Battery swapping device and battery swapping device control method

Abstract

The application discloses a battery replacing device and a battery replacing device control method. The battery replacing device comprises a walking mechanism, a first moving platform and a controller. The first moving platform is located on the walking mechanism, and the controller is used for controlling the walking of the walking mechanism. The controller is also used for controlling the movement of the first moving platform relative to the walking mechanism, so that the first moving platform is aligned with the positioning seat of the battery pack on the electric vehicle. The battery replacing device and the battery replacing device control method can realize fast battery replacing operation, improve the battery replacing efficiency and the stability of the battery replacing operation.

Description

[0001] This application is a divisional application of Chinese patent application filed on January 23, 2020, with application number 2020100769885, entitled "Power Swapping Equipment and Power Swapping Equipment Control Method". Technical Field

[0002] This invention relates to a battery swapping device.

[0003] The present invention also relates to a control method for battery swapping equipment. Background Technology

[0004] Fast-swap electric vehicles (ESVs) can meet their power needs by replacing the battery pack. This process typically requires a battery swapping device (i.e., a battery swapping cart). This device moves the battery pack between the ESV and the battery compartment, unlocks the old battery pack from the ESV, and inserts and locks the new battery pack. Designing a battery swapping device that enables the swapping operation is a pressing issue that needs to be addressed. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to achieve the purpose of unlocking and locking the battery pack of the battery swapping equipment, and to provide a battery swapping equipment and a battery swapping equipment control method.

[0006] The present invention solves the above-mentioned technical problems through the following technical solution:

[0007] This invention provides a battery swapping device, the battery swapping device comprising:

[0008] Walking mechanism;

[0009] A first mobile platform, which is located on the walking mechanism;

[0010] A controller is provided for controlling the walking mechanism to move; the controller is also used to control the first mobile platform to move relative to the walking mechanism so that the first mobile platform is aligned with the positioning seat of the battery pack on the electric vehicle.

[0011] In this technical solution, by controlling the movement of the walking mechanism, the battery swapping equipment reaches the battery swapping position under the electric vehicle, and the first moving platform is aligned with the positioning seat of the battery pack on the electric vehicle, enabling the battery swapping operation to be performed.

[0012] Preferably, the first mobile platform includes a first guide fork, which aligns with the positioning seat when the first mobile platform moves to the battery swapping station.

[0013] In this technical solution, the first guide fork is aligned with the positioning seat by adjusting the first moving platform to facilitate subsequent battery swapping operations.

[0014] Preferably, the first mobile platform and the walking mechanism are respectively provided with a first positioning origin and a first origin sensor for detecting the first positioning origin.

[0015] In this technical solution, the position of the first positioning origin is detected by the first origin sensor. When the first origin sensor detects the first positioning origin, it indicates that the first moving platform has reached the battery swapping station, so that the battery swapping equipment can accurately perform the battery swapping operation.

[0016] Preferably, the first standard coordinate difference is the coordinate difference between the first positioning origin and the first origin sensor when the first mobile platform is at the battery swapping station; the first origin sensor is a vision sensor, which is used to obtain the actual coordinates of the first positioning origin; the controller is also used to compare the actual coordinates of the first positioning origin and the actual coordinates of the first origin sensor to generate the first standard coordinate difference; the controller is also used to control the movement of the first mobile platform according to the first standard coordinate difference.

[0017] In this technical solution, a vision sensor can be used to acquire the first standard coordinate difference in real time. The controller controls the movement of the first moving platform based on the first standard coordinate difference, which can accurately control the position of the first moving platform to facilitate subsequent battery swapping operations.

[0018] Preferably, the first origin sensor is an infrared sensor, the battery swapping device includes an infrared transmitter, the infrared transmitter is set at the first positioning origin, the infrared sensor is used to obtain the distance between the infrared sensor and the infrared transmitter, and the controller is also used to control the movement of the first mobile platform according to the distance.

[0019] In this technical solution, the coordinate difference between the first positioning origin and the infrared sensor can be obtained by using an infrared sensor, and the controller controls the movement of the first moving platform based on the coordinate difference.

[0020] Preferably, the battery swapping equipment further includes a second mobile platform located below the first mobile platform, and the controller is further configured to control the second mobile platform to move to the battery pack disassembly or installation station.

[0021] In this technical solution, the battery swapping equipment can be made to disassemble or install the battery pack by adjusting the second moving platform.

[0022] Preferably, the second mobile platform is provided with a second positioning origin, and the walking mechanism is provided with a second origin sensor for detecting the second positioning origin.

[0023] In this technical solution, the position of the second positioning origin is detected by the second origin sensor. When the second origin sensor detects the second positioning origin, it indicates that the second moving platform has reached the predetermined position.

