WO2022064230A1

WO2022064230A1 - System and method for electrical vehicles battery swapping

Info

Publication number: WO2022064230A1
Application number: PCT/GR2020/000046
Authority: WO
Inventors: Nikolaos BAKOGIANNIS
Original assignee: Bakogiannis Nikolaos
Priority date: 2020-09-24
Filing date: 2020-09-24
Publication date: 2022-03-31

Abstract

System and method for electrical vehicles battery swapping, applied in battery swapping stations. The system includes a central control unit and at least one battery swapping and transporting device, controlled by a robot control unit. The central control unit is configured to supervise the battery swapping process by communicating remotely with said device(s) for transmitting information and commands. Each devise includes a platform movable along guide rails, a robotic arm manipulator pivotally coupled to the platform and an end effector operably coupled to the manipulator. The end effector, via the manipulator, can be aligned with battery storage compartments, installed on vehicles and on swapping station battery racks, and is configured to insert and extract batteries from said compartments, after the robot control unit of the battery swapping and transporting device processes information and commands transmitted by the central control unit, as well as information provided by a plurality of onboard sensors.

Description

SYSTEM AND METHOD FOR ELECTRICAL VEHICLES BATTERY SWAPPING

TECHNICAL FIELD

[0001] The present invention is applicable within vehicles battery swapping stations and generally relates to a system and method for battery swapping of one or more battery packs in electrically propelled vehicles.

BACKROUND

[0002] Electrically propelled vehicles provide several benefits compared to the conventional ones powered by fossil fuels. They have lower running costs, they are cheaper to maintain and produce no emissions. However, electrical vehicles suffer from a number of drawbacks. They cost more, as their batteries are expensive, and they have shorter driving range and long battery recharging time.

[0003] To overcome these drawbacks, some vehicles are designed so that the battery is not permanently installed in the chassis, but can be removed, allowing a drained battery to be replaced by a charged one. With this technique, commonly known as battery swapping, the sticker price of the vehicle can be reduced, as a third party will own the battery, battery replacement can be as fast as refueling a fossil fuel powered vehicle and longer trip distances can be achieved. However, problems with other issues such as standardization, safety, reliability, battery swapping station infrastructure, etc. have to find solutions in order this design to become viable.

[0004] Current battery swapping methods are based on two main techniques. In the first one, called as chassis type battery swapping, the unloading and loading of the battery packs is achieved from the bottom of the vehicle, while in the second one, withdrawable battery packs are unloaded and loaded mainly from the rear or the sides of the vehicle.

[0005] The mounting of a chassis type swappable battery pack to the vehicle’s chassis can be done in such a way that the battery pack participates in the rigidity of the vehicle, as for example is presented in U.S. Pat. No. 9,045,030 B2. A drawback of this method is the increased weight of the battery pack, as it includes a number of rigid frame structures, as well as the large number of bolts required for fastening the battery pack to the chassis, making the swapping process rather complicated. Such a battery swapping method is disclosed in the U.S. Patent Application Publication 2016/0107619 Al.

[0006] Another method of mounting a chassis type swappable battery pack under the vehicle is through a special frame structure, attached to the chassis, as disclosed in the International Application Publication WO 2017/139444 Al and the U.S. Pat. No. 8,517,132 B2. A drawback of this method is the increased weight of the vehicle due to the frame, as well as the fact that this frame causes differentiations in the standardized vehicle manufacturing procedures, affecting construction time and cost.

[0007] Another disadvantage of the aforesaid methods, where battery swapping is achieved from below, is the necessity of taking up the vehicle in ramps with complicated underground equipment (e.g. International Publication Number WO 2010/033883 Al and U.S. Patent Application Publication 2016/0107619 Al), or lifting the vehicle so that the area underneath is accessible by the battery swapping equipment (e.g. U.S. Pat. No. 9,688,252 B2 and WO 2019/085317 Al). These practices increase the complexity and consequently reduce the reliability of the whole process. Furthermore, the batteries suspended underneath the vehicles are exposed to dirt and to potential damage when vehicles run over obstacles.

[0008] The swapping method with withdrawable batteries overcomes many of the aforementioned drawbacks, while battery packs with a higher level of standardization can be applied in the relevant procedure. As mentioned above, with this method the battery swapping can be achieved mainly from the rear or the sides of the vehicle, where storage compartments are provided for batteries installation. However, when this method is applied for battery swapping on the sides of the vehicle (e.g. International Publication Number WO 2011/162685 Al, International Publication Number WO 2014/209208 Al and U.S. Pat. No. 7,201,384 B2), a serious drawback is the necessity to differentiate the design of the vehicle’s side beam in order to arrange the opening for inserting the battery pack into the storage compartment. This differentiation of side beam design, which beam is critical for the rigidity of the vehicle, has significant implications for vehicles standardized manufacturing procedure, thereby increasing their manufacturing costs.

[0009] Therefore, a technical solution is required that addresses the drawbacks of the applied battery swapping methods, ensuring a reliable, fast and fully automatic battery swapping procedure, which will have no significant impacts to the standardized practices currently applied by the automotive industry in design and vehicles manufacturing. SUMMARY

[0010] The present invention relates to a system and method for battery swapping in electrically propelled vehicles. The invention may be applied within vehicles battery swapping stations, where a plurality of standardized, swappable, and rechargeable battery packs may be installed in storage compartments, arranged horizontally in battery racks, ready to serve electrically propelled vehicles.

[0011] The invention implements a swapping method using standardized, flat shaped, withdrawable battery packs, proposing however, that the swapping procedure should be realized from the rear and/or from the frond of the electrically propelled vehicles. Therefore, vehicles may be equipped with storage compartments, suitable for the installation of swappable battery packs, arranged horizontally on the rear and/or on the front. Access to the battery storage compartments may be achieved through openings equipped with hinged or other type of doors, coupled on the vehicles’ body, wherein the doors pivot from a closed position to an open position exposing the battery storage compartment.

[0012] The present invention comes up against with most of the drawbacks of the prior art.

As the access of the swappable battery packs to the storage compartments may be achieved from the rear and/or the frond and not from the sides or bottom of the vehicles, the proposed system and method for battery swapping does not significantly affect vehicles standardized design and manufacturing procedure. Additionally, this system and method facilitates the area under the chassis to be used for the installation of a permanent battery on the vehicle. Thus, the present invention promotes the idea of battery swapping as a method for extending the range, as vehicles could be equipped with a permanent battery for short driving range, while at the same time can use swappable batteries for increasing their driving range.

