BATTERY REPLACEMENT SYSTEM

Abstract

A battery exchange system (1) according to the present disclosure comprises a vehicle (2) and a battery exchange device (4). The vehicle is provided with: a battery compartment (23) in which a battery is received and which is open in a first direction; and a reflector unit (40) which is adjacent to the battery compartment in a second direction perpendicular to the first direction.The battery exchange device is provided with: a removal / insertion mechanism (50) that removes the battery from the vehicle in a third direction and inserts it into the vehicle and is capable of moving in the third direction and a fourth direction perpendicular to the third direction; a light receiving / emission unit (9) that is located adjacent to the removal / insertion mechanism in the fourth direction, emits laser light in the third direction and is capable of detecting the laser light reflected by the reflection unit; and a control device (10) for controlling the operation of the removal / insertion mechanism.The control device causes the removal / insertion mechanism to move in the fourth direction with respect to a vehicle that has approached the battery exchange device in such a way that the first direction and the third direction are aligned with each other until the light receiving / emissioning unit detects the laser light reflected by the reflection unit.

Description

Technical field

[0001] The present disclosure relates to a battery exchange system.

[0002] Priority is claimed by the Japanese patent application No. 2023-133463, filed on August 18, 2023, the contents of which are incorporated herein by reference. State of the art

[0003] PTL 1 discloses a battery exchange device that replaces a battery in an electric vehicle in which a removable battery is fitted. List of citations from patent literature

[0004] [PTL 1] Japanese Patent No. 7215629 Summary of the invention: Technical problem

[0005] Depending on the vehicle's position or orientation, the battery cannot be inserted or removed, and there are instances where the alignment between the vehicle and the battery compartment must be repeatedly readjusted. Therefore, one problem is that the battery replacement process is inefficient.

[0006] The present disclosure provides a battery exchange system capable of efficiently performing battery exchange. Solution to the problem

[0007] According to the present disclosure, a battery exchange system is provided, comprising: a vehicle on which a battery is mounted and which is movable in a horizontal direction; and a battery exchange device for exchanging the vehicle's battery, wherein the vehicle includes a battery compartment for storing the battery and open in a first direction in the horizontal direction, and a reflector unit adjacent to the battery compartment in a second direction perpendicular to the first direction in the horizontal direction; the battery exchange device includes a removal / insertion mechanism for inserting or removing the battery into or from the vehicle in a third direction in the horizontal direction and movable in a third direction and a fourth direction perpendicular to the third direction in the horizontal direction; and a light receiver / emitter arranged in such a manner as tothat it is adjacent to the removal / insertion mechanism in the fourth direction and is movable together with the removal / insertion mechanism, emits a laser beam in the third direction and is capable of detecting the laser beam reflected by the reflection unit, and includes a control device that controls the operation of the removal / insertion mechanism, and the control device approaches the battery exchange device such that the first direction and the third direction are aligned with each other, and moves the removal / insertion mechanism in the fourth direction towards the vehicle in which the battery compartment and the reflection unit are directed towards the battery exchange device, until the light receiver / emitter detects the laser beam reflected by the reflection unit. Advantageous effects of the invention

[0008] The battery replacement system according to the present disclosure allows for efficient battery replacement. Brief description of the drawings Fig. Figure 1 is a diagram showing a battery exchange system according to an embodiment of the present disclosure when viewed from the side. Fig. Figure 2 is a schematic configuration diagram illustrating the battery exchange system according to the embodiment of the present disclosure when viewed from above. Fig. 3 is an enlarged view showing a section III of Fig. 2 represents. Fig. Figure 4 is a diagram illustrating the operation during battery removal of a removal / insertion mechanism according to the embodiment of the present disclosure. Fig. Figure 5 is a diagram illustrating the operation during battery removal of the removal / insertion mechanism according to the embodiment of the present disclosure. Fig. Figure 6 is a diagram illustrating the operation during battery removal of the removal / insertion mechanism according to the embodiment of the present disclosure. Fig. Figure 7 is a flowchart illustrating a method of aligning the removal / insertion mechanism according to the embodiment of the present disclosure. Fig. Figure 8 is a diagram illustrating the method of aligning the removal / insertion mechanism according to the embodiment of the present disclosure. Fig. Figure 9 is a diagram illustrating the method of aligning the removal / insertion mechanism according to the embodiment of the present disclosure. Fig. Figure 10 is a diagram illustrating the method of aligning the removal / insertion mechanism according to the embodiment of the present disclosure. Fig. Figure 11 is a diagram illustrating the method of aligning the removal / insertion mechanism according to the embodiment of the present disclosure. Fig. Figure 12 is a flowchart illustrating a method of adjusting the direction of a vehicle according to the embodiment of the present disclosure. Fig. Figure 13 is a diagram illustrating the procedure for adjusting the direction of the vehicle according to the embodiment of the present disclosure. Fig. Figure 14 is a flowchart illustrating a method of adjusting the position of the vehicle according to the embodiment of the present disclosure. Fig. Figure 15 is a diagram illustrating the procedure for adjusting the position of the vehicle according to the embodiment of the present disclosure. Fig. Figure 16 is a diagram illustrating the procedure for adjusting the position of the vehicle according to the embodiment of the present disclosure. Fig. Figure 17 is a diagram illustrating the procedure for adjusting the position of the vehicle according to the embodiment of the present disclosure. Fig. Figure 18 is a hardware configuration diagram according to the embodiment of the present disclosure. Fig. Figure 19 is a diagram representing a hand according to a further embodiment of the present disclosure. Fig. Figure 20 is a diagram representing the hand according to the further embodiment of the present disclosure. Fig. Figure 21 is a diagram representing the hand according to the further embodiment of the present disclosure. Fig. Figure 22 is a diagram representing the hand according to the further embodiment of the present disclosure. Fig. Figure 23 is a diagram illustrating a sensor unit according to the further embodiment of the present disclosure. Fig. Figure 24 is a diagram illustrating the sensor unit according to the further embodiment of the present disclosure. Fig. Figure 25 is a diagram illustrating a battery exchange system according to a further embodiment of the present disclosure when viewed from the side. Fig. Figure 26 is a diagram illustrating the battery exchange system according to the further embodiment of the present disclosure when viewed from the side. Description of embodiments<Erste Ausführungsform> (Battery swapping system)

[0009] Below, a battery exchange system 1 according to an embodiment of the present disclosure is described with reference to Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Fig. 10, Fig. 11, Fig. 12, Fig. 13, Fig. 14, Fig. 15, Fig. 16, Fig. 17 to Fig. 18 described.

[0010] As in Fig. 1 and Fig. As shown in Figure 2, the battery exchange system 1 includes a vehicle 2, a battery exchange device 4, a sensor unit 5 and a server 6. (Vehicle)

[0011] Vehicle 2 has a battery 3 installed. Due to the electrical energy of the battery 3, vehicle 2 is movable in a horizontal direction on a floor F.

