Limit detection device, battery swap station and battery swap control method

Abstract

The present invention discloses a position limit detection device, a battery swap station and a battery swap control method. The position limit detection device is arranged on a battery swap channel for shuttle vehicles in the battery swap station, and is used to detect the shuttle vehicles positioned and moving on the battery swap channel. The position limit detection device includes a pad and a magnetic element arranged on the pad, and the magnetic element is used to trigger a detection signal when the shuttle vehicle travels to a preset positioning position. The position limit detection device of the present invention saves space, beautifies the appearance, and can effectively and smoothly transmit the position limit signal. The first detection component is below the working plane of the battery swap channel, eliminating safety hazards and simplifying the working space.

Description

Technical Field

[0001] The present invention relates to a limit detection device, a battery swap station and a battery swap control method. Background Art

[0002] In current battery swap stations, shuttle vehicles are usually used to transport batteries. On the one hand, the shuttle vehicle needs to be accurately positioned to align with the electric vehicle and further disassemble and assemble the battery. On the other hand, the shuttle vehicle needs to be aligned with the battery transport equipment in the battery swap station to achieve the pick-up and placement of the battery pack.

[0003] The existing limit detection is mainly achieved by setting a limit detection device on the battery exchange channel where the shuttle car travels, and setting a corresponding detection sensor on the shuttle car for detection. The detection sensor is generally a photoelectric sensor. Since the limit detection device it detects is generally an iron block, if an iron element appears within the traveling range of the shuttle car, it is easy to cause false triggering, causing the shuttle car to fail to stop at the corresponding position. Moreover, these limit detection devices are installed protruding above the plane of the battery exchange channel, which is easy to be stepped on and damaged, and there are safety hazards. In addition, the limit detection device is cumbersome to install and difficult to operate. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the defects of the limit detection device in the prior art, such as being easily triggered by mistake, occupying space, being cumbersome to install, being easy to be stepped on and posing safety hazards, and to provide a limit detection device, a battery swap station and a battery swap control method.

[0005] The present invention solves the above technical problems through the following technical solutions:

[0006] A limit detection device is provided on a battery exchange channel for shuttle vehicles in a battery exchange station, and is used to detect the shuttle vehicles positioned and moving on the battery exchange channel. The limit detection device comprises a pad and a magnetic element provided on the pad, and the magnetic element is used to trigger a detection signal when the shuttle vehicle travels to a preset positioning position.

[0007] In this solution, the shuttle performs limit detection by induction magnetic elements. The magnetic elements are fixed and connected to the corresponding positions through pads, which not only reduces the difficulty of installing the limit detection device, but also the pads can play a shielding role to avoid damage to the magnetic elements.

[0008] Preferably, the battery exchange channel includes a channel plate, the limit detection device includes a first detection component, the first detection component includes a first origin pad and a first magnetic element, wherein the first magnetic element is connected to the first origin pad, the first origin pad is fixed to the lower surface of the channel plate of the battery exchange station and the first magnetic element is not exposed from the channel plate.

[0009] The first detection component located below the channel plate is isolated from the top of the battery exchange channel, so that the first detection component will not protrude from the working plane and will not be stepped on. At the same time, the movement and force on the battery exchange channel are borne by the channel plate, which will not affect the first detection component, making it not easy to be damaged and will not cause safety hazards.

[0010] Preferably, the position limit detection device further comprises a position limit detection mounting plate, and the first magnetic element is connected between the position limit detection mounting plate and the first origin pad.

[0011] The limit detection mounting plate and the first origin pad together limit and fix the first magnetic element, wherein the first origin pad plays the role of fixing the first magnetic element, and the limit detection mounting plate and the channel plate clamp and fix the first origin pad from the upper and lower sides.

[0012] Preferably, a concave cavity is formed on the lower surface of the first origin pad, and the first magnetic element is arranged in the cavity.

[0013] The first magnetic element is arranged in a cavity inside the first origin pad to reduce the overall thickness, and the first magnetic element can reduce the impact in the cavity to avoid damage to the first magnetic element. The opening of the cavity is convenient for the installation and replacement of the first magnetic element, and the limit detection mounting plate can close the opening of the cavity to isolate the first magnetic element from the outside.

[0014] Preferably, the number of the first magnetic elements is at least two, which are staggered.