[0013] With the present invention the battery swapping procedure can be implemented in a simple, reliable, fast, and fully automatic way, using a dedicated device at all stages of the relevant process. It is not necessary to take up the vehicle on ramps with complicated underground equipment or lift the vehicle so that the area underneath is accessible by the battery swapping devices, practices that increase the complexity and thus reduce the reliability of the swapping process.

[0014] According to a first aspect the present invention includes a system for battery swapping in electrical vehicles, applied within battery swapping stations. The system may include a plurality of sensors installed in the battery swapping station, while for coordinating and supervising the whole battery swapping procedure the system may include a central control unit. This central control unit may include a communication interface for communicating with the devices implementing the battery swapping procedure, a communication interface for communicating with the battery swapping station equipment, storage memory and one or more processors. The one or more processors of the central control unit may generate commands after processing the information provided by the plurality of sensors installed in the battery swapping station, after processing the information received from the swapping station equipment through the communication interface, as well as after executing computer program instructions stored in the memory.

[0015] The system may also include at least one battery swapping and transporting device, which is movable along at least one guide rail. The whole battery swapping procedure may be realized by this battery swapping and transporting device. This device may include a movable platform propelled through drives along the at least one guide rail, a robotic arm manipulator pivotally coupled to the movable platform having sections connected through joints and moved by drives, a plurality of onboard sensors and an end effector for handling the battery packs. The end effector may be operably coupled to the robotic arm manipulator and may be configured to unload battery packs and insert them in battery storage compartments, as well as to extract battery packs from battery storage compartments and load them on the end effector, by using devices with drives.

[0016] Each battery swapping and transporting device may be controlled by a robot control unit which may include a communication interface for communicating with the central control unit, storage memory, and one or more processors for generating commands to the movable platform propelling drives so as to propel the platform along the at least one guide rail, for generating commands to the robotic arm manipulator drives so as to align the end effector with battery storage compartments, and for generating commands to the end effector drives so as to unload battery packs from the end effector and insert them in battery storage compartments, as well as to extract battery packs from battery storage compartments and load them on the end effector.

[0017] All relevant commands are generated by the one or more processors of the robot control unit of the battery swapping and transporting device after processing the information provided by the plurality of onboard sensors related to detection of the position of the battery storage compartments, related to detection and identification of battery packs inside the battery storage compartments, related to alignment of the end effector with the battery storage compartments, and related to detection of obstacles in the operating field of the battery swapping and transporting devise, after processing information and commands received from the central control unit through the communication interface, as well as after executing computer program instructions stored in the memory.

[0018] In certain embodiments of the system, two guide rails may be installed in parallel, fixed on the ground and spaced apart by a predetermined distance, while the movable platform may include a plurality of concaved-shaped guide roller wheels, mounted at opposite sides of the platform, arranged in upper guide roller wheels for engaging the upper face of the respective guide rail and lower guide roller wheels for engaging the lower face of the respective guide rail. Furthermore, the propelling drives of the movable platform may be a plurality of electrically propelled wheels, installed on the lower side of the platform and in physical contact with the ground.

[0019] In certain embodiments of the system, the end effector of the battery swapping and transporting device may include a metallic frame and a plurality of conveyor rollers or a plate made of low friction material, attached to the metallic frame forming a transportation pallet for carrying the batteries, while may also include a battery pushing/pulling device, operably coupled to the end effector frame and linearly displaceable, through drives, relative to the end effector frame, along the battery loading/unloading direction. This battery pushing/pulling device may also include a mechanism for engaging with battery packs, operably coupled to the pushing/pulling device and linearly displaceable, through drives, relative to the pushing/pulling device, along the battery loading/unloading direction.

[0020] In certain embodiments of the system, the mechanism for engaging with battery packs may be an electromagnetic bar, a suction cup connected to a vacuum pump, or a gripper. For the embodiments of the system where the mechanism for engaging with battery packs is an electromagnetic bar, the energization of the electromagnet may be controlled by the one or more processors of the robot control unit of the battery swapping and transporting device, while this electromagnetic bar may also include a tongue, properly configured to fit in a groove formed in the battery pack in a male-female formation. The electromagnetic bar may also include one or more limit switches which are activated after the aforementioned tongue is sufficiently inserted into the battery pack groove, which means that the end effector is properly aligned with the corresponding battery storage compartment.

[0021] To prevent potential battery pack displacements during the transportation procedure, in certain embodiments of the system the end effector may include a pair or more of adjustable side battery pack support lugs, equipped with a plurality of vertically mounted conveyor rollers. Alternatively, instead of using conveyor rollers these lugs may be made of low friction material.

[0022] In certain embodiments of the system, the plurality of sensors installed onboard the battery swapping and transporting device and/or in the battery swapping station may be cameras, laser rangefinder devices, laser scanners, proximity sensors, radar devices, limit switches, torque switches or combinations thereof.

[0023] In certain embodiments of the system, the sensors installed in the battery swapping station and the communication interface with the swapping station equipment may provide information to the one or more processors of the central control unit related to the exact position of vehicles in the swapping station vehicles service area, related to the exact position of each battery swapping and transporting device along the at least one guide rail, related to the availability of battery storage compartments in the swapping station battery rack, related to the charging status, diagnostics, and standardization type of the battery packs inside the swapping station battery rack storage compartments, and related to detection of obstacles in the in the field of movement and operation of the battery swapping and transporting devices.

[0024] In certain embodiments of the system, the central control unit may include a communication interface, which is coupled to the one or more processors and is suitable for establishing remote communication between the central control unit and the vehicles requesting service from the battery swapping station, in order to receive service orders directly from the driver, through the vehicle’s touch screen human-machine interface or through a smartphone application.