[0012] The present embodiment is described using as an example a case in which the vehicle 2 is a forklift truck.

[0013] In the following, with respect to vehicle 2, a direction which coincides with a front-back direction of vehicle 2 in a horizontal direction perpendicular to an up-down direction Dv is referred to as a first direction D1, and a direction which coincides with a width direction of vehicle 2 perpendicular to the first direction D1 in the horizontal direction is referred to as a second direction D2.

[0014] The vehicle 2 contains a vehicle body 20, wheels 25, a mast 26, a cargo handling device 30 and a reflection unit 40. (Vehicle body)

[0015] The vehicle body 20 contains a main vehicle body 21, spreader legs 22 and a battery compartment 23. (vehicle body)

[0016] The main body of the vehicle 21 extends in the up-down direction Dv. A rear surface 21a of the main body of the vehicle 21 is curved in an arc shape such that it projects forward when viewed from the up-down direction Dv. (splayed legs)

[0017] On a front surface of the vehicle body 21 in the first direction D1, two spreader legs 22 are provided such that they face each other in a second direction D2. The spreader legs 22 extend in the first direction D1 from a front surface of the vehicle body 21. (Battery compartment)

[0018] The battery compartment 23 is formed in a lower section of the vehicle body 21. The battery compartment 23 is located behind each of the spreader legs 22, meaning that a total of two battery compartments 23 are provided. Specifically, the two battery compartments 23 are arranged such that they face each other in the second direction D2. The two battery compartments 23 are symmetrically arranged in the second direction D2. The battery compartment 23 extends in the first direction D1 and opens from the rear surface 21a of the vehicle body 21 to a rear side in the first direction D1. Furthermore, the battery compartment 23 also opens to an outside side in the second direction D2. Hereinafter, unless otherwise specified, the opening of the battery compartment 23 refers to an opening facing the rear side in the first direction D1.The battery 3 is stored in such a way that it is inserted into the battery compartment 23 from the rear in the first direction D1. (Wheels)

[0019] The wheels 25 are attached to a lower section of the vehicle body 20. The wheels 25 make contact with the ground F and support the vehicle body 20 from below. By allowing the wheels 25 to roll on the ground F, the vehicle 2 can move horizontally on the ground F. The wheels 25 include a rear wheel 25a and a front wheel 25b. The rear wheel 25a is attached to the lower section of the main vehicle body 21. A front wheel 25b is attached to a front end of each of the spreader legs 22. (Mast)

[0020] The mast 26 is attached to the front surface of the vehicle body 21. Two masts 26 extend in the up-down direction Dv and are positioned so that they face each other in the second direction D2 between the spreader legs 22. Two of the masts 26 can move forwards and backwards along the spreader legs 22 in the first direction D1. (Cargo handling device)

[0021] The cargo handling device 30 is located in front of the mast 26. The cargo handling device 30 includes a lifting clamp 31 and a fork 32. (Lifting clamp)

[0022] The lifting clamp 31 is positioned so that it bridges the two masts 26 in the second direction D2. The lifting clamp 31 can move along the mast 26 in the up-down direction Dv. (Fork)

[0023] The fork 32 is attached to a front surface of the lifting clamp 31. Two forks 32 are formed in an L-shape when viewed from the second direction D2 and are arranged so that they face each other in the second direction D2. The fork 32 comprises a fork shaft 32a and a fork blade 32b. The fork shaft 32a is attached to the front surface of the lifting clamp 31. The fork blade 32b extends from a lower end of the fork shaft 32a to the front surface in the first direction D1.

[0024] When vehicle 2 is carrying cargo (not shown), the fork blade 32b is inserted into a hole in the cargo. In this state, the cargo handling device 30 rises along the mast 26, lifting the cargo. In this state, vehicle 2 can move to carry the cargo to a desired location. (Reflection unit)

[0025] On the rear surface 21a of the vehicle body 21, two reflective units 40 are arranged such that they face each other in the second direction D2. Two of the reflective units 40 are positioned such that they are inserted between the two battery compartments 23 in the second direction D2. Two of the reflective units 40 are arranged symmetrically in the second direction D2.

[0026] The embodiment described below includes the reflection unit 40, the battery compartment 23 and the battery 3, which is stored in the battery compartment 23, which are positioned on the same side in the second direction D2 with respect to a virtual central axis that passes through the center of the vehicle 2 in the second direction D2 and extends in the first direction D1.

[0027] Each of the reflection units 40 is provided adjacent to the corresponding battery compartment 23 in the second direction D2.

[0028] As in Fig. As shown in Figure 3, the reflection unit 40 contains a reflector 41 and a cover 42. (Reflector)

[0029] The reflector 41 can reflect a laser beam LA1 emitted by a light receiver / emitter 9 described below. The reflector 41 is made, for example, of a resin material, such as a fluorescent reflector. The material of the reflector 41 can be selected appropriately. (Cover)

[0030] The cover 42 covers the reflector 41 from the outside in the first direction D1. A slot 42a is formed in the cover 42, which penetrates the cover 42 in the first direction D1. The slot 42a extends in the up-down direction Dv.

[0031] Here, a virtual central axis, which passes through the center of the battery 3 stored in the battery compartment 23 in the second direction D2 and extends in the first direction D1, is referred to as a first central axis C1. Each of the reflection units 40 is arranged at a position where a clearance L1 in the second direction D2 between the slot 42a and the first central axis C1 of the battery 3 corresponding to the reflection unit 40 is the same as for the other reflection unit 40. (Battery replacement device)

[0032] The battery exchange device 4 replaces the battery 3 of the vehicle 2, which is stopped at the front, with the charged battery 3.

[0033] In the following, with respect to the battery exchange device 4, a direction which coincides with the front-back direction of the battery exchange device 4 in the horizontal direction which intersects the up-down direction Dv is referred to as a third direction D3, and a direction which is perpendicular to the third direction D3 in the horizontal direction and coincides with the width direction of the battery exchange device 4 is referred to as a fourth direction D4.

[0034] When the battery exchange device 4 replaces the battery 3 of the vehicle 2, the vehicle 2 approaches the battery exchange device 4 such that the first direction D1 and the third direction D3 are aligned with each other, and the second direction D2 and the fourth direction D4 are aligned with each other, and is stopped such that the battery compartment 23 and the reflector unit 40 are facing the battery exchange device 4. During the battery 3 exchange, for the sake of smooth battery exchange, it is preferred that the first direction D1 and the third direction D3 coincide, and that the second direction D2 and the fourth direction D4 coincide. The first direction D1 may be slightly inclined with respect to the third direction D3, and the second direction D2 may be slightly inclined with respect to the fourth direction D4.