[0015] At least two first magnetic elements are staggered in the length direction. When the shuttle is aligned, the sensor on the shuttle will sense different first magnetic elements one after another. By sensing all the first magnetic elements at the same time, the shuttle can be positioned in the length direction of the first magnetic elements.

[0016] Preferably, the first magnetic element is a magnetic strip.

[0017] Preferably, the first magnetic element is adhered to the first origin pad.

[0018] The pasting method facilitates the installation of the first magnetic element and the first origin pad, and can also reduce unnecessary connecting elements, reduce the complexity and weight of the first detection component, and facilitate maintenance.

[0019] Preferably, a boss is formed on the first origin pad, an opening is formed on the channel plate, and the boss is installed in the opening.

[0020] The first origin pad and the channel plate are aligned with each other through the bosses and openings, and the position is limited in the plane direction. During installation, it is ensured that the first detection component can be installed in the corresponding position of the channel plate to ensure the accuracy of positioning. At the same time, the two bosses correspond to the two first magnetic elements respectively, which are exposed through the bosses to avoid signal obstruction and improve the directivity of the signal.

[0021] Preferably, the first origin pad is made of nylon or polytetrafluoroethylene, which can effectively isolate magnetism, avoid external interference, do not affect the transmission of magnetic induction signals, and can effectively transmit the limit signal to the controller.

[0022] Preferably, the limit detection device includes a second detection component, the magnetic element includes a second magnetic element, the pad includes a second origin pad, the second detection component includes a second origin pad, an induction bracket and a second magnetic element, wherein the second magnetic element is arranged on the second origin pad, and the second origin pad is fixed to the induction bracket.

[0023] The second detection component can be set in a position inside the battery swap compartment where pedestrians and vehicles will not pass, and the second detection component inside will not be affected by trampling. The height of the second detection component is adjusted through the induction bracket to ensure that it can sense the magnetic sensor on the shuttle.

[0024] Preferably, the second magnetic element is arranged between the second origin pad and the induction bracket.

[0025] Preferably, the sensing bracket includes a mounting portion arranged on the top, the second origin pad is fixed to the mounting portion, the second origin pad has a cavity, and the second magnetic element is arranged in the cavity.

[0026] The origin pad is installed on the top of the induction bracket, so as to ensure a closer distance to the bottom of the shuttle and ensure the stability of the magnetic induction signal reception.

[0027] A battery swap station comprises a battery swap compartment, a vehicle loading platform, a shuttle car and a position limit detection device. The shuttle car is characterized in that the shuttle car travels back and forth between the battery swap compartment and the vehicle loading platform along a battery swap channel to replace batteries. The position limit detection device is arranged on the battery swap channel. The shuttle car is provided with a magnetic sensor for detecting the magnetic element of the position limit detection device and sending a detection signal to the shuttle car control unit to control the movement of the shuttle car.

[0028] Preferably, two tracks for the shuttle vehicle to travel are provided on the battery exchange channel, the tracks are connected between the battery exchange compartment and the vehicle loading platform, and the limit detection device is arranged between the two tracks.

[0029] Thereby, the limit detection device can avoid the track and at the same time be aligned with the middle position of the shuttle, thereby improving the accuracy of alignment.

[0030] Preferably, the limit detection device is arranged at a vehicle alignment position on the battery exchange channel under the electric vehicle, and is used to control the shuttle vehicle to travel to the vehicle alignment position under the vehicle.

[0031] The shuttle vehicle travels to the vehicle alignment position of the battery exchange channel, and the shuttle vehicle can align with the electric vehicle and install or remove the battery of the electric vehicle.

[0032] Preferably, the limit detection device is arranged on the battery exchange channel between the vehicle loading platform and the battery exchange compartment, and is used to detect that the shuttle vehicle has traveled to the extension limit position.

[0033] When the shuttle car reaches the limit position of the battery exchange channel, the shuttle car is restricted from moving further to prevent the shuttle car from deviating from the track or interfering with other equipment.

[0034] Preferably, the limit detection device includes a first detection component, the pad includes a first origin pad, the magnetic element includes a first magnetic element, and the first detection component includes a first origin pad and a first magnetic element.

[0035] Preferably, the limit detection device is arranged in the battery exchange compartment, and is used to detect the origin position of the shuttle vehicle extending out of the battery exchange compartment.

