Shuttle vehicle and shuttle vehicle control method

Abstract

The application provides a shuttle vehicle and a shuttle vehicle control method, which are used for replacing a battery pack at the bottom of an electric vehicle. The shuttle vehicle comprises a locking sensor and a controller. The locking sensor is used for detecting whether the battery pack is in a locked state. The locking sensor is a visual sensor. The locking sensor is used for detecting whether a locking link is in a locked position. The locking sensor is used for detecting an actual distance between the locking link and a locking base. When the locking base is in the locked state, the distance between the locking link and the locking base is a standard distance. The controller is also used for receiving the actual distance detected by the locking sensor. The controller is also used for comparing the actual distance with the standard distance. The controller is also used for determining that the battery pack is in the locked state when the actual distance is the same as the standard distance. The shuttle vehicle and the shuttle vehicle control method can detect whether the battery pack is in the locked state by arranging the locking sensor.

Description

[0001] This application is a divisional application of the Chinese patent application No. 202010076930.0, with the filing date of January 23, 2020, and the title of "Shuttle vehicle and shuttle vehicle control method". TECHNICAL FIELD

[0002] The present application relates to a shuttle vehicle.

[0003] The present application also relates to a shuttle vehicle control method. BACKGROUND

[0004] The fast-changing electric vehicle can meet the power supply needs of the fast-changing electric vehicle by replacing the battery pack. In the process of replacing the battery pack, a shuttle vehicle is generally needed. The shuttle vehicle is used to transport the battery pack between the electric vehicle and the battery compartment, and also has the functions of unlocking the old battery pack from the electric vehicle and locking the new battery pack into the electric vehicle. The electric vehicle is provided with a lock base for locking the battery pack. During the unlocking process of the battery pack, the shuttle vehicle needs to perform a series of actions to unlock the lock base; and during the locking process of the battery pack, the shuttle vehicle also needs to perform a series of actions to lock the battery pack in the lock base. Therefore, how to design the shuttle vehicle to enable the shuttle vehicle to achieve the unlocking and locking of the battery pack is a problem that needs to be solved urgently. SUMMARY

[0005] The technical problem to be solved by the present application is to provide a shuttle vehicle and a shuttle vehicle control method for the purpose of controlling the unlocking and locking of the battery pack by the shuttle vehicle.

[0006] The present application solves the above technical problem by the following technical scheme:

[0007] The present application provides a shuttle vehicle for replacing the battery pack at the bottom of an electric vehicle, comprising:

[0008] A locking sensor is configured to detect whether the battery pack is in a locked state.

[0009] The bottom of the electric vehicle is provided with a lock base and a lock link. The lock base is configured to lock the battery pack. When the lock link moves relative to the lock base, the lock base switches between a locked state and an unlocked state. The locking sensor is a vision sensor configured to detect whether the lock link is in a locking position. The locking sensor is configured to detect the actual distance between the lock link and the lock base. When the lock base is in the locked state, the distance between the lock link and the lock base is a standard distance.

[0010] A controller, the controller is further configured to receive an actual distance detected by the locking sensor, the controller is further configured to compare the actual distance with the standard distance, and the controller is further configured to determine that the battery pack is in a locked state when the actual distance is the same as the standard distance.

[0011] Preferably, the shuttle vehicle further comprises a moving platform and a walking mechanism, the moving platform is located on the walking mechanism; the controller is configured to control the walking mechanism to walk; the controller is further configured to control the moving platform to move relative to the walking mechanism along a length direction of a vehicle body of the electric vehicle; and the controller is further configured to control the moving platform to ascend or descend relative to the walking mechanism.

[0012] Preferably, a first guide is arranged on the moving platform, and a positioning member is arranged on the bottom of the electric vehicle, the first guide is configured to be matched with the positioning member.

[0013] Preferably, a second guide is arranged on the moving platform, and a positioning block is arranged on the battery pack, the second guide is configured to be matched with the positioning block.

[0014] Preferably, the moving platform comprises a lower frame and a battery carrier, and the controller is configured to control the lower frame and the battery carrier to move respectively.

[0015] Preferably, a first origin is arranged on the lower frame, a standard coordinate of the first origin is a coordinate of the first origin when the lower frame corresponds to a battery replacement position; and the controller is configured to control the lower frame to move along the length direction of the vehicle body of the electric vehicle according to a coordinate difference between an actual coordinate of the first origin and the standard coordinate of the first origin.

[0016] Preferably, a second origin is arranged on the battery carrier, a standard coordinate of the second origin is a coordinate of the second origin when the battery carrier corresponds to the battery replacement position; and the controller is further configured to control the battery carrier to move along the length direction of the vehicle body of the electric vehicle according to a coordinate difference between an actual coordinate of the second origin and the standard coordinate of the second origin.

[0017] Preferably, the battery carrier further comprises an upper frame and a battery tray, the battery tray is located on the upper frame; the shuttle vehicle further comprises a first start sensor, the first start sensor is arranged on the upper frame, the first start sensor is configured to detect whether the battery tray is above the upper frame, the first start sensor is further configured to generate a first start signal when the battery tray is detected to be above the upper frame, and the first start sensor is further configured to send the first start signal to the controller, and the controller is further configured to control the shuttle vehicle to move after receiving the first start signal.

[0018] Preferably, the shuttle vehicle further comprises a second start sensor, the second start sensor is arranged on the moving platform, the second start sensor is used to detect whether there is a battery pack above the moving platform, the second start sensor is also used to generate a second start signal when detecting that there is a battery pack above the moving platform, the second start sensor is also used to send the second start signal to the controller, and the controller is also used to control the shuttle vehicle to move after receiving the second start signal.

[0019] Preferably, the shuttle vehicle is provided with a positioning point on the walking path in the width direction of the body of the electric vehicle, and a positioning sensor is arranged on the walking mechanism, the positioning sensor is used to detect the signal of the positioning point, the positioning sensor is also used to generate a positioning signal to the controller when detecting the positioning point, and the controller is also used to control the walking mechanism to stop moving after receiving the positioning signal.

[0020] Preferably, the shuttle vehicle is provided with a limiting sensor, and a limiting detection point is arranged on the walking path of the shuttle vehicle, the limiting sensor is used to detect the limiting detection point, the limiting sensor is also used to send an alarm signal after detecting the limiting detection point, and the controller is also used to control the walking mechanism to stop moving after receiving the alarm signal.

[0021] Preferably, the shuttle vehicle further comprises an unlocking device, the unlocking device comprises an unlocking rod and a driving mechanism, and the driving mechanism is used to control the unlocking rod to be movable to a locking position or an unlocking position.

[0022] Preferably, the unlocking device further comprises a first sensor, the first sensor is used to detect whether the unlocking rod is located at the locking position, the first sensor is also used to generate a first arrival signal when the unlocking rod reaches the locking position, and the driving mechanism is also used to control the unlocking rod to stop moving when receiving the first arrival signal.

[0023] Preferably, the unlocking device further comprises a second sensor, the second sensor is used to detect whether the unlocking rod is located at the unlocking position, the second sensor is also used to generate a second arrival signal when the unlocking rod reaches the unlocking position, and the driving mechanism is also used to control the unlocking rod to stop moving when receiving the second arrival signal.

[0024] Preferably, the shuttle vehicle further comprises a lifting positioning sensor and a lifting positioning detection point, the lifting positioning sensor is used to detect the lifting positioning detection point, the lifting positioning sensor is also used to send a positioning signal when detecting the lifting positioning detection point, and the controller is also used to stop the lifting of the moving platform when receiving the positioning signal.

[0025] Preferably, the shuttle vehicle further comprises a lifting mechanism, the moving platform is connected with the walking mechanism through the lifting mechanism, the lifting mechanism is used for lifting the moving platform relative to the walking mechanism; the lifting positioning sensor is located on the lifting mechanism, and the lifting positioning detection point is located on the walking mechanism.

