to be adjusted to the power-swapping height, the bottom power-swapping method further includes:
- the bottom power-swapping method further includes:
- the unlocking top rod that controls the power exchange device is adjusted to the reset position and moved forward for locking.
- the unlocking is realized by the forward pre-push of the unlocking mandrel, thereby effectively ensuring the stability and accuracy of the unlocking, or by the unlocking of the mandrel. Moving forward to achieve locking, thus effectively ensuring locking stability and accuracy.
- the bottom power exchange method provided by this application can effectively adjust the height of the vehicle based on the vehicle information, etc. by controlling the vehicle platform and the power exchange equipment, quickly realize the battery disassembly and assembly operation, save the power exchange time of the vehicle, and improve the performance of the vehicle.
- the power exchange efficiency is improved, and the power exchange platform can be accurately docked with the bottom of the vehicle in the height direction, thereby improving the success rate of battery disassembly and assembly.
- FIG. 1 is a schematic flowchart of a bottom power exchange method according to Embodiment 2 of the present application.
- FIG. 2 is a schematic flowchart of a bottom battery swapping method according to Embodiment 3 of the present application when a battery is removed.
- FIG. 3 is a schematic flowchart of the bottom battery swapping method according to Embodiment 4 of the present application when a battery is installed.
- the present embodiment provides a bottom power exchange method, and the power exchange device using the bottom power exchange method has a power exchange platform for disassembling and assembling batteries, which is used for exchanging power for vehicles on the vehicle platform.
- the battery at the bottom is replaced, and the bottom power-changing method includes: controlling the power-changing device to be adjusted to the power-changing alignment position of the power-changing vehicle, the power-changing platform being higher than the driving height of the vehicle-carrying platform, and the driving height It is used to characterize the height of the vehicle-carrying platform when the battery-changing vehicle drives in or out; the battery-changing vehicle is controlled to be adjusted to the battery-changing height, and the battery-changing height is used to characterize the battery-changing vehicle when the battery is being replaced.
- the battery locking mechanism, the power exchange device (shuttle car) and the palletizer used in the bottom power exchange method of this embodiment are described by taking Chinese patent application numbers 2016110412204, 2017112442213 and 2017100524087 as examples, but the method of this application does not The above-mentioned specific structure in the prior art is limited, and it can also be applied to the control of the mechanism of other bottom power exchange methods.
- the bottom power exchange method is applied to power exchange equipment and a power exchange vehicle. This embodiment does not specifically limit the types of the power exchange equipment and the power exchange vehicle, as long as the corresponding functions can be realized, Can be selected and adjusted according to actual needs.
- the vehicle-carrying platform is a device used in removing and installing battery packs, and is usually used in battery swapping stations. Provide ample space under the vehicle for battery replacement.
- the battery swapping device is a bottom battery swapping device, which is used to remove and install the battery pack from the bottom of the battery swapping vehicle, and has a liftable battery swapping platform, a lifting mechanism that controls the lifting of the battery swapping platform, and the like. part.
- all heights are relative to the same level (eg, level ground).
- the step of controlling the battery-swap vehicle to adjust to the battery-swap height includes, but is not limited to: controlling the vehicle-carrying platform to move below the driving height, so as to adjust the battery-swap vehicle to the height Swap height.
- the battery-swapping vehicle is effectively adjusted to the battery-swapping height, thereby providing a height suitable for the battery-removing device for the battery-removing device, and quickly realizing the battery removal and installation operation.
- the bottom power-swapping method when controlling the vehicle-carrying platform to move below the driving height, further includes: maintaining the height of the power-swapping platform at the same time.
- Maintaining the height of the power-changing platform can keep the power-changing platform at a low position, that is, without operating the power-changing platform, and only by controlling the vehicle-carrying platform, the power-changing vehicle can be effectively adjusted to the power-changing height , so as to provide a height suitable for the vehicle for disassembling and assembling the battery of the battery swapping device, and quickly realize the disassembling and assembling operation of the battery.
- the bottom power-changing method when controlling the vehicle-carrying platform to move below the driving height, further includes: simultaneously controlling the power-changing platform to rise to a high position.
- the bottom power exchange method provided in this embodiment adjusts the power exchange vehicle to the power exchange height, so as to provide the height of the vehicle suitable for the power exchange equipment to disassemble and assemble the battery, quickly realize the battery disassembly and assembly operation, and save the replacement of the vehicle. Therefore, the battery replacement efficiency is improved, and the battery replacement platform can be quickly docked with the bottom of the vehicle in the height direction, thereby improving the success rate of battery disassembly and assembly.
- the bottom power exchange method provided by this embodiment includes the following steps:
- Step 101 Acquire vehicle information of the battery-swapped vehicle.
- the vehicle information of the battery-swapping vehicle can be obtained through a cloud server, a battery-swapping vehicle, or an image acquisition device, etc.
- This embodiment does not specifically limit the method of acquiring the vehicle information, and corresponding selection and adjustment can be made according to actual needs .
- the vehicle information may be information that matches the battery swap height. Since different types of battery swap vehicles have different chassis thicknesses or battery thicknesses, these factors may affect the battery swap height. Therefore, in this embodiment, the vehicle information for matching the height of the battery swap is acquired in advance before the battery swap is performed.
- the vehicle information includes battery thickness information, but is not limited to this, and can be selected and adjusted according to actual needs.
- Step 102 controlling the power exchange device to be adjusted to the power exchange alignment position.
- the power-swapping platform is controlled to move to the power-swapping alignment position of the power-swapping vehicle, so as to prepare for the removal or installation of the battery pack.
- Step 103 controlling the battery-swapping vehicle to adjust to the battery-swapping height matched based on the vehicle information.
- the power-swap height is matched based on the vehicle information, that is, different power-swap heights are calculated according to different vehicles. Specifically, it can be queried from the pre-configured vehicle information and the associated data of the power-swap height, or it can be queried according to the power-swap height.
- the parameters of the electrical equipment are matched and calculated in real time.
- a corresponding power exchange height is generated, which can be effectively applied to various types of vehicles, provides an intelligent and convenient power exchange matching method, and further improves power exchange efficiency and efficiency.
- the success rate of battery removal is generated, which can be effectively applied to various types of vehicles, provides an intelligent and convenient power exchange matching method, and further improves power exchange efficiency and efficiency.
- the power-swapping vehicle is controlled to adjust to a power-swapping height matched based on the battery thickness information.
- a corresponding power exchange height is generated, which can be effectively applied to various types of battery sizes, provides an intelligent and convenient power exchange matching method, and further improves power exchange Efficiency and success rate of battery removal.
- Step 104 controlling the battery swapping device to remove or install the battery.
- the unlocking top rod of the battery-swapping device is controlled to be adjusted to the unlocking position and pushed forward to unlock, and the battery pack is removed after unlocking.
- the unlocking top rod of the battery-swapping device is controlled to be adjusted to the reset position and moved forward to lock.
- the unlocking is achieved by pre-pushing the unlocking mandrel forward, thereby effectively ensuring the unlocking stability and accuracy, or by unlocking the mandrel
- the forward movement of the lock realizes the locking, thus effectively ensuring the locking stability and accuracy.
- the bottom power exchange method provided in this embodiment can effectively adjust the height of the vehicle based on vehicle information, etc. by controlling the vehicle platform and the power exchange equipment, quickly realize the battery disassembly and assembly operation, save the power exchange time of the vehicle, and improve the The power exchange efficiency is improved, and the power exchange platform is accurately docked with the bottom of the vehicle in the height direction, thereby improving the success rate of battery disassembly and assembly.