[0036] Preferably, the limit detection device is also arranged in the battery exchange compartment, and is used to detect the retracted limit position of the shuttle vehicle in the battery exchange compartment.

[0037] The shuttle car drives to the origin of the battery exchange channel, and the shuttle car and the battery transfer equipment cooperate with each other to realize the transportation of battery packs from the shuttle car to the battery transfer equipment, and also realize the transportation of battery packs from the battery transfer equipment to the shuttle car.

[0038] Preferably, the limit detection device includes a second detection component, the magnetic element includes a second magnetic element, the pad includes a second origin pad, and the second detection component includes a second origin pad, a sensing bracket and a second magnetic element.

[0039] A battery swap control method is used to control the movement of a shuttle vehicle in a battery swap station, the battery swap control method comprising:

[0040] Control the shuttle vehicle to extend along the battery exchange channel toward the vehicle loading platform;

[0041] Determine whether the shuttle control unit receives the detection signal corresponding to the vehicle alignment position, and if so, control the shuttle to continue moving the first stroke to the vehicle alignment position;

[0042] Preferably, the battery replacement control method further comprises determining whether the shuttle control unit receives the detection signal corresponding to the extended limit position, and if so, controlling the shuttle to stop moving;

[0043] Preferably, the battery replacement control method further includes

[0044] Control the shuttle vehicle to retract along the battery exchange channel toward the battery exchange warehouse;

[0045] Determine whether the shuttle control unit receives the detection signal corresponding to the origin position, and if so, control the shuttle to continue moving the second stroke to the origin position;

[0046] Preferably, the battery replacement control method further includes determining whether the shuttle control unit receives the detection signal corresponding to the retracted limit position, and if so, controlling the shuttle to stop moving.

[0047] The positive and progressive effect of the present invention is that the limit detection device of the present invention is not easily triggered by mistake, saves space, beautifies the appearance, and can effectively and smoothly transmit the limit signal. The first detection component is below the working plane of the power exchange channel, eliminating safety hazards and simplifying the working space. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 This is a schematic diagram of the structure of a battery swap station according to Embodiment 1 of the present invention from above.

[0049] Figure 2 It is a side structural schematic diagram of the limit detection device of Example 1 of the present invention.

[0050] Figure 3 This is a schematic diagram of the connection structure of the first detection component of Example 1 of the present invention.

[0051] Figure 4 This is a schematic diagram of the connection structure of the second detection component of Example 1 of the present invention.

[0052] Figure 5 This is a schematic diagram of the top structure of the first origin pad of Example 1 of the present invention.

[0053] Figure 6 This is a schematic diagram of the bottom structure of the first origin pad of Example 1 of the present invention.

[0054] Figure 7 This is a schematic diagram of the inductive alignment between a position limit detection device and a shuttle vehicle in Example 1 of the present invention.

[0055] Figure 8 This is a schematic diagram of the inductive alignment between another limit detection device and a shuttle vehicle according to Example 1 of the present invention.

[0056] Fig. 9This is a schematic diagram of the top structure of the battery swap station according to embodiment 2 of the present invention. DETAILED DESCRIPTION

[0057] The present invention is further described below by way of examples, but the present invention is not limited to the scope of the examples.

[0058] Example 1

[0059] like Figure 1 As shown, this embodiment discloses a battery swap station, including a first detection component 1, a second detection component 2, a shuttle vehicle 4, a battery swap channel 5, a battery swap warehouse 6 and a vehicle loading platform 7, wherein Figure 1 As shown, the shuttle vehicle 4 moves back and forth between the battery exchange compartment 6 and the vehicle loading platform 7 along the battery exchange channel 5 to replace the battery. The limit detection device (the first detection component 1 and the second detection component 2) is arranged on the battery exchange channel 5. The shuttle vehicle 4 is provided with a magnetic sensor 42 for detecting the first magnetic element 31 of the first detection component 1 and the second magnetic element 32 of the second detection component 2, and triggering a detection signal to the control unit of the shuttle vehicle 4 to control the movement of the shuttle vehicle 4.

[0060] like Figure 1 As shown, Figure 1 The middle dotted line shows the vehicle alignment position A when the shuttle 4 is aligned with the electric vehicle to be replaced, the extension limit position C that the shuttle 4 can reach when extended, the origin position B when the shuttle 4 is retracted, the retraction limit position D when the shuttle 4 is retracted, and the battery replacement parking position E of the electric vehicle.