[0026] The application provides a shuttle vehicle control method for controlling a shuttle vehicle to replace a battery pack at the bottom of an electric vehicle, the shuttle vehicle comprising a locking sensor, the locking sensor being a visual sensor, the bottom of the electric vehicle being provided with a lock base and a lock connecting rod, the lock connecting rod being capable of switching the lock base between a locked state and an unlocked state; the battery pack comprising a battery and a lock shaft arranged around the battery; the lock base having a lock slot for the lock shaft to enter, the lock slot comprising an entering section and a locking section in communication, the entering section being provided with an entrance for the lock shaft to enter, and the locking section being provided with a locking position; the shuttle vehicle control method comprising the following steps:

[0027] controlling the battery pack to rise, so that the lock shaft enters the entering section of the lock slot and reaches the junction of the entering section and the locking section;

[0028] controlling the battery pack to move, so that the lock shaft of the battery pack moves to the locking position of the locking section, and the lock shaft is locked by the lock base;

[0029] the locking sensor detects whether the lock shaft of the battery pack is locked by the lock base; comprising: setting a standard distance between the lock connecting rod and the lock base when the lock base is in the locked state; the locking sensor detects an actual distance between the lock connecting rod and the lock base; comparing the actual distance with the standard distance; when the actual distance is the same as the standard distance, the lock shaft of the battery pack is locked by the lock base.

[0030] Preferably, the shuttle vehicle comprises a moving platform and a walking mechanism, the moving platform being capable of moving and lifting along the length direction of the vehicle body of the electric vehicle relative to the walking mechanism; the moving platform comprising a battery carrier and a lower frame, the battery carrier being provided with the battery pack, and the battery carrier and the lower frame being capable of moving respectively.

[0031] controlling the battery pack to rise, so that the lock shaft enters the entering section of the lock slot and reaches the junction of the entering section and the locking section; previously, the method further comprises the following steps:

[0032] controlling the walking mechanism to move, so that the shuttle vehicle is located below the battery replacement position of the electric vehicle;

[0033] controlling the mobile platform to move along the length direction of the vehicle body of the electric vehicle so as to correspond to the battery replacement position;

[0034] controlling the mobile platform to ascend to the battery replacement position;

[0035] controlling the mobile platform to ascend so as to lift the battery pack to the battery replacement position.

[0036] Preferably, the battery pack is controlled to ascend so as to make the lock shaft enter the entering section of the lock groove and reach the junction of the entering section and the locking section; the battery pack is controlled to move so as to make the lock shaft of the battery pack move to the locking position of the locking section, and the lock shaft is locked by the lock base, including:

[0037] controlling the mobile platform to ascend so as to make the lock shaft enter the entering section of the lock groove and reach the junction of the entering section and the locking section;

[0038] controlling the battery carrier to move so as to make the lock shaft of the battery pack move to the locking position of the locking section, and the lock shaft is locked by the lock base.

[0039] Preferably, the locking sensor detects whether the lock shaft of the battery pack is locked by the lock base; and then the method further includes the following steps:

[0040] controlling the mobile platform to descend when the locking sensor detects that the lock shaft of the battery pack is locked by the lock base.

[0041] Preferably, the mobile platform is provided with a first guide element, and the bottom of the electric vehicle is provided with a positioning element;

[0042] controlling the mobile platform to move along the length direction of the vehicle body of the electric vehicle so as to correspond to the battery replacement position; including:

[0043] controlling the mobile platform to move along the length direction of the vehicle body of the electric vehicle so as to make the first guide element correspond to the positioning element.

[0044] Preferably, the mobile platform is provided with a second guide element, and the second guide element is used to clamp the positioning block of the battery pack;

[0045] controlling the mobile platform to move along the length direction of the vehicle body of the electric vehicle so as to correspond to the battery replacement position; including:

[0046] controlling the mobile platform to move along the length direction of the vehicle body of the electric vehicle so as to make the second guide element correspond to the positioning block of the battery pack.

[0047] Preferably, the mobile platform comprises a lower frame and a battery carrier, the lower frame is provided with a first guide, and the bottom of the electric vehicle is provided with a positioning member; the battery carrier is provided with a second guide, and the second guide is used for clamping a positioning block of a battery pack.

[0048] The mobile platform is controlled to move along the length direction of the vehicle body of the electric vehicle to correspond to the battery replacement position; and the method comprises:

[0049] The lower frame is controlled to move along the length direction of the vehicle body of the electric vehicle to correspond the first guide to the positioning member.

[0050] And / or, the battery carrier is controlled to move along the length direction of the vehicle body of the electric vehicle to correspond the second guide to the positioning block of the battery pack.

[0051] Preferably, the mobile platform is provided with an origin.

[0052] The mobile platform is controlled to move along the length direction of the vehicle body of the electric vehicle to correspond to the battery replacement position; and the method comprises:

[0053] An origin coordinate system is established, and the standard coordinate of the origin is the coordinate of the origin when the mobile platform corresponds to the battery replacement position.

[0054] The actual coordinate of the origin is obtained, and the origin coordinate difference between the actual coordinate of the origin and the standard coordinate of the origin is obtained.

[0055] The mobile platform is controlled to move along the length direction of the vehicle body of the electric vehicle according to the origin coordinate difference until the origin is located at the position of the standard coordinate.

[0056] Preferably, the lower frame of the mobile platform is provided with a first origin.

[0057] The mobile platform is controlled to move along the length direction of the vehicle body of the electric vehicle to correspond to the battery replacement position; and the method comprises the following steps:

[0058] An origin coordinate system is established, and the first standard coordinate of the first origin is the coordinate of the first origin when the lower frame corresponds to the battery replacement position.

[0059] The actual coordinate of the first origin is obtained, and the first coordinate difference between the actual coordinate of the first origin and the first standard coordinate is obtained.

[0060] The lower frame is controlled to move along the length direction of the vehicle body of the electric vehicle according to the first coordinate difference until the first origin is located at the position of the first standard coordinate.

[0061] Preferably, the battery carrier of the mobile platform is provided with a second origin point.

[0062] Controlling the mobile platform to move along the length direction of the vehicle body of the electric vehicle so as to correspond to the battery replacement position; comprising the following steps:

[0063] Establishing an origin coordinate system, and the second standard coordinate of the second origin point is the coordinate where the second origin point is located when the battery carrier corresponds to the battery replacement position.

[0064] Obtaining the actual coordinate of the second origin point, and obtaining the second coordinate difference between the actual coordinate of the second origin point and the second standard coordinate.

[0065] Controlling the battery carrier to move along the length direction of the vehicle body of the electric vehicle according to the second coordinate difference until the second origin point is located at the position of the second standard coordinate.

[0066] Preferably, the walking mechanism is controlled to move so that the shuttle vehicle is located below the battery replacement position of the electric vehicle; comprising:

[0067] Controlling the walking mechanism to move along the width direction of the vehicle body of the electric vehicle so as to move the shuttle vehicle to the bottom of the electric vehicle.

[0068] Preferably, the walking passage of the shuttle vehicle along the width direction of the vehicle body of the electric vehicle is provided with a positioning point, and the walking mechanism is provided with a positioning sensor, and the positioning sensor is used to detect the signal of the positioning point.

[0069] Controlling the walking mechanism to move along the width direction of the vehicle body of the electric vehicle so as to move the shuttle vehicle to the bottom of the electric vehicle, comprising the following steps:

[0070] Controlling the walking mechanism to move along the width direction of the vehicle body of the electric vehicle, and stopping the movement of the walking mechanism when the positioning sensor detects the signal of the positioning point.

