BATTERY REPLACEMENT SYSTEM

Abstract

In this battery exchange system, a vehicle is equipped with: a battery compartment containing a battery, open in a first direction; and a light emitter adjacent to the battery compartment in a second direction, emitting laser light in the first direction. A battery exchange device comprises: a removal / insertion mechanism for removing and inserting the battery in a third direction; two light receivers arranged adjacent to the removal / insertion mechanism in a fourth direction; and a control device.The control device comprises: a first motion unit which, in relation to the vehicle that has approached the battery exchange device in such a way that the first direction is along the third direction, moves the removal / insertion mechanism in the fourth direction until one of the light receivers detects the laser light; a second motion unit which moves the removal / insertion mechanism in the third direction after the movement by the first motion unit; and a switching unit which switches the movement by the second motion unit to the movement by the first motion unit when the other light receiver detects the laser light.

Description

Technical field

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

[0002] Priority is claimed by the Japanese patent application No. 2023-133464, 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 a vehicle's position or orientation, a battery may be impossible to remove or insert, and the alignment between the vehicle and the battery holder may need to be repeated many times. Therefore, one problem is that battery replacement efficiency is poor.

[0006] The present disclosure was made to solve the problems described above, and one purpose of the present disclosure is to provide a battery replacement system in which battery replacement can be carried out efficiently. Solution to the problem

[0007] To solve the above problems, a battery exchange system is provided according to the present disclosure, comprising: a vehicle in 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 in which the battery is received and which is open in a first direction in the horizontal direction, and a light emitter which is provided such that it is adjacent to the battery compartment in a second direction perpendicular to the first direction in the horizontal direction and which emits laser light in the first direction, and the battery exchange device includes a removal / insertion mechanism.which removes and inserts the battery in a third direction in the horizontal direction and which is movable in a fourth direction perpendicular to the third direction and the horizontal direction with respect to the vehicle, two light receivers which are positioned so that they are adjacent to the removal / insertion mechanism in the fourth direction and are movable so that they move integrally with the removal / insertion mechanism, and which are aligned in the fourth direction in which the laser light from the light emitter can be detected, and a control device which controls an operation of the removal / insertion mechanism, and the control device a first movement section which moves the removal / insertion mechanism in the fourth direction until one of the two light receivers detects the laser light from the light emitter with respect to the vehicle approaching the battery exchange device,so that the first direction runs along the third direction and in which the battery compartment and the light emitter face the battery replacement device, a second movement section which moves the removal / insertion mechanism in the third direction after movement in the fourth direction through the first movement section, and a switching unit which switches movement in the third direction through the second movement section to movement in the fourth direction through the first movement section in a case in which another of the two light receivers detects the laser light from the light emitter. Advantageous effects of the invention

[0008] According to the battery replacement system of the present disclosure, the battery replacement can be carried out efficiently. Brief description of the drawings Fig. Figure 1 is a diagram of a battery exchange system according to an embodiment of the present disclosure, viewed from one side. Fig. Figure 2 is a schematic configuration diagram of the battery exchange system according to the embodiment of the present disclosure, viewed from above. Fig. Figure 3 is a functional block diagram of a control device according to the embodiment of the present disclosure. Fig. Figure 4 is a diagram illustrating the operation of a removal / insertion mechanism according to the embodiment of the present disclosure when removing a battery. Fig. Figure 5 is a diagram illustrating the operation of the removal / insertion mechanism according to the embodiment of the present disclosure when the battery is removed. Fig. Figure 6 is a diagram illustrating the operation of the removal / insertion mechanism according to the embodiment of the present disclosure when the battery is removed. Fig. Figure 7 is a flowchart illustrating a method for aligning the position of the removal / insertion mechanism according to the embodiment of the present disclosure. Fig. Figure 8 is a diagram illustrating the method for aligning the position of the removal / insertion mechanism according to the embodiment of the present disclosure. Fig. Figure 9 is a diagram illustrating the method for aligning the position of the removal / insertion mechanism according to the embodiment of the present disclosure. Fig. Figure 10 is a diagram illustrating the method for aligning the position of the removal / insertion mechanism according to the embodiment of the present disclosure. Fig. Figure 11 is a diagram illustrating the method for aligning the position of the removal / insertion mechanism according to the embodiment of the present disclosure. Fig. Figure 12 is a diagram illustrating the method for aligning the position of the removal / insertion mechanism according to the embodiment of the present disclosure. Fig. Figure 13 is a diagram illustrating the method for aligning the position of the removal / insertion mechanism according to the embodiment of the present disclosure. Fig. Figure 14 is a flowchart illustrating a method for adjusting the position of a vehicle according to the embodiment of the present disclosure. Fig. Figure 15 is a diagram illustrating the method for adjusting the position of the vehicle according to the embodiment of the present disclosure. Fig. Figure 16 is a diagram illustrating the method for adjusting the position of the vehicle according to the embodiment of the present disclosure. Fig. Figure 17 is a diagram illustrating the method 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 a hand according to a further embodiment of the present disclosure. Fig. Figure 21 is a diagram representing a hand according to a further embodiment of the present disclosure. Fig. Figure 22 is a diagram representing a hand according to a further embodiment of the present disclosure. Fig. Figure 23 is a diagram illustrating a sensor unit according to a further embodiment of the present disclosure. Fig. Figure 24 is a diagram illustrating a sensor unit according to a 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. Fig. Figure 26 is a diagram illustrating a battery exchange system according to a further embodiment of the present disclosure. 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. Vehicle 2 can move horizontally on a ground surface F using the power of battery 3.

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

[0013] In the following, with respect to vehicle 2, a horizontal direction that is perpendicular to an up-down direction Dv and that coincides with a front-back direction of vehicle 2 is referred to as a first direction D1, and a horizontal direction that is perpendicular to the first direction D1 and that coincides with a width direction of vehicle 2 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 light emitter 40. (Vehicle body)

[0015] The vehicle body 20 contains a vehicle body main body 21, a spreader leg 22, a battery compartment 23 and a light emitter receiving unit 24. (Vehicle body main body)

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

[0017] Two spreader legs 22 are provided on a front surface of the vehicle body main body 21 in the first direction D1 and are oriented towards each other in the second direction D2. The spreader legs 22 extend in the first direction D1 from a front surface of the vehicle body main body 21. (Battery compartment)