[0035] The battery replacement device 4 includes a housing 7, a slot 8, a removal / insertion mechanism 50, the light receiver / emitter 9 and a control device 10. (Housing)

[0036] The housing 7 is placed on the base F. The housing 7 extends in the up-down direction Dv. In the present embodiment, the housing 7 is formed in the shape of a rectangular parallelepiped. The shape of the housing 7 is not limited to a rectangular parallelepiped shape. The shape of the housing 7 can be suitably modified. A dimension of the housing 7 in the fourth direction D4 is set to be larger than a dimension of the vehicle 2 in the second direction D2. The housing 7 supports the slot 8, the removal / insertion mechanism 50, the light receiver / emitter 9, the control device 10, and the sensor unit 5 described below. An opening 7a is formed in a front surface of the housing 7. In a lower section of the housing 7, two openings 7a are formed such that they face each other in the fourth direction D4. Two of the openings 7a are formed symmetrically in the fourth direction D4.

[0037] The embodiment described below includes the opening 7a, the removal / insertion mechanism 50 described below, the light receiver / emitter 9, the reflection unit 40, the battery compartment 23 and the battery 3, which is stored in the battery compartment 23, which are positioned on the same side in the fourth direction D4 with respect to a virtual central axis which passes through the center of the battery exchange device 4 in the fourth direction D4 and extends in the third direction D3. (Slot)

[0038] Two slots 8 are arranged so that they face each other in the fourth direction D4 within the housing 7. Two of the slots 8 are arranged symmetrically in the fourth direction D4. Each slot 8 extends in the up-down direction Dv. The slot 8 is designed to hold several batteries 3. The battery 3 can be charged in the slot 8. (Removal / insertion mechanism)

[0039] The removal / insertion mechanism 50 inserts or removes the battery 3 in the third direction D3 into the vehicle 2, which is stopped on the front of the battery exchange device 4 in the third direction D3. Furthermore, the removal / insertion mechanism 50 is movable in the third direction D3 and the fourth direction D4.

[0040] The removal / insertion mechanism 50 includes a rail 51, a hand 52, a pad 53 and a fastening section 54. (Rail)

[0041] The rail 51 is movable in the third direction D3 and the fourth direction D4 in response to an instruction from the control device 10 described below. The rail 51 comprises a first rail section 51a and a second rail section 51b. The first rail section 51a extends in the third direction D3. The second rail section 51b extends from a front end of the first rail section 51a to the front in the third direction D3. The second rail section 51b is designed to move into and out of the first rail section 51a in the third direction D3. (Hand)

[0042] The hand 52 is positioned on the rail 51. The hand 52 can move along the rail 51 in the third direction D3 in response to an instruction from the control device 10 described below. The hand 52 holds the battery 3. The hand 52 comprises a hand base section 52a, a magnetic holder 52b, and a flexible connection 52c.

[0043] The hand base section 52a is mounted such that it is movable on the rail 51 in the third direction D3. The magnetic holder 52b is provided at a front end of the hand base section 52a. The magnetic holder 52b adsorbs a metal section of the battery 3 using a magnetic force. In the present embodiment, the battery 3 includes, for example, a steel plate 11 at a rear end. The magnetic holder 52b adsorbs the steel plate 11 using a magnetic force to hold the battery 3.

[0044] The flexible connection 52c connects the hand base section 52a and the magnetic holder 52b. The flexible connection 52c is a slightly deformable element in the up-down direction Dv, the third direction D3, and the fourth direction D4. Even if the battery 3 is slightly inclined relative to the hand base section 52a, the flexible connection 52c deforms in such a way that the magnetic holder 52b can make contact with a rear surface of the battery 3 from the front surface in the first direction D1. As a result, the magnetic holder 52b can hold the battery 3 regardless of its inclination. (Pad)

[0045] The pad 53 is provided at a front end section of the first rail section 51a. The pad 53 is made of a material with a lower hardness than the vehicle body 20 and prevents the vehicle body 20 from being scratched during contact. Furthermore, a rearward-projecting section 53a is provided on a rear surface of the pad 53. (Fortification section)

[0046] The fastening section 54 is provided in the second rail section 51b. The fastening section 54 projects in the fourth direction D4 from an inner surface of the second rail section 51b in the fourth direction D4. (Light receiver / emitter)

[0047] The light receiver / emitter 9 is attached to the mounting section 54 of each of the removal / insertion mechanisms 50. Therefore, the light receiver / emitter 9 is positioned so that it is adjacent to the removal / insertion mechanism 50 in the fourth direction D4 and is movable together with the removal / insertion mechanism 50. Two light receivers / emitters 9 are arranged so that they face each other in the fourth direction D4. Two of the light receivers / emitters 9 are arranged symmetrically in the fourth direction D4. The light receiver / emitter 9 can emit the laser beam LA1 in the third direction D3 and can detect the laser beam LA1 reflected by the reflection unit 40. Hereinafter, a trajectory of the laser beam LA1 of the light receiver / emitter 9 is referred to as an optical axis O. The optical axis O extends linearly in the third direction D3.

[0048] Here, a virtual central axis passing through the center of hand 52 in the fourth direction D4 and extending in the third direction D3 is referred to as a second central axis C2. Each of the light receivers / emitters 9 is positioned such that the clearance L2 in the fourth direction D4 between the optical axis O and the second central axis C2 of hand 52 corresponding to the light receiver / emitter 9 is the same as that of the other light receiver / emitter 9. Furthermore, the clearance L2 in the fourth direction D4 between the optical axis O and the second central axis C2 is adjusted to be approximately the same as the clearance L1 in the second direction D2 between slot 42a and the first central axis C1. (Control device)

[0049] The control device 10 is provided in the housing 7. The control device 10 controls the operation of various pieces of equipment, such as the removal / insertion mechanism 50 and the light receiver / emitter 9, which configure the battery exchange device 4.

[0050] The control device 10 moves the removal / insertion mechanism 50 in the fourth direction D4 until the light receiver / emitter 9 detects the laser beam LA1 reflected by the reflection unit 40. (Sensor unit)

[0051] The sensor unit 5 is attached to a front end of the second rail section 51b. The sensor unit 5 detects the completion of the alignment of the removal / insertion mechanism 50. According to the present embodiment, the sensor unit 5 is a proximity sensor that illuminates the projecting section 53a of the pad 53 with a laser beam LA2 to detect approach or contact between the pad 53 and the first rail section 51a. (Server)

[0052] Server 6 is located outside the housing 7. Server 6 is designed to communicate with vehicle 2 and battery exchange device 4, and can control the position and direction of vehicle 2.

[0053] For example, if the light receiver / emitter 9 detects the laser beam LA1 reflected by the reflection unit 40, the server 6 calculates an angle θ between the second direction D2 and the fourth direction D4 based on a match L4 in the fourth direction D4 between the two light receivers / emitters 9 relative to a match L3 in the second direction D2 between the two reflection units 40 (see Fig. 13).