[0071] Preferably, before controlling the walking mechanism to move so that the shuttle vehicle is located below the battery replacement position of the electric vehicle, the following steps are further included:

[0072] Detecting whether the mobile platform has a battery tray;

[0073] And / or, detecting whether the upper part of the mobile platform has a battery pack.

[0074] Preferably, the shuttle vehicle is provided with a limit sensor, and the walking passage of the shuttle vehicle is provided with a limit detection point, and the limit sensor is used to detect the limit detection point.

[0075] The control of the walking mechanism moves, and the shuttle car is located below the battery replacement position of the electric vehicle; comprising:

[0076] When the limit sensor detects the limit detection point, the control of the walking mechanism stops moving.

[0077] Preferably, the shuttle car further comprises an unlocking device, and the unlocking device is provided with an unlocking rod, and the unlocking rod can be moved to a locking position or an unlocking position;

[0078] The control of the moving platform rises, and the battery pack is lifted to the battery replacement position, and before that, the following steps are further included:

[0079] The control of the unlocking rod moves to the locking position or the unlocking position.

[0080] Preferably, the unlocking device further comprises a first sensor, and the first sensor is used to detect whether the unlocking rod is located at the locking position;

[0081] The control of the unlocking rod moving to the locking position includes the following steps:

[0082] The first sensor detects that the unlocking rod reaches the locking position, and the control of the unlocking rod stops moving.

[0083] Preferably, the unlocking device further comprises a second sensor, and the second sensor is used to detect whether the unlocking rod is located at the unlocking position;

[0084] The control of the unlocking rod moving to the unlocking position includes the following steps:

[0085] The second sensor detects that the unlocking rod reaches the unlocking position, and the control of the unlocking rod stops moving.

[0086] Preferably, the shuttle car further comprises a lifting positioning sensor and a lifting positioning detection point, and the lifting positioning sensor is used to detect the lifting positioning detection point;

[0087] The control of the moving platform rising, and the battery pack is lifted to the battery replacement position includes:

[0088] When the lifting positioning sensor detects the signal of the lifting positioning detection point, the rising of the moving platform is stopped.

[0089] Preferably, the shuttle car further comprises an unlocking device, and the unlocking device is arranged on the moving platform, and the unlocking device further comprises an unlocking rod, and an end of the unlocking rod is matched with a stress point of the lock connecting rod; the battery pack comprises a battery and a lock shaft arranged around the battery in a circumferential direction; the lock base has a lock groove, and the lock groove is used to accommodate the lock shaft, and the lock groove has an outlet for the lock shaft to be separated;

[0090] Controlling the mobile platform to ascend, and make the battery pack be held to the battery replacement position, and then, comprising:

[0091] Make the unlocking rod of the unlocking device abut against the stress point of the lock connecting rod, and the battery carrier holds the battery pack;

[0092] Control the battery carrier and the lower frame to move, make the unlocking rod drive the lock connecting rod to act, and make the lock base be in the unlocking state;

[0093] Control the battery carrier to drive the battery pack to move, and make the lock shaft of the battery pack move to the outlet of the lock groove.

[0094] Preferably, before controlling the mobile platform to ascend, and make the battery pack be held to the battery replacement position, comprising:

[0095] Control the unlocking rod of the unlocking device to move, and make the unlocking rod be aligned with the stress point of the lock connecting rod.

[0096] Preferably, before controlling the mobile platform to ascend, and make the battery pack be held to the battery replacement position, comprising:

[0097] Control the battery carrier to move, and make the lock shaft of the battery pack be aligned with the inlet of the entering section.

[0098] The positive progress effect of the application is that:

[0099] The shuttle vehicle and the shuttle vehicle control method, by setting the locking sensor, make the shuttle vehicle can detect whether the battery pack is in the locking state. BRIEF DESCRIPTION OF DRAWINGS

[0100] Figure 1 It is the structure schematic view of the shuttle vehicle of embodiment 1 of the application.

[0101] Figure 2 It is the structure schematic view of the mobile platform of the shuttle vehicle. Figure 1

[0102] It is the structure schematic view of the mobile platform of the shuttle vehicle. Figure 3 Figure 2 It is the structure schematic view of the mobile platform of the shuttle vehicle.

[0103] Figure 4 Figure 1 It is the structure schematic view of the shuttle vehicle.

[0104] Figure 5 It is the structure schematic view of the unlocking device of the shuttle vehicle. Figure 1

[0105] ​​​Figure 6 For Figure 1 The structure diagram of the lock base and the lock connecting rod corresponding to the shuttle vehicle shown in the figure.

[0106] Figure 7 The step schematic diagram of the shuttle vehicle control method of the embodiment 2 of the present application.

[0107] Figure 8 The step schematic diagram of the shuttle vehicle control method of the embodiment 3 of the present application.

[0108] Figure 9 The step schematic diagram of the shuttle vehicle control method of the embodiment 4 of the present application.

[0109] Figure 10 The step schematic diagram of the shuttle vehicle control method of the embodiment 6 of the present application.

[0110] Figure 11 The step schematic diagram of the shuttle vehicle control method of the embodiment 7 of the present application.

[0111] Figure 12 The step schematic diagram of the lock sensor detection method of the shuttle vehicle control method of the embodiment 7 of the present application.

[0112] Explanation of reference signs

[0113] Mobile platform 1, lower frame 11, battery carrier 12, upper frame 121, battery tray 122, walking mechanism 2, controller 3, unlocking device 4, unlocking rod 41, driving mechanism 42, first sensor 43, second sensor 44, first guide 5, second guide 6, first starting sensor 71, second starting sensor 72, positioning sensor 8, limit sensor 9, lifting positioning sensor 10, lifting mechanism 20, locking sensor 30.

[0114] Lock base 100, lock groove 101, outlet 102, entry section 103, locking section 104.

[0115] Lock connecting rod 200, stress point 201. DETAILED DESCRIPTION

[0116] The present application will be further described below by way of examples, but the present application will not be limited in the scope of the described examples.

[0117] Embodiment 1

[0118] As Figures 1 to 5As shown, the present application provides a shuttle vehicle for replacing the battery pack at the bottom of an electric vehicle. The shuttle vehicle comprises a moving platform 1, a walking mechanism 2 and a controller 3, the moving platform 1 is located on the walking mechanism 2; the controller 3 is used to control the walking mechanism 2 to walk; the controller 3 is also used to control the moving platform 1 to move relative to the walking mechanism 2 along the length direction of the vehicle body of the electric vehicle; the controller 3 is also used to control the moving platform 1 to lift and lower relative to the walking mechanism 2.

[0119] The controller 3 controls the walking mechanism 2 to walk, so that the shuttle vehicle can move to the bottom of the electric vehicle; the controller 3 can control the moving platform 1 to move along the length direction of the vehicle body of the electric vehicle, so that the moving platform 1 can correspond to the lock base 100 at the bottom of the electric vehicle; the controller 3 lifts and lowers the moving platform 1, which can lift and install the battery pack into the lock base 100 at the bottom of the electric vehicle, or hold the battery pack in the lock base 100 of the electric vehicle; the controller 3 can also control the moving platform 1 to move, so that the battery pack on the moving platform 1 is locked in the lock base 100 or unlocked from the lock base 100.

[0120] Among them, the moving platform 1 comprises a lower frame 11 and a battery carrier 12, and the controller 3 can control the lower frame 11 and the battery carrier 12 to move respectively. The lower frame 11 is provided with an unlocking device 4, and the battery carrier 12 is used to carry the battery pack. By allowing the lower frame 11 and the battery carrier 12 to move respectively, the unlocking device 4 and the battery pack can move respectively, so that the moving platform 1 can realize the locking and unlocking of the battery pack.