[0018] The battery compartment 23 is formed in a lower section of the main vehicle body 21. A total of two battery compartments 23 are provided, one at the rear of each spreader leg 22. That is, the two battery compartments 23 are arranged so that they face each other in the second direction D2. The two battery compartments 23 are symmetrical in the second direction D2. The battery compartment 23 extends in the first direction D1 and is open from the rear surface 21a of the main vehicle body 21 to a rear side in the first direction D1. Furthermore, the battery compartment 23 is also open to an outside side in the second direction D2. In the following description, unless otherwise specified, an opening of the battery compartment 23 means an opening facing the rear side in the first direction D1.The battery 3 is inserted into the battery compartment 23 in such a way that it is inserted from the rear in the first direction D1. (Light emitter recording unit)

[0019] The light emitter receiving unit 24 is formed in the lower section of the main vehicle body 21. Two light emitter receiving units 24 are arranged such that they face each other in the second direction D2 between the two battery compartments 23. The two light emitter receiving units 24 are designed to be symmetrical in the second direction D2. The light emitter receiving unit 24 extends in the first direction D1 and is open from the rear surface 21a of the main vehicle body 21 to the rear in the first direction D1. The light emitter receiving unit 24 receives the light emitter 40, which will be described later, such that it is inserted from the rear in the first direction D1. (Wheels)

[0020] The wheels 25 are attached to a lower section of the vehicle body 20. The wheels 25 contact the ground surface F and support the vehicle body 20 from below. The wheels 25 roll on the ground surface F, allowing the vehicle 2 to move horizontally on the ground surface F. The wheels 25 include rear wheels 25a and front wheels 25b. The rear wheels 25a are attached to the lower section of the main body of the vehicle body 21. The front wheels 25b are attached to a front end of each spreader leg 22. (Mast)

[0021] The mast 26 is attached to the front surface of the main body of the vehicle hull 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. The two masts 26 are movable forwards and backwards in the first direction D1 along the spreader legs 22. (Cargo handling device)

[0022] 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)

[0023] 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)

[0024] The forks 32 are attached to a front surface of the lifting clamp 31. Viewed from the second direction D2, the forks 32 are L-shaped, and two forks 32 are arranged so that they face each other in the second direction D2. The fork 32 comprises a fork base section 32a and a fork claw section 32b. The fork base section 32a is attached to the front surface of the lifting clamp 31. The fork claw sections 32b extend from a lower end of the fork base section 32a to the front surface in the first direction D1.

[0025] When vehicle 2 is transporting a load (not shown), the fork jaw sections 32b are inserted into holes in the load. In this state, as the cargo handling device 30 rises along the masts 26, the load is lifted. In this state, vehicle 2 moves so that the load can be transported to a destination. (Light emitter)

[0026] A total of two light emitters 40 are provided in the two light emitter receiving units 24, one of which is located in each of the two light emitter receiving units 24, which are open to the rear in the first direction D1. The two light emitters 40 are arranged so that they are symmetrical in the second direction D2. Furthermore, in the present embodiment, the two light emitters 40 are positioned so that they are inserted between the two battery compartments 23 in the second direction D2. That is, each light emitter 40 is positioned so that it is adjacent to the corresponding battery compartment 23 in the second direction D2.

[0027] The embodiment is described below assuming that the light emitter receiving unit 24, the light emitter 40 which is received in the light emitter receiving unit 24, the battery compartment 23 and the battery 3 received in the battery compartment 23, which are located on the same side in the second direction D2, are in a corresponding relationship to each other with respect to a virtual central axis which extends in the first direction D1 through the center of the vehicle 2 in the second direction D2.

[0028] Light emitter 40 is a light source that emits laser light LA1 to the rear side in the first direction D1. The trajectory of the laser light LA1 from light emitter 40 is considered below as an optical axis O. The optical axis O extends in a straight line in the first direction D1.

[0029] Here, a virtual central axis, passing through the center of the battery 3, which is housed in the battery compartment 23, in the second direction D2 and extending in the first direction D1, is referred to as a first central axis C1. Each light emitter 40 is positioned at a location where a separation distance L1 between the optical axis O and the first central axis C1 of the battery 3 corresponding to that light emitter 40 is equal in the second direction D2. (Battery replacement device)

[0030] The battery exchange device 4 replaces the battery 3 of the vehicle 2, which is stopped at the front, with the charged battery 3.

[0031] In the following, with respect to the battery exchange device 4, a horizontal direction that intersects the up-down direction Dv and coincides with a front-back direction of the battery exchange device 4 is referred to as a third direction D3, and a horizontal direction that is perpendicular to the third direction D3 and coincides with a width direction of the battery exchange device 4 is referred to as a fourth direction D4.

[0032] 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, and the second direction D2 and the fourth direction D4 are aligned, and the vehicle 2 is stopped with the battery compartment 23 and the light emitter 40 facing the battery exchange device 4. When the battery 3 is replaced, 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, to facilitate a smooth battery exchange. 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.

[0033] The battery replacement device 4 includes a housing 7, a slot 8, a removal / insertion mechanism 50, a light receiver 9 and a control device 10. (Housing)

[0034] The housing 7 is placed on the base surface 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 the shape of a rectangular parallelepiped. The shape of the housing 7 can be suitably modified. The dimension of the housing 7 in the fourth direction D4 is set such that it is larger than the dimension of the vehicle 2 in the second direction D2.

[0035] The housing 7 accommodates the slot 8, the removal / insertion mechanism 50, the light receiver 9, the control device 10, and the sensor unit 5, which will be described later. An opening section 7a is formed on a front surface of the housing 7. Two opening sections 7a are formed in a lower section of the housing 7 such that they face each other in the fourth direction D4. The two opening sections 7a are formed such that they are symmetrical in the fourth direction D4.

[0036] The embodiment is described below assuming that the opening section 7a, the removal / insertion mechanism 50 (which will be described later), the light receiver 9, the light emitter receiving unit 24, the light emitter 40 which is received in the light emitter receiving unit 24, the battery compartment 23 and the battery 3 which is received in the battery compartment 23 are in a corresponding relationship with respect to a virtual central axis which extends in the third direction D3 through the center of the battery exchange device 4 in the fourth direction D4 and are located on the same side in the fourth direction D4. (Slot)

[0037] Two slots 8 are provided in the housing 7 such that they face each other in the fourth direction D4. The two slots 8 are symmetrical in the fourth direction D4. Each slot 8 extends in the up-down direction Dv. The slot 8 is designed to accommodate several batteries 3. The battery 3 can be charged in the slot 8. (Removal / insertion mechanism)

[0038] The removal / insertion mechanism 50 removes and inserts the battery 3 in the third direction D3 relative to 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. The removal / insertion mechanism 50 is designed to be removed from and inserted into the opening section 7a of the housing 7 in the third direction D3.