- the bottom power exchange method provided in this embodiment specifically includes a battery disassembly step, and the battery disassembly step includes the following steps:
- Step 201 control the vehicle-carrying platform to adjust to the driving height, and drive into the battery-swapping vehicle.
- the vehicle-carrying platform is controlled to be adjusted to a driving height
- the battery-swapping vehicle is controlled to drive into the vehicle-carrying platform from the driving height.
- the vehicle-carrying platform is adjusted to the driving height before power-swapping, so that different power-swapping vehicles can smoothly drive into the vehicle-carrying platform, thereby completing the power-swapping process.
- this step it is also detected whether the adjusted vehicle-carrying platform reaches the driving height, if so, go to step 202, if not, output an alarm signal, and execute step 202 after the alarm signal is eliminated.
- the height detection can be realized by a range finder or the like provided in the power exchange station. As long as the corresponding functions can be realized, this embodiment does not specifically limit the height detection method.
- the accuracy of adjusting the driving height is further determined by detecting whether the current height reaches the target driving height. If the target driving height is not reached, the user is prompted by outputting an alarm, thereby improving the control accuracy and efficiency.
- Step 202 controlling the power-swap vehicle to adjust to the disassembly and drive-in height, and drive into the power-swap equipment.
- the battery-swapping vehicle is controlled to be adjusted to a dismounting drive-in height
- the dismounting drive-in height is used to represent the height at which the battery-swapping device drives into the vehicle bottom of the battery-swapping vehicle before the battery is removed, and the power-swapping device is controlled Drive into the underbody of the battery-swapping vehicle.
- the dismounting drive-in height is higher than the power exchange height, and the dismounting drive-in height is higher than the driving height.
- a barrier-free passage can be provided for the battery swapping device, thereby improving the disassembly driving distance of the battery swapping device. into the efficiency.
- this step it is also detected whether the adjusted battery-swap vehicle reaches the dismantling drive-in height, if so, go to step 203, if not, output an alarm signal, and execute step 203 after the alarm signal is eliminated.
- the accuracy rate of adjusting the dismantling drive-in height is further determined by detecting whether the current height reaches the target dismantling drive-in height. If the target dismantling drive-in height is not reached, output an alarm to prompt the user, thereby improving the control accuracy and efficiency.
- the bottom power-swap method before the step of controlling the power-swap vehicle to be adjusted to the dismounting drive-in height, the bottom power-swap method further includes: judging whether an abnormal signal is received, and if so, controlling the power-swap vehicle to adjust to the second The disassembly drive-in height, if not, control the battery-swap vehicle to adjust to the first disassembly drive-in height, and the second disassembly drive-in height is higher than the first disassembly drive-in height.
- the height of the bottom of the vehicle may be reduced due to factors such as the vehicle being overweight, the tire puncture, or the passenger's riding state. Drive-in height, so as to prevent the deviation from the actual height when the battery swap device drives in.
- Step 203 controlling the power exchange device to be adjusted to the power exchange alignment position.
- the power-swapping platform is controlled to move to the power-swapping alignment position of the power-swapping vehicle, so as to prepare for the removal of the battery pack.
- Step 204 controlling the battery-swapping vehicle to adjust to the battery-swapping height.
- step 103 for specific execution, reference may be made to step 103 in Embodiment 1 and Embodiment 2, so detailed description is omitted.
- this step it is also detected whether the adjusted battery-swapping vehicle reaches the battery-swapping height, if so, go to step 205, if not, output an alarm signal, and execute step 205 after the alarm signal is eliminated.
- the accuracy rate of adjusting the battery-swapping height is further determined by detecting whether the current height reaches the target battery-changing height, and if the target battery-changing height is not reached, an alarm is output to prompt the user , thereby improving the control accuracy and efficiency.
- Step 205 controlling the battery swapping device to disassemble the battery.
- step 104 for specific execution, reference may be made to step 104 in Embodiment 1 and Embodiment 2, so details are not repeated here.
- Step 206 controlling the power-swap vehicle to adjust to the dismantling drive-out height, and drive out of the power-swap device.
- the battery-swapping vehicle is controlled to be adjusted to the dismounting and driving-out height, and the dismounting and driving-out height is used to represent the height at which the battery-swapping device drives out of the vehicle bottom of the battery-swapping vehicle after the battery is removed, and the battery-swapping device is controlled. Drive out of the underbody of the battery swapping vehicle.
- the dismounting drive-out height is higher than the dismounting drive-in height.
- the overall height of the battery loaded by the battery is higher than its own height. It is set to be higher than the disassembly driving height, thereby improving the moving efficiency of the power exchange device.
- this step it is also detected whether the adjusted battery-swapping vehicle reaches the dismantling drive-out height, if so, drive out of the battery-swapping device, if not, output an alarm signal, and wait for the alarm signal to be eliminated before Drive out of the battery swap device.
- the accuracy of adjusting the removal height is further determined by detecting whether the current height reaches the target removal height, and if the target removal height is not reached, an alarm is output by outputting an alarm. to prompt the user, thereby improving the control accuracy and efficiency.
- the bottom battery-swapping method before the step of controlling the battery-swap vehicle to be adjusted to the dismantling drive-out height, the bottom battery-swapping method further includes: judging whether an abnormal signal is received, and if so, controlling the battery-swap vehicle to adjust to the second The dismantling drive-out height, if not, the power-swap vehicle is controlled to be adjusted to the first disassembly drive-out height, and the second disassembly drive-out height is higher than the first disassembly drive-out height.
- different dismounting heights are provided in real time, so as to further improve the moving efficiency of the battery-swapping device, thereby improving the battery-swapping efficiency and success rate.
- the bottom power exchange method provided in this embodiment through the control of the vehicle platform and the power exchange equipment, quickly realizes the battery disassembly operation, saves the battery disassembly time of the vehicle, thus improves the battery disassembly efficiency, and realizes the power exchange platform. Accurate docking with the bottom of the vehicle in the height direction improves the success rate of battery removal.
- the bottom power exchange method provided in this embodiment specifically includes a battery installation step, and the battery installation step includes the following steps:
- Step 301 control the battery swapping vehicle to adjust to the installation driving height, and drive into the battery swapping device.
- the battery-swap vehicle is controlled to be adjusted to the installation drive-in height
- the installation-drive-in height is used to represent the height of the battery-swap device before the battery is installed into the vehicle bottom of the battery-swap vehicle
- the battery-swap device is controlled Drive into the underbody of the battery-swapping vehicle.
- the installation drive-in height is higher than the power exchange height, and the installation drive-in height is higher than the driving height.
- the battery swapping device When the battery swapping device is driven into the vehicle bottom for battery installation, by adjusting the battery swapping vehicle to the installation drive-in height, a barrier-free passage can be provided for the battery swapping device carrying the battery, thereby improving the battery swapping performance.
- the installation of equipment drives into efficiency.
- this step it is also detected whether the adjusted battery-swap vehicle reaches the installation drive-in height, if so, go to step 302, if not, output an alarm signal, and execute step 302 after the alarm signal is eliminated.
- the height detection can be realized by a range finder or the like provided in the power exchange station. As long as the corresponding functions can be realized, this embodiment does not specifically limit the height detection method.
- the accuracy of adjusting the installation drive-in height is further determined by detecting whether the current height reaches the target installation drive-in height. If the target installation drive-in height is not reached, an alarm is output by outputting an alarm. to prompt the user, thereby improving the control accuracy and efficiency.