[0121] Furthermore, the moving platform 1 is provided with a first guide 5, and the bottom of the electric vehicle is provided with a positioning piece, and the first guide 5 is used to adapt to the positioning piece. The moving platform 1 is provided with a second guide 6, and the battery pack is provided with a positioning block, and the second guide 6 is used to adapt to the positioning block. The first guide 5 and the second guide 6 are used to position the relative positions between the moving platform 1, the lock base 100 and the battery pack. Specifically, the first guide 5 is located on the lower frame 11, and the relative position between the lower frame 11 and the lock base 100 is positioned, and the second guide 6 is located on the battery carrier 12, and the relative position between the battery carrier 12 and the battery pack is positioned.

[0122] A specific positioning method of the lower frame 11 is that the lower frame 11 is provided with a first origin, and the standard coordinates of the first origin are the coordinates of the first origin when the lower frame 11 corresponds to the battery replacement position; the controller 3 is used to control the lower frame 11 to move along the length direction of the vehicle body of the electric vehicle according to the coordinate difference between the actual coordinates of the first origin and the standard coordinates of the first origin. By setting the first origin, the lower frame 11 can be controlled to move to the position of the standard coordinates, so that the lower frame 11 corresponds to the battery replacement position, specifically, the first guide 5 on the lower frame 11 corresponds to the positioning piece of the electric vehicle.

[0123] A specific positioning mode of the battery carrier 12 is that the battery carrier 12 is provided with a second origin, and the standard coordinates of the second origin are the coordinates of the second origin when the battery carrier 12 corresponds to the battery replacement position; the controller 3 is further configured to control the battery carrier 12 to move along the length direction of the vehicle body of the electric vehicle according to the coordinate difference between the actual coordinates of the second origin and the standard coordinates of the second origin. By setting the second origin, the battery carrier 12 can be controlled to move to the position of the standard coordinates, so that the battery carrier 12 corresponds to the battery replacement position, specifically, the second guide 6 on the battery carrier 12 corresponds to the positioning block of the battery pack.

[0124] The battery carrier 12 further comprises an upper frame 121 and a battery tray 122, and the battery tray 122 is located on the upper frame 121; the shuttle vehicle further comprises a first start sensor 71, which is arranged on the upper frame 121 and is configured to detect whether there is a battery tray 122 above the upper frame 121, and the first start sensor 71 is further configured to generate a first start signal when detecting that there is a battery tray 122 above the upper frame 121, and the first start sensor 71 is further configured to send the first start signal to the controller 3, and the controller 3 is further configured to control the shuttle vehicle to move after receiving the first start signal.

[0125] The shuttle vehicle further comprises a second start sensor 72, which is arranged on the moving platform 1 and is configured to detect whether there is a battery pack above the moving platform 1, and the second start sensor 72 is further configured to generate a second start signal when detecting that there is a battery pack above the moving platform 1, and the second start sensor 72 is further configured to send the second start signal to the controller 3, and the controller 3 is further configured to control the shuttle vehicle to move after receiving the second start signal.

[0126] The first start sensor 71 is configured to detect whether there is a battery tray 122, and the second start sensor 72 is configured to detect whether there is a battery pack. When the shuttle vehicle is used for dismounting the battery pack, the shuttle vehicle starts to dismount the battery pack only when the first start sensor 71 detects that there is a battery tray 122. When the shuttle vehicle is used for mounting the battery pack, the shuttle vehicle starts to mount the battery pack only when the first start sensor 71 detects that there is a battery tray 122 and the second start sensor 72 detects that there is a battery pack.

[0127] The shuttle vehicle is provided with a positioning point on the walking path in the width direction of the vehicle body of the electric vehicle, and the walking mechanism 2 is provided with a positioning sensor 8, which is configured to detect the signal of the positioning point and generate a positioning signal to the controller 3 when detecting the positioning point, and the controller 3 is further configured to control the walking mechanism 2 to stop moving after receiving the positioning signal. The positioning sensor 8 is configured to determine the position of the shuttle vehicle walking in the width direction of the vehicle body of the electric vehicle.

[0128] The shuttle vehicle is provided with a limit sensor 9, and a limit detection point is arranged on the walking path of the shuttle vehicle. The limit sensor 9 is used to detect the limit detection point, and the limit sensor 9 is also used to send an alarm signal after detecting the limit detection point. The controller 3 is also used to control the walking mechanism 2 to stop moving after receiving the alarm signal. There can be multiple limit detection points, and multiple limit detection points are arranged at multiple limit positions on the walking path. In the normal operation process, the shuttle vehicle will not move to the limit position; only when an error occurs, the shuttle vehicle will move to the limit position. When the shuttle vehicle moves to the limit position, the limit sensor detects the limit detection point and sends an alarm signal, and the controller 3 receives the alarm signal and controls the walking mechanism 2 to stop moving.

[0129] As shown in Figure 6 The lock base 100 arranged at the bottom of the electric vehicle is connected with the lock connecting rod 200, and the lock connecting rod 200 acts to switch the lock base 100 between the locked state and the unlocked state. The battery pack includes a battery and a lock shaft arranged around the battery. The lock base 100 has a lock groove 101 for accommodating the lock shaft, and the lock groove 101 has an outlet 102 for the lock shaft to disengage. Specifically, the lock groove 101 includes an entering section 103 and a locking section 104 connected in communication. The entering section 103 is provided with an inlet for the lock shaft to enter, and the inlet is also the outlet 102 for the lock shaft to disengage. The locking section 104 is provided with a locking position.

[0130] As shown in Figure 5 The unlocking device 4 includes an unlocking rod 41 and a driving mechanism 42. The driving mechanism 42 is used to control the unlocking rod 41 to move to the locked position or the unlocked position. When the shuttle vehicle is disassembling the battery pack, the unlocking rod 41 moves to the unlocked position, that is, the end of the unlocking rod 41 is matched with the stress point 201 of the lock connecting rod 200. When the shuttle vehicle is installing the battery pack, the unlocking rod 41 moves to the locked position, that is, the unlocking rod 41 avoids the lock connecting rod 200 to avoid the unlocking rod 41 hindering the action of the lock connecting rod 200.

[0131] The unlocking device 4 further includes a first sensor 43. The first sensor 43 is used to detect whether the unlocking rod 41 is located at the locked position. The first sensor 43 is also used to generate a first arrival signal when the unlocking rod 41 reaches the locked position. The driving mechanism 42 is further used to control the unlocking rod 41 to stop acting when the first arrival signal is received. By arranging the first sensor 43, the unlocking rod 41 can be stopped at the locked position.

[0132] The unlocking device 4 further includes a second sensor 44 for detecting whether the unlocking lever 41 is in the unlocked position. The second sensor 44 is also configured to generate a second in-position signal when the unlocking lever 41 reaches the unlocked position. The drive mechanism 42 is further configured to control the unlocking lever 41 to stop upon receiving the second in-position signal. The provision of the second sensor 44 allows the unlocking lever 41 to remain in the unlocked position.

[0133] like Figure 4 As shown, the shuttle vehicle also includes a lift positioning sensor 10 and a lift positioning detection point. The lift positioning sensor 10 is used to detect the lift positioning detection point. The lift positioning sensor 10 is also used to send a positioning signal when it detects the lift positioning detection point. The controller 3 is also used to stop the lifting of the mobile platform 1 upon receiving the positioning signal. When the lift positioning sensor 10 detects the lift positioning detection point, the height of the mobile platform 1 is at a height that is just enough to support the battery pack.

[0134] like Figure 4 As shown, the shuttle also includes a lifting mechanism 20, connecting the mobile platform 1 to the traveling mechanism 2 via the lifting mechanism 20. The lifting mechanism 20 is used to raise and lower the mobile platform 1 relative to the traveling mechanism 2. A lifting positioning sensor 10 is located on the lifting mechanism 20, and a lifting positioning detection point is located on the traveling mechanism 2. When the lifting positioning sensor 10 detects the lifting positioning detection point, it indicates that the lifting mechanism 20 has reached its position and the mobile platform 1 has reached the predetermined height.