[0039] The removal / insertion mechanism 50 has a rail 51, a hand 52, a pad 53 and a fastening section 54. (Rail)

[0040] The rail 51 is movable in the third direction D3 and the fourth direction D4 in response to a command from the control device 10, which will be described later. 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 be removable and replaceable relative to the first rail section 51a in the third direction D3. (Hand)

[0041] The hand 52 is positioned on the rail 51. The hand 52 can move in the third direction D3 on the rail 51 in response to the command of the control device 10, which will be described later. The hand 52 grasps the battery 3. The hand 52 comprises a hand base section 52a, a magnetic holder 52b, and a flexible connection 52c.

[0042] The hand base section 52a is mounted on the rail 51 in such a way that it is movable in the third direction D3.

[0043] The magnetic holder 52b is provided at a front end of the hand base section 52a. The magnetic holder 52b attracts a metal section of the battery 3 by magnetic force. In the present embodiment, the battery 3 has, for example, an iron plate 11 at a rear end. The magnetic holder 52b magnetically attracts the iron plate 11 to grip the battery 3.

[0044] The flexible connection 52c connects the hand base section 52a and the magnetic holder 52b. The flexible connection 52c is an element that is slightly deformed 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 the rear surface of the battery 3 from the front surface in the first direction D1. Accordingly, the magnetic holder 52b can grip the battery 3 regardless of the battery 3's 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 damage to the vehicle body 20 when the pad 53 comes into contact with it. Furthermore, a projecting section 53a, extending towards the rear, is provided on the rear surface 21a 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 side of the second rail section 51b in the fourth direction D4. (Light receiver)

[0047] The light receiver 9 is attached to the mounting section 54 of each of the removal / insertion mechanisms 50. Therefore, the light receiver 9 is attached to the removal / insertion mechanism 50 such that it is adjacent to the removal / insertion mechanism 50 in the fourth direction D4 and is integrally movable with the removal / insertion mechanism 50. The light receiver 9 can detect the laser light LA1 from the light emitter 40.

[0048] Two light receivers 9 are arranged such that they are aligned with respect to a removal / insertion mechanism 50 in the fourth direction D4. The two light receivers 9 are arranged at a predetermined distance in the fourth direction D4. The distance between the two light receivers 9 can be suitably changed depending on the situation, but it is preferred that the two light receivers 9 are arranged close to each other. For example, it is preferred that a distance in the fourth direction D4 between the two light receivers 9 is equal to or less than the width of the light receivers 9 in the fourth direction D4.

[0049] In the following description, a set of two light receivers 9, which are arranged to be oriented in the fourth direction D4 with respect to a removal / insertion mechanism 50, is simply referred to as a "set of light receivers 9". Two sets of light receivers 9 are arranged to face each other in the fourth direction D4. Each set of light receivers 9 is arranged on an inner side in the fourth direction D4 with respect to the corresponding removal / insertion mechanism 50.

[0050] 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. Furthermore, a virtual central axis passing through the center of a region between the two light receivers 9 that form the set of light receivers 9, also passing in the fourth direction D4 and extending in the third direction D3, is referred to as a third central axis C3. Each set of light receivers 9 is positioned such that a separation distance L2 in the fourth direction D4 between the third central axis C3 and the second central axis C2 of hand 52 corresponding to that pair of light receivers 9 is equal.Furthermore, the separation distance L2 between the third central axis C3 and the second central axis C2 in the fourth direction D4 is set so that it is approximately equal to the separation distance L1 between the optical axis O of the light emitter 40 and the first central axis C1 in the second direction D2. (Control device)

[0051] The control device 10 is provided in the housing 7. The control device 10 controls the operations of various components that make up the battery exchange device 4, such as the removal / insertion mechanism 50 and the light receiver 9.

[0052] As in Fig. As shown in Figure 3, the control device contains 10 functional units, such as a first movement section 15, a second movement section 16 and a switching unit 17.

[0053] The first movement section 15 moves the removal / insertion mechanism 50 in the fourth direction D4 until one of the two light receivers 9 detects the laser light LA1 from the light emitter 40 in relation to the vehicle 2.

[0054] The second movement section 16 moves the removal / insertion mechanism 50 in the third direction D3 in a state in which one of the two light receivers 9 detects the laser light LA1 from the light emitter 40, after the movement of the first movement section 15 in the fourth direction D4.

[0055] In a case where the other light receiver 9 of the two light receivers 9 detects the laser light LA1 from the light emitter 40, the switching unit 17 switches the movement in the third direction D3 through the second movement section 16 to the movement in the fourth direction D4 through the first movement section 15. (Sensor unit)

[0056] 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 positional alignment of the removal / insertion mechanism 50. The sensor unit 5 of the present embodiment is a proximity sensor that detects the approach or contact between the pad 53 and the first rail section 51a by emitting laser light LA2 onto the projecting section 53a of the pad 53. (Server)

[0057] Server 6 is located outside the housing 7. Server 6 is designed to communicate with vehicle 2 and battery exchange device 4, and to control the position and orientation of vehicle 2. Furthermore, server 6 can control the ON / OFF switching of light emitter 40.

[0058] For example, if the first movement section 15 moves the removal / insertion mechanism 50 in the fourth direction D4, in a case where the light receiver 9 does not detect the laser light LA1 from the light emitter 40, the server 6 returns the vehicle 2 to a position where the light receiver 9 can detect the laser light LA1 from the light emitter 40. (Battery replacement procedure)

[0059] The following describes a procedure for battery replacement. During battery replacement, each removal / insertion mechanism operates independently.

[0060] First, the removal / insertion mechanism 50 is moved into a position facing the opening section 7a of the housing 7 in the third direction D3, and the rail 51 is pushed out of the opening section 7a towards the front in the third direction D3. Then, if the pad 53 comes into contact with the rear surface 21a of the vehicle 2, the second rail section 51b is gradually absorbed into the first rail section 51a and becomes shorter, as shown in Fig. As shown in section 4, the first rail section 51a approaches the pad 53. Subsequently, as shown in Fig. As shown in Figure 5, the hand 52 moves towards the front in the third direction D3, and a rear section of the battery 3 is gripped by the magnetic holder 52b. Then, as ... pulls towards the front in the third direction D3, and a rear section of the battery 3 is grip Fig. As shown in Figure 6, the hand 52 removes the battery 3 to the rear in the third direction D3. Subsequently, the removal / insertion mechanism 50 returns to the housing 7, and the removed battery 3 is received in the slot 8. The battery 3 received in the slot 8 begins to charge.

[0061] The fully charged battery 3, which is inserted into the slot 8, is then attached to the magnetic holder 52b. The charged battery 3 is then inserted into the battery compartment 23 in a procedure that is the opposite of the procedure described above for removing the battery 3.

[0062] The battery replacement is carried out using the procedure described above. (Procedure for position alignment)

[0063] In order to carry out the battery replacement described above smoothly and efficiently, it is necessary to align the position of the removal / insertion mechanism 50 with the battery compartment 23.