[0054] Furthermore, if the control device 10 moves the removal / insertion mechanism 50 in the fourth direction D4, in a case where the light receiver / emitter 9 does not detect the laser beam LA1 reflected by the reflection unit 40, the server 6 returns the vehicle 2 to a position where the light receiver / emitter 9 is able to detect the laser beam LA1 reflected by the reflection unit 40. (Battery replacement procedure)

[0055] Next, a battery replacement procedure is described. During the battery replacement, the removal / insertion mechanisms 50 operate independently of each other.

[0056] First, the removal / insertion mechanism 50 is moved into a position facing the opening 7a of the housing 7 in the third direction D3, and the rail 51 is pushed out of the opening 7a towards the front in the third direction D3. When the pad 53 comes into contact with the rear surface 21a of the vehicle 2, the second rail section 51b is gradually stored and shortened within the first rail section 51a, and the first rail section 51a approaches the pad 53, as shown in Fig. 4 shown. Next, it moves, as in Fig. Figure 5 shows the hand 52 facing the front in the third direction D3 and holding a rear section of the battery 3 with the magnetic holder 52b. As shown in Fig. As shown in Figure 6, hand 52 pulls the battery 3 out towards the rear in the third direction D3. Next, the removal / insertion mechanism 50 returns to the housing 7, and the removed battery 3 is stored in the slot 8. The battery 3 stored in the slot 8 begins to charge.

[0057] Next, the charged battery 3, which is stored in slot 8, is attached to the magnetic holder 52b. Using the opposite procedure to removing the battery 3 described above, the charged battery 3 is inserted into battery compartment 23.

[0058] The battery replacement is carried out using the procedure described above. (Process of alignment)

[0059] In order to carry out the battery replacement described above smoothly and efficiently, the alignment of the removal / insertion mechanism 50 relative to the battery compartment 23 must be carried out.

[0060] The procedure for aligning the removal / insertion mechanism 50 is described below with reference to a flowchart by Fig. 7 described below. Fig. Figure 8 illustrates the method of aligning the removal / insertion mechanism 50 using a case in which the vehicle body 20 is stopped with an inclination in relation to the battery exchange device 4 and the first direction D1 is slightly inclined in relation to the third direction D3, as described as an example.

[0061] When aligning the removal / insertion mechanism 50, the removal / insertion mechanisms 50 operate independently of each other.

[0062] First, arrange as in Fig. As shown in Figure 8, the control device 10 moves the removal / insertion mechanism 50 to an initial position (step S11). At the initial position, the second central axis C2 of the removal / insertion mechanism 50 is positioned outside the first central axis C1 of the corresponding battery 3 in the fourth direction D4. The light receiver / emitter 9 is operated to emit the laser beam LA1 to the front in the third direction D3. After step S11, the control device 10 moves as shown in Figure 8. Fig. As shown in Figure 9, the control device 10 moves the removal / insertion mechanism 50 inwards in the fourth direction D4 until the light receiver / emitter 9 detects the laser beam LA1 reflected by the reflection unit 40 (step S12). When the removal / insertion mechanism 50 moves in the fourth direction D4, the optical axis O of the light receiver / emitter 9 also moves in the fourth direction D4. When the optical axis O overlaps the slot 42a, the laser beam LA1 emitted by the light receiver / emitter 9 is reflected by the reflector 41 towards the light receiver / emitter 9. When the light receiver / emitter 9 detects the laser beam LA1 reflected by the reflection unit 40, the control device 10 stops the movement of the removal / insertion mechanism 50 in the fourth direction D4.

[0063] Next, the control device 10 moves the removal / insertion mechanism 50 to the front in the third direction D3 (step S13). In step S13, as in Fig. Figure 10 shows the cushion 53 in contact with the vehicle body 20, and the second rail section 51b is supported and shortened within the first rail section 51a. The cushion 53 gradually approaches the sensor unit 5.

[0064] For example, in step S13, if the vehicle 2 moves in such a way that the position of the reflection unit 40 changes relative to the light receiver / emitter 9 and the light receiver / emitter 9 cannot detect the laser beam LA1, step S12 can be restarted.

[0065] Next, it detects how in Fig. 11 shows the sensor unit 5 approaching or contacting the pad 53 to detect completion of the alignment of the removal / insertion mechanism 50 (step S14).

[0066] The alignment of the removal / insertion mechanism 50 is completed by the procedure described above. After the alignment of the removal / insertion mechanism 50, the battery replacement operation described above is carried out.

[0067] Depending on the direction or stop position of the vehicle body 20, there is a case in which the battery replacement or the alignment of the removal / insertion mechanism 50 cannot be carried out.

[0068] As a countermeasure against this case, a function is provided for adjusting the direction of vehicle 2 or adjusting the position of vehicle 2 to the server 6 before the alignment of the removal / insertion mechanism 50.

[0069] The following describes a procedure for adjusting the direction of vehicle 2 or for adjusting the position of vehicle 2. (Adjustment of vehicle direction)

[0070] First, the procedure for adjusting the direction of vehicle 2 is described with reference to the flowchart of Fig. 12 described.

[0071] When the slot 42a and the optical axis O coincide, the control device 10 calculates the clearance L4 in the fourth direction D4 (see Fig. 13) between the two light receivers / emitters 9 (step S21).

[0072] After step S21, server 6 calculates the angle θ between the second direction D2 and the fourth direction D4 based on the signal L3 in the second direction D2 between the two slots 42a and the signal L4 in the fourth direction D4 between the two light receivers / emitters 9, which is calculated in step S21 (step S22). The signal L3 in the second direction D2 between the two slots 42a, which is used in step S22, was previously entered into server 6 or vehicle 2.

[0073] The angle calculated at step S22 corresponds to the angle θ between the first direction D1 and the third direction D3, that is, a tilt angle (yaw angle) of the vehicle 2 with respect to the battery exchange device 4.

[0074] Next, Server 6 rotates Vehicle 2 around the virtual center axis extending in the up-down direction Dv by the angle calculated at step S22 and adjusts the direction of Vehicle 2 so that the second direction D2 and the fourth direction D4 coincide (step S23). At step S23, the first direction D1 and the third direction D3 coincide. As a result, during the battery exchange, the first center axis C1 of Battery 3 and the second center axis C2 of Hand 52 coincide, and Battery 3 can be inserted and removed smoothly.

[0075] The adjustment of the direction of vehicle 2 is completed by the procedure described above. (Adjusting the position of the vehicle)

[0076] Next, the procedure for adjusting the position of vehicle 2 will be described with reference to the flowchart of Fig. 14 described. For example, if, as in Fig. As shown in Figure 15, if a slot 42a (in the example shown in the drawing, slot 42a is on the right side of the paper plane) is positioned in the fourth direction D4 within the opening 7a of the housing 7, the optical axis O of the light receiver / emitter 9 cannot be aligned with the slot 42a, even if the removal / insertion mechanism 50 is moved inwards in the fourth direction D4. At this point, the position of the vehicle 2 in the fourth direction D4 must be adjusted so that the vehicle 2 is returned to a position where the battery replacement can be performed. The procedure for adjusting the position of the vehicle 2 to return it to the position where the battery replacement can be performed is described below.