[0135] like Figure 4 As shown, the shuttle vehicle also includes a lock sensor 30, which is used to detect whether the battery pack is in a locked state. When a lock base 100 and a lock link 200 are provided at the bottom of the electric vehicle, the lock sensor 30 can be a visual sensor, which is used to detect whether the lock link 200 is in the locked position.

[0136] A specific detection method of the locking sensor 30 is: the locking sensor 30 is used to detect the actual distance between the lock link 200 and the lock base 100. When the lock base 100 is in a locked state, the distance between the lock link 200 and the lock base 100 is a standard distance. The controller 3 is also used to receive the actual distance detected by the locking sensor 30. The controller 3 is also used to compare the actual distance with the standard distance. The controller 3 is also used to determine that the battery pack is in a locked state when the actual distance is the same as the standard distance.

[0137] Example 2

[0138] like Figure 7 As shown, the present invention also provides a shuttle vehicle control method for controlling a shuttle vehicle to replace the battery pack at the bottom of an electric vehicle. The shuttle vehicle can use the shuttle vehicle shown in Example 1.

[0139] The shuttle vehicle control method comprises the following steps:

[0140] S1, control the walking mechanism 2 to move, so that the shuttle vehicle is located below the battery replacement position of the electric vehicle;

[0141] S2, control the mobile platform 1 to move along the length direction of the vehicle body of the electric vehicle, so that the mobile platform 1 corresponds to the battery replacement position;

[0142] S3, control the mobile platform 1 to rise, so that the battery pack is lifted to the battery replacement position.

[0143] Through the above-mentioned shuttle vehicle control method, the shuttle vehicle can be moved to below the battery replacement position of the electric vehicle, and then the battery pack located in the battery replacement position of the electric vehicle is lifted or the battery pack located on the mobile platform 1 is lifted to the battery replacement position of the electric vehicle through the movement and rising of the mobile platform 1.

[0144] Among them, the first guide 5 is arranged on the mobile platform 1, and the positioning piece is arranged at the bottom of the electric vehicle; step S2 comprises:

[0145] Control the mobile platform 1 to move along the length direction of the vehicle body of the electric vehicle, so that the first guide 5 corresponds to the positioning piece.

[0146] Among them, the second guide 6 is arranged on the mobile platform 1, and the second guide 6 is used for clamping the positioning block of the battery pack; step S2 comprises:

[0147] Control the mobile platform 1 to move along the length direction of the vehicle body of the electric vehicle, so that the second guide 6 corresponds to the positioning block of the battery pack.

[0148] Specifically, the mobile platform 1 comprises a lower frame 11 and a battery carrier 12, the first guide 5 is arranged on the lower frame 11, and the positioning piece is arranged at the bottom of the electric vehicle; the second guide 6 is arranged on the battery carrier 12, and the second guide 6 is used for clamping the positioning block of the battery pack; step S2 comprises:

[0149] Control the lower frame 11 to move along the length direction of the vehicle body of the electric vehicle, so that the first guide 5 corresponds to the positioning piece;

[0150] Control the battery carrier 12 to move along the length direction of the vehicle body of the electric vehicle, so that the second guide 6 corresponds to the positioning block of the battery pack.

[0151] In the above manner, the mobile platform 1 can correspond to the position of the battery replacement position and the battery pack, specifically, the lower frame 11 corresponds to the battery replacement position, and the battery carrier 12 corresponds to the position of the battery pack.

[0152] Among them, step S1 comprises: control the walking mechanism 2 to move along the width direction of the vehicle body of the electric vehicle, so that the shuttle vehicle moves to the bottom of the electric vehicle.

[0153] The shuttle vehicle is provided with a positioning point on the walking path in the width direction of the vehicle body of the electric vehicle, and the walking mechanism 2 is provided with a positioning sensor 8 for detecting the signal of the positioning point; the walking mechanism 2 is controlled to move in the width direction of the vehicle body of the electric vehicle, so that the shuttle vehicle moves to the bottom of the electric vehicle, including the following steps:

[0154] The walking mechanism 2 is controlled to move in the width direction of the vehicle body of the electric vehicle, and when the positioning sensor 8 detects the signal of the positioning point, the movement of the walking mechanism 2 is stopped.

[0155] The positioning point is used to determine the stop position of the walking mechanism 2 moving in the width direction of the vehicle body of the electric vehicle. After the walking mechanism 2 reaches the positioning point, it can also move in the length direction of the vehicle body of the electric vehicle, so that the shuttle vehicle is located below the battery replacement position of the electric vehicle.

[0156] When the shuttle vehicle is used for locking the battery pack, before step S1, it further includes: detecting whether the mobile platform 1 has a battery tray 122; and detecting whether the mobile platform 1 has a battery pack above it. When the shuttle vehicle is used for unlocking the battery pack, before step S1, it further includes: detecting whether the mobile platform 1 has a battery tray 122.

[0157] The shuttle vehicle is provided with a limit sensor 9, and the walking path of the shuttle vehicle is provided with a limit detection point, and the limit sensor 9 is used to detect the limit detection point. Step S1 includes: when the limit sensor 9 detects the limit detection point, the walking mechanism 2 is controlled to stop moving. In the normal operation process, the shuttle vehicle will not move to the limit detection point; only when an error occurs, the shuttle vehicle will move to the limit detection point. When the shuttle vehicle moves to the limit detection point, it indicates that an error occurs in the walking of the shuttle vehicle, and the walking mechanism 2 stops moving.

[0158] The shuttle vehicle further includes a lifting positioning sensor 10 and a lifting positioning detection point, and the lifting positioning sensor 10 is used to detect the lifting positioning detection point; step S3 includes:

[0159] When the lifting positioning sensor 10 detects the signal of the lifting positioning detection point, the lifting of the mobile platform 1 is stopped.

[0160] When the lifting positioning sensor 10 detects the lifting positioning detection point, the height of the mobile platform 1 is the height at which the mobile platform 1 just holds the battery pack.

[0161] Embodiment 3

[0162] The shuttle vehicle control method of the present embodiment, as shown in Figure 8 Based on embodiment 2, the following steps are added.

[0163] The mobile platform 1 is provided with an origin point; step S2 includes:

[0164] S21, a coordinate system of the origin point is established, and a standard coordinate of the origin point is a coordinate of the origin point when the mobile platform 1 corresponds to the battery replacement position;

[0165] S22, an actual coordinate of the origin point is obtained, and an origin point coordinate difference between the actual coordinate of the origin point and the standard coordinate of the origin point is obtained;

[0166] S23, the mobile platform 1 is controlled to move along the length direction of the vehicle body of the electric vehicle according to the origin point coordinate difference, until the origin point is located at the position of the standard coordinate.

[0167] Through the above control method, the mobile platform 1 can be moved to the position corresponding to the battery replacement position, and the position correspondence accuracy between the mobile platform 1 and the battery replacement position is ensured.

[0168] Embodiment 4

[0169] The shuttle vehicle control method of the embodiment, as shown in the following steps, is based on the embodiment 2 and further includes the following steps. The mobile platform 1 includes a lower frame 11 and a battery carrier 12, the lower frame 11 is provided with a first origin point, and the battery carrier 12 is provided with a second origin point. Figure 9 Step S2 includes the following steps:

[0170] S210, a coordinate system of the origin point is established, a first standard coordinate of the first origin point is a coordinate of the first origin point when the lower frame 11 corresponds to the battery replacement position, and a second standard coordinate of the second origin point is a coordinate of the second origin point when the battery carrier 12 corresponds to the battery replacement position;

[0171] S220, an actual coordinate of the first origin point is obtained, and a first coordinate difference between the actual coordinate of the first origin point and the first standard coordinate is obtained;

[0172] S230, the lower frame 11 is controlled to move along the length direction of the vehicle body of the electric vehicle according to the first coordinate difference, until the first origin point is located at the position of the first standard coordinate;

[0173] S240, an actual coordinate of the second origin point is obtained, and a second coordinate difference between the actual coordinate of the second origin point and the second standard coordinate is obtained;

[0174] S250, the battery carrier 12 is controlled to move along the length direction of the vehicle body of the electric vehicle according to the second coordinate difference, until the second origin point is located at the position of the second standard coordinate.