[0064] The following describes a procedure for the positional alignment of the removal / insertion mechanism 50 with reference to the flowchart of Fig. 7 described.

[0065] The following describes how in Fig. Figure 8 shows a method for positional alignment of the removal / insertion mechanism 50 in a case in which the vehicle body 20 is inclined slightly to a right side in the fourth direction with respect to the battery exchange device 4 and the first direction D1 is inclined slightly to a right side in the fourth direction with respect to the third direction D3.

[0066] During the positional alignment of the removal / insertion mechanism 50, each removal / insertion mechanism 50 operates independently.

[0067] Fig. 8, Fig. 9, Fig. 10, Fig. 11, Fig. 12 to Fig. 13 represent each state of the battery exchange system 1 in the procedure for position alignment of the removal / insertion mechanism 50. Fig. 8, Fig. 9, Fig. 10, Fig. 11, Fig. 12 to Fig. Figure 13 presents the main parts of the battery exchange system 1 in a simpler and schematic way by omitting the housing 7 and the like, in order to clearly describe each state.

[0068] 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). In the initial position, the second central axis C2 of the removal / insertion mechanism 50 is located on the outside in the fourth direction D4 with respect to the corresponding first central axis C1 of the battery 3. Then the light emitter 40 is operated to emit the laser light LA1 to the rear in the third direction D3. After step S11, the mechanism moves as shown in Figure 8. Fig. As shown in Figure 9, the first movement section 15 moves the removal / insertion mechanism 50 to the inside in the fourth direction D4 until one of the light receivers 9 (in the illustrated example, the light receiver 9 on a left side in the fourth direction D4) detects the laser light LA1 emitted by the light emitter 40 (step S12). If the light receiver 9 detects the laser light LA1, the removal / insertion mechanism 50 stops moving in the fourth direction D4.

[0069] Here, the two light receivers 9 that form the set of light receivers 9 are described by distinguishing between one light receiver 9 on the left side in the fourth direction D4 and the other light receiver 9 on the right side in the fourth direction D4.

[0070] After step S12, in a state in which a light receiver 9 detects the laser light LA1, the second movement section 16 moves the removal / insertion mechanism 50 to the front in the third direction D3 (step S13).

[0071] At this point, since the vehicle body 20 is slightly inclined and stopped with respect to the battery exchange device 4, the removal / insertion mechanism 50 approaches the vehicle body 20, and the other light receiver 9 (in the illustrated example, the light receiver 9 on the right side in the fourth direction D4) gradually approaches the laser light LA1 from the fourth direction D4.

[0072] In a case where the relative position of the light emitter 40 in relation to the light receiver 9 changes due to the movement of the vehicle 2 or the like during step S13 and the light receiver 9 does not detect the laser light LA1, step S12 can be repeated.

[0073] During the execution of step S13, the control device 10 determines whether the other light receiver 9 has detected the laser light LA1 or not (step S14).

[0074] As in Fig. As shown in Figure 10, in a case where the other light receiver 9 detects the laser light LA1 (step S14; JA), the switching unit 17 changes the movement in the third direction D3 through the second movement section 16 to the movement in the fourth direction D4 through the first movement section 15 (step S15). That is, after step S15, step S12 is executed again.

[0075] In step S12, which is performed for the second time, both removal / insertion mechanisms 50 move from the same side in the fourth direction D4 (in the illustrated example, the right side in the fourth direction D4). Then, a light receiver 9 gradually approaches the laser light LA1 in the fourth direction D4 and finally detects, as shown in Fig. Figure 11 shows one light receiver 9 receiving the laser light LA1 again. After step S12, step S13 is executed for the second time. In step S13, which is executed for the second time, the second movement section 16, similar to step S13, which is executed for the first time, moves the removal / insertion mechanism 50 to the front in the third direction D3. The following is a case in which the other light receiver 9 gradually approaches the laser light LA1 from the fourth direction D4, as shown in Figure 11. Fig. Figure 12 shows that the laser light LA1 is detected (step S14; JA), step S15 is executed again, and the process moves on to step S12 and step S13, which are executed for the third time.

[0076] In step S13, which is executed for the third time, if the other light receiver 9 detects the laser light LA1 (step S14; JA), step S15 is executed again, and the process proceeds to steps S12 and S13, which are executed for the fourth time. Steps S12 to S13 are thus repeated. During the third execution of steps S12 to S13, the removal / insertion mechanism 50 then operates in the same way as during the second execution of steps S12 to S13.

[0077] On the other hand, if the other light receiver 9 does not detect the laser light LA1 (step S14; NO), the second movement section 16 continues to move the removal / insertion mechanism 50 towards the front in the third direction D3 (step S16), as in step S13. Then the control device 10 determines whether the sensor unit 5 has detected the completion of the positional alignment of the removal / insertion mechanism 50 or not (step S17). As in Fig. As shown in Figure 13, the flow ends in a case where the sensor unit 5 detects the completion of the position alignment of the removal / insertion mechanism 50 (step S17; JA).

[0078] Furthermore, in a case where the sensor unit 5 does not detect the completion of the position alignment of the removal / insertion mechanism 50 (step S17; NO), the process returns to step 13, and the second movement section 16 moves the removal / insertion mechanism 50 further to the front in the third direction D3.

[0079] Steps S12 to S17 are repeated until the sensor unit 5 detects the completion of the position alignment of the removal / insertion mechanism 50 (step S17; YES).

[0080] By repeating steps S12 and S13, the removal / insertion mechanism 50 moves in a zigzag motion, alternately repeating the movement in the fourth direction D4 and the movement in the third direction D3, and is finally positioned in a position facing the battery 3 in the third direction.

[0081] Following the above procedure, the positional alignment of the removal / insertion mechanism 50 is complete.

[0082] Here, the positional alignment of the removal / insertion mechanism 50 was described as an example in a case where the first direction D1 of the vehicle 2 is slightly inclined to the right with respect to the third direction D3 of the battery exchange device 4. However, the present disclosure is not limited to this. Even if the first direction D1 of the vehicle 2 is slightly inclined to the left with respect to the third direction D3, the positional alignment of the removal / insertion mechanism 50 can be performed. In this case, the alignment of the movement performed a second time and thereafter in the fourth direction D4 (the alignment of movement in the fourth direction D4 at S12, performed a second time and thereafter) is opposite to the alignment in the case described above by the second movement section 16.Furthermore, the case in which of the two light receivers 9 is the reference for determining whether the movement in the third direction D3 should continue through the first movement section 15, and which of the two light receivers 9 is the reference for determining whether the movement in the third direction D3 should be switched through the second movement section 16 to the movement in the fourth direction D4 through the first movement section 15, is the opposite of the case described above. That is, in this case, the light receiver 9 on the right in the fourth direction D4 is one light receiver 9, and the light receiver 9 on the left in the fourth direction D4 is the other light receiver 9.