- the bottom battery-swap method before the step of controlling the battery-swap vehicle to be adjusted to the installation drive-in height, the bottom battery-swap method further includes: judging whether an abnormal signal is received, and if so, controlling the battery-swap vehicle to adjust to the second The installation drive-in height, if not, control the battery-swap vehicle to adjust to the first installation drive-in height, and the second installation drive-in height is higher than the first installation drive-in height.
- the height of the bottom of the vehicle may be reduced due to factors such as overweight, tire blowout, or the riding state of passengers. If a situation that can cause the height of the bottom of the vehicle to decrease is detected, a corresponding abnormal signal will be generated, so that the installation can be adjusted in time. Drive-in height, so as to prevent the deviation from the actual height when the battery swap device drives in.
- different installation entry heights are provided in real time according to different abnormal states of the battery swapping vehicle, thereby further improving the moving efficiency of the battery swapping device, thereby improving the battery swapping efficiency and success rate.
- Step 302 controlling the power exchange device to be adjusted to the power exchange alignment position.
- the power exchange platform is controlled to move to the power exchange alignment position of the power exchange vehicle, so as to prepare for the installation of the battery pack.
- Step 303 controlling the battery-swapping vehicle to adjust to the battery-swapping height.
- step 103 for specific execution, reference may be made to step 103 in Embodiment 1 and Embodiment 2, so detailed description is omitted.
- this step it is also detected whether the adjusted battery-swapping vehicle reaches the battery-swapping height, if so, go to step 205, if not, output an alarm signal, and execute step 205 after the alarm signal is eliminated.
- the accuracy rate of adjusting the battery-swapping height is further determined by detecting whether the current height reaches the target battery-changing height, and if the target battery-changing height is not reached, an alarm is output to prompt the user , thereby improving the control accuracy and efficiency.
- Step 304 control the battery replacement device to install the battery.
- step 104 for specific execution, reference may be made to step 104 in Embodiment 1 and Embodiment 2, so details are not repeated here.
- Step 305 control the battery-swapping vehicle to adjust to the installation exit height, and drive out of the battery-swapping device.
- the battery-swapping vehicle is controlled to be adjusted to the installation drive-out height
- the installation-drive-out height is used to represent the height at which the battery-swap device drives out of the vehicle bottom of the battery-swap vehicle after the battery is installed, and the battery-swap device is controlled Drive out of the underbody of the swapped vehicle
- the battery swapping device When the battery swapping device is driven out from the bottom of the vehicle after the battery is installed, the battery swapping device can be provided with a barrier-free passage by adjusting the battery swapping vehicle to the installation height, thereby improving the installation of the battery swapping device. Drive out efficiency.
- the installation drive-in height is higher than the installation drive-out height.