[0175] Embodiment 5

[0176]

[0177] ​The shuttle vehicle control method of the embodiment further includes the following steps on the basis of embodiment 2. The shuttle vehicle further includes an unlocking device 4, and the unlocking device 4 is provided with an unlocking rod 41 that can move to a locking position or an unlocking position.

[0178] Before step S3, the following step is further included: controlling the unlocking rod 41 to move to the locking position or the unlocking position. When the shuttle vehicle is disassembling the battery pack, the unlocking rod 41 moves to the unlocking position, that is, the end of the unlocking rod 41 is matched with the stress point 201 of the lock connecting rod 200. When the shuttle vehicle is assembling the battery pack, the unlocking rod 41 moves to the locking position, that is, the unlocking rod 41 avoids the lock connecting rod 200 to avoid the unlocking rod 41 from hindering the action of the lock connecting rod 200.

[0179] The unlocking device 4 further includes a first sensor 43 for detecting whether the unlocking rod 41 is located at the locking position. Controlling the unlocking rod 41 to move to the locking position includes the following steps: the first sensor 43 detects that the unlocking rod 41 reaches the locking position, and controls the unlocking rod 41 to stop moving. By arranging the first sensor 43, the unlocking rod 41 can stop at the locking position.

[0180] The unlocking device 4 further includes a second sensor 44 for detecting whether the unlocking rod 41 is located at the unlocking position. Controlling the unlocking rod 41 to move to the unlocking position includes the following steps: the second sensor 44 detects that the unlocking rod 41 reaches the unlocking position, and controls the unlocking rod 41 to stop moving. By arranging the second sensor 44, the unlocking rod 41 can stop at the unlocking position.

[0181] Embodiment 6

[0182] The shuttle vehicle control method of the embodiment, as shown in Figure 10 When the shuttle vehicle is used for unlocking the battery pack, the following unlocking steps are further included on the basis of embodiment 2.

[0183] After step S3, the following steps are included:

[0184] S4, the unlocking rod 41 of the unlocking device 4 abuts against the stress point 201 of the lock connecting rod 200, and the battery carrier 12 supports the battery pack;

[0185] S5, controlling the battery carrier 12 and the lower frame 11 to move, so that the unlocking rod 41 drives the lock connecting rod 200 to move, and the lock base 100 is in an unlocked state;

[0186] S6, controlling the battery carrier 12 to drive the battery pack to move, so that the lock shaft of the battery pack moves to the outlet 102 of the lock groove 101.

[0187] The unlocking lever 41 and the lock connecting rod 200 are driven to move by the lower frame 11, so that the lock base 100 is in an unlocked state; the battery pack is moved by the battery carrier 12, so that the lock shaft of the battery pack moves to the outlet 102 of the lock slot 101, and the lock shaft of the battery pack can move out of the lock slot 101, so that the battery pack can be separated from the lock base 100.

[0188] Before step S3, the unlocking lever 41 of the unlocking device 4 is controlled to move, so that the unlocking lever 41 is aligned with the stress point 201 of the lock connecting rod 200.

[0189] Embodiment 7

[0190] The shuttle vehicle control method of the embodiment is as shown in the figure. Figure 11 When the shuttle vehicle is used for locking the battery pack, the following locking steps are added on the basis of embodiment 2.

[0191] After step S3, the following steps are included:

[0192] S40, the moving platform 1 is controlled to rise, so that the lock shaft enters the entering section 103 of the lock slot 101 and reaches the junction of the entering section 103 and the locking section 104;

[0193] S50, the battery carrier 12 is controlled to move, so that the lock shaft of the battery pack moves to the locking position of the locking section 104, and the lock shaft is locked by the lock base 100.

[0194] The moving platform 1 is controlled to rise, and then the battery carrier 12 is controlled to move alone, so that the lock shaft of the battery pack can move along the lock slot 101 until the lock shaft moves to the locking position of the locking section 104, and the lock shaft is locked by the lock base 100.

[0195] Before step S3, the battery carrier 12 is controlled to move, so that the lock shaft of the battery pack is aligned with the entrance of the entering section 103.

[0196] The shuttle vehicle further includes a locking sensor 30; after step S50, the following steps are included:

[0197] The locking sensor 30 detects whether the lock shaft of the battery pack is locked by the lock base 100; when the locking sensor 30 detects that the lock shaft of the battery pack is locked by the lock base 100, the moving platform 1 is controlled to descend.

[0198] When the moving platform 1 descends, the battery pack is locked by the lock base 100, the moving platform 1 is separated from the battery pack, and the battery pack is left on the electric vehicle.

[0199] Since the distance between the lock link 200 and the lock base 100 is determined when the lock base 100 is in the locked state, whether the lock base 100 is in the locked state can be determined by the distance between the lock link 200 and the lock base 100. To determine the distance, a visual sensor can be used. Specifically, as shown in FIG. 31, the lock sensor 30 is a visual sensor, and the lock sensor 30 is used to detect whether the lock shaft of the battery pack is locked by the lock base 100, including the following steps: Figure 12

[0200] S61, set the distance between the lock link 200 and the lock base 100 when the lock base 100 is in the locked state as a standard distance;

[0201] S62, the lock sensor 30 detects the actual distance between the lock link 200 and the lock base 100;

[0202] S63, compare the actual distance with the standard distance;

[0203] S64, when the actual distance is the same as the standard distance, the lock shaft of the battery pack is locked by the lock base 100.

[0204] Although the specific embodiments of the present application are described above, those skilled in the art should understand that this is only an example, and the protection scope of the present application is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of the present application, and such changes and modifications fall within the protection scope of the present application.​

Claims

1. A shuttle vehicle for replacing a battery pack of a bottom of an electric vehicle, characterized by, The shuttle vehicle comprises a locking sensor configured to detect whether the battery pack is in a locked state; The bottom of the electric vehicle is provided with a lock base and a lock connecting rod, the lock base is configured to lock the battery pack, the lock connecting rod is configured to move relative to the lock base, and the lock base is configured to switch between a locked state and an unlocked state, the locking sensor is a visual sensor, the locking sensor is configured to detect whether the lock connecting rod is in a locked position, the locking sensor is configured to detect an actual distance between the lock connecting rod and the lock base, and the distance between the lock connecting rod and the lock base is a standard distance when the lock base is in the locked state. A controller is configured to receive the actual distance detected by the locking sensor, compare the actual distance with the standard distance, and determine that the battery pack is in the locked state when the actual distance is the same as the standard distance.

2. The shuttle of claim 1, wherein, The shuttle vehicle further comprises: a moving platform; a walking mechanism, wherein the moving platform is located on the walking mechanism; the controller is configured to control the walking mechanism to walk, control the moving platform to move relative to the walking mechanism along a length direction of a vehicle body of the electric vehicle, and control the moving platform to ascend or descend relative to the walking mechanism; a first guide element is arranged on the moving platform, and a positioning element is arranged at the bottom of the electric vehicle, wherein the first guide element is configured to be matched with the positioning element; a second guide element is arranged on the moving platform, and a positioning block is arranged on the battery pack, wherein the second guide element is configured to be matched with the positioning block.