[0025] According to a second aspect the present invention also includes a method for battery swapping in electrical vehicles, applied within battery swapping stations. The method may use a battery swapping system, which includes a central control unit, a plurality of sensors installed in the battery swapping station, at least one guide rail and at least one battery swapping and transporting device, as defined in the above embodiments, and may include the following steps: (a) arriving of at least one vehicle in the vehicles service area of the battery swapping station and opening the door(s) of the vehicle’s battery storage compartment(s);

(b) receiving at the one or more processors of the central control unit of a vehicle service order for battery swapping, battery delivering, battery receipting, or a combination thereof;

(c) generating at the one or more processors of the central control unit of commands based on the service order received;

(d) receiving in the one or more processors of the robot control unit of at least one battery swapping and transporting device of the commands generated by the one or more processors of the central control unit and transmitted through the communication interface;

(e) generating at the one or more processors of the robot control unit of the battery swapping and transporting device of commands to the propelling drives of the movable platform so as to propel the platform along the at least one guide rail, towards to a first battery storage compartment, installed in the vehicle or in the swapping station battery rack;

(f) generating at the one or more processors of the robot control unit of the battery swapping and transporting device of commands to the robotic arm manipulator drives so as to align the end effector with the first battery storage compartment, after possessing the information provided by the plurality of the onboard sensors;

(g) generating at the one or more processors of the robot control unit of the battery swapping and transporting device of commands to the end effector drives, so as to extract the battery pack from the first storage compartment and load it on the end effector;

(h) generating at the one or more processors of the robot control unit of the battery swapping and transporting device of commands to the robotic arm manipulator drives for placing the end effector in the proper folded position, so as the movable platform can be propelled safely along the at least one guide rail;

(i) generating at the one or more processors of the robot control unit of the battery swapping and transporting device of commands to the propelling drives of the movable platform so as to propel the platform along the at least one guide rail, with the battery pack loaded on the end effector, toward a second battery storage compartment installed in the battery rack or the vehicle; (j) generating at the one or more processors of the robot control unit of the battery swapping and transporting device of commands to the robotic arm manipulator so as to align the end effector with the second battery storage compartment, after possessing the information provided by the plurality of the onboard sensors;

(k) generating at the one or more processors of the robot control unit of the battery swapping and transporting device of commands to the end effector drives, so as to unload the battery pack from the end effector and insert it in the second battery storage compartment installed in the battery rack or the vehicle;

(l) generating at the one or more processors of the robot control unit of the battery swapping and transporting device of commands to the robotic arm manipulator drives for placing the end effector in the proper folded position, so as the movable platform can be propelled safely along the at least one guide rail;

(m) repeating all necessary steps of the above procedure as many times as required according to the service order received from the vehicle;

[0026] In certain embodiments of the method, the vehicle service order for battery swapping, battery delivering, battery receipting, or a combination thereof, is transmitted to the central control unit through a communication interface, which is coupled to the one or more processors, and is suitable for establishing remote communication between the central control unit and the vehicles serviced by the battery swapping station.

[0027] In certain embodiments of the method, the plurality of the onboard sensors installed on the battery swapping and transporting device may provide information to the one or more processors of the robot control unit related to detection of the position of the battery storage compartment, related to detection and identification of battery packs inside the storage compartments, related to alignment of the end effector with the battery storage compartments, and related to detection of obstacles in the operating field of the battery swapping and transporting devices.

[0028] In certain embodiments of the method, the plurality of sensors installed in the battery swapping station, as well as the communication interface with the swapping station equipment may provide information to the one or more processors of the central control unit related to the exact position of the vehicles in the swapping station vehicles service area, related to the exact position of each battery swapping and transporting device along the at least one guide rail, related to the availability of storage compartments in the battery racks, related to the charging status, diagnostics, and standardization type of the battery packs inside the swapping station battery rack storage compartments, and related to detection of obstacles in the in the field of movement and operation of the battery swapping and transporting devices.

BRIEF DESCRIPION OF THE DRAWINGS

[0029] The drawings included herein constitute a part of the specification and illustrate exemplary embodiments of the present invention. The scope of the drawings, together with the summary given above and the detailed description that follows, is to explain the principles of the proposed system and method. It is understood that various embodiments other than those illustrated herein may be utilized, as to realize the concept of the present invention, without deviating of the main idea, the spirit, and the scope of the disclosure. The figures illustrated are not necessarily scaled. The various components of the embodiments may be enlarged or minimized, in order to optimally present the details of the respective equipment. Therefore, all relevant structural details depicted on the accompanied drawings should not be considered as limiting but as representative, having as main scope to provide a thorough understanding of the presented invention.

[0030] Fig. 1 illustrates a perspective view of an exemplary embodiment of a battery swapping and transporting device.

[0031] Fig. 2 illustrates a block diagram of the hardware modules and the basic components of an exemplary embodiment of the battery swapping system.

[0032] Fig. 3a to 3f illustrate the various phases of a typical battery pack loading procedure on an exemplary embodiment of the end effector of a battery swapping and transporting device.

[0033] Fig. 4a to 4b illustrate a perspective view of an exemplary embodiment of the mechanism for engaging with battery packs, wherein this mechanism is an electromagnetic bar.

[0034] Fig 5a to 5e illustrate characteristic snapshots of various stages of an exemplary battery swapping procedure, in a typical battery swapping station, by applying the system and method of the present invention. DETAILED DESCRIPTION

[0035] The detailed description of the embodiments, examples of which are illustrated in the accompanied drawings, is provided herein below. It is understood that various embodiments other than those presented herein can be applied as to realize the concept of the present invention. The following detailed description contains various specific details, in order to provide a thorough understanding of the presented invention. However, the present invention may be realized without these specific details that are described herein bellow, but by applying other methods, procedures, equipment, and components which are not described in detail.

[0036] The present invention is applicable within vehicles battery swapping stations and relates to a system and method for battery swapping in electrically propelled vehicles, where standardized battery packs with low charging state can be replaced with ones having higher charging state, in a fast and fully automatic way, so that vehicles can travel on long distances. The aforesaid system and method also relates to the handling of battery packs inside the swapping station, which means the transportation of battery packs from the swapping station battery racks storage compartments up to vehicles service area and vice versa.

[0037] Fig 2 illustrates a block diagram of the hardware modules and the basic components of an exemplary embodiment of the battery swapping system. The main components of the system may be a central control unit 200, for the coordination and supervision of the battery swapping procedure and at least one battery swapping and transporting device 100, controlled by a robot control unit 222, for the implementation of the relevant swapping procedure.

[0038] The central control unit 200 coordinates and supervises the operation of each battery swapping and transporting device 100 of the swapping station. This central control unit 200 may include one or more processors 216 for generating commands transmitted to the robot control unit 222 of the battery swapping and transporting devices 100, storage memory 212 for storing computer program instructions processed by the one or more processors 216, a communication interface 208 for communicating with the robot control unit 222 of each battery swapping and transporting device 100, as well as a communication interface 210 for communicating with the battery swapping station equipment 202. In present exemplary embodiment of the system illustrated in Fig. 2, the central control unit 200 further includes a communication interface 214 for communicating remotely with the vehicles 500 which request to be serviced by the battery swapping station. [0039] The robot control unit 222, which controls each battery swapping and transporting device 100 may include one or more processors 228, for generating commands to control the drives of the various components of the device 100, as well as storage memory 226 for storing computer program instructions processed by the one or more processors 228. This robot control unit 222 may also communicate with the central control unit 200 of the system through a communication interface 224, in order to receive commands and information relevant to the battery swapping process.