- the overall height of the battery loaded by the battery is higher than its own height. It is set to be higher than the installation drive-out height, so as to improve the moving efficiency of the power exchange device.
- this step it is also detected whether the adjusted battery-swap vehicle reaches the installation drive-out height, if so, execute step 306, if not, output an alarm signal, and execute step 306 after the alarm signal is eliminated.
- the accuracy rate of adjusting the installation departure height is further determined by detecting whether the current height reaches the target installation departure height, and if the target installation departure height is not reached, an alarm is output by outputting an alarm. to prompt the user, thereby improving the control accuracy and efficiency.
- the bottom battery-swap method before the step of controlling the battery-swap vehicle to be adjusted to the installation drive-out height, the bottom battery-swap method further includes: judging whether an abnormal signal is received, and if so, controlling the battery-swap vehicle to adjust to the second The installation drive-out height, if not, control the battery-swap vehicle to adjust to the first installation drive-out height, and the second installation drive-out height is higher than the first installation drive-out height.
- Step 306 control the vehicle-carrying platform to adjust to the driving height, and drive out of the battery-swapping vehicle.
- the vehicle-carrying platform is controlled to be adjusted to a driving height
- the battery-swapping vehicle is controlled to drive out of the vehicle-carrying platform from the driving height.
- the vehicle-carrying platform is adjusted to the driving height, so that different power-exchange vehicles can smoothly drive out of the vehicle-carrying platform, thereby completing the power exchange process.
- this step it is also detected whether the adjusted vehicle-carrying platform reaches the driving height, if so, drive out of the battery-swapping vehicle, if not, output an alarm signal, and wait for the alarm signal to clear before driving out the battery swapping vehicle.
- the accuracy of adjusting the driving height is further determined by detecting whether the current height reaches the target driving height. If the target driving height is not reached, the user is prompted by outputting an alarm, thereby improving the control accuracy and efficiency.
- the bottom power exchange method provided in this embodiment by controlling the vehicle platform and the power exchange equipment, quickly realizes the battery installation operation, saves the battery installation time of the vehicle, thus improves the battery installation efficiency, and realizes the power exchange platform. Accurate docking with the bottom of the vehicle in the height direction improves the success rate of battery installation.
Abstract
一种底部换电方法，利用底部换电方法的换电设备具有拆装电池的换电平台，用于对载车平台上换电车辆底部的电池进行更换，底部换电方法包括：102、控制换电设备调整至换电车辆的换电对准位置，换电平台高于载车平台的行车高度，行车高度用于表征换电车辆驶入或驶出时载车平台的高度；103、控制换电车辆调整至换电高度，换电高度用于表征换电时换电车辆与换电设备相匹配的高度；104、控制换电设备对换电车辆进行电池的拆卸或安装。底部换电方法能够有效地调整车辆的高度，快速实现电池拆装操作，节省了车辆的换电时间，从而提升了换电效率，而且实现了换电平台在高度方向上与车辆底部的准确对接，从而提升了电池拆装成功率。
Description
本申请要求申请日为2020/9/3的中国专利申请2020109176156的优先权。本申请引用上述中国专利申请的全文。
本申请涉及换电控制领域，尤其涉及一种换电设备与换电车辆的底部换电方法。
目前的电动汽车主要有两种充电方式，一种是直充式，另一种是快换式。其中，直充式需要设置充电桩来对电动汽车进行充电，但充电时间较长，效率较低。换电式需要设置换电站，通过对电动汽车更换电池包来实现快速换电，相对直充式缩短了很长时间，但换电过程包括拆卸电池包与安装电池包，仍然存在电池包更换时间较长，换电效率较低的问题。
目前的一种换电方式为底部换电，即拆装电池包的换电设备从车辆的底部拆卸及安装电池包。在底部换电的过程中，车辆需要驶上具有固定高度的载车平台，从而提供足够换电设备拆装电池包的车底空间。但是，由于这种载车平台的高度是固定的，只有换电设备才能在高度方向上进行升降，因此整个换电过程对换电设备的负担较大、要求较高，导致降低换电效率，影响电池拆装成功率。
发明内容
本申请要解决的技术问题是为了克服现有技术中底部换电方式存在换电效率低，电池拆装成功率低的缺陷，提供一种底部换电方法。