3. The shuttle of claim 2, wherein: The moving platform comprises a lower frame and a battery carrier, and the controller is configured to control the lower frame and the battery carrier to move respectively; the first guide element is arranged on the lower frame, and the second guide element is arranged on the battery carrier, and the first guide element and the second guide element are arranged in sequence along the length direction of the vehicle body of the electric vehicle.

4. The shuttle of claim 3, wherein: A first origin is arranged on the lower frame, and a standard coordinate of the first origin is a coordinate of the first origin when the lower frame corresponds to a battery replacement position; the controller is configured to control the lower frame to move along the length direction of the vehicle body of the electric vehicle according to a coordinate difference between an actual coordinate of the first origin and the standard coordinate of the first origin.

5. The shuttle of claim 3, wherein: The battery carrier is provided with a second origin, and a standard coordinate of the second origin is a coordinate of the second origin when the battery carrier corresponds to the battery replacement position; the controller is further configured to control the battery carrier to move along the length direction of the vehicle body of the electric vehicle according to a coordinate difference between an actual coordinate of the second origin and the standard coordinate of the second origin.

6. The shuttle of claim 3, wherein: The battery carrier further comprises an upper frame and a battery tray located on the upper frame; the shuttle vehicle further comprises a first start sensor arranged on the upper frame, the first start sensor being configured to detect whether the battery tray is above the upper frame, the first start sensor being further configured to generate a first start signal when the battery tray is detected above the upper frame, and the first start sensor being further configured to send the first start signal to the controller, and the controller being further configured to control the movement of the shuttle vehicle after receiving the first start signal.

7. The shuttle of claim 2, wherein: The shuttle vehicle further comprises a second start sensor arranged on the moving platform, the second start sensor being configured to detect whether a battery pack is above the moving platform, the second start sensor being further configured to generate a second start signal when the battery pack is detected above the moving platform, and the second start sensor being further configured to send the second start signal to the controller, and the controller being further configured to control the movement of the shuttle vehicle after receiving the second start signal.

8. The shuttle of claim 2, wherein: The shuttle vehicle is provided with a positioning point on the walking path in the width direction of the body of the electric vehicle, and a positioning sensor is arranged on the walking mechanism, the positioning sensor being configured to detect the signal of the positioning point, the positioning sensor being further configured to generate a positioning signal to the controller when the positioning point is detected, and the controller being further configured to control the walking mechanism to stop moving after receiving the positioning signal.

9. The shuttle of claim 2, wherein: The shuttle vehicle is provided with a limiting sensor, and a limiting detection point is arranged on the walking path of the shuttle vehicle, the limiting sensor being configured to detect the limiting detection point, the limiting sensor being further configured to send an alarm signal after detecting the limiting detection point, and the controller being further configured to control the walking mechanism to stop moving after receiving the alarm signal.

10. The shuttle of claim 1, wherein: The shuttle vehicle further comprises an unlocking device, the unlocking device comprising an unlocking rod and a driving mechanism, the driving mechanism being configured to control the unlocking rod to move to a locking position or an unlocking position.

11. The shuttle of claim 10, wherein, The unlocking device further comprises a first sensor, the first sensor being configured to detect whether the unlocking rod is located in the locking position, the first sensor being further configured to generate a first arrival signal when the unlocking rod reaches the locking position, and the driving mechanism being further configured to control the unlocking rod to stop moving when receiving the first arrival signal.

12. The shuttle of claim 10, wherein, The unlocking device further comprises a second sensor, the second sensor being configured to detect whether the unlocking rod is located in the unlocking position, the second sensor being further configured to generate a second arrival signal when the unlocking rod reaches the unlocking position, and the driving mechanism being further configured to control the unlocking rod to stop moving when receiving the second arrival signal.

13. The shuttle of claim 2, wherein: The shuttle vehicle further comprises a lifting positioning sensor and a lifting positioning detection point, the lifting positioning sensor being configured to detect the lifting positioning detection point, the lifting positioning sensor being further configured to send a positioning signal when the lifting positioning detection point is detected, and the controller being further configured to stop the lifting of the moving platform after receiving the positioning signal.

14. The shuttle of claim 13, wherein: The shuttle vehicle further comprises a lifting mechanism, the moving platform is connected with the walking mechanism through the lifting mechanism, and the lifting mechanism is used for lifting the moving platform relative to the walking mechanism; the lifting positioning sensor is located on the lifting mechanism, and the lifting positioning detection point is located on the walking mechanism.

15. A shuttle vehicle control method for controlling a shuttle vehicle to replace a battery pack at a bottom of an electric vehicle, the shuttle vehicle comprising a locking sensor, the locking sensor being a vision sensor, the bottom of the electric vehicle being provided with a lock base and a lock link, the lock link being configured to actuate the lock base to switch between a locked state and an unlocked state; the battery pack comprising a battery and a lock shaft arranged circumferentially around the battery; the lock base having a lock slot for the lock shaft to enter, the lock slot comprising an entry section and a locking section in communication, the entry section being provided with an entry for the lock shaft to enter, the locking section being provided with a locking position therein; characterized in that, The shuttle vehicle control method comprises the following steps: controlling the battery pack to ascend, so that the lock shaft enters the entering section of the lock groove and reaches the junction of the entering section and the locking section; controlling the battery pack to move, so that the lock shaft of the battery pack moves to the locking position of the locking section, and the lock shaft is locked by the lock base; The locking sensor detects whether the lock shaft of the battery pack is locked by the lock base; comprising: setting the distance between the lock connecting rod and the lock base when the lock base is in the locking state as a standard distance; the locking sensor detects the actual distance between the lock connecting rod and the lock base; the actual distance is compared with the standard distance; when the actual distance is the same as the standard distance, the lock shaft of the battery pack is locked by the lock base.

16. The shuttle vehicle control method of claim 15, wherein, The shuttle vehicle comprises a moving platform and a walking mechanism, the moving platform can move and lift along the length direction of the vehicle body of the electric vehicle relative to the walking mechanism; the moving platform comprises a battery carrier and a lower frame, the battery carrier is provided with a battery pack, and the battery carrier and the lower frame can move respectively; controlling the battery pack to ascend, so that the lock shaft enters the entering section of the lock groove and reaches the junction of the entering section and the locking section; previously, the following steps are further included: controlling the walking mechanism to move, so that the shuttle vehicle is located below the battery replacement position of the electric vehicle; controlling the moving platform to move along the length direction of the vehicle body of the electric vehicle, so that the moving platform corresponds to the battery replacement position; controlling the moving platform to ascend to the battery replacement position; controlling the moving platform to ascend, so that the battery pack is held to the battery replacement position; Wherein, the moving platform is provided with a first guide and a second guide, the bottom of the electric vehicle is provided with a positioning member, and the second guide is used for clamping the positioning block of the battery pack, wherein the first guide is located on the lower frame, the second guide is located on the battery carrier, and the first guide and the second guide are arranged in sequence along the length direction of the vehicle body of the electric vehicle; controlling the moving platform to move along the length direction of the vehicle body of the electric vehicle, so that the moving platform corresponds to the battery replacement position; comprising: controlling the moving platform to move along the length direction of the vehicle body of the electric vehicle, so that the first guide corresponds to the positioning member; and, controlling the moving platform to move along the length direction of the vehicle body of the electric vehicle, so that the second guide corresponds to the positioning block of the battery pack.

17. The shuttle vehicle control method according to claim 16, wherein Controlling the battery pack to ascend, so that the lock shaft enters the entering section of the lock groove and reaches the joint of the entering section and the locking section; controlling the battery pack to move, so that the lock shaft of the battery pack moves to the locking position of the locking section, and the lock shaft is locked by the lock base, comprising: Controlling the mobile platform to ascend, so that the lock shaft enters the entering section of the lock groove and reaches the joint of the entering section and the locking section; Controlling the battery carrier to move, so that the lock shaft of the battery pack moves to the locking position of the locking section, and the lock shaft is locked by the lock base.