[0040] A perspective view of an exemplary embodiment of a battery swapping and transporting device 100 is illustrated in Fig. 1. The device 100 may include a movable platform 102 which is displaceable along at least one guide rail 104. In present exemplary embodiment of the system two parallel guide rails 104 are included, fixed on the ground, and spaced apart by a predetermined distance.

[0041] In present exemplary embodiment of the system, the movable platform 102 includes a plurality of concaved-shaped guide roller wheels 124, 126, installed at opposite sides of the platform 102 and arranged in upper guide roller wheels 124 for engaging the upper face of the respective guide rail 104 and lower guide roller wheels 126 for engaging the lower face of the respective guide rail 104. The scope of the guide roller wheels 124, 126 is, in synergy with the guide rails 104, to guide the battery swapping and transporting device 100 along its operating field, parallel to the vehicles service area 502, as well as to stabilize and prevent device 100 overturning, as its center of gravity shifts during the battery swapping procedure.

[0042] In present exemplary embodiment of the system, the movable platform 102 further includes a plurality of electrically propelled wheels 122, installed on the lower side of the platform 102 and in physical contact with the ground. These wheels 122 may be used for propelling the platform 102 and consequently the battery swapping and transporting device 100, in both ways along the guide rails 104.

[0043] The battery swapping and transporting device 100 may further include an industrial type, multi-axis, robotic arm manipulator 106, which is suitable to handle heavy loads. This manipulator 106 may include a plurality of operably arranged sections, connected through joints and moved by drives 220. The first end of the first section of the robotic arm manipulator 106 may be pivotally coupled to the upper side of the movable platform 102. [0044] For handling the swappable battery packs 300, an end effector 108 may be operably coupled to the second end of the last section of the robotic arm manipulator 106. In present exemplary embodiment of the system, the end effector 108 includes a metallic frame 118 and a plurality of conveyor rollers 116, which are coupled to the frame 118 so as to form a transportation pallet for carrying the battery packs 300. The purpose of said conveyor rollers 116 is to facilitate unloading and loading of the battery packs 300 in the end effector 108. In certain embodiments of the system, instead of conveyor rollers 116, the end effector 108 may be equipped with a plate made of low friction material.

[0045] In present exemplary embodiment of the system, a battery pushing/pulling device 110 is operably coupled to the end effector frame 118. Through this device 110 is achieved the unloading and loading in the end effector 108 of battery packs 300 which are installed in vehicle battery storage compartments 512 or in swapping station battery rack storage compartments 508. The battery pushing/pulling device 110 may be linearly displaceable relative to the end effector frame 118, along the battery loading/unloading direction. In present exemplary embodiment of the system, the battery pushing/pulling device 110 is displaceable between two limit positions, on the upper side of the end effector frame 118 and can be moved through linear bearings and rack-and-pinion gear drives 308. In certain embodiments of the system this pushing/pulling device 110 may be moved through belt drives, ball-crew drives, or linear actuators of the electrical, pneumatic, or the hydraulic type.

[0046] In present exemplary embodiment of the system, a mechanism 112 for engaging with battery packs 300 is operably coupled to the battery pushing/pulling device 110 of the end effector 108. The functional duty of this mechanism 112 is to slidably insert and extract the swappable battery packs 300 from the respective battery storage compartments 508, 512. The mechanism 112 for engaging with battery packs 300 may be linearly displaceable relative to the battery pushing/pulling device 110, along the battery loading/unloading direction. In present exemplary embodiment of the system, this mechanism 112 is mounted on the moving edge of the rods 302 of a pair of electrical type linear actuators 120, while the stationary part of the actuators 120 is fixed on the battery pushing/pulling device 110. In certain embodiments of the system, one or more linear actuators of the hydraulic or the pneumatic type may also be used instead of the electrical ones.

[0047] The mechanism 112 for engaging with battery packs 300 may be an electromagnetic bar 400, a suction cup connected to a vacuum pump, or a gripper. In Fig. 4a is illustrated the perspective view of an exemplary embodiment of the mechanism 112 for engaging with battery packs 300, which is implemented with an electromagnetic bar 400. This electromagnetic bar 400 further includes a tongue 304, suitably shaped to fit in a groove 404 formed in the battery pack 300, in a male-female formation, as illustrated in Fig. 4b. The side of the battery pack 300 where the groove 404 is formed may also include a metallic plate to allow magnetic engagement between the battery pack 300 and the mechanism 112.

[0048] In present exemplary embodiment of the system, the mechanism 112 for engaging with battery packs 300, which is implemented with an electromagnetic bar 400, further includes a plurality of limit switches 402. These limit switches 402 are activated after the electromagnetic bar tongue 304 is sufficiently inserted inside the battery groove 404, which means that the end effector 108 is properly aligned with the respective battery storage compartment 508, 512 and consequently the battery pack 300 extracting procedure can start. This electromagnetic bar tongue 304 insertion inside the battery groove 404 may also be used to unlock the restraint mechanism that locks the battery packs 300 inside the storage compartments 508, 512, as well as to support battery packs 300 while moving along the gap between the respective storage compartment 508, 512 and the end effector 108 during the loading/unloading procedure.

[0049] In present exemplary embodiment of the system, the end effector 108 further includes a pair of adjustable side battery support lugs 114, equipped with a plurality of vertically mounted conveyor rollers 306. In certain embodiments of the system, instead of using conveyor rollers 306, these support lugs 114 may be made of low friction material, while more than a pair of support lugs 114 may be applied. These side battery support lugs 114 may be adjusted automatically so as to fit the dimensions of the standardized battery pack 300 to be handled. The functional duty of the support lugs 114 is to ensure that the battery pack 300 will be loaded or unloaded, remaining exactly in the center of the end effector 108, as well as to stabilize battery 300 pack in the end effector 108, providing lateral support so as to prevent battery pack 300 displacement during the relevant transportation procedure.

[0050] The end effector drives 218 that consist of the battery pushing/pulling device 110 drives, the mechanism 112 for engaging with battery packs 300 drives, and the side battery support lugs 114 drives may be activated and controlled by commands generated by the one or more processors 228 of the robot control unit 222.