[0077] During the adjustment of the position of vehicle 2, the removal / insertion mechanisms 50 operate independently of each other.

[0078] First, it was recorded how in Fig. Figure 15 shows that server 6 sends a signal indicating that vehicle 2 has stopped in front of battery exchange device 4 (step S31). Following step S31, as with the alignment of the removal / insertion mechanism 50, the control device 10 positions the removal / insertion mechanism 50 in the initial position (step S32). Next, the control device 10 moves the removal / insertion mechanism 50 inwards in the fourth direction D4 (step S33). In step S33, the light receiver / emitter 9 is operated to illuminate the front in the third direction D3 with the laser beam LA1.

[0079] At this point, the control device 10 determines whether all of the light receivers / emitters 9 detect the laser beam LA1 or not (step S34). If all of the light receivers / emitters 9 detect the laser beam LA1 (step S34; YES), the return process of vehicle 2 does not need to be carried out, and thus the adjustment of the position of vehicle 2 ends. On the other hand, for example, as in Fig. Figure 16 shows that when the laser beam LA1 is blocked by the housing 7 at a light receiver / emitter 9 (on the right side of the paper plane), so that all light receivers / emitters 9 fail to detect the laser (step S34; NO), the server 6 sends an instruction to the vehicle 2 and moves the vehicle 2 back to the position where the light receiver / emitter 9 is able to detect the laser beam LA1 reflected by the reflection unit 40 (step S35). In step S35, for example, the server 6 moves, as shown in Fig. Figure 16 shows that, in a state where each of the removal / insertion mechanisms 50 is stopped, the vehicle 2 moves in the fourth direction D4 to the right side of the paper plane until the light receiver / emitter 9 on the right side of the paper plane detects the laser beam LA1 reflected by the reflection unit 40. As a result, as shown in Fig. 17 shown, all of the slots 42a to a front surface of the opening 7a of the housing 7, and all of the light receivers / emitters 9 can detect the laser beam LA1 reflected by the reflection unit 40.

[0080] The adjustment of the position of vehicle 2 is completed by the procedure described above. Even if vehicle 2 is stopped with a large deviation relative to the battery exchange device 4, the process can proceed to adjusting the position of the removal / insertion mechanism 50 by adjusting the position of vehicle 2.

[0081] Optionally, after adjusting the direction and position of vehicle 2 as described above, the alignment of the removal / insertion mechanism 50 can be performed. Pre-adjusting the direction and position of vehicle body 20 allows for smooth alignment of the removal / insertion mechanism 50 and battery replacement. (Processes and effects)

[0082] According to the present embodiment, the following operations and effects can be achieved.

[0083] The battery exchange system 1 according to the present embodiment comprises the vehicle 2 and the battery exchange device 4. The vehicle 2 comprises the battery compartment 23, which stores the battery 3 and is open in a first direction D1, and the reflection unit 40, which is provided adjacent to the battery compartment 23 in the second direction D2.The battery exchange device 4 includes the removal / insertion mechanism 50, which inserts or removes the battery 3 in the third direction D3 into or from the vehicle 2 and is movable in the third direction D3 and the fourth direction D4; the light receiver / emitter 9, which is positioned so that it is adjacent to the removal / insertion mechanism 50 in the fourth direction D4 and is movable together with the removal / insertion mechanism 50, emits the laser beam LA1 in the third direction D3 and is able to detect the laser beam LA1 reflected by the reflection unit 40; and the control device 10, which controls the operation of the removal / insertion mechanism 50.The control device 10 approaches the battery exchange device 4 such that the first direction D1 and the third direction D3 are aligned with each other, and moves the removal / insertion mechanism 50 in the fourth direction D4 towards the vehicle 2 in which the battery compartment 23 and the reflection unit 40 are directed towards the battery exchange device 4, until the light receiver / emitter 9 detects the laser beam LA1 reflected by the reflection unit 40.

[0084] Consequently, when the light receiver / emitter 9 detects the laser beam LA1 reflected by the reflection unit 40, the removal / insertion mechanism 50 and the battery 3 are aligned in the third direction D3. In this state, by moving the removal / insertion mechanism 50 in the third direction D3, it can be aligned to a position where the battery can be easily replaced. Accordingly, the battery replacement can be carried out efficiently.

[0085] Furthermore, the mechanism for aligning the removal / insertion mechanism 50 with the battery exchange system 1 can be mounted using only a simple configuration, in which the reflection unit 40 and the light receiver / emitter 9 are provided. Accordingly, the number of devices mounted in the battery exchange system 1 can be reduced.

[0086] In the present embodiment, the reflection unit 40 includes the reflector 41, which is able to reflect the laser beam LA1, and the cover 42, which covers the reflector 41 from the outside in the first direction D1 and on which the slot 42a, which penetrates the cover 42 in the first direction D1, is formed.

[0087] Consequently, the reflection unit 40 can only be manufactured with the simple configuration in which the reflector 41 is covered from the outside by the cover 42 and the slot 42a is formed in the cover 42. Only by forming the slot 42a can the reflection unit 40 be given a directional effect, whereby the laser beam LA1 is reflected only in the direction in which the laser beam LA1 can be incident.

[0088] In the present embodiment, the battery exchange system 1 further includes the server 6, which can control the position and direction of the vehicle 2.

[0089] As a result, the position and direction of vehicle 2 can be controlled to adjust the conditions in which the battery replacement can be easily performed. Accordingly, the battery replacement can be carried out more efficiently.

[0090] In the present embodiment, two of the battery compartments 23 are arranged such that they face each other in the second direction D2. Two of the reflection units 40 are arranged such that they face each other in the second direction D2. Two of the removal / insertion mechanisms 50 are arranged such that they face each other in the fourth direction D4. Two of the light receivers / emitters 9 are arranged such that they face each other in the fourth direction D4. When the light receiver / emitter 9 detects the laser beam LA1 reflected by the reflection unit 40, the server 6 calculates the angle θ between the second direction D2 and the fourth direction D4 based on the clearance L4 in the fourth direction D4 between the two light receivers / emitters 9 relative to the clearance L3 in the second direction D2 between the two reflection units 40.

[0091] For example, if the vehicle 2 is stopped in such a way that it is steeply inclined relative to the battery exchange device 4, the second direction is inclined relative to the fourth direction. In the present embodiment, the tilt angle (yaw angle) of the vehicle relative to the battery exchange device 4 can be detected by calculating the angle θ between the second direction D2 and the fourth direction D4. By rotating the vehicle 2 by the detected tilt angle so that the second direction D2 and the fourth direction D4 coincide, the direction of the vehicle 2 can be adjusted to a direction in which the battery exchange can be easily performed.