[0061] The preset positioning positions of this embodiment include a vehicle alignment position A and an origin position B. The vehicle alignment position A is set on the battery exchange channel 5 below the electric vehicle at the battery exchange parking position E, and the origin position B can be set in the battery exchange compartment 6 or at a position aligned with the battery transfer equipment. The shuttle vehicle 4 is set to move back and forth between the vehicle alignment position A and the origin position B. After the electric vehicle drives to the battery exchange parking position E, the shuttle vehicle 4 extends and moves to the vehicle alignment position A. The shuttle vehicle 4 aligns with the electric vehicle at the vehicle alignment position A and removes the depleted battery pack on the electric vehicle. Then, the shuttle vehicle 4 moves along the battery exchange channel 5 to the origin position B, and the shuttle vehicle 4 exchanges the battery pack with the transfer equipment at the origin position B, replaces it with a fully charged battery pack and moves back to the vehicle alignment position A to install the battery pack.

[0062] The extension limit position C in this embodiment corresponds to the vehicle alignment position A, which is the farthest limit position of the shuttle 4 extending outward. The retraction limit position D in this embodiment corresponds to the origin position B, which is the farthest limit position of the shuttle 4 retracting into the battery exchange compartment. The first detection component 1 and the magnetic sensor 42 of this embodiment are used to detect whether the shuttle 4 is located at the vehicle alignment position A and the extension limit position C, and the second detection component 2 and the magnetic sensor 42 are used to detect whether the shuttle 4 is located at the origin position B when the shuttle 4 is retracted and the retraction limit position D when the shuttle 4 is retracted. Among them, when the magnetic sensor 42 of this embodiment detects that the shuttle 4 exceeds the vehicle alignment position A and reaches the extension limit position C, the shuttle 4 is prevented from moving further to prevent the shuttle 4 from deviating from the track 51. When it is detected that the shuttle 4 exceeds the origin position B and reaches the retraction limit position D, the shuttle 4 is prevented from moving further to prevent the shuttle 4 from interfering with the battery transfer equipment.

[0063] Among them, Figure 1 As shown, the battery exchange channel 5 of this embodiment is provided with two tracks 51 for the shuttle vehicle 4 to travel, the tracks 51 are connected between the battery exchange compartment 6 and the vehicle loading platform 7, and the first detection component 1 and the second detection component 2 are arranged between the two tracks 51. Thus, the first detection component 1 and the second detection component 2 can avoid the tracks 51, and at the same time can be aligned with the magnetic sensor 42 on the shuttle vehicle 4, thereby improving the accuracy of alignment.

[0064] like Figure 2 and Figure 3 As shown, the battery exchange channel 5 of this embodiment includes a channel plate 50, and the first detection component 1 includes a first origin pad 11 and a first magnetic element 31, wherein the first magnetic element 31 is connected to the first origin pad 11, and the first origin pad 11 is fixed to the lower surface of the channel plate 50 of the battery exchange station and separates the first magnetic element 31 from the channel plate 50. The first detection component 1 located below the channel plate 50 is isolated from the top of the battery exchange channel 5, so that the first detection component 1 will not protrude from the working plane and will not be stepped on. At the same time, the movement and force on the battery exchange channel 5 are borne by the channel plate 50, which will not affect the first detection component 1, so that the first detection component 1 is not easily damaged and will not cause safety hazards.

[0065] like Figure 2 and Figure 3As shown, the first detection assembly 1 of this embodiment further includes a limit detection mounting plate 12, on which the first origin pad 11 is fixed to the lower surface of the channel plate 50 by fasteners 13. Thus, the first magnetic element 31 is connected between the limit detection mounting plate 12 and the first origin pad 11, so that the limit detection mounting plate 12 and the first origin pad 11 can limit and fix the first magnetic element 31 together, wherein the first origin pad 11 plays a role in fixing the first magnetic element 31, and the limit detection mounting plate 12 and the channel plate 50 clamp and fix the first origin pad 11 from both the upper and lower sides, which is also convenient for installation and disassembly.