[0051] Each battery swapping and transporting devise 100 may also include a plurality of onboard sensors 230, coupled to the one or more processors 228 of the robot control unit 222, so as to provide information related to detection of the position of the battery storage compartments 508, 512, related to detection and identification of the battery packs 300 inside the battery storage compartments 508, 512, related to the alignment of the end effector 108 with the battery storage compartments 508, 512, and related to detection of potential obstacles in the operating field of the devise 100. The onboard sensors 230 may be cameras, laser rangefinder devices, laser scanners, proximity sensors, radar devices, limit switches, torque switches or combinations thereof and may be installed on the movable platform 102, as well as on the movable and/or the stationary parts of the end effector 108.

[0052] A plurality of sensors 206, may be installed in the battery swapping station and coupled to the one or more processors 216 of the central control unit 200. These sensors 206 may provide information related to the exact position of the vehicle(s) 500 in the swapping station vehicles service area 502, related to the exact position of each battery swapping and transporting device 100 along the guide rails 104, and related to detection of potential obstacles in the in the field of movement and operation of each battery swapping and transporting device 100. The sensors 206 may be cameras, laser rangefinder devices, laser scanners, proximity sensors, radar devices, or combinations thereof.

[0053] The robot control unit 222 may be installed onboard the movable platform 102 of the battery swapping and transporting device 100. However, in certain embodiments of the system, the robot control unit 222 may be installed in a stationary position inside the swapping station.

In this case the movable platform 102 and the respective drives of the battery swapping and transporting device 100 may be connected with the robot control unit 222 though power and control cables, arranged in a chain cable carrier.

[0054] The one or more processors 216 of the central control unit 200, after executing computer program instructions stored in the memory 212 and after possessing the information provided by the plurality of sensors 206 installed in the battery swapping station, the information received from the swapping station equipment 202, as well as the service orders received from the vehicle(s) 500, through the respective communication interfaces 210, 214, may generate and transmit commands to the robot control unit 222 of each battery swapping and transporting device 100.

[0055] The one or more processors 228 of the robot control unit 222 of each battery swapping and transporting device 100, after executing computer program instructions, stored in the memory 226 and after possessing information provided by the plurality of onboard sensors 230, as well as information and commands received from the central control unit 200 through the communication interface 224, may generate commands to the movable platform electrically propelled wheels 122 so as to propel the platform 102 along the guide rails 104, may generate commands to the robotic arm manipulator drives 220 so as to align the end effector 108 with battery storage compartments 508, 512, and may generate commands to the end effector drives 218 so as to mobilize the battery pushing/pulling device 110, to mobilize and activate the mechanism 112 for engaging with battery packs 300, and to adjust the side battery support lugs 114, in order to unload battery packs 300 from the end effector 108 and insert them into battery storage compartments 512, 508, or extract battery packs 300 from battery storage compartments 512, 508 and load them into the end effector 108.

[0056] Each battery swapping and transporting device 100 may also be equipped with a plurality of safety and warning equipment such as warning lights, horns and emergency stop buttons.

[0057] All electrical systems and drives installed in each battery swapping and transporting device 100 may be powered by one or more onboard rechargeable batteries, properly installed on the movable platform 102. These batteries may supply with power the drives and mechanisms of the device 100 during the battery swapping and transporting procedure and recharge when the device 100 is out of order. The batteries may be charged by chargers in the dedicated docking positions of the devices 100. In certain embodiments of the system, the batteries may be charged wireless in the docking positions or along the whole operating field of the devices 100. In this last case, battery charging may be realized even during the devices 100 are in operation.

[0058] In certain embodiments of the system, a battery swapping principle may be applied for replacing the discharged batteries of each device 100 with charged ones. This battery swapping procedure may be performed by another active battery swapping and transporting device 100, providing batteries delivered from the swapping station. In certain embodiments of the system, instead of batteries, the battery swapping and transporting device 100 may be supplied though cables arranged in a chain cable carrier.

[0059] Fig. 3a to 3f illustrate the various stages of a typical battery pack 300 loading procedure on an exemplary embodiment of the end effector 108. During this procedure, a battery pack 300 may be extracted from a vehicle battery storage compartment 512 or a swapping station battery rack storage compartment 508 and loaded into the end effector 108. For better visualization and understanding of the procedure, the respective structure of the battery storage compartment 512, 508 is not depicted on the relevant figures. The unloading of a battery pack 300 from the end effector 108 and its insertion into the respective battery storage compartment 508, 512 may be realized by following the procedure opposite to that shown in Fig 3a to 3f. In present exemplary embodiment of the system, the mechanism 112 for engaging with battery packs 300 of the end effector 108, is implemented with an electromagnetic bar 400.

[0060] After the end effector 108 has been properly aligned with the respective vehicle battery storage compartment 512 or the swapping station battery rack storage compartment 508, the battery pack 300 loading procedure into the end effector 108 may start. This alignment may be achieved after the one or more processors 228 of the robot control unit 222 of the battery swapping and transporting device 100, processes the information provided by the onboard sensors 230, as well as the information and commands received from the central control unit 200. For this reason, special markings detectable by the sensors 230 may be stamped on the front of the battery packs 300 or/and in the frame of the battery storage compartments 508, 512.

[0061] The one or more processors 228 of the robot control unit 222 may generate commands to the robotic arm manipulator drives 220, so as to place the end effector 108 in the proper position relative to the corresponding battery storage compartment 508, 512. To prevent any harmful contact of the end effector 108 with the structure of the battery storage compartment 512, 508 during the aligning procedure, proximity sensors may be installed in the end effector 108, transmitting the relevant information to the one or more processors 228 of the robot control unit 222.

[0062] The position of various devices and mechanisms of the end effector 108 before the start of the battery pack 300 loading procedure, is shown in Fig. 3a, where the battery pushing/pulling device 110 may be placed in a first position, relative to the end effector frame 118, and the mechanism 112 for engaging with battery packs 300 may be placed in a first position, relative to the battery pushing/pulling device 110.

[0063] In the first step of the loading procedure, as shown in Fig. 3b, the battery pushing/pulling device 110 may be displaced linearly along the battery loading/unloading direction, to a second position relative to the end effector frame 118, while the mechanism 112 for engaging with battery packs 300 may remain in the first position relative to the battery pushing/pulling device 110. [0064] In the next step of the loading procedure, as shown in Fig. 3c, the battery pushing/pulling device 110 may remain in the second position relative to the end effector frame 118, while the mechanism 112 for engaging with battery packs 300 may be displaced linearly along the battery loading/unloading direction, to a second position relative to the pushing/pulling device 110 and insert into the respective battery storage compartment 508, 512 (the storage compartment structure is not depicted on Fig. 3c). The insertion depth of the mechanism 112 into the storage compartment 508, 512 may be continuously monitored and controlled by the one or more processors 228 of the robot control unit 222, after processing information provided by the onboard sensors 230, which sensors can measure the distance between the end effector 108 and the battery pack 300.