[0092] In the present embodiment, when the control device 10 moves the removal / insertion mechanism 50 in the fourth direction D4, in a case where the light receiver / emitter 9 does not detect the laser beam LA1 reflected by the reflection unit 40, the server 6 returns the vehicle 2 to a position where the light receiver / emitter 9 is able to detect the laser beam LA1 reflected by the reflection unit 40.

[0093] Consequently, for example, if vehicle 2 is stopped with a large deviation relative to the battery exchange device 4 in the fourth direction D4, such that the reflection unit 40 cannot reflect the laser beam LA1, server 6 can detect this condition. Server 6 can then guide vehicle 2 back to a position where the reflection unit 40 can reflect the laser beam LA1.

[0094] In the present embodiment, the removal / insertion mechanism 50 includes the hand 52, which holds the battery 3. The hand 52 includes the magnetic holder 52b, which adsorbs the battery 3 using magnetic force.

[0095] The hand 52 adsorbs and holds the steel plate 11 of the battery 3 using magnetic force. As a result, the hand 52 can hold the battery 3 securely. Accordingly, the removal / insertion mechanism 50 can perform the battery replacement reliably. (Hardware configuration)

[0096] The control device 10 and the server 6 according to the embodiment described above are connected by a Fig. 18 computer 1100 is implemented. Fig. Figure 18 is an example of a schematic block diagram representing a configuration of the computer 1100, which implements the control device 10 and the server 6 according to each of the embodiments. The computer 1100 includes a processor 1110, a main memory 1120, a data storage device 1130, and an interface 1140.

[0097] The operating parameters of the respective functional units of the control device 10 and the server 6 are stored in the data memory 1130 in the form of a program. The processor 1110 reads the program from the data memory 1130, makes the read program available in the main memory 1120, and executes the process described above in accordance with the program. Furthermore, the processor 1110 allocates a memory area in the main memory 1120 according to the program.

[0098] The program can be used to implement some of the functions performed by the Computer 1100. For example, the program can perform a function in combination with another program previously stored in the Data Memory 1130, or in combination with another program implemented in a different device. Furthermore, the Computer 1100 can include, in addition to or instead of the configuration described above, a custom large-scale integrated circuit (LSI), such as a programmable logic device (PLD). Examples of PLDs include Programmable Array Logic (PAL), Generic Array Logic (GAL), Complex Programmable Logic Device (CPLD), and Field-Programmable Gate Array (FPGA). In this case, functions implemented by the Processor 1110 can be partially or completely implemented by the integrated circuit.

[0099] As an example of data storage 1130, a magnetic disk, a magneto-optical disk, or a semiconductor memory can be used. Data storage 1130 can be an internal medium directly connected to a bus of computer 1100, or it can be an external medium connected to computer 1100 via interface 1140 or a communication line. Furthermore, when this program is distributed to computer 1100 via the communication line, computer 1100, receiving the distributed program, can use the program in main memory 1120 to execute the process described above. Data storage 1130 can be a non-volatile, tangible storage medium.

[0100] Furthermore, the program can be used to partially implement the functions described above. Additionally, the program can be a so-called difference file (difference program) that implements the functions described above in combination with another program previously stored in data memory 1130. (Other embodiments)

[0101] The embodiments of the present disclosure have been described in detail above with reference to the drawings, but the specific configuration is not limited to the embodiments and includes design changes and the like within a scope of protection that does not deviate from the core of the present disclosure.

[0102] In the embodiment described above, vehicle 2 is a forklift truck. However, the present disclosure is not limited to this example. For instance, vehicle 2 could be an electric vehicle.

[0103] Furthermore, in the embodiment described above, the alignment of the removal / insertion mechanism 50 has been described as an example using the case in which the first direction D1 of the vehicle 2 is slightly inclined with respect to the third direction D3 of the battery exchange device 4. However, the present disclosure is not limited to this example. Even if the first direction D1 of the vehicle body 20 coincides completely with the third direction D3 of the battery exchange device 4, the alignment of the removal / insertion mechanism 50 can be carried out.

[0104] Furthermore, as in Fig. Figure 19 shows a hand 60 holding the battery 3 using air pressure. The hand 60 incorporates a suction cup 61 instead of the magnetic holder 52b of the hand 52 described above. The suction cup 61 is connected to the hand base section 52a by the flexible connection 52c. The suction cup 61 is formed in a cylindrical shape (shell shape) with a base, open in the third direction D3 towards the front. The hand 60 adsorbs the battery 3 using air pressure by reducing the internal pressure of the suction cup 61 to a vacuum when the opening of the suction cup 61 adheres to the battery 3 from the rear in the third direction D3. Furthermore, an acrylic plate 11A is provided at an end section of the battery 3 on the rear in the third direction D3. The acrylic plate 11A is formed in a flat plate shape.The acrylic plate 11A can allow the suction cup 61 to adhere to the battery 3 without a gap.

[0105] In this embodiment, the hand 60 can hold the battery 3 using air pressure. Therefore, the hand 60 can hold the battery 3 independently of the battery 3's outer material.

[0106] Furthermore, as in Fig. 20, Fig. 21 to Fig. Figure 22 shows a hand 70 holding the battery 3 with a hook structure that engages with the battery 3.

[0107] In the present embodiment, the battery 3 includes, for example, an engagement part 11B at a rear end. The engagement part 11B comprises an engagement base section 12 and a projection section 13. The engagement base section 12 is provided on an end section of the battery 3 on the rear side in the third direction D3. The projection section 13 extends from the engagement base section 12 to the rear side in the first direction D1. An engagement groove 14 is formed in the projection section 13, which penetrates the projection section 13 in the up-down direction Dv.

[0108] The hand 70 comprises the hand base section 52a, an actuator 71, and a hook 72. The hook 72 is an element that can engage with the engagement groove 14 of the battery 3. The actuator 71 switches between a state in which the hook 72 engages with the engagement groove 14 of the battery 3 and a state in which the engagement with the engagement groove 14 is released. The configuration of the hand 70 is described in detail below.

[0109] The actuator 71 is positioned on the hand base section 52a. The actuator 71 comprises an actuator base section 73 and an expandable section 74. The actuator base section 73 is attached to the hand base section 52a. The expandable section 74 extends from the actuator base section 73 to the front face in the third direction D3. The expandable section 74 is designed to be expandable in the third direction D3.

[0110] The hook 72 is formed in a V-shape, projecting upwards when viewed from the fourth direction D4. A rear end section of the hook 72 is attached to a front end of the hand base section 52a by a shaft section 75. The shaft section 75 extends in the fourth direction D4. The hook 72 is designed to be rotatable about the shaft section 75. A curved section 72a of the hook 72 is attached to a front end of the expandable section 74 of the actuator 71.