[0066] like Figure 3 and Figure 6 As shown, a concave cavity 110 is formed on the lower surface of the first origin pad 11 of this embodiment, and the first magnetic element 31 is arranged in the cavity 110, and the opening of the cavity 110 is closed by the limit detection mounting plate 12. The first magnetic element 31 of this embodiment is arranged in the cavity 110 inside the first origin pad 11 to reduce the overall thickness, and at the same time, the first magnetic element 31 can reduce the impact in the cavity 110 to avoid damage to the first magnetic element 31. The opening of the cavity 110 facilitates the installation and replacement of the first magnetic element 31, and the limit detection mounting plate 12 isolates the first magnetic element 31 from the outside.

[0067] like Figure 3 , Figure 5 and Figure 6 As shown, a boss 111 is formed on the first origin pad 11 of the present embodiment, and an opening 501 is formed on the channel plate 50, and the boss 111 is installed in the opening 501. The first origin pad 11 and the channel plate 50 are aligned with each other through the boss 111 and the opening 501, and the position limitation in the plane direction is achieved. During installation, on the one hand, it is ensured that the first detection component 1 can be installed at the corresponding position of the channel plate 50, ensuring the accuracy of positioning. At the same time, the two bosses 111 correspond to the two first magnetic elements 31 respectively, which are exposed through the boss 111 to avoid the signal from being blocked, and at the same time improve the directivity of the signal.

[0068] like Figure 4 As shown, the second detection assembly 2 of this embodiment includes a second origin pad 21, a sensing bracket 22 and a second magnetic element 32, wherein the second magnetic element 32 is disposed on the second origin pad 21, and the second origin pad 21 is fixed to the sensing bracket 22. Specifically, the sensing bracket 22 includes a mounting portion disposed on the top, and the second origin pad 21 is fixed to the mounting portion. The origin pad is mounted on the top of the sensing bracket 22, so as to ensure a closer distance to the bottom of the shuttle 4 and ensure the stability of the magnetic induction signal reception.

[0069] like Figure 1As shown, the second detection component 2 can be set in a position inside the battery swap compartment 6 where pedestrians and vehicles will not pass, and the second detection component 2 inside will not be affected by stepping on. The height of the second detection component 2 is adjusted by the induction bracket 22 to ensure that it can sense the magnetic sensor 42 on the shuttle 4.

[0070] The first origin pad 11 and the second origin pad 21 of this embodiment are made of nylon or polytetrafluoroethylene. Nylon or polytetrafluoroethylene can effectively isolate the magnetic field outside the first origin pad 11 and the second origin pad 21, avoid external interference, do not affect the transmission of the magnetic induction signal, and can effectively transmit the limit signal to the controller.

[0071] The first magnetic element 31 and the second magnetic element 32 of this embodiment can be magnetic strips. The first magnetic element 31 is pasted on the first origin pad 11. The pasting method facilitates the installation of the first magnetic element 31 and the first origin pad 11. At the same time, unnecessary connecting elements can be reduced, the complexity and weight of the first detection component 1 can be reduced, and maintenance is convenient.

[0072] like Figure 6 As shown, the number of the first magnetic elements 31 of this embodiment is at least two, and they are staggered. The two first magnetic elements 31 are staggered in the length direction. The staggered first magnetic elements 31 can be used to detect two positions at the same time. Figure 7 As shown, when the shuttle 4 approaches the first detection assembly 1 for alignment, the magnetic sensor 42 on the shuttle 4 will successively sense different first magnetic elements 31. Figure 7 The first magnetic element 31 in the upper middle portion can cooperate with the magnetic sensor 42 to detect whether the shuttle vehicle 4 has reached the vehicle alignment position A. Figure 7 The first magnetic element below can cooperate with the magnetic sensor 42 to detect whether the shuttle 4 has reached the limit position C. Therefore, by respectively sensing different first magnetic elements 31, it can be determined whether the shuttle 4 is at the vehicle alignment position A and the limit position C. The staggered arrangement in this embodiment means that the two first magnetic elements 31 are arranged in parallel with a certain gap in the width direction and are arranged front and back in the length direction.