[0065] In the next step of the loading procedure, as shown in Fig. 3d, the mechanism 112 for engaging with battery packs 300 may be engaged with the battery pack 300. This can be realized after the electromagnetic bar tongue 304 has been sufficiently inserted inside the battery groove 404. With this insertion, which means that the end effector 108 is properly aligned with the respective battery storage compartment 508, 512, the at least one limit switch 402 of the mechanism 112 is activated and the relevant information is transmitted to the one or more processors 228 of the robot control unit 222, which processor(s) may generate a command to activate the electromagnet 400 and therefore engage the battery 300 pack to the mechanism 112.

[0066] In the next step of the loading procedure, as shown in Fig. 3e, the pushing/pulling device 110 may remain in the second position relative to the end effector frame 118, while the mechanism 112 for engaging with battery packs 300 may return back to the first position relative to the pushing/pulling device 110 and therefore extract the battery pack 300 from the respective storage compartment 508, 512. During this step or even before, the one or more processors 228 of the robot control unit 222 may generate commands to adjust the side battery support lugs 114, so as to fit the dimensions of the battery pack 300. This is realized after processing information related to the standardized type of battery pack 300 to be handled, received from the central control unit 200 and/or information provided by the onboard sensors 230, which sensors may be able to identify the type of battery by scanning bar codes stamped on the battery pack 300.

[0067] Depending on the weight of the battery pack 300, the one or more processors 228 of the robot control unit 222 may adjust the extraction force applied by the mechanism 112 to the battery pack 300. This is necessary in order to avoid damage in the event that for any reason the battery pack 300 is stuck inside the storage compartment 508, 512. In present exemplary embodiment of the system, where the mechanism 112 for engaging with battery packs 300 is implemented with an electromagnetic bar 400, the extraction force may be adjusted by controlling the current that activates the electromagnet 400.

[0068] In the final step of the loading procedure, as shown in Fig. 3f, the battery pushing/pulling device 110 may return back to the first position relative to the end effector frame 118, while the mechanism 112 for engaging with battery packs 300 remains in the first position relative to the pushing/pulling 110 and therefore the battery pack 300 is loaded on the end effector 108. After completing this step, the transportation procedure of the battery pack 300 may start.

[0069] Fig. 5a to 5e illustrate a typical battery swapping procedure at a swapping station, applying an exemplary embodiment of the system and method of the present invention. In this embodiment of the system, two battery swapping and transporting devices 100 are used to implement a battery swapping procedure in battery storage compartments 512 located at the front and rear of a vehicle 500.

[0070] The battery swapping station where this system and method can be applied may be of the modular design, developed over-ground. Its components can be assembled, arranged, and operate in different configurations, according to the specific requirements on a case-by-case basis. The battery racks 506 and the vehicles service area 502 may be housed inside a building with entrance and exit for the vehicles 500 or may be hosted under a shelter. A battery swapping station may include various systems, installations and equipment 202 such as battery racks 506 equipped with compartments 508 for battery packs 300 charging and storage, battery charging equipment and the relevant electrical installation, HVAC for temperature control of the batteries, fire and dangerous gases detection system, while the battery packs 300 may be equipped with Battery Management System (BMS) for performance monitoring.

[0071] The one or more processors 216 of the central control unit 200 of the system may communicate with the above-mentioned swapping station equipment 202, through a communication interface 210, so as to receive the necessary information for the battery swapping procedure. Such information may be the availability and the location of the battery storage compartments 508 in the battery rack 506 and the availability, location, standardization type, diagnostics and charging status of the battery packs 300 which are stored in the battery rack 506. [0072] The one or more processors 216 of the central control unit 200 of the system may also receive commands from the swapping station administrator to transport batteries packs 300, using the battery swapping and transporting devices 100, to various other facilities of the station, such as fast charging compartments, maintenance and cleaning installations, storage and recycling areas, etc. In certain embodiments of the system, the central control unit 200 may be part of the control system of the entire battery swapping station.

[0073] The swapping station may further include a vehicles service area 502, where vehicles 500 can receive battery swapping services. For applying the system and method of the present invention, this service area 502 may be a corridor, delimited by the rest areas of the swapping station with colored lane markings 504. Other methods for delimiting the vehicles service area 502 such as guides or barriers may also be used.

[0074] The first stage of a typical battery swapping procedure is shown in Fig 5a, where a vehicle 500 has taken position in the service area 502 of the swapping station, while the battery swapping and transporting devices 100 remain in their docking positions with their robotic arm manipulators 106 folded, so that the devices 100 are ready to move safely along the guide rails 104.

[0075] After the immobilization of the vehicle 500, the one or more processors 216 of the central control unit 200 may detect its exact position in the service area 502, after processing the information provided by the plurality of sensors 206 installed within the swapping station. Furthermore, the one or more processors 216 of the central control unit 200 may achieve a wireless remote communication with the vehicle 500, through the relevant communication interface 214.

[0076] After the remote communication connection between the vehicle 500 and the one or more processors 216 of the central control unit 200 has been established, the driver may set the service order through the touch screen of the vehicle’s human-machine interface or through a smartphone application. In certain embodiments of the system, the driver may communicate orally the service order to the swapping station personnel.

[0077] The service order may relate to one or both battery storage compartments 512 of the vehicle 500 and may include the swap of a discharged battery pack 300 with a charged one, the delivery of a discharged battery pack 300, the receipt of a charged battery pack 30, or a combination thereof. During this initial stage of the procedure, the doors 510 of the respective vehicle battery storage compartments 512 are moved to their open position, while the latching mechanisms that lock the battery packs 300 inside the battery compartments 512 release them so as to allow the battery packs 300 to be removed from the compartments 512.

[0078] The next stage of the battery swapping procedure is shown in Fig. 5b, where the battery swapping and transporting devices 100 have been propelled along the guide rails 104, taking a position near the respective battery storage compartments 512 of the vehicle 500. For this reason, the one or more processors 216 of the central control unit 200 may transmit to the robot control unit 222 of each device 100 all necessary information and commands, so that the devices 100 and therefore their end effectors 108 take the appropriate position near the battery storage compartment 512 to be serviced. Such information may be the exact location of the vehicle 500 within the service area 502, the position on the vehicle 500 (front or rear) of the battery storage compartment 512 to be serviced, and the dimensions and weight of the battery packs 300 to be handled.