[0111] When hand 70 holds battery 3, it withdraws, as in Fig. As shown in Figure 21, first the expandable section 74 of the actuator 71 contracts and pulls the hook 72 to the rear in the third direction D3 before the pad 53 comes into contact with the vehicle body 20. Next, after the rail 51 moves to the front in the third direction D3, it expands so that the pad 53 and the vehicle body 20 come into contact with each other, as shown in Figure 21. Fig. Figure 22 shows the expandable section 74 of the actuator 71 such that the hook 72 is inserted from above into the engagement groove 14 of the battery 3. In this way, the hand 70 engages with the battery 3. In this state, by moving the hand 70 towards the rear in the third direction D3, the battery 3 can be pulled out of the battery compartment 23.

[0112] In this embodiment, the hand 70 can hold the battery 3 due to the engagement between the hook and the engagement groove 14 of the battery 3. Consequently, the hand 70 can hold the battery 3 with this simple configuration, regardless of the outer material of the battery 3.

[0113] Furthermore, as in Fig. Figure 23 shows a sensor unit 5A, a contact sensor containing a plunger piston 5a. The rail 51 approaches the vehicle body 20, and the second rail section 51b contracts in the third direction D3 such that a tip of the first rail section 51a and the pad 53 approach each other. When the plunger piston 5a is pushed from the front in the third direction D3 through the projecting section 53a of the pad 53, the sensor unit 5A detects the completion of the alignment of the removal / insertion mechanism 50.

[0114] Furthermore, as in Fig. Figure 24 shows a sensor unit 5B, a proximity sensor which is attached to the vehicle body 20.

[0115] Furthermore, the number of removal / insertion mechanisms 50 mounted in the battery replacement device 4 can be suitably changed.

[0116] For example, as in Fig. Figure 25 shows a total of four removal / insertion mechanisms 50, arranged such that they are aligned in the fourth direction D4. In the example of Fig. Each of the battery compartments 23 stores two batteries 3 oriented in the second direction D2. Two sets of removal / insertion mechanisms 50 are provided corresponding to the batteries 3, each set containing two removal / insertion mechanisms 50 arranged adjacent to each other in the fourth direction D4. Two removal / insertion mechanisms 50 that are adjacent to each other and form a set operate together. By providing the four removal / insertion mechanisms 50, the battery exchange device 4 can exchange four batteries 3 at once.

[0117] Furthermore, as in Fig. As shown in Figure 26, only one removal / insertion mechanism 50 is provided. In the example of Fig. In vehicle 2, only one battery compartment 23 is provided, and only one battery 3 is stored in the battery compartment 23. <Ergänzende Anmerkungen>

[0118] The battery exchange system 1 according to each of the embodiments described above is understood, for example, as follows. (1) According to a first aspect, a battery exchange system 1 is provided, comprising: a vehicle 2 on which a battery 3 is mounted and which is movable in a horizontal direction; and a battery exchange device 4 which exchanges the battery 3 of the vehicle 2, the vehicle 2 comprising a battery compartment 23 which stores the battery 3 and is open in a first direction D1 in the horizontal direction, and a reflector 40 which is provided adjacent to the battery compartment 23 in a second direction D2 perpendicular to the first direction D1 in the horizontal direction; the battery exchange device 4 comprising a removal / insertion mechanism 50 which inserts or removes the battery 3 into or from the vehicle 2 in a third direction D3 in the horizontal direction and which is movable in the third direction D3 and a fourth direction D4 perpendicular to the third direction D3 in the horizontal direction; and a light receiver / emitter 9.which is positioned such that it is adjacent to the removal / insertion mechanism 50 in the fourth direction D4 and is movable together with the removal / insertion mechanism 50, emits a laser beam LA1 in the third direction D3 and is capable of detecting the laser beam LA1 reflected by the reflection unit 40, and includes a control device 10 that controls the operation of the removal / insertion mechanism 50, and the control device 10 approaches the battery exchange device 4 such that the first direction D1 and the third direction D3 are aligned with each other, and moves the removal / insertion mechanism 50 in the fourth direction D4 towards the vehicle 2 in which the battery compartment 23 and the reflection unit 40 are directed towards the battery exchange device 4, until the light receiver / emitter 9 detects the laser beam LA1 reflected by the reflection unit 40.

[0119] Consequently, when the light receiver / emitter 9 detects the laser beam LA1 reflected by the reflection unit 40, the removal / insertion mechanism 50 and the battery 3 are aligned in the third direction D3. In this state, by moving the removal / insertion mechanism 50 in the third direction D3, the removal / insertion mechanism 50 can be aligned to a position where the battery can be easily replaced.

[0120] (2) According to a second aspect, in the battery exchange system 1 according to the first aspect, the reflection unit 40 may include a reflector 41 capable of reflecting a laser beam LA1 and a cover 42 covering the reflector 41 from an outside in the first direction D1 and in which a slot 42a is formed that penetrates the cover 42 in the first direction D1.

[0121] Consequently, the reflector 41 can only be manufactured with the simple configuration in which the reflector 41 is covered from the outside by the cover 42 and the slot 42a is formed in the cover 42.

[0122] (3) According to a third aspect, the battery exchange system 1 according to the first or second aspect may further comprise a server 6 which is capable of controlling a position and direction of the vehicle 2.

[0123] As a result, the position and direction of vehicle 2 can be controlled to adjust the condition in which the battery replacement is easily carried out.

[0124] (4) According to a fourth aspect, in the battery exchange system 1 according to the third aspect, two of the battery compartments 23 may be arranged so that they face each other in the second direction D2, two of the reflection units 40 may be arranged so that they face each other in the second direction D2, two of the removal / insertion mechanisms 50 may be arranged so that they face each other in the fourth direction D4, two of the light receivers / emitters 9 may be arranged so that they face each other in the fourth direction D4, and if the light receivers / emitters 9 detect the laser beams LA1 reflected by the reflection units 40,Can server 6 calculate an angle θ between the second direction D2 and the fourth direction D4 based on a game L4 in the fourth direction D4 between the two light receivers / emitters 9 relative to a game L3 in the second direction D2 between the two reflection units 40?

[0125] For example, if vehicle 2 is stopped in such a way that it is steeply tilted relative to the battery exchange device 4, the second direction is tilted relative to the fourth direction. In this case, by calculating the angle θ between the second direction D2 and the fourth direction D4, the tilt angle (yaw angle) of the vehicle relative to the battery exchange device 4 can be detected. By rotating vehicle 2 by the detected tilt angle so that the second direction D2 and the fourth direction D4 coincide, the direction of vehicle 2 can be adjusted to a direction in which the battery exchange can be easily performed.

[0126] (5) According to a fifth aspect, in the case of the battery exchange system 1 according to the third or fourth aspect, when the control device 10 moves the removal / insertion mechanism 50 in the fourth direction D4, in a case where the light receiver / emitter 9 does not detect the laser beam LA1 reflected by the reflection unit 40, the server 6 can return the vehicle 2 to a position where the light receiver / emitter 9 is able to detect the laser beam LA1 reflected by the reflection unit 40.