[0073] Specifically, if Figure 7 As shown, Figure 7The shuttle 4 in the embodiment has four magnetic sensors 42, which are connected to the shuttle 4 through the same mounting portion 41. The four magnetic sensors 42 include a pair of extension sensors for detecting when the shuttle 4 is extended toward the electric vehicle and a pair of retraction sensors for detecting when the shuttle 4 is retracted toward the battery swapping compartment. The pair of extension sensors are used to detect whether the shuttle 4 is in the vehicle alignment position A and the extension limit position C when the shuttle is extended toward the electric vehicle on the vehicle loading platform. The pair of retraction sensors are used to detect the origin position B aligned with the battery transfer equipment and the retraction limit position D when the shuttle is retracted into the battery swapping compartment.

[0074] The extension sensor includes a first extension sensor 421 and a second extension sensor 422. The first extension sensor 421 is used to detect whether the shuttle is in the vehicle alignment position A, and the second extension sensor 422 is used to detect whether the shuttle has reached the extension limit position C. The retraction sensor includes a first retraction sensor 423 and a second retraction sensor 424. The first retraction sensor 423 is used to detect whether the shuttle is in the origin position B, and the second retraction sensor 424 is used to detect whether the shuttle has reached the retraction limit position D.

[0075] like Figure 7 As shown, the two upper ones of the four magnetic sensors 42 are used as retraction sensors to detect the two second magnetic elements 32 corresponding to the second detection assembly 2, and the two lower ones of the four magnetic sensors 42 are used as extension sensors to detect the two first magnetic elements 31 corresponding to the first detection assembly 1. Alternatively, as Figure 8 As shown, the two located at the highest point and the third highest among the four magnetic sensors 42 serve as retraction sensors to detect the two second magnetic elements 32 corresponding to the second detection component 2, and the two located at the lowest point and the second highest among the four magnetic sensors 42 serve as extension sensors to detect the two first magnetic elements 31 corresponding to the first detection component 1.

[0076] like Figure 7 When the shuttle 4 shown moves to the right, it is located at Figure 7 The first magnetic element 31 on the upper side for detecting whether the shuttle vehicle has reached the vehicle alignment position A extends to the left, and is therefore detected by the corresponding first extension sensor 421 first. At this time, it can be confirmed that the shuttle vehicle 4 has entered the vehicle alignment position A. If the shuttle vehicle 4 does not stop and further moves to the right at this time, it is located at Figure 7 The first magnetic element 31 on the lower side for detecting whether the shuttle vehicle has reached the extension limit position is also detected by the corresponding second extension sensor 422. It can be detected that the shuttle vehicle 4 has reached the extension limit position C. In this case, the shuttle vehicle 4 is restricted from moving further and is controlled to move back to the vehicle alignment position A.

[0077] The first magnetic element 31 used to detect whether the shuttle 4 is in the vehicle alignment position A and the extension limit position C in this embodiment can be installed on the same first origin pad 11, or can be installed on different first origin pads 11. The second magnetic element 32 used to detect whether the shuttle 4 is in the origin position B and the retracted limit position D in this embodiment can be installed on the same second origin pad 21, or can be installed on different second origin pads 21.

[0078] Example 2

[0079] like Fig. 9 As shown, the other structures and operation modes of this embodiment are the same as those of the first embodiment, except that this embodiment includes two groups of shuttle vehicles 4, which continue to travel back and forth between the origin alignment position B and the vehicle alignment position A in the battery swap compartment 6 on both sides, one of the shuttle vehicles 4 is used to remove the battery, and the other shuttle vehicle 4 is used to install the battery, which can improve efficiency. Fig. 9 The vehicle alignment position A of the upper shuttle 4 and the lower shuttle 4 is the same. Therefore, when the shuttles 4 on both sides travel to the vehicle alignment position A of the battery exchange channel 5, the shuttles 4 can align with the electric vehicle and install or remove the battery of the electric vehicle.

[0080] In this embodiment, the Fig. 9 The shuttle 4 on the upper side corresponds to the Fig. 9 The first detection component 1 and the second detection component 2 of the left side track 51 are located Fig. 9 The shuttle 4 on the lower side corresponds to the Fig. 9 The first detection component 1 and the second detection component 2 of the right track 51. Thus, Fig. 9 The magnetic sensor 42 of the shuttle 4 on the lower side is set on the right side and detects only on the right side, which can avoid Fig. 9 The interference of the first detection component 1 on the left side. On the contrary, Fig. 9 The magnetic sensor 42 of the upper shuttle 4 is arranged on the left side and detects only on the left side, which can avoid Fig. 9 Interference of the first detection component 1 on the right side. Example 3

[0081] This embodiment discloses a battery swap control method, which uses the battery swap station of embodiment 1 or embodiment 2 to implement control. The specific control process is as follows:

[0082] The steps of controlling the shuttle 4 to extend are as follows:

[0083] Step 1.1, control the shuttle vehicle 4 to extend along the battery exchange channel 5 toward the vehicle loading platform 7.