[0079] The one or more processors 228 of the robot control unit 222 of each device 100, after processing the relevant information and commands, as well as the information provided by the plurality of onboard sensors 230, may generate commands to the electrically propelled wheels 122 of the movable platform 102 and the robotic arm manipulator drives 220, so that the platform 102 moves to a convenient position along the guide rails 104 and the end effector 108 aligns with the corresponding battery storage compartment 512.

[0080] The stage of the battery swapping procedure is shown in Fig 5c and Fig 5d, where the discharged battery packs 300 have been extracted from the battery storage compartments 512 and loaded on the end effector 108 of each battery swapping and transporting device 100. This loading procedure may be performed in the manner shown in Fig 3a to Fig 3f and has been described in detailed herein above.

[0081] The next stage of the battery swapping procedure is shown in Fig 5e, where the battery swapping and transporting devices 100, with the discharged battery packs 300 loaded on their end effectors 108, have been propelled along the guide rails 104, taking a position opposite the battery rack 506 where there are available battery storage compartments 508 that can receive the discharged battery packs 300.

[0082] The one or more processors 216 of the central control 200 unit of the system may submit to the one or more processors 228 of the robot control unit 222 of each battery swapping and transporting device 100 all necessary information and commands regarding the exact location of the available battery storage compartments 508 in the battery rack 506, where the discharged battery packs 300 can be delivered.

[0083] Before each battery swapping and transporting device 100 starts moving along the guide rails 104, it may be necessary to fold the robotic arm manipulator 106 in order to place the end effector 108 in the proper position so as to allow the device 100 to move safely along the guide rails 104.

[0084] The next stage of the battery swapping procedure is to unload the discharged battery packs 300 from the end effector 108 of each battery swapping and transporting device 100 in the selected battery rack storage compartment 508. This may be accomplished following the opposite procedure to that shown in Fig 3a to 3f and has been described in detail herein above.

[0085] The procedure of loading charged battery packs 300, delivered from the swapping station battery rack storage compartments 508, in the battery storage compartments 512 of the vehicle 500 may be implemented by following the procedure opposite to that shown in Fig 5a to Fig 5d and described in detail herein above. This may be achieved after the one or more processors 216 of the central control unit 200 of the system, generates and transmits information and commands to the one or more processors 228 of the robot control unit 222 of each battery swapping and transporting device 100, after processing information related to the availability of properly charged battery packs 300, suitable for the vehicle 500 to be serviced, as well as their storage location in the battery rack 506. This information may derive from the swapping station equipment 202 through the relevant communication interface 210.

[0086] After completing the procedure of loading the charged battery packs 300 into the vehicle 500 battery storage compartments 512, the compartment doors 510 may be moved to their closed position, so as to seal the battery storage compartments 512 and the vehicle 500 is ready to depart.

[0087] In all stages of a typical battery swapping procedure, the field of movement and operation of each battery swapping and transporting device 100 may be continuously monitored by the sensors 206 installed in the swapping station and coupled to the one or more processors 216 of the central control unit 200. After processing the relevant information provided by sensors 206 and in the event of an emergency condition being detected, the one or more processors 216 of the central control unit 200 may generate and transmit emergency stop commands to the one or more processors 228 of the robot control unit 222 of each battery swapping and transporting device 100, thus canceling any operational activity of the device 100. Such emergency conditions may be the detection of a person, animal, vehicle or other object in the field of movement and operation of any active battery swapping and transporting device 100.

Claims

23 WHAT IS CLAIMED IS:

1. A system for electrical vehicles battery swapping, applied in battery swapping stations, the system comprising: a plurality of sensors installed in the battery swapping station; a central control unit comprising: a communication interface; a communication interface for communicating with the battery swapping station equipment; storage memory; and one or more processors for generating commands after possessing the information provided by the plurality of sensors installed in the battery swapping station and the information received from the swapping station equipment through the communication interface and after executing computer program instructions stored in the memory; at least one guide rail; and at least one battery swapping and transporting device comprising: a movable platform propelled through drives along the at least one guide rail; a multi-axis robotic arm manipulator having a plurality of operably arranged sections connected through joints and moved by drives, wherein the first end of the first section is pivotally coupled to the movable platform; an end effector for handling battery packs, operably coupled to the second end of the last section of the robotic arm manipulator and configured, by using devices with drives, for unloading battery packs from the end effector and inserting them in battery storage compartments, as well as for extracting battery packs from battery storage compartments and loading them on the end effector, wherein the battery storage compartments are horizontally arranged on the rear and/or front of electrically propelled vehicles, as well as on swapping station battery racks; a plurality of onboard sensors; and a robot control unit comprising: a communication interface for communicating with the central control unit; storage memory; and one or more processors for generating commands to the movable platform propelling drives, so as to propel the platform along the at least one guide rail, for generating commands to the robotic arm manipulator drives, so as to align the end effector with the battery storage compartments and for generating commands to the end effector drives, so as to unload battery packs from the end effector and insert them in battery storage compartments, as well as to extract battery packs from battery storage compartments and load them on the end effector, wherein all relevant commands are generated by the one or more processors after processing information provided by the plurality of onboard sensors related to detection of the position of the battery storage compartments, related to detection and identification of battery packs inside the battery storage compartments, related to alignment of the end effector with the battery storage compartments, and related to detection of obstacles in the operation field of the battery swapping and transporting devise, after processing information and commands received from the central control unit through the communication interface, as well as after executing computer program instructions stored in the memory;

2. The system of claim 1, wherein two guide rails are arranged in parallel, fixed on the ground and spaced apart by a predetermined distance.

3. The system of claim 1, wherein the movable platform further comprises a plurality of concaved-shaped guide roller wheels, installed at opposite sides of the platform.

4. The system of claims 2 and 3, wherein the guide roller wheels are arranged in upper guide roller wheels for engaging the upper face of the respective guide rail and lower guide roller wheels for engaging the lower face of the respective guide rail.

5. The system of claim 1, wherein the drives for propelling the movable platform are a plurality of electrically propelled wheels, installed on the lower side of the movable platform and in physical contact with the ground.

6. The system of claim 1, wherein the end effector further comprises a metallic frame and a plurality of conveyor rollers or a plate made of low friction material, attached to the metallic frame and forming a transportation pallet.

7. The system of claims 1 and 6, wherein the end effector further comprises a battery pushing/pulling device, operably coupled to the end effector frame and linearly displaceable, through drives, relative to the end effector frame, along the battery loading/unloading direction.

8. The system of claim 7, wherein the battery pushing/pulling device further comprises a mechanism for engaging with battery packs, operably coupled to the pushing/pulling device and linearly displaceable, through drives, relative to the pushing/pulling device, along the battery loading/unloading direction.