[0083] Furthermore, even if the first direction D1 of the vehicle body 20 completely coincides with the third direction D3 of the battery exchange device 4, the positional alignment of the removal / insertion mechanism 50 can be performed. In this case, after step 12, steps S13 to S17 are repeated without step 15 being performed, and the removal / insertion mechanism 50 moves in a straight line in the third direction D3 until the sensor unit 5 detects the completion of the positional alignment of the removal / insertion mechanism 50. That is, the removal / insertion mechanism 50 moves in a straight line in the third direction D3 until the sensor unit 5 detects the completion of the positional alignment of the removal / insertion mechanism 50, while the other light receiver 9 does not detect the laser light LA1.

[0084] In this case, the one light receiver 9 that detects the laser light LA1 at step S12 can be the light receiver 9 on the left side or the light receiver 9 on the right side.

[0085] After the removal / insertion mechanism 50 has been aligned in position, the battery replacement operation described above is carried out.

[0086] However, depending on the stop position of the vehicle body 20, it may not be possible to perform the battery replacement or the position alignment of the removal / insertion mechanism 50.

[0087] As a countermeasure, server 6 is equipped with a function that performs the position adjustment of vehicle 2 before the position alignment of the removal / insertion mechanism 50.

[0088] The following describes a procedure for adjusting the position of vehicle 2. (Vehicle position adjustment)

[0089] The following describes a procedure for adjusting the position of vehicle 2 with reference to the flowchart of Fig. 14 described.

[0090] For example, if, as in Fig. As shown in Figure 15, if a light emitter 40 (in the illustrated example, the light emitter 40 is on the right side of the paper) is located on the inside in the fourth direction D4 with respect to the opening section 7a of the housing 7, the light receiver 9 cannot be aligned with the optical axis O of the light emitter 40, even if the removal / insertion mechanism 50 is moved towards the inside in the fourth direction D4. At this point, it is necessary to adjust the position of the vehicle 2 in the fourth direction D4 and return the vehicle 2 to the position where the battery can be replaced. A procedure for adjusting the position of the vehicle 2 to return it to the position where the battery can be replaced is described below.

[0091] During the position adjustment of vehicle 2, each of the removal / insertion mechanisms 50 operates independently.

[0092] First, it was recorded how in Fig. Figure 15 shows that server 6 receives a signal indicating that vehicle 2 has stopped in front of battery exchange device 4 (step S31). After step S31, control device 10 positions the removal / insertion mechanism 50 at the initial position, as in the position alignment of the removal / insertion mechanism 50 (step S32). Subsequently, control device 10 moves the removal / insertion mechanism 50 to the inside in the fourth direction D4 (step S33). In step S33, the light emitter 40 is operated to emit the laser light LA1 to the rear in the third direction D3.

[0093] At this point, the control device 10 determines whether all sets of light receivers 9 detect the laser light LA1 or not (step S34). If all sets of light receivers 9 detect the laser light LA1 (step S34; YES), it is not necessary to perform a return operation of the vehicle 2, so the position adjustment of the vehicle 2 ends. On the other hand, for example, as in Fig. Figure 16 illustrates a case where the laser light LA1 is blocked by the housing 7 for a set of light receivers 9 (on the right side of the paper) and the set of light receivers 9 does not detect the laser (step S34; NO). In this case, the server 6 sends a command to the vehicle 2 and moves the vehicle 2 back to a position where the set of light receivers 9 can detect the laser light LA1 from the light emitter 40 (step S35). For example, in step S35, as shown in Fig. Figure 16 shows that in a state where each of the removal / insertion mechanisms 50 is stopped, the server 6 moves the vehicle 2 in the fourth direction D4 to the right side of the paper until the set of light receivers 9 on the right side of the paper detects the laser light LA1 from the light emitter 40. Accordingly, as shown in Fig. Figure 17 shows all light emitters 40 facing a front surface of the opening section 7a of the housing 7, and all sets of light receivers 9 can detect the laser light LA1 from the light emitter 40.

[0094] Following the above procedure, the position adjustment of vehicle 2 is complete. Even in a case where vehicle 2 is stopped with a large deviation from the battery exchange device 4, the position adjustment of vehicle 2 can be carried out so that the position alignment of the removal / insertion mechanism 50 can be performed.

[0095] After the alignment adjustment of vehicle 2 and the position adjustment of vehicle 2, as described above, have been carried out as required, the position alignment of the removal / insertion mechanism 50 is performed. By performing the alignment adjustment of vehicle 2 and the position adjustment of the vehicle body 20 in advance, the position alignment of the removal / insertion mechanism 50 and the battery replacement can be carried out smoothly. (Processes and effects)

[0096] According to the present embodiment, the following functions and effects can be achieved.

[0097] A battery exchange system 1 of the present embodiment comprises a vehicle 2 and a battery exchange device 4. The vehicle 2 comprises a battery compartment 23, which accommodates a battery 3 and which is open in a first direction D1 in a horizontal direction, and a light emitter 40, which is provided such that it is adjacent to the battery compartment 23 in a second direction D2 perpendicular to the first direction D1 in the horizontal direction, and which emits laser light LA1 in the first direction D1.The battery exchange device 4 includes a removal / insertion mechanism 50 for battery 3, which removes and inserts the battery 3 in a third direction D3 in the horizontal direction with respect to the vehicle 2 and which is movable in a fourth direction D4 perpendicular to the third direction D3 and the horizontal direction, two light receivers 9 which are attached to the removal / insertion mechanism 50 such that they are adjacent to each other in the fourth direction D4 and are integrally movable with the removal / insertion mechanism 50, and which are aligned in the fourth direction D4 so that they are able to detect laser light LA1 from a light emitter 40, and a control device 10 which controls an operation of the removal / insertion mechanism 50.The control device 10 comprises a first movement section 15, which moves the removal / insertion mechanism 50 in the fourth direction D4 until one of the two light receivers 9 detects the laser light LA1 from the light emitter 40 with respect to the vehicle 2, which is facing the battery compartment 23 and the light emitter 40 of the battery exchange device 4, while the battery exchange device 4 approaches in the first direction D1 and the third direction D3, and a second movement section 16, which moves the removal / insertion mechanism 50 in the third direction D3 after the movement in the fourth direction D4 by the first movement section 15, and a switching unit 17, which switches the movement in the third direction D3 by the second movement section 16 to the movement in the fourth direction D4 by the first movement section 15 in a case in which the other of the two light receivers 9 detects the laser light LA1 from the light emitter 40.