[0084] Step 1.2: Determine whether the shuttle control unit receives the detection signal corresponding to the vehicle alignment position A. If so, control the shuttle 4 to continue moving the first stroke to the vehicle alignment position A.

[0085] The first extension sensor 421 on the shuttle 4 detects the first magnetic element 31 for detecting the vehicle alignment position A, and sends the detection signal to the shuttle control unit. The shuttle control unit sends a control signal to the servo motor of the shuttle 4 to run a predetermined amount, thereby controlling the shuttle 4 to continue to move the first stroke and then stop. At this time, the shuttle 4 reaches the vehicle alignment position A. The first magnetic element 31 includes a front end and a rear end, and the front end is an end close to the shuttle 4. When the shuttle 4 extends toward the vehicle loading platform 7, the first extension sensor 421 on the shuttle 4 first detects the front end of the first magnetic element 31. After the shuttle control unit obtains the signal detected by the first extension sensor 421, it controls the shuttle 4 to stop moving after the first stroke from the front end. The first stroke is the travel distance of the shuttle 4 from the detection of the front end of the first magnetic element 31 to the arrival of the shuttle 4 at the vehicle alignment position A.

[0086] Step 1.3, determine whether the shuttle control unit receives the detection signal corresponding to the extension limit position C, and if so, control the shuttle 4 to stop moving.

[0087] The second extension sensor 422 detects the first magnetic element 31 for detecting the extension limit position C, and controls the shuttle 4 to stop moving. If the shuttle 4 does not stop after reaching the vehicle alignment position A and continues to move, the second extension sensor 422 detects and controls the shuttle 4 to stop moving. When the second extension sensor 422 detects the front end of the first magnetic element 31 for detecting the extension limit position C, the shuttle 4 is controlled to stop moving.

[0088] The steps of controlling the shuttle 4 to retract are as follows:

[0089] Step 2.1, control the shuttle vehicle 4 to retract along the battery exchange channel 5 toward the battery exchange compartment 6.

[0090] Step 2.2: Determine whether the shuttle control unit receives the detection signal corresponding to the origin position B. If so, control the shuttle to continue moving the second stroke to the origin position B.

[0091] Among them, the first retraction sensor 423 on the shuttle 4 detects the second magnetic element 32 used to detect the origin position B, and sends the detection signal to the shuttle control unit. The shuttle control unit sends a control signal to the servo motor of the shuttle 4 to run a predetermined amount, thereby controlling the shuttle 4 to continue to move the second stroke and then stop. At this time, the shuttle 4 reaches the origin position B. The second magnetic element 32 includes a front end and a rear end, and the front end is an end close to the shuttle 4. When the shuttle 4 retracts toward the battery exchange warehouse 6, the first retraction sensor 423 on the shuttle 4 detects the front end of the second magnetic element 32. After the shuttle control unit obtains the signal detected by the first retraction sensor 423, it controls the shuttle 4 to stop moving after the second stroke from the front end. The second stroke is the travel distance of the shuttle from the detection of the front end of the second magnetic element 32 to the arrival of the shuttle at the origin position B.

[0092] Step 2.3: Determine whether the shuttle control unit receives the detection signal corresponding to the retracted limit position D. If so, control the shuttle 4 to stop moving.

[0093] The second retraction sensor 424 detects the second magnetic element for detecting the retraction limit position D, and controls the shuttle 4 to stop moving. If the shuttle 4 does not stop after reaching the origin position B and continues to move, the second retraction sensor 424 detects and controls the shuttle to stop moving. When the second retraction sensor 424 detects the front end of the second magnetic element 32 for detecting the retraction limit position D, the shuttle 4 is controlled to stop moving.

[0094] The limit detection device of the present invention saves space, beautifies the appearance, and can effectively and smoothly transmit the limit signal. The first detection component 1 is below the working plane of the power exchange channel 5, eliminating safety hazards and simplifying the working space.