9. The system of claim 8, wherein the mechanism for engaging with battery packs is an electromagnetic bar, or a suction cup connected to a vacuum pump, or a gripper.

10. The system of claims 1 and 8, wherein the mechanism for engaging with battery packs is an electromagnetic bar, wherein its energization is controlled by the one or more processors of the robot control unit.

11. The system of claim 10, wherein the electromagnetic bar further comprises a tongue, properly configured to fit in a groove formed in the battery pack, in a male-female formation.

12. The system of claims 10 and 11, wherein the electromagnetic bar further comprises at least one limit switch, which is activated after the electromagnetic bar tongue is sufficiently inserted into the battery pack groove.

13. The system of claim 1 wherein the end effector further comprises at least one pair of adjustable side battery support lugs, equipped with a plurality of vertically mounted conveyor rollers or made of low friction material.

14. The system of claim 1 , wherein the plurality of sensors installed onboard the battery swapping and transporting device and/or in the battery swapping station are cameras, laser rangefinder devices, laser scanners, proximity sensors, radar devices, limit switches, torque switches or combinations thereof. 26

15. The system of claim 1, wherein the central control unit further comprises a communication interface, which is coupled to the one or more processors and is suitable for establishing remote communication between the central control unit and the vehicles serviced by the battery swapping station.

16. The system of claim 1, wherein the plurality of sensors installed in the battery swapping station, as well as the communication interface with the swapping station equipment, provide information to the one or more processors of the central control unit, related to the exact position of the vehicles in the swapping station vehicles service area, related to the exact position of each battery swapping and transporting device along the at least one guide rail, related to the availability of battery storage compartments in the swapping station battery rack, related to the standardization type, diagnostics and charging status of the battery packs inside the battery rack storage compartments and related to detection of obstacles in the in the field of movement and operation of each battery swapping and transporting device.

17. A method for electrically propelled vehicles battery swapping, applied in battery swapping stations, the method comprising:

(a) providing a system for vehicles battery swapping, the system comprising: a plurality of sensors installed in the battery swapping station; a central control unit including a communication interface, a communication interface for communicating with the battery swapping station equipment, storage memory and one or more processors; at least one guide rail; and at least one battery swapping and transporting device including a movable platform propelled through drives along the at least one guide rail, a robotic arm manipulator pivotally coupled to the movable platform and comprising sections connected through joints and moved by drives, an end effector for handling battery packs, operably coupled to the robotic arm manipulator and configured for unloading battery packs from the end effector and inserting them in battery storage compartments as well as for extracting battery packs from battery storage compartments and loading them on the end effector by using devices with drives, a plurality of onboard sensors, and a robot control unit including one or more processors, storage memory and a communication interface for communicating with 27 the central control unit, wherein the battery storage compartments are horizontally arranged on the rear and/or front of electrically propelled vehicles, as well as on swapping station battery racks;

(b) arriving of at least one electrically propelled vehicle in the vehicles service area of the battery swapping station and opening the door(s) of the vehicle’s battery storage compartment(s);

(c) receiving at the one or more processors of the central control unit of a vehicle service order for battery swapping, battery delivering, battery receipting, or a combination thereof;

(d) generating at the one or more processors of the central control unit of commands based on the service order received;

(e) receiving at the one or more processors of the robot control unit of at least one battery swapping and transporting device of the commands generated by the one or more processors of the central control unit and transmitted through the communication interface;

(f) generating at the one or more processors of the robot control unit of the battery swapping and transporting device of commands to the propelling drives of the movable platform so as to propel the platform along the at least one guide rail, towards to a first battery storage compartment installed in the vehicle or in the swapping station battery rack;

(g) generating at the one or more processors of the robot control unit of the battery swapping and transporting device of commands to the robotic arm manipulator drives so as to align the end effector with the first battery storage compartment installed in the vehicle or the battery rack, after processing the information provided by the plurality of the onboard sensors;

(h) generating at the one or more processors of the robot control unit of the battery swapping and transporting device of commands to the end effector drives, so as to extract the battery pack from the first storage compartment installed in the vehicle or the battery rack and load it on the end effector;

(i) generating at the one or more processors of the robot control unit of the battery swapping and transporting device of commands to the robotic arm manipulator drives for placing the end effector in the proper folded position, so as the movable platform can be propelled safely along the at least one guide rail; 28

(j) generating at the one or more processors of the robot control unit of the battery swapping and transporting device of commands to the propelling drives of the movable platform so as to propel the platform along the at least one guide rail, with the battery loaded on the end effector, toward a second battery storage compartment installed in the battery rack or the vehicle;

(k) generating at the one or more processors of the robot control unit of the battery swapping and transporting device of commands to the robotic arm manipulator so as to align the end effector with the second battery storage compartment installed in the battery rack or the vehicle, after processing the information provided by the plurality of the onboard sensors;

(l) generating at the one or more processors of the robot control unit of the battery swapping and transporting device of commands to the end effector drives, so as to unload the battery pack from the end effector and insert it in the second battery storage compartment installed in the battery rack or the vehicle;

(m) generating at the one or more processors of the robot control unit of the battery swapping and transporting of commands to the robotic arm manipulator drives for placing the end effector in the proper forded position, so as the movable platform can be propelled safely along the at least one guide rail;

(n) repeating the above steps (d) to (m) of the method, as many times as required according to the service order received from the vehicle;

18. The method of claim 17, wherein the vehicle service order for battery swapping, battery delivering, battery receipting, or a combination thereof, is transmitted to the central control unit through a communication interface, which is coupled to the one or more processors and is suitable for establishing remote communication between the central control unit and the vehicles serviced by the battery swapping station.

19. The method of claim 17, wherein the plurality of the onboard sensors installed in the battery swapping and transporting device, provide information to the one or more processors of the robot control unit, related to detection of the position of the battery storage compartment, related to detection and identification of battery packs inside the storage compartments, related to the alignment of the end effector with the battery rack storage compartments, and related to detection of obstacles in the operating field of the battery swapping and transporting devise. 29

20. The method of claim 17, wherein the plurality of sensors installed in the battery swapping station, as well as the communication interface with the swapping station equipment, provide information to the one or more processors of the central control unit, related to the exact position of the vehicles in the swapping station vehicles service area, related to the exact position of each battery swapping and transporting device along the at least one guide rail, related to the availability of battery storage compartments in the swapping station battery racks, related to the standardization type, diagnostics and charging status of the battery packs inside the battery rack storage compartments and related to detection of obstacles in the in the field of movement and operation of the battery swapping and transporting devices.