本申请是通过下述技术方案来解决上述技术问题：
一种底部换电方法，利用所述底部换电方法的换电设备具有拆装电池的换电平台，用于对载车平台上换电车辆底部的电池进行更换，所述底部换电方法包括：
控制换电设备调整至换电车辆的换电对准位置，所述换电平台高于所述载车平台的行车高度，所述行车高度用于表征所述换电车辆驶入或驶出时所述载车平台的高度；
控制所述换电车辆调整至换电高度，所述换电高度用于表征换电时所述换电车辆与所述换电设备相匹配的高度；
控制所述换电设备对所述换电车辆进行电池的拆卸或安装。
在本方案中，将所述换电车辆调整至换电高度，从而提供适合所述换电设备拆装电池的车辆的高度，快速实现电池拆装操作，节省了车辆的换电时间，从而提升了换电效率，而且实现了换电平台在高度方向上与车辆底部的准确对接，从而提升了电池拆装成功率。
可选地，所述控制所述换电车辆调整至换电高度的步骤包括：
控制所述载车平台移动至所述行车高度以下，以将所述换电车辆调整至换电高度。
在本方案中，通过对载车平台的控制，将所述换电车辆有效地调整至换电高度，从而提供适合所述换电设备拆装电池的车辆的高度，快速实现电池拆装操作。
可选地，在控制所述载车平台移动至所述行车高度以下时，所述底部换电方法还包括：
同时保持所述换电平台的高度。
在本方案中，保持所述换电平台的高度，即无需对换电平台进行操作，仅通过对载车平台的控制，将所述换电车辆有效地调整至换电高度，从而提供适合所述换电设备拆装电池的车辆的高度，快速实现电池拆装操作。
可选地，在控制所述载车平台移动至所述行车高度以下时，所述底部换电方法还包括：
同时控制所述换电平台上升至高位。
在本方案中，控制载车平台下降的同时，控制所述换电平台同步上升，实现了对换电平台和车辆底部高度的同步控制，从而提供适合所述换电设备拆装电池的车辆的高度，快速实现电池拆装操作，进而提升了换电效率。
可选地，所述控制换电设备调整至换电车辆的换电对准位置的步骤之前，所述底部换电方法还包括：
获取所述换电车辆的车辆信息，所述车辆信息用于与换电高度关联匹配；
所述控制所述换电车辆调整至换电高度的步骤包括：
控制所述换电车辆调整至基于所述车辆信息匹配出的换电高度。
在本方案中，基于获取到的车辆信息，生成相应的换电高度，从而可以有效地适用于多种类型的车辆，提供了智能且方便的换电匹配方式，进而提升了换电效率及拆装电池成功率。
可选地，所述车辆信息包括电池厚度信息。
在本方案中，基于获取到的电池厚度信息，生成相应的换电高度，从而可以有效地适用于多种类型的电池尺寸，提供了智能且方便的换电匹配方式，进而提升了换电效率及拆装电池成功率。
可选地，所述控制换电设备调整至换电车辆的换电对准位置的步骤之前，所述底部换电方法还包括：
控制换电车辆调整至拆卸驶入高度，所述拆卸驶入高度用于表征换电设备拆卸电池前驶入所述换电车辆的车底的高度；
控制所述换电设备驶入所述换电车辆的车底；
控制所述换电设备对所述换电车辆进行电池的拆卸的步骤之后，所述底部换电方法还包括：
控制换电车辆调整至拆卸驶出高度，所述拆卸驶出高度用于表征换电设备拆卸电池后驶出所述换电车辆的车底的高度；
控制所述换电设备驶出所述换电车辆的车底。
在本方案中，当换电设备驶入车辆的车底进行电池拆卸时，通过将所述换电车辆调整至拆卸驶入高度，能够向所述换电设备提供无障碍通道，从而提升了换电设备的拆卸驶入效率；当换电设备拆卸电池后从车辆的车底驶出时，通过将所述换电车辆调整至拆卸驶出高度，能够向载有电池的所述换电设备提供无障碍通道，从而提升了换电设备的拆卸驶出效率。
可选地，所述拆卸驶出高度高于所述拆卸驶入高度，所述拆卸驶入高度高于所述换电高度。
在本方案中，在电池拆卸过程中，考虑到所述换电设备驶出车辆底部时载有电池，导致所述换电设备载有电池的整体高度相比于自身高度高，因此将所述拆卸驶出高度设定为高于所述拆卸驶入高度，从而提升所述换电设备的移动效率。
可选地，所述控制换电车辆调整至拆卸驶入高度的步骤之前，所述底部换电方法还包括：
控制所述载车平台调整至行车高度，控制所述换电车辆从所述行车高度驶入所述载车平台，所述拆卸驶入高度高于所述行车高度，并且所述拆卸驶出高度高于所述行车高度。
在本方案中，换电前通过将所述载车平台调整至行车高度，以使得不同的换电车辆均能够平稳地驶入所述载车平台，从而完成换电流程。
可选地，在控制所述换电车辆调整至换电高度的步骤中，还检测调整后的所述换电车辆的高度是否达到所述换电高度，若否，输出报警信号；和/或，
在控制换电车辆调整至拆卸驶入高度的步骤中，还检测调整后的所述换电车辆的高度是否达到所述拆卸驶入高度，若否，输出报警信号；和/或，
在控制换电车辆调整至拆卸驶出高度的步骤中，还检测调整后的所述换电车辆的高度是否达到所述拆卸驶出高度，若否，输出报警信号；和/或，
在控制所述载车平台调整至行车高度的步骤中，还检测调整后的所述载车平台是否达到所述行车高度，若否，输出报警信号。
在本方案中，调整换电车辆的高度之后，通过检测当前高度是否达到目标高度来进一步确定调整高度的准确率，若没有达到目标高度时，通过输出报警来提示用户，从而提升了控制准确率和效率。
可选地，所述控制换电车辆调整至拆卸驶入高度的步骤之前，所述底部换电方法还包括：
判断是否接收到异常信号，若是，控制换电车辆调整至第二拆卸驶入高度，若否，控制换电车辆调整至第一拆卸驶入高度，所述第二拆卸驶入高度高于所述第一拆卸驶入高度；
所述控制换电车辆调整至拆卸驶出高度的步骤之前，所述底部换电方法还包括：
判断是否接收到异常信号，若是，控制换电车辆调整至第二拆卸驶出高度，若否，控制换电车辆调整至第一拆卸驶出高度，所述第二拆卸驶出高度高于所述第一拆卸驶出高度。
在本方案中，根据换电车辆不同的异常状态实时提供不同的拆卸驶入高度或拆卸驶出高度，从而进一步提升换电设备的移动效率，进而提升换电效率及成功率。
可选地，所述控制换电设备调整至换电车辆的换电对准位置的步骤之前，所述底部换电方法还包括：
控制换电车辆调整至安装驶入高度，所述安装驶入高度用于表征换电设备安装电池前驶入所述换电车辆的车底的高度；
控制所述换电设备驶入所述换电车辆的车底；
控制所述换电设备对所述换电车辆进行电池的安装的步骤之后，所述底部换电方法还包括：
控制换电车辆调整至安装驶出高度，所述安装驶出高度用于表征换电设备安装电池 后驶出所述换电车辆的车底的高度；
控制所述换电设备驶出所述换电车辆的车底。
在本方案中，当换电设备驶入车辆的车底进行电池安装时，通过将所述换电车辆调整至安装驶入高度，能够向载有电池的所述换电设备提供无障碍通道，从而提升了换电设备的安装驶入效率；当换电设备安装电池后从车辆的车底驶出时，通过将所述换电车辆调整至安装驶出高度，能够向所述换电设备提供无障碍通道，从而提升了换电设备的安装驶出效率。
可选地，所述安装驶入高度高于所述安装驶出高度，所述安装驶出高度高于所述换电高度。
在本方案中，在电池安装过程中，考虑到所述换电设备驶入车辆底部时载有电池，导致所述换电设备载有电池的整体高度相比于自身高度高，因此将所述安装驶入高度设定为高于所述安装驶出高度，从而提升所述换电设备的移动效率。
可选地，所述控制所述换电设备驶出所述换电车辆的车底的步骤之后，所述底部换电方法还包括：
控制所述载车平台调整至行车高度，控制所述换电车辆从所述行车高度驶出所述载车平台，所述安装驶出高度高于所述行车高度，并且所述安装驶入高度高于所述行车高度。
在本方案中，换电后通过将所述载车平台调整至行车高度，以使得不同的换电车辆均能够平稳地驶出所述载车平台，从而完成换电流程。
可选地，在控制所述换电车辆调整至换电高度的步骤中，还检测调整后的所述换电车辆的高度是否达到所述换电高度，若否，输出报警信号；和/或，
在控制换电车辆调整至安装驶入高度的步骤中，还检测调整后的所述换电车辆的高度是否达到所述安装驶入高度，若否，输出报警信号；和/或，
在控制换电车辆调整至安装驶出高度的步骤中，还检测调整后的所述换电车辆的高度是否达到所述安装驶出高度，若否，输出报警信号；和/或，
在控制所述载车平台调整至行车高度的步骤中，还检测调整后的所述载车平台是否达到所述行车高度，若否，输出报警信号。
在本方案中，调整换电车辆的高度之后，通过检测当前高度是否达到目标高度来进一步确定调整高度的准确率，若没有达到目标高度时，通过输出报警来提示用户，从而提升了控制准确率和效率。
可选地，所述控制换电车辆调整至安装驶入高度的步骤之前，所述底部换电方法还包括：
判断是否接收到异常信号，若是，控制换电车辆调整至第二安装驶入高度，若否，控制换电车辆调整至第一安装驶入高度，所述第二安装驶入高度高于所述第一安装驶入高度；