[0095] Although the specific embodiments of the present invention are described above, it should be understood by those skilled in the art that this is only for illustration and the protection scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. A limit detection device is provided on a battery exchange channel for shuttle vehicles in a battery exchange station, and is used to detect the shuttle vehicles moving on the battery exchange channel, characterized in that: The position limit detection device includes a pad and a magnetic element arranged on the pad, the magnetic element is used to trigger a detection signal when the shuttle vehicle travels to a preset positioning position, the battery exchange channel includes a channel plate, the position limit detection device includes a first detection component, the first detection component includes a first origin pad and a first magnetic element, wherein the first magnetic element is connected to the first origin pad, the first origin pad is fixed to the lower surface of the channel plate of the battery exchange station and the first magnetic element is not exposed from the channel plate; The limit detection device includes a second detection component, which is arranged inside the battery exchange compartment, the magnetic element includes a second magnetic element, the pad includes a second origin pad, the second detection component includes a second origin pad, an induction bracket and a second magnetic element, wherein the second magnetic element is arranged on the second origin pad, and the second origin pad is fixed to the induction bracket.

2. The limit detection device according to claim 1, characterized in that: The position limit detection device also includes a position limit detection mounting plate, and the first magnetic element is connected between the position limit detection mounting plate and the first origin pad.

3. The limit detection device according to claim 2, characterized in that: A concave cavity is formed on the lower surface of the first origin pad, and the first magnetic element is arranged in the cavity.

4. The limit detection device according to claim 1, characterized in that: The number of the first magnetic elements is at least two, and they are staggered.

5. The limit detection device according to claim 1, characterized in that: The first magnetic element is a magnetic strip.

6. The limit detection device according to claim 1, characterized in that: A boss is formed on the first origin pad, an opening is formed on the channel plate, and the boss is installed in the opening.

7. The limit detection device according to claim 1, characterized in that: The first origin pad is made of nylon or polytetrafluoroethylene.

8. The limit detection device according to claim 1, characterized in that: The second magnetic element is arranged between the second origin pad and the induction bracket.

9. The limit detection device according to claim 1, characterized in that: The induction bracket includes a mounting portion arranged on the top, the second origin pad is fixed to the mounting portion, the second origin pad has a cavity, and the second magnetic element is arranged in the cavity.

10. A battery swap station, comprising a battery swap warehouse, a vehicle loading platform, a shuttle vehicle, and a position limit detection device according to any one of claims 1 to 9, characterized in that: The shuttle vehicle moves back and forth between the battery exchange compartment and the vehicle loading platform along the battery exchange channel to replace the battery. The limit detection device is arranged on the battery exchange channel. The shuttle vehicle is provided with a magnetic sensor for detecting the magnetic element of the limit detection device and sending a detection signal to the shuttle vehicle control unit to control the movement of the shuttle vehicle.

11. The battery swap station according to claim 10, characterized in that: Two tracks for the shuttle vehicle to travel are provided on the battery exchange channel, the tracks are connected between the battery exchange compartment and the vehicle loading platform, and the limit detection device is arranged between the two tracks.

12. A battery swap control method for controlling the movement of a shuttle vehicle in a battery swap station, characterized in that: The battery swap station is the battery swap station according to claim 10 or 11, and the battery swap control method comprises: Control the shuttle vehicle to extend along the battery exchange channel toward the vehicle loading platform; Determine whether the shuttle control unit receives the detection signal corresponding to the vehicle alignment position. If so, control the shuttle to continue moving the first stroke to the vehicle alignment position.

13. The battery replacement control method according to claim 12, characterized in that: The battery replacement control method also includes determining whether the shuttle control unit receives the detection signal corresponding to the extended limit position, and if so, controlling the shuttle to stop moving.

14. The battery replacement control method according to claim 12, characterized in that: The power exchange control method also includes Control the shuttle vehicle to retract along the battery exchange channel toward the battery exchange warehouse; Determine whether the shuttle control unit receives the detection signal corresponding to the origin position, and if so, control the shuttle to continue moving the second stroke to the origin position.

15. The battery replacement control method according to claim 14, characterized in that: The battery replacement control method also includes determining whether the shuttle control unit receives the detection signal corresponding to the retracted limit position, and if so, controlling the shuttle to stop moving.

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