[0098] According to the present embodiment, the first movement section 15 moves the removal / insertion mechanism 50 in the fourth direction D4 until one of the two light receivers 9 detects the laser light LA1 from the light emitter 40. Then, in a state where one light receiver 9 detects the laser light LA1, the second movement section 16 moves the removal / insertion mechanism 50 in the third direction D3 to approach the vehicle 2. Normally, the vehicle 2 is slightly tilted and stopped relative to the battery exchange device 4, so that the laser light LA1 is emitted while it is slightly tilted in the third direction D3. Therefore, as the removal / insertion mechanism 50 approaches the battery exchange device 4, the other of the two light receivers 9 approaches the laser light LA1 from the fourth direction D4.Subsequently, when the other light receiver 9 detects the laser light LA1 from the light emitter 40, the switching unit 17 changes the movement of the removal / insertion mechanism 50 from movement in the third direction D3 to movement in the fourth direction D4. At this point, the removal / insertion mechanism 50 moves in one direction from the other light receiver 9 towards the first light receiver 9, so that the first light receiver 9 can detect the laser light LA1 again. Then, the second movement section 16 moves the removal / insertion mechanism 50 again in the third direction D3 to approach the vehicle 2. Finally, when the other light receiver 9 detects the laser light LA1, the removal / insertion mechanism 50 moves in the fourth direction D4 and returns to the position in the fourth direction D4 where the first light receiver 9 detected the laser light LA1.

[0099] In this way, the removal / insertion mechanism 50 approaches the battery compartment 23 of the vehicle 2, alternately repeating the movement in the third direction D3 and the movement in the fourth direction D4, and comes into contact with the vehicle 2 at a position that overlaps the battery compartment 23 in the third direction D3 in order to stop the movement. Therefore, the positional alignment of the removal / insertion mechanism 50 can be carried out at a position where battery replacement is easy, and thus the battery replacement can be carried out efficiently.

[0100] Furthermore, since the light receiver 9 directly detects the laser light LA1 emitted by the light emitter 40, the attenuation of the laser light LA1 can be suppressed. Therefore, the distance between the battery exchange device 4 and the vehicle 2, at which the battery 3 of the vehicle 2 can be exchanged by the battery exchange device 4, can be increased. That is, even if the vehicle 2 is stopped at a position separated from the vehicle 2 in the third direction D3, the battery exchange can be carried out.

[0101] In the present embodiment, the battery exchange system 1 further includes a server 6 which is capable of controlling the position and orientation of the vehicle 2.

[0102] In this way, the position and orientation of vehicle 2 can be controlled, and adjustments can be made in a state where battery replacement is easy. Therefore, battery replacement can be carried out more efficiently.

[0103] In the present embodiment, if the first movement section 15 moves the removal / insertion mechanism 50 in the fourth direction D4 and the light receiver 9 does not detect the laser light LA1 from the light emitter 40, the server 6 returns the vehicle 2 to a position in which the light receiver 9 can detect the laser light LA1 from the light emitter 40.

[0104] Accordingly, for example, in a case where vehicle 2 is stopped in a state where it deviates significantly in the fourth direction D4 with respect to the battery exchange device 4, and the light receiver 9 cannot detect the laser light LA1, the server 6 can detect this state. Then, the server 6 can return vehicle 2 to a position where the light receiver 9 can detect the laser light LA1.

[0105] In the present embodiment, the removal / insertion mechanism 50 includes a hand 52 that grasps the battery 3. The hand 52 has a magnetic holder 52b that attracts the battery 3 with a magnetic force.

[0106] The hand 52 attracts and grips the iron plate 11 of the battery 3 by means of a magnetic force. In this way, the hand 52 can grip the battery 3 firmly. Therefore, the removal / insertion mechanism 50 can carry out the battery replacement reliably. (Hardware configuration)

[0107] The control device 10 and the server 6 of the embodiment are installed in a computer 1100, as shown in Fig. 18 shown. Fig. Figure 18 is an example of a schematic block diagram representing a configuration of the computer 1100 in which the control device 10 and the server 6 are installed according to each embodiment. The computer 1100 includes a processor 1110, main memory 1120, storage 1130, and an interface 1140.

[0108] The operations of the respective functional components 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. In addition, the processor 1110 stores a memory area in the main memory 1120 according to the program.

[0109] The program may be designed to perform some functions that are carried out by the Computer 1100. For example, the program may perform a function in combination with another program previously stored in memory 1130 or in combination with another program installed in a different device. Furthermore, the Computer 1100 may, in addition to or instead of the above configuration, include 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 that are carried out by the Processor 1110 may be partially or completely implemented by the integrated circuit.

[0110] 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 physical storage medium.

[0111] 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)

[0112] The embodiments of the present disclosure have been described in detail herein with reference to the drawings. However, the specific configuration is not limited to these embodiments and includes design changes and the like within a scope of protection that do not deviate from the core of the present disclosure.

[0113] In the embodiment described above, vehicle 2 is a forklift truck. However, the present disclosure is not limited to this. For example, vehicle 2 could be an electric bogie.

[0114] Furthermore, as in Fig. Figure 19 shows a hand 60 gripping the battery 3 using air pressure. The hand 60 contains a suction cup 61 instead of the magnetic holder 52b of the hand 52 described above. The suction cup 61 is connected to a hand base section 52a by a 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 suctions the battery 3 using air pressure by creating a vacuum inside the suction cup 61 when the opening of the suction cup 61 is brought into close contact with 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 allows the suction cup 61 to be brought into close contact with the battery 3 without a gap.

[0115] In this embodiment, the hand 60 grips the battery 3 by means of air pressure. Therefore, the hand 60 can grip the battery 3 regardless of the material of the battery 3's outer surface.

[0116] Furthermore, as in Fig. 20, Fig. 21 to Fig. Figure 22 shows a hand 70 grasping the battery 3 through a hook structure that engages with the battery 3.

[0117] In the present embodiment, the battery 3 has, for example, an engagement section 11B at a rear end. The engagement section 11B comprises an engagement base section 12 and a projection section 13. The engagement base section 12 is provided at 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, which penetrates the projection section 13 in the up-down direction Dv, is formed in the projection section 13.

[0118] The hand 70 comprises a 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 changes the position of the hook 72 between a state in which the hook 72 is engaged 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.

[0119] The actuator 71 is positioned on the hand base section 52a. The actuator 71 comprises an actuator base section 73 and an extendable section 74. The actuator base section 73 is attached to the hand base section 52a. The extendable section 74 extends from the actuator base section 73 to the front in the third direction D3. The extendable section 74 is designed to extend in the third direction D3.