所述控制换电车辆调整至安装驶出高度的步骤之前，所述底部换电方法还包括：
判断是否接收到异常信号，若是，控制换电车辆调整至第二安装驶出高度，若否，控制换电车辆调整至第一安装驶出高度，所述第二安装驶出高度高于所述第一安装驶出高度。
在本方案中，根据换电车辆不同的异常状态实时提供不同的安装驶入高度或安装驶出高度，从而进一步提升换电设备的移动效率，进而提升换电效率及成功率。
可选地，当进行电池的拆卸时，控制所述换电车辆调整至换电高度的步骤之后，所述底部换电方法还包括：
控制所述换电设备的解锁顶杆调整至解锁位置并向前预推以进行解锁；
当进行电池的安装时，控制所述换电车辆调整至换电高度的步骤之后，所述底部换电方法还包括：
控制所述换电设备的解锁顶杆调整至复位位置并向前移动以进行锁止。
在本方案中，将所述换电车辆调整至合适的换电高度后，通过解锁顶杆的向前预推实现解锁，从而有效地保证了解锁稳定性和准确率，或通过解锁顶杆的向前移动实现锁止，从而有效地保证了锁止稳定性和准确率。
在符合本领域常识的基础上，所述各优选条件，可任意组合，即得本申请各较佳实施例。
本申请的积极进步效果在于：
本申请提供的底部换电方法，通过对载车平台和换电设备的控制，基于车辆信息等有效地调整车辆的高度，快速实现电池拆装操作，节省了车辆的换电时间，从而提升了换电效率，而且实现了换电平台在高度方向上与车辆底部的准确对接，从而提升了电池拆装成功率。
在结合以下附图阅读本申请的实施例的详细描述之后，能够更好地理解本申请的所 述特征和优点。在附图中，各组件不一定是按比例绘制，并且具有类似的相关特性或特征的组件可能具有相同或相近的附图标记。
图1为本申请实施例2的底部换电方法的流程示意图。
图2为本申请实施例3的底部换电方法的拆卸电池时的流程示意图。
图3为本申请实施例4的底部换电方法的安装电池时的流程示意图。
下面通过实施例的方式进一步说明本申请，但并不因此将本申请限制在所述的实施例范围之中。
实施例1
为了克服目前存在的上述缺陷，本实施例提供了一种底部换电方法，利用所述底部换电方法的换电设备具有拆装电池的换电平台，用于对载车平台上换电车辆底部的电池进行更换，所述底部换电方法包括：控制换电设备调整至换电车辆的换电对准位置，所述换电平台高于所述载车平台的行车高度，所述行车高度用于表征所述换电车辆驶入或驶出时所述载车平台的高度；控制所述换电车辆调整至换电高度，所述换电高度用于表征换电时所述换电车辆与所述换电设备相匹配的高度；控制所述换电设备对所述换电车辆进行电池的拆卸或安装。
本实施例的底部换电方法中所用的电池锁止机构、换电设备(穿梭车)和码垛机分别以中国专利申请号2016110412204、2017112442213、2017100524087为例进行说明，但本申请的方法并不以上述现有技术中的具体结构为限，还可适用于其他底部换电方式的机构的控制。在本实施例中，所述底部换电方法应用于换电设备和换电车辆，本实施例并不具体限定所述换电设备和所述换电车辆的类型，只要能够实现相应的功能，均可根据实际需求进行相应的选择及调整。
优选地，所述载车平台是一种在拆卸电池包和安装电池包中所使用的设备，通常用于换电站中，其主要的作用是针对底部换电方式调整换电车辆的高度，从而提供充足的车辆底部空间进行换电。
优选地，所述换电设备是一种底部换电设备，用于从换电车辆的底部拆卸电池包和安装电池包，具有可升降的换电平台、控制换电平台升降的举升机构等部件。
在本实施例中，所有的高度均为相比于同一水平面的高度(例如水平地面)。
在本实施例中，所述控制所述换电车辆调整至换电高度的步骤包括但并不仅限于： 控制所述载车平台移动至所述行车高度以下，以将所述换电车辆调整至换电高度。
通过对载车平台的控制，将所述换电车辆有效地调整至换电高度，从而提供适合所述换电设备拆装电池的车辆的高度，快速实现电池拆装操作。
作为一实施例，在控制所述载车平台移动至所述行车高度以下时，所述底部换电方法还包括：同时保持所述换电平台的高度。
保持所述换电平台的高度，可保持所述换电平台处于低位，即无需对换电平台进行操作，仅通过对载车平台的控制，将所述换电车辆有效地调整至换电高度，从而提供适合所述换电设备拆装电池的车辆的高度，快速实现电池拆装操作。
作为另一实施例，在控制所述载车平台移动至所述行车高度以下时，所述底部换电方法还包括：同时控制所述换电平台上升至高位。
控制载车平台下降的同时，控制所述换电平台同步上升至高位，快速实现对换电平台和车辆底部高度的同步控制，从而提供适合所述换电设备拆装电池的车辆的高度，快速实现电池拆装操作，进而提升了换电效率。
本实施例提供的底部换电方法，将所述换电车辆调整至换电高度，从而提供适合所述换电设备拆装电池的车辆的高度，快速实现电池拆装操作，节省了车辆的换电时间，从而提升了换电效率，而且快速实现换电平台在高度方向上与车辆底部的准确对接，从而提升了电池拆装成功率。
实施例2
在实施例1的基础上，如图1所示，本实施例提供的底部换电方法，包括以下步骤：
步骤101、获取换电车辆的车辆信息。
在本步骤中，可通过云端服务器、换电车辆或图像采集设备等获取到换电车辆的车辆信息，本实施例并不具体限定获取车辆信息的方式，可根据实际需求进行相应的选择及调整。
在本步骤中，所述车辆信息可以是与所述换电高度关联匹配的信息，由于不同类型的换电车辆具有不同的底盘厚度或电池厚度等，这些因素均可能会影响到换电高度，因此本实施例在进行换电前预先获取用于匹配出换电高度的车辆信息。
优选地，所述车辆信息包括电池厚度信息，但并不仅限于此，可根据实际需求进行相应的选择及调整。
步骤102、控制换电设备调整至换电对准位置。
在本步骤中，控制所述换电平台移动至所述换电车辆的换电对准位置，以准备进行 电池包的拆卸或安装。
步骤103、控制换电车辆调整至基于车辆信息匹配出的换电高度。
在本步骤中，基于车辆信息匹配出换电高度，即根据不同的车辆计算出不同的换电高度，具体可以从预先配置的车辆信息和换电高度的关联数据中查询，或者也可以根据换电设备的参数实时进行匹配计算。
在本实施例中，基于获取到的车辆信息，生成相应的换电高度，从而可以有效地适用于多种类型的车辆，提供了智能且方便的换电匹配方式，进而提升了换电效率及拆装电池成功率。
优选地，在本步骤中，控制换电车辆调整至基于电池厚度信息匹配出的换电高度。
在本实施例中，基于获取到的电池厚度信息，生成相应的换电高度，从而可以有效地适用于多种类型的电池尺寸，提供了智能且方便的换电匹配方式，进而提升了换电效率及拆装电池成功率。
步骤104、控制换电设备进行电池的拆卸或安装。
在本步骤中，当进行电池的拆卸时，控制所述换电设备的解锁顶杆调整至解锁位置并向前预推以进行解锁，解锁后拆卸电池包。
在本步骤中，当进行电池的安装时，安装电池包后，控制所述换电设备的解锁顶杆调整至复位位置并向前移动以进行锁止。
在本实施例中，将所述换电车辆调整至合适的换电高度后，通过解锁顶杆的向前预推实现解锁，从而有效地保证了解锁稳定性和准确率，或通过解锁顶杆的向前移动实现锁止，从而有效地保证了锁止稳定性和准确率。
本实施例提供的底部换电方法，通过对载车平台和换电设备的控制，基于车辆信息等有效地调整车辆的高度，快速实现电池拆装操作，节省了车辆的换电时间，从而提升了换电效率，而且实现了换电平台在高度方向上与车辆底部的准确对接，从而提升了电池拆装成功率。
实施例3
在实施例1和实施例2的基础上，如图2所示，本实施例提供的底部换电方法，具体包括电池拆卸步骤，所述电池拆卸步骤包括以下步骤：
步骤201、控制载车平台调整至行车高度，驶入换电车辆。
在本步骤中，控制所述载车平台调整至行车高度，控制所述换电车辆从所述行车高度驶入所述载车平台。
在本实施例中，换电前通过将所述载车平台调整至行车高度，以使得不同的换电车辆均能够平稳地驶入所述载车平台，从而完成换电流程。
优选地，在本步骤中，还检测调整后的所述载车平台是否达到所述行车高度，若是，执行步骤202，若否，输出报警信号，等待报警信号消除后再执行步骤202。
在本实施例中，高度的检测可通过设置于换电站的测距仪等来实现，只要能够实现相应的功能，本实施例并不具体限定高度检测的方式。
在本实施例中，调整载车平台的高度之后，通过检测当前高度是否达到目标行车高度来进一步确定调整行车高度的准确率，若没有达到目标行车高度时，通过输出报警来提示用户，从而提升了控制准确率和效率。
步骤202、控制换电车辆调整至拆卸驶入高度，驶入换电设备。