18. The shuttle vehicle control method of claim 16, wherein the locking sensor detects whether the lock shaft of the battery pack is locked by the lock base; and the method further comprises the following steps: When the locking sensor detects that the lock shaft of the battery pack is locked by the lock base, controlling the mobile platform to descend. The mobile platform comprises a lower frame and a battery carrier, the lower frame is provided with a first guide element, and the bottom of the electric vehicle is provided with a positioning element; the battery carrier is provided with a second guide element for clamping the positioning block of the battery pack; 19. The shuttle vehicle control method of claim 16, wherein, Controlling the mobile platform to move along the length direction of the vehicle body of the electric vehicle, so that the mobile platform corresponds to the battery swapping position; comprising: Controlling the lower frame to move along the length direction of the vehicle body of the electric vehicle, so that the first guide element corresponds to the positioning element; And / or, controlling the battery carrier to move along the length direction of the vehicle body of the electric vehicle, so that the second guide element corresponds to the positioning block of the battery pack. The mobile platform is provided with an origin; 20. The shuttle vehicle control method of claim 16, wherein, Controlling the mobile platform to move along the length direction of the vehicle body of the electric vehicle, so that the mobile platform corresponds to the battery swapping position; comprising: Establishing an origin coordinate system, the standard coordinate of the origin is the coordinate where the origin is located when the mobile platform corresponds to the battery swapping position; Obtaining the actual coordinate of the origin, and obtaining the origin coordinate difference between the actual coordinate of the origin and the standard coordinate of the origin; Controlling the mobile platform to move along the length direction of the vehicle body of the electric vehicle according to the origin coordinate difference, until the origin is located at the position of the standard coordinate. The lower frame of the mobile platform is provided with a first origin; 21. The shuttle vehicle control method of claim 16, wherein, Controlling the mobile platform to move along the length direction of the vehicle body of the electric vehicle, so that the mobile platform corresponds to the battery swapping position; comprising the following steps: Establishing an origin coordinate system, the first standard coordinate of the first origin is the coordinate where the first origin is located when the lower frame corresponds to the battery swapping position; Obtaining the actual coordinate of the first origin, and obtaining the first coordinate difference between the actual coordinate of the first origin and the first standard coordinate; Controlling the lower frame to move along the length direction of the vehicle body of the electric vehicle according to the first coordinate difference, until the first origin is located at the position of the first standard coordinate. The battery carrier of the mobile platform is provided with a second origin; 22. The shuttle vehicle control method of claim 16, wherein, Controlling the mobile platform to move along the length direction of the vehicle body of the electric vehicle, so that the mobile platform corresponds to the battery swapping position; comprising the following steps: ​ An origin coordinate system is established, and a second standard coordinate of a second origin is a coordinate where the second origin is located when the battery carrier corresponds to the battery swap position; An actual coordinate of the second origin is obtained, and a second coordinate difference between the actual coordinate of the second origin and the second standard coordinate is obtained; The battery carrier is controlled to move along a length direction of a vehicle body of the electric vehicle according to the second coordinate difference until the second origin is located at a position of the second standard coordinate.

23. The shuttle vehicle control method of claim 16, wherein controlling the walking mechanism to move so that the shuttle vehicle is located below the battery swap position of the electric vehicle; includes: controlling the walking mechanism to move along a width direction of the vehicle body of the electric vehicle so that the shuttle vehicle moves to the bottom of the electric vehicle.

24. The shuttle vehicle control method of claim 23, wherein, The walking path of the shuttle vehicle along the width direction of the vehicle body of the electric vehicle is provided with a positioning point, and the walking mechanism is provided with a positioning sensor for detecting a signal of the positioning point; controlling the walking mechanism to move along the width direction of the vehicle body of the electric vehicle so that the shuttle vehicle moves to the bottom of the electric vehicle includes the following steps: controlling the walking mechanism to move along the width direction of the vehicle body of the electric vehicle, and stopping the movement of the walking mechanism when the positioning sensor detects the signal of the positioning point.

25. The shuttle vehicle control method of claim 16, wherein, Before controlling the walking mechanism to move so that the shuttle vehicle is located below the battery swap position of the electric vehicle, the method further includes the following steps: detecting whether the mobile platform has a battery tray; and / or, detecting whether the top of the mobile platform has a battery pack.

26. The shuttle vehicle control method of claim 16, wherein, The shuttle vehicle is provided with a limit sensor, and the walking path of the shuttle vehicle is provided with a limit detection point, and the limit sensor is used to detect the limit detection point; controlling the walking mechanism to move so that the shuttle vehicle is located below the battery swap position of the electric vehicle; includes: controlling the walking mechanism to stop moving when the limit sensor detects the limit detection point.

27. The shuttle vehicle control method of claim 16, wherein, The shuttle vehicle further includes an unlocking device, and the unlocking device is provided with an unlocking rod, and the unlocking rod can move to a locking position or an unlocking position; Before controlling the mobile platform to rise so that the battery pack is lifted to the battery swap position, the method further includes the following steps: controlling the unlocking rod to move to the locking position or the unlocking position.

28. The shuttle vehicle control method of claim 27, wherein, The unlocking device further includes a first sensor, and the first sensor is used to detect whether the unlocking rod is located at the locking position; controlling the unlocking rod to move to the locking position includes the following steps: controlling the unlocking rod to stop acting when the first sensor detects that the unlocking rod reaches the locking position.

29. The shuttle vehicle control method of claim 27, wherein, The unlocking device further includes a second sensor, and the second sensor is used to detect whether the unlocking rod is located at the unlocking position; controlling the unlocking rod to move to the unlocking position includes the following steps: controlling the unlocking rod to stop acting when the second sensor detects that the unlocking rod reaches the unlocking position.

30. The shuttle vehicle control method of claim 16, wherein, The shuttle vehicle further includes a lifting positioning sensor and a lifting positioning detection point, and the lifting positioning sensor is used to detect the lifting positioning detection point; Controlling the mobile platform to ascend, and make the battery pack be hoisted to the battery swap position, including: When the lifting positioning sensor detects the signal of the lifting positioning detection point, stop the ascending of the mobile platform.

31. The shuttle vehicle control method of claim 16, wherein, The shuttle vehicle further comprises an unlocking device, the unlocking device is arranged on the mobile platform, the unlocking device further comprises an unlocking rod, the end of the unlocking rod is matched with the stress point of the lock connecting rod; the battery pack comprises a battery and a lock shaft arranged around the battery; The lock base has a lock slot, the lock slot is used for accommodating the lock shaft, the lock slot has an outlet for the lock shaft to be separated; Controlling the mobile platform to ascend, and make the battery pack be hoisted to the battery swap position, including: Make the unlocking rod of the unlocking device abut against the stress point of the lock connecting rod, and the battery carrier holds the battery pack; Controlling the battery carrier and the lower frame to move, make the unlocking rod drive the lock connecting rod to act, and make the lock base be in the unlocking state; Controlling the battery carrier to drive the battery pack to move, make the lock shaft of the battery pack move to the outlet of the lock slot.

32. The shuttle vehicle control method of claim 31, wherein, Controlling the mobile platform to ascend, and make the battery pack be hoisted to the battery swap position, including: Controlling the unlocking rod of the unlocking device to move, make the unlocking rod be aligned with the stress point of the lock connecting rod.

33. The shuttle vehicle control method of claim 16, wherein, Controlling the mobile platform to ascend, and make the battery pack be hoisted to the battery swap position, including: Controlling the battery carrier to move, make the lock shaft of the battery pack be aligned with the inlet of the entering section.

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