[0120] The hook 72 is formed in a V-shape, projecting upwards when viewed in the fourth direction D4. A rear end section of the hook 72 is attached to the front end of the hand base section 52a via a shaft 75. The shaft 75 extends in the fourth direction D4. The hook 72 is rotatable about the shaft 75. A curved section 72a of the hook 72 is attached to a front end of the extendable section 74 of the actuator 71.

[0121] When hand 70 grasps battery 3, it pulls, as in Fig. As shown in Figure 21, first the extendable section 74 of the actuator 71 comes together, before the cushion 53 comes into contact with the vehicle body 20 to pull the hook 72 to the rear in the third direction D3. Then the rail 51 is moved to the front in the third direction D3, and after the cushion 53 and the vehicle body 20 have come into contact, as shown in Figure 21, the following occurs: Fig. As shown in Figure 22, the extendable section 74 of the actuator 71 expands and 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, the battery 3 can be pulled out of the battery compartment 23 by moving the hand 70 towards the rear in the third direction D3.

[0122] In this embodiment, the hand 70 can grasp the battery 3 by engaging the hook with the engagement groove 14 of the battery 3. Accordingly, the hand 70 can grasp the battery 3 with a simple configuration, regardless of the material of the battery 3's outer surface.

[0123] Furthermore, as in Fig. Figure 23 shows a sensor unit 5A, a contact-type sensor with a plunger piston 5a. The rail 51 approaches the vehicle body 20, the second rail section 51b contracts in the third direction D3, and a tip of the first rail section 51a and the pad 53 approach each other. When the plunger piston 5a is pushed by the projecting section 53a of the pad 53 from the front in the third direction D3, the sensor unit 5A detects the completion of the positional alignment of the removal / insertion mechanism 50.

[0124] Furthermore, as in Fig. Figure 24 shows a sensor unit 5B, a proximity sensor which is attached to the vehicle body 20.

[0125] Furthermore, the number of removal / insertion mechanisms 50 mounted on the battery exchange device 4 can be suitably changed.

[0126] For example, as in Fig. Figure 25 shows four removal / insertion mechanisms 50 arranged such that they are aligned in the fourth direction D4. In the example of Fig. 25 Two batteries 3 are accommodated in each battery compartment 23, which is oriented in the second direction D2. Furthermore, two sets of removal / insertion mechanisms 50 are provided, arranged to be adjacent to each other in the fourth direction D4, corresponding to the batteries 3. The two removal / insertion mechanisms 50, which are adjacent to each other to form a set, operate integrally. Since four removal / insertion mechanisms 50 are provided, the battery exchange device 4 can exchange four batteries 3 at once.

[0127] Furthermore, as in Fig. As shown in Figure 26, only one removal / insertion mechanism 50 is provided. In the example of Fig.26 only one battery compartment 23 is provided in the vehicle 2, and only one battery 3 is included in the battery compartment 23. <Zusätzliche Hinweise>

[0128] The battery exchange system 1, which is described in each embodiment, is understood, for example, as follows. (1) A battery exchange system 1 according to a first aspect comprises a vehicle 2 in 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, wherein the vehicle 2 includes a battery compartment 23 in which the battery 3 is received and which is open in a first direction D1 in the horizontal direction, and a light emitter 40 which is provided such that it is adjacent to the battery compartment 23 in a second direction D2 perpendicular to the first direction D1 in the horizontal direction, and which emits laser light LA1 in the first direction D1, and the battery exchange device 4 includes a removal / insertion mechanism 50,the battery 3 in a third direction D3 in the horizontal direction with respect to the vehicle 2 and which is movable in a fourth direction D4 perpendicular to the third direction D3 in the third direction D3 and the horizontal direction, two light receivers 9 which are attached such that they are adjacent to the removal / insertion mechanism 50 in the fourth direction D4 and are movable such that they move integrally with the removal / insertion mechanism 50, and which are aligned in the fourth direction D4 in which the laser light LA1 from the light emitter 40 can be detected, and a control device 10 which controls an operation of the removal / insertion mechanism 50, and the control device 10 a first movement section 15 which moves the removal / insertion mechanism 50 in the fourth direction D4 until one of the two light receivers 9 detects the laser light LA1 from the light emitter 40 with respect to the vehicle 2,which approaches the battery exchange device 4, such that the first direction D1 runs along the third direction D3 and in which the battery compartment 23 and the light emitter 40 face the battery exchange device 4, a second movement section 16 which moves the removal / insertion mechanism 50 in the third direction D3 after movement in the fourth direction D4 by the first movement section 15, and a switching unit 17 which switches the movement in the third direction D3 by the second movement section 16 to the movement in the fourth direction D4 by the first movement section 15 in a case in which another of the two light receivers 9 detects the laser light LA1 from the light emitter 40.

[0129] According to the present aspect, the first movement section 15 moves the removal / insertion mechanism 50 in the fourth direction D4 until one of the two light receivers 9 detects the laser light LA1 from the light emitter 40. Then, in a state where one light receiver 9 detects the laser light LA1, the second movement section 16 moves the removal / insertion mechanism 50 in the third direction D3 to approach the vehicle 2. Normally, the vehicle 2 is slightly tilted and stopped relative to the battery exchange device 4, so that the laser light LA1 is emitted while it is slightly tilted in the third direction D3. Therefore, as the removal / insertion mechanism 50 approaches the battery exchange device 4, the other of the two light receivers 9 approaches the laser light LA1 from the fourth direction D4.Subsequently, when the other light receiver 9 detects the laser light LA1 from the light emitter 40, the switching unit 17 changes the movement of the removal / insertion mechanism 50 from the movement in the third direction D3 to the movement in the fourth direction D4.

[0130] At this point, the removal / insertion mechanism 50 is moved in one direction from the other light receiver 9 towards the first light receiver 9, so that the first light receiver 9 can detect the laser light LA1 again. Then, the second movement section 16 moves the removal / insertion mechanism 50 again in the third direction D3 to approach the vehicle 2. Then, when the other light receiver 9 detects the laser light LA1, the removal / insertion mechanism 50 moves in the fourth direction D4 and returns to the position in the fourth direction D4 where the first light receiver 9 detects the laser light LA1.

[0131] In this way, the removal / insertion mechanism 50 approaches the battery compartment 23 of the vehicle 2, alternately repeating the movement in the third direction D3 and the movement in the fourth direction D4, and comes into contact with the vehicle 2 at a position that overlaps the battery compartment 23 in the third direction D3 in order to stop the movement. Therefore, the positional alignment of the removal / insertion mechanism 50 can be carried out at a position where battery replacement is easy.