[0127] Consequently, for example, if vehicle 2 is stopped with a large deviation relative to the battery exchange device 4 in the fourth direction D4, such that the reflection unit 40 cannot reflect the laser beam LA1, server 6 can detect this condition. Server 6 can then guide vehicle 2 back to a position where the reflection unit 40 can reflect the laser beam LA1.

[0128] (6) According to a sixth aspect, in the battery exchange system 1 according to one of the first to fifth aspects, the removal / insertion mechanism 50 may include a hand 52 which holds the battery 3, and the hand 52 may include a magnetic holder 52b which adsorbs the battery 3 using a magnetic force.

[0129] In this aspect, hand 52 holds battery 3 using magnetic force. Therefore, for example, if a metal is used for the exterior of battery 3, hand 52 can hold battery 3 firmly.

[0130] (7) According to a seventh aspect, in the battery exchange system 1 according to one of the first to fifth aspects, the removal / insertion mechanism 50 may include a hand 60 which holds the battery 3, and the hand 60 may include a suction cup 61 which is open to a front in the third direction D3 and adsorbs the battery 3 using air pressure by reducing an internal pressure to a vacuum in a state in which the suction cup 61 adheres to the battery 3.

[0131] In this aspect, hand 60 holds battery 3 using air pressure. Therefore, hand 60 can hold battery 3 regardless of the outer material of battery 3.

[0132] (8) According to an eighth aspect, in the battery exchange system 1 according to one of the first to fifth aspects, the removal / insertion mechanism 50 may include a hand 70 which holds the battery 3, and the battery 3 may include an engagement groove 14 formed on a rear side in the first direction D1, and the hand 70 may include a hook 72 which can engage with the engagement groove 14 of the battery 3, and an actuator 71 which switches between a state in which the hook 72 is engaged with the engagement groove 14 and a state in which the engagement with the engagement groove 14 is released.

[0133] In this aspect, the hand 70 can hold the battery 3 due to the engagement between the hook and the engagement groove 14 of the battery 3. Consequently, the hand 70 can hold the battery 3 with this simple configuration, regardless of the outer material of the battery 3. Industrial applicability

[0134] The battery replacement system according to the present disclosure allows for efficient battery replacement. Reference symbol list 1 Battery replacement system 2 vehicles 3 batteries 4 Battery replacement device 5 sensor unit 6 servers 7 cases 7a Opening 8 slots 9 Light receivers / emitters 10 Control device 11 steel plates 20 Vehicle body 21 Vehicle body 21a Rear surface 22 Splay leg 23 Battery compartment 25 wheel 25a rear wheel 25b front wheel 26 masts 30 Cargo handling device 31 Lifting clamp 32 Fork 32a Fork steerer 32b Fork blade 40 reflection units 41 Reflector 42 Cover 42a Slot 50 Removal / Insertion Mechanism 51 rail 51a first track section 51b second track section 52 Hand 52a Hand base section 52b Magnetic holder 52c flexible connection 53 cushions 53a Proportion section 54 Fastening section C1 first central axis C2 second central axis D1 first direction D2 second direction D3 third direction D4 fourth direction Dv Up-Down Direction F floor L1 Game L2 Game L3 Game L4 Game LA1 Laser beam LA2 laser beam O optical axis θ angle 1100 computers 1110 processor 1120 main memory 1130 data storage 1140 interface 11A Acrylic sheet 60 Hand 61 suction cup 11B Intervention part 12 Intervention Base Section 13th lead section 14 Intervention groove 70 Hand 71 Actuator 72 hooks 72a curved section 73 Actuator base section 74 expandable section 75 Wave section 5A sensor unit 5a Plunger piston 5B Sensor Unit QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 2023-133463

[0002] JP 7215629

[0004]

Claims

[1] Battery exchange system, comprising: a vehicle to which a battery is mounted and which is movable in a horizontal direction; and a battery replacement device that replaces the vehicle's battery, the vehicle contains: a battery compartment that stores the battery and is open in a first direction in the horizontal direction, and a reflection unit which is provided adjacent to the battery compartment in a second direction perpendicular to the first direction in the horizontal direction, The battery replacement device contains: a removal / insertion mechanism that inserts or removes the battery in a third direction in the horizontal direction and is movable in the third direction and a fourth direction perpendicular to the third direction in the horizontal direction, a light receiver / emitter positioned so that it is adjacent to the removal / insertion mechanism in the fourth direction and is movable together with the removal / insertion mechanism, emits a laser beam in the third direction and is capable of detecting the laser beam reflected by the reflection unit, and a control device that controls the operation of the removal / insertion mechanism, and The control device approaches the battery exchange device in such a way that the first direction and the third direction are aligned with each other, and moves the removal / insertion mechanism in the fourth direction towards the vehicle, in which the battery compartment and the reflection unit are directed towards the battery exchange device, until the light receiver / emitter detects the laser beam reflected by the reflection unit. [2] Battery exchange system according to claim 1, wherein the reflection unit comprises: a reflector capable of reflecting a laser beam, and a cover that covers the reflector from an outside in the first direction and in which a slot is formed that penetrates the cover in the first direction. [3] Battery exchange system according to claim 1 or 2, further comprising: a server that is capable of controlling the position and direction of the vehicle. [4] Battery exchange system according to claim 3, where two of the battery compartments are designed so that they face each other in the second direction, two of the reflection units are arranged so that they face each other in the second direction, two of the extraction / insertion mechanisms are designed such that they face each other in the fourth direction, two of the light receivers / emitters are arranged so that they face each other in the fourth direction, and When the light receivers / emitters detect the laser beams reflected by the reflection units, the server calculates an angle between the second direction and the fourth direction based on a match in the fourth direction between the two light receivers / emitters relative to a match in the second direction between the two reflection units. [5] Battery exchange system according to claim 3, wherein, when the control device moves the removal / insertion mechanism in the fourth direction, in a case where the light receiver / emitter does not detect the laser beam reflected by the reflection unit, the server returns the vehicle to a position where the light receiver / emitter is able to detect the laser beam reflected by the reflection unit. [6] Battery exchange system according to claim 1 or 2, the removal / insertion mechanism includes a hand that holds the battery, and The hand contains a magnetic holder that adsorbs the battery using magnetic force. [7] Battery exchange system according to claim 1 or 2, the removal / insertion mechanism includes a hand that holds the battery, and the hand contains a suction cup that is open to a front in the third direction, and adsorbs the battery using air pressure by reducing an internal pressure to a vacuum in a state where the suction cup adheres to the battery. [8] Battery exchange system according to claim 1 or 2, the removal / insertion mechanism includes a hand that holds the battery, the battery contains an engagement groove formed on a back side in the first direction, and the hand contains: a hook that can be engaged with the engagement groove of the battery, and an actuator that switches between a state in which the hook is engaged with the engagement groove and a state in which the engagement with the engagement groove is released.

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