在本步骤中，控制换电车辆调整至拆卸驶入高度，所述拆卸驶入高度用于表征换电设备拆卸电池前驶入所述换电车辆的车底的高度，控制所述换电设备驶入所述换电车辆的车底。
在本实施例中，所述拆卸驶入高度高于所述换电高度，所述拆卸驶入高度高于所述行车高度。
当换电设备驶入车辆的车底进行电池拆卸时，通过将所述换电车辆调整至拆卸驶入高度，能够向所述换电设备提供无障碍通道，从而提升了换电设备的拆卸驶入效率。
优选地，在本步骤中，还检测调整后的所述换电车辆是否达到所述拆卸驶入高度，若是，执行步骤203，若否，输出报警信号，等待报警信号消除后再执行步骤203。
在本实施例中，调整换电车辆的高度之后，通过检测当前高度是否达到目标拆卸驶入高度来进一步确定调整拆卸驶入高度的准确率，若没有达到目标拆卸驶入高度时，通过输出报警来提示用户，从而提升了控制准确率和效率。
优选地，作为一实施例，所述控制换电车辆调整至拆卸驶入高度的步骤之前，所述底部换电方法还包括：判断是否接收到异常信号，若是，控制换电车辆调整至第二拆卸驶入高度，若否，控制换电车辆调整至第一拆卸驶入高度，所述第二拆卸驶入高度高于所述第一拆卸驶入高度。
具体地，由于车辆超重、爆胎或乘客乘坐状态等因素均有可能导致车辆底部的高度降低，若检测到可导致车辆底部的高度降低的情况时，生成相应的异常信号，以使得及时调整拆卸驶入高度，从而防止换电设备驶入时与实际高度产生偏差的情况。
在本实施例中，根据换电车辆不同的异常状态实时提供不同的拆卸驶入高度，从而 进一步提升换电设备的移动效率，进而提升换电效率及成功率。
步骤203、控制换电设备调整至换电对准位置。
在本步骤中，控制所述换电平台移动至所述换电车辆的换电对准位置，以准备进行电池包的拆卸。
步骤204、控制换电车辆调整至换电高度。
在本步骤中，具体执行可参考实施例1和实施例2的步骤103，故不再具体赘述。
优选地，在本步骤中，还检测调整后的所述换电车辆是否达到所述换电高度，若是，执行步骤205，若否，输出报警信号，等待报警信号消除后再执行步骤205。
在本实施例中，调整换电车辆的高度之后，通过检测当前高度是否达到目标换电高度来进一步确定调整换电高度的准确率，若没有达到目标换电高度时，通过输出报警来提示用户，从而提升了控制准确率和效率。
步骤205、控制换电设备进行电池的拆卸。
在本步骤中，具体执行可参考实施例1和实施例2的步骤104，故不再具体赘述。
步骤206、控制换电车辆调整至拆卸驶出高度，驶出换电设备。
在本步骤中，控制换电车辆调整至拆卸驶出高度，所述拆卸驶出高度用于表征换电设备拆卸电池后驶出所述换电车辆的车底的高度，控制所述换电设备驶出所述换电车辆的车底。
当换电设备拆卸电池后从车辆的车底驶出时，通过将所述换电车辆调整至拆卸驶出高度，能够向载有电池的所述换电设备提供无障碍通道，从而提升了换电设备的拆卸驶出效率。
在本实施例中，所述拆卸驶出高度高于所述拆卸驶入高度。
在电池拆卸过程中，考虑到所述换电设备驶出车辆底部时载有电池，导致所述换电设备载有电池的整体高度相比于自身高度高，因此将所述拆卸驶出高度设定为高于所述拆卸驶入高度，从而提升所述换电设备的移动效率。
优选地，在本步骤中，还检测调整后的所述换电车辆是否达到所述拆卸驶出高度，若是，驶出所述换电设备，若否，输出报警信号，等待报警信号消除后再驶出所述换电设备。
在本实施例中，调整换电车辆的高度之后，通过检测当前高度是否达到目标拆卸驶出高度来进一步确定调整拆卸驶出高度的准确率，若没有达到目标拆卸驶出高度时，通过输出报警来提示用户，从而提升了控制准确率和效率。
优选地，作为一实施例，所述控制换电车辆调整至拆卸驶出高度的步骤之前，所述底部换电方法还包括：判断是否接收到异常信号，若是，控制换电车辆调整至第二拆卸驶出高度，若否，控制换电车辆调整至第一拆卸驶出高度，所述第二拆卸驶出高度高于所述第一拆卸驶出高度。
在本实施例中，根据换电车辆不同的异常状态实时提供不同的拆卸驶出高度，从而进一步提升换电设备的移动效率，进而提升换电效率及成功率。
本实施例提供的底部换电方法，通过对载车平台和换电设备的控制，快速实现电池拆卸操作，节省了车辆的电池拆卸时间，从而提升了电池拆卸效率，而且实现了换电平台在高度方向上与车辆底部的准确对接，从而提升了电池拆卸成功率。
实施例4
在实施例1和实施例2的基础上，如图3所示，本实施例提供的底部换电方法，具体包括电池安装步骤，所述电池安装步骤包括以下步骤：
步骤301、控制换电车辆调整至安装驶入高度，驶入换电设备。
在本步骤中，控制换电车辆调整至安装驶入高度，所述安装驶入高度用于表征换电设备安装电池前驶入所述换电车辆的车底的高度，控制所述换电设备驶入所述换电车辆的车底。
在本实施例中，所述安装驶入高度高于所述换电高度，所述安装驶入高度高于所述行车高度。
当换电设备驶入车辆的车底进行电池安装时，通过将所述换电车辆调整至安装驶入高度，能够向载有电池的所述换电设备提供无障碍通道，从而提升了换电设备的安装驶入效率。
优选地，在本步骤中，还检测调整后的所述换电车辆是否达到所述安装驶入高度，若是，执行步骤302，若否，输出报警信号，等待报警信号消除后再执行步骤302。
在本实施例中，高度的检测可通过设置于换电站的测距仪等来实现，只要能够实现相应的功能，本实施例并不具体限定高度检测的方式。
在本实施例中，调整换电车辆的高度之后，通过检测当前高度是否达到目标安装驶入高度来进一步确定调整安装驶入高度的准确率，若没有达到目标安装驶入高度时，通过输出报警来提示用户，从而提升了控制准确率和效率。
优选地，作为一实施例，所述控制换电车辆调整至安装驶入高度的步骤之前，所述底部换电方法还包括：判断是否接收到异常信号，若是，控制换电车辆调整至第二安装 驶入高度，若否，控制换电车辆调整至第一安装驶入高度，所述第二安装驶入高度高于所述第一安装驶入高度。
具体地，由于车辆超重、爆胎或乘客乘坐状态等因素均有可能导致车辆底部的高度降低，若检测到可导致车辆底部的高度降低的情况时，生成相应的异常信号，以使得及时调整安装驶入高度，从而防止换电设备驶入时与实际高度产生偏差的情况。
在本实施例中，根据换电车辆不同的异常状态实时提供不同的安装驶入高度，从而进一步提升换电设备的移动效率，进而提升换电效率及成功率。
步骤302、控制换电设备调整至换电对准位置。
在本步骤中，控制所述换电平台移动至所述换电车辆的换电对准位置，以准备进行电池包的安装。
步骤303、控制换电车辆调整至换电高度。
在本步骤中，具体执行可参考实施例1和实施例2的步骤103，故不再具体赘述。
优选地，在本步骤中，还检测调整后的所述换电车辆是否达到所述换电高度，若是，执行步骤205，若否，输出报警信号，等待报警信号消除后再执行步骤205。
在本实施例中，调整换电车辆的高度之后，通过检测当前高度是否达到目标换电高度来进一步确定调整换电高度的准确率，若没有达到目标换电高度时，通过输出报警来提示用户，从而提升了控制准确率和效率。
步骤304、控制换电设备进行电池的安装。
在本步骤中，具体执行可参考实施例1和实施例2的步骤104，故不再具体赘述。
步骤305、控制换电车辆调整至安装驶出高度，驶出换电设备。
在本步骤中，控制换电车辆调整至安装驶出高度，所述安装驶出高度用于表征换电设备安装电池后驶出所述换电车辆的车底的高度，控制所述换电设备驶出所述换电车辆的车底
当换电设备安装电池后从车辆的车底驶出时，通过将所述换电车辆调整至安装驶出高度，能够向所述换电设备提供无障碍通道，从而提升了换电设备的安装驶出效率。
在本实施例中，所述安装驶入高度高于所述安装驶出高度。
在电池安装过程中，考虑到所述换电设备驶入车辆底部时载有电池，导致所述换电设备载有电池的整体高度相比于自身高度高，因此将所述安装驶入高度设定为高于所述安装驶出高度，从而提升所述换电设备的移动效率。
优选地，在本步骤中，还检测调整后的所述换电车辆是否达到所述安装驶出高度， 若是，执行步骤306，若否，输出报警信号，等待报警信号消除后再执行步骤306。
在本实施例中，调整换电车辆的高度之后，通过检测当前高度是否达到目标安装驶出高度来进一步确定调整安装驶出高度的准确率，若没有达到目标安装驶出高度时，通过输出报警来提示用户，从而提升了控制准确率和效率。
优选地，作为一实施例，所述控制换电车辆调整至安装驶出高度的步骤之前，所述底部换电方法还包括：判断是否接收到异常信号，若是，控制换电车辆调整至第二安装驶出高度，若否，控制换电车辆调整至第一安装驶出高度，所述第二安装驶出高度高于所述第一安装驶出高度。