[0132] (2) A battery exchange system 1 of a second aspect is the battery exchange system 1 of the first or second aspect, which may further include a server 6 that is capable of controlling a position and orientation of the vehicle 2.

[0133] In this way, the position and orientation of vehicle 2 can be controlled, and adjustments can be made in a state where battery replacement is easy.

[0134] (3) A battery exchange system 1 of a third aspect is the battery exchange system 1 of the first or second aspect, wherein in a case where the light receiver 9 does not detect the laser light LA1 from the light emitter 40 when the first movement section 15 moves the removal / insertion mechanism 50 in the fourth direction D4, the server 6 can return the vehicle 2 to a position where the light receiver 9 is able to detect the laser light LA1 from the light emitter 40.

[0135] Accordingly, for example, in a case where vehicle 2 is stopped in a state where it deviates significantly in the fourth direction D4 with respect to the battery exchange device 4, and the light receiver 9 cannot detect the laser light LA1, the server 6 can detect this state. Then, the server 6 can return vehicle 2 to a position where the light receiver 9 can detect the laser light LA1.

[0136] (4) A battery exchange system 1 of a fourth aspect is the battery exchange system 1 of one of the first to third aspects, wherein the removal / insertion mechanism 50 may have a hand 52 that grasps the battery 3 and the hand 52 may have a magnetic holder 52b that attracts the battery 3 with a magnetic force.

[0137] In this aspect, hand 52 grips battery 3 by means of a magnetic force. Therefore, for example, in a case where metal is used for the outer surface of battery 3, hand 52 can grip battery 3 firmly.

[0138] (5) A battery exchange system 1 of a fifth aspect is the battery exchange system 1 of one of the first to third aspects, wherein the removal / insertion mechanism 50 may have a hand 60 that grasps the battery 3 and the hand 60 may have a suction cup 61 that is open to a front in the third direction D3 and that draws in the battery 3 by means of air pressure by creating a vacuum in its interior when in close contact with the battery 3.

[0139] In this aspect, hand 60 grips battery 3 using air pressure. Therefore, hand 60 can grip battery 3 regardless of the material of the battery 3's outer surface.

[0140] (6) A battery exchange system 1 of a sixth aspect is the battery exchange system 1 of one of the first to third aspects, wherein the removal / insertion mechanism 50 may have a hand 70 which grasps the battery 3, the battery 3 may have an engagement groove 14 which is formed on a rear side in the first direction D1, and the hand 70 may have a hook 72 which can be engaged with the engagement groove 14 of the battery 3, and an actuator 71 which changes the hook 72 between a state of engagement with the engagement groove 14 and a state of disengagement from engagement with the engagement groove 14.

[0141] In this aspect, hand 70 can grip battery 3 by engaging between the hook and the engagement groove 14 of battery 3. Accordingly, hand 70 can grip battery 3 with a simple configuration, regardless of the material of the battery's exterior. Industrial applicability

[0142] According to the battery replacement system of the present disclosure, the battery replacement can be carried out efficiently. Reference symbol list 1 Battery replacement system 2 vehicles 3 batteries 4 Battery replacement device 5 sensor unit 6 servers 7 cases 7a Opening section 8 slots 9 light receivers 10 Control device 11 iron plate 15 first movement phase 16 second movement phase 17 Switching unit 20 Vehicle body 21 Vehicle body main body 21a Rear surface 22 Splay leg 23 Battery compartment 24 light emitter recording unit 25 wheel 25a rear wheel 25b front wheel 26 masts 30 Cargo handling device 31 Lifting clamp 32 Fork 32a Fork base section 32b Fork claw section 40 light emitters 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 C3 third central axis D1 first direction D2 second direction D3 third direction D4 fourth direction Dv Up-Down Direction F Floor area L1 separation distance L2 separation distance L3 separation distance L4 separation distance LA1 Laser light LA2 laser light O optical axis 1100 computers 1110 processor 1120 main memory 1130 data storage 1140 interface 11A Acrylic sheet 60 Hand 61 suction cup 11B Intervention section 12 Intervention Base Section 13th lead section 14 Intervention groove 70 Hand 71 Actuator 72 hooks 72a curved section 73 Actuator Base Section 74 extendable section 75 shaft 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 2023-133464

[0002] JP 7215629

[0004]

Claims

[1] Battery exchange system, comprising: a vehicle in 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 in which the battery is held and which is open in a first direction in the horizontal direction, and a light emitter designed to be adjacent to the battery compartment in a second direction perpendicular to the first direction and in a horizontal direction, and which emits laser light in the first direction, The battery replacement device contains: a removal / insertion mechanism that removes and inserts the battery in a third direction in the horizontal direction and that is movable in a fourth direction perpendicular to the third direction and the horizontal direction with respect to the vehicle, two light receivers positioned so that they are adjacent to the removal / insertion mechanism in the fourth direction and are integrally movable with the removal / insertion mechanism, and which are aligned in the fourth direction in which the laser light can be detected by the light emitter, and a control device that controls the operation of the removal / insertion mechanism, and the control device contains: a first movement section that moves the removal / insertion mechanism in the fourth direction until one of the two light receivers detects the laser light from the light emitter in relation to the vehicle approaching the battery exchange device such that the first direction runs along the third direction and the battery compartment and the light emitter are facing the battery exchange device, a second movement section that moves the removal / insertion mechanism in the third direction after movement in the fourth direction through the first movement section, and a switching unit that switches movement in the third direction through the second movement section to movement in the fourth direction through the first movement section in a case where another of the two light receivers detects the laser light from the light emitter. [2] Battery exchange system according to claim 1, further comprising: a server capable of controlling the position and orientation of the vehicle. [3] Battery exchange system according to claim 2, wherein in a case where the light receiver does not detect the laser light from the light emitter when the first movement section moves the removal / insertion mechanism in the fourth direction, the server returns the vehicle to a position in which the light receiver is able to detect the laser light from the light emitter. [4] Battery exchange system according to any one of claims 1 to 3, wherein the removal / insertion mechanism has a hand that grasps the battery, and The hand has a magnetic holder that attracts the battery with magnetic force. [5] Battery exchange system according to any one of claims 1 to 3, wherein the removal / insertion mechanism has a hand that grasps the battery, and the hand has a suction cup that is open to a front in the third direction and that draws in the battery by means of air pressure by creating a vacuum inside when in close contact with the battery. [6] Battery exchange system according to any one of claims 1 to 3, wherein the removal / insertion mechanism has a hand that grasps the battery, the battery has an engagement groove formed on a rear side in the first direction, and the hand shows: a hook that can be engaged with the engagement groove of the battery, and an actuator that changes the hook between a state of engagement with the engagement groove and a state of disengagement from engagement with the engagement groove.

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