在本实施例中，根据换电车辆不同的异常状态实时提供不同的安装驶出高度，从而进一步提升换电设备的移动效率，进而提升换电效率及成功率。
步骤306、控制载车平台调整至行车高度，驶出换电车辆。
在本步骤中，控制所述载车平台调整至行车高度，控制所述换电车辆从所述行车高度驶出所述载车平台。
换电后通过将所述载车平台调整至行车高度，以使得不同的换电车辆均能够平稳地驶出所述载车平台，从而完成换电流程。
优选地，在本步骤中，还检测调整后的所述载车平台是否达到所述行车高度，若是，驶出所述换电车辆，若否，输出报警信号，等待报警信号消除后再驶出所述换电车辆。
在本实施例中，调整载车平台的高度之后，通过检测当前高度是否达到目标行车高度来进一步确定调整行车高度的准确率，若没有达到目标行车高度时，通过输出报警来提示用户，从而提升了控制准确率和效率。
本实施例提供的底部换电方法，通过对载车平台和换电设备的控制，快速实现电池安装操作，节省了车辆的电池安装时间，从而提升了电池安装效率，而且实现了换电平台在高度方向上与车辆底部的准确对接，从而提升了电池安装成功率。
虽然以上描述了本申请的具体实施方式，但是本领域的技术人员应当理解，这仅是举例说明，本申请的保护范围是由所附权利要求书限定的。本领域的技术人员在不背离本申请的原理和实质的前提下，可以对这些实施方式做出多种变更或修改，但这些变更和修改均落入本申请的保护范围。
Claims (17)
- 一种底部换电方法，其特征在于，利用所述底部换电方法的换电设备具有拆装电池的换电平台，用于对载车平台上换电车辆底部的电池进行更换，所述底部换电方法包括：控制换电设备调整至换电车辆的换电对准位置，所述换电平台高于所述载车平台的行车高度，所述行车高度用于表征所述换电车辆驶入或驶出时所述载车平台的高度；控制所述换电车辆调整至换电高度，所述换电高度用于表征换电时所述换电车辆与所述换电设备相匹配的高度；控制所述换电设备对所述换电车辆进行电池的拆卸或安装。
- 如权利要求1所述的底部换电方法，其特征在于，所述控制所述换电车辆调整至换电高度的步骤包括：控制所述载车平台移动至所述行车高度以下，以将所述换电车辆调整至换电高度。
- 如权利要求2所述的底部换电方法，其特征在于，在控制所述载车平台移动至所述行车高度以下时，所述底部换电方法还包括：同时保持所述换电平台的高度。
- 如权利要求2所述的底部换电方法，其特征在于，在控制所述载车平台移动至所述行车高度以下时，所述底部换电方法还包括：同时控制所述换电平台上升至高位。
- 如权利要求1所述的底部换电方法，其特征在于，所述控制换电设备调整至换电车辆的换电对准位置的步骤之前，所述底部换电方法还包括：获取所述换电车辆的车辆信息，所述车辆信息用于与换电高度关联匹配；所述控制所述换电车辆调整至换电高度的步骤包括：控制所述换电车辆调整至基于所述车辆信息匹配出的换电高度。
- 如权利要求5所述的底部换电方法，其特征在于，所述车辆信息包括电池厚度信息。
- 如权利要求1所述的底部换电方法，其特征在于，所述控制换电设备调整至换电车辆的换电对准位置的步骤之前，所述底部换电方法还包括：控制换电车辆调整至拆卸驶入高度，所述拆卸驶入高度用于表征换电设备拆卸电池前驶入所述换电车辆的车底的高度；控制所述换电设备驶入所述换电车辆的车底；控制所述换电设备对所述换电车辆进行电池的拆卸的步骤之后，所述底部换电方法还包括：控制换电车辆调整至拆卸驶出高度，所述拆卸驶出高度用于表征换电设备拆卸电池后驶出所述换电车辆的车底的高度；控制所述换电设备驶出所述换电车辆的车底。
- 如权利要求7所述的底部换电方法，其特征在于，所述拆卸驶出高度高于所述拆卸驶入高度，所述拆卸驶入高度高于所述换电高度。
- 如权利要求7所述的底部换电方法，其特征在于，所述控制换电车辆调整至拆卸驶入高度的步骤之前，所述底部换电方法还包括：控制所述载车平台调整至行车高度，控制所述换电车辆从所述行车高度驶入所述载车平台，所述拆卸驶入高度高于所述行车高度，并且所述拆卸驶出高度高于所述行车高度。
- 如权利要求9所述的底部换电方法，其特征在于，在控制所述换电车辆调整至换电高度的步骤中，还检测调整后的所述换电车辆的高度是否达到所述换电高度，若否，输出报警信号；和/或，在控制换电车辆调整至拆卸驶入高度的步骤中，还检测调整后的所述换电车辆的高度是否达到所述拆卸驶入高度，若否，输出报警信号；和/或，在控制换电车辆调整至拆卸驶出高度的步骤中，还检测调整后的所述换电车辆的高度是否达到所述拆卸驶出高度，若否，输出报警信号；和/或，在控制所述载车平台调整至行车高度的步骤中，还检测调整后的所述载车平台是否达到所述行车高度，若否，输出报警信号。
- 如权利要求7所述的底部换电方法，其特征在于，所述控制换电车辆调整至拆卸驶入高度的步骤之前，所述底部换电方法还包括：判断是否接收到异常信号，若是，控制换电车辆调整至第二拆卸驶入高度，若否，控制换电车辆调整至第一拆卸驶入高度，所述第二拆卸驶入高度高于所述第一拆卸驶入高度；所述控制换电车辆调整至拆卸驶出高度的步骤之前，所述底部换电方法还包括：判断是否接收到异常信号，若是，控制换电车辆调整至第二拆卸驶出高度，若否，控制换电车辆调整至第一拆卸驶出高度，所述第二拆卸驶出高度高于所述第一拆卸驶出高度。
- 如权利要求1所述的底部换电方法，其特征在于，所述控制换电设备调整至换电车辆的换电对准位置的步骤之前，所述底部换电方法还包括：控制换电车辆调整至安装驶入高度，所述安装驶入高度用于表征换电设备安装电池前驶入所述换电车辆的车底的高度；控制所述换电设备驶入所述换电车辆的车底；控制所述换电设备对所述换电车辆进行电池的安装的步骤之后，所述底部换电方法还包括：控制换电车辆调整至安装驶出高度，所述安装驶出高度用于表征换电设备安装电池后驶出所述换电车辆的车底的高度；控制所述换电设备驶出所述换电车辆的车底。
- 如权利要求12所述的底部换电方法，其特征在于，所述安装驶入高度高于所述安装驶出高度，所述安装驶出高度高于所述换电高度。
- 如权利要求12所述的底部换电方法，其特征在于，所述控制所述换电设备驶出所述换电车辆的车底的步骤之后，所述底部换电方法还包括：控制所述载车平台调整至行车高度，控制所述换电车辆从所述行车高度驶出所述载车平台，所述安装驶出高度高于所述行车高度，并且所述安装驶入高度高于所述行车高度。
- 如权利要求14所述的底部换电方法，其特征在于，在控制所述换电车辆调整至换电高度的步骤中，还检测调整后的所述换电车辆的高度是否达到所述换电高度，若否，输出报警信号；和/或，在控制换电车辆调整至安装驶入高度的步骤中，还检测调整后的所述换电车辆的高度是否达到所述安装驶入高度，若否，输出报警信号；和/或，在控制换电车辆调整至安装驶出高度的步骤中，还检测调整后的所述换电车辆的高度是否达到所述安装驶出高度，若否，输出报警信号；和/或，在控制所述载车平台调整至行车高度的步骤中，还检测调整后的所述载车平台是否达到所述行车高度，若否，输出报警信号。
- 如权利要求12所述的底部换电方法，其特征在于，所述控制换电车辆调整至安装驶入高度的步骤之前，所述底部换电方法还包括：判断是否接收到异常信号，若是，控制换电车辆调整至第二安装驶入高度，若否，控制换电车辆调整至第一安装驶入高度，所述第二安装驶入高度高于所述第一安装驶入高 度；所述控制换电车辆调整至安装驶出高度的步骤之前，所述底部换电方法还包括：判断是否接收到异常信号，若是，控制换电车辆调整至第二安装驶出高度，若否，控制换电车辆调整至第一安装驶出高度，所述第二安装驶出高度高于所述第一安装驶出高度。
- 如权利要求1～16中任意一项所述的底部换电方法，其特征在于，当进行电池的拆卸时，控制所述换电车辆调整至换电高度的步骤之后，所述底部换电方法还包括：控制所述换电设备的解锁顶杆调整至解锁位置并向前预推以进行解锁；当进行电池的安装时，控制所述换电车辆调整至换电高度的步骤之后，所述底部换电方法还包括：控制所述换电设备的解锁顶杆调整至复位位置并向前移动以进行锁止。
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| CN114851908A (zh) * | 2020-01-23 | 2022-08-05 | 奥动新能源汽车科技有限公司 | 换电控制方法、系统、电子设备及存储介质 |
| CN111231741A (zh) * | 2020-01-23 | 2020-06-05 | 奥动新能源汽车科技有限公司 | 换电系统及包括其的换电站 |
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