[0024] Preferably, the second disassembly standard coordinate difference is the coordinate difference between the second positioning origin and the second origin sensor when the second mobile platform is in the disassembly station; the second origin sensor is a vision sensor, which is used to obtain the actual coordinates of the second positioning origin, and the controller is also used to compare the actual coordinates of the second positioning origin and the actual coordinates of the second origin sensor to generate the second disassembly standard coordinate difference, and the controller is also used to control the movement of the second mobile platform according to the second disassembly standard coordinate difference.

[0025] In this technical solution, a vision sensor can be used to acquire the second disassembly standard coordinate difference in real time. The controller controls the movement of the second moving platform based on the second disassembly standard coordinate difference, which can accurately control the position of the second moving platform to facilitate subsequent disassembly operations.

[0026] Preferably, the second installation standard coordinate difference is the coordinate difference between the second positioning origin and the second origin sensor when the second mobile platform is in the installation position; the second origin sensor is a vision sensor, which is used to obtain the actual coordinates of the second positioning origin, and the controller is also used to compare the actual coordinates of the second positioning origin and the actual coordinates of the second origin sensor to generate the second installation standard coordinate difference, and the controller is also used to control the movement of the second mobile platform according to the second installation standard coordinate difference.

[0027] In this technical solution, a vision sensor can be used to acquire the second installation standard coordinate difference in real time. The controller controls the movement of the second moving platform based on the second installation standard coordinate difference, which can accurately control the position of the second moving platform to facilitate subsequent installation operations.

[0028] Preferably, the second origin sensor is an infrared sensor, the battery swapping device includes an infrared transmitter, the infrared transmitter is set at the second positioning origin, the infrared sensor is used to obtain the distance between itself and the infrared transmitter, and the controller is also used to control the movement of the second mobile platform according to the distance.

[0029] In this technical solution, the coordinate difference between the second positioning origin and the infrared sensor can be obtained using an infrared sensor, and the controller controls the movement of the second moving platform based on the coordinate difference.

[0030] Preferably, the battery swapping device includes an unlocking device, which includes an unlocking lever and a driving mechanism. The driving mechanism is used to control the unlocking lever to move to a locked position or an unlocked position to lock and unlock the battery pack.

[0031] In this technical solution, the battery pack is locked and unlocked by controlling the movement of the unlocking lever of the unlocking device.

[0032] Preferably, the unlocking device further includes a first unlocking sensor, which is used to detect whether the unlocking lever is in the locked position; the controller is also used to control the unlocking lever to stop moving when the unlocking lever is in the locked position.

[0033] In this technical solution, a first unlocking sensor is used to detect whether the unlocking lever has reached the locking position, ensuring the safe locking of the battery pack.

[0034] Preferably, the unlocking device further includes a second unlocking sensor, which is used to detect whether the unlocking lever is in the unlocking position; the controller is also used to control the unlocking lever to stop moving when the unlocking lever is in the unlocking position.

[0035] In this technical solution, a second unlocking sensor is used to detect whether the unlocking lever has reached the unlocking position, ensuring the safe unlocking of the battery pack.

[0036] Preferably, the battery swapping location is provided with an alignment origin, and the battery swapping equipment is provided with an alignment sensor, which is used to detect whether the battery swapping equipment has reached the alignment origin.

[0037] In this technical solution, a positioning sensor is used to detect the position of the positioning origin. When the positioning sensor detects the positioning origin, it indicates that the battery swapping equipment has reached the battery swapping position, so that the battery swapping equipment can accurately stop at the battery swapping position.

[0038] Preferably, the battery swapping device travels along a walking channel between a battery swapping position and an exchange position. The walking channel is provided with a first waiting position located between the battery swapping position and the exchange position. The battery swapping device is also used to move along the walking channel to the first waiting position when it receives a first waiting signal.

[0039] In this technical solution, the battery swapping equipment can be parked in the first waiting position to wait for another battery swapping equipment to leave the swapping position.

[0040] Preferably, the battery swapping device travels along a walking channel between a battery swapping position and an exchange position. The walking channel is provided with a second waiting position. The battery swapping position is located between the second waiting position and the exchange position. The battery swapping device is also used to move along the walking channel to the second waiting position when a second waiting signal is received.

[0041] In this technical solution, the battery swapping equipment can be parked in a second waiting position to wait for another battery swapping equipment to leave the swapping position.

[0042] Preferably, the battery swapping device travels along a travel path between a battery swapping position and an exchange position. The travel path has limit positions, and the battery swapping device is also used to stop moving when it reaches the limit positions.

[0043] In this technical solution, when the limit sensor detects the limit positioning point, the battery swapping equipment stops moving to prevent the battery swapping equipment from exceeding the limit position and causing danger.

[0044] The present invention also provides a control method for a battery swapping device, the battery swapping device being used to replace a battery pack on an electric vehicle, the battery swapping device including a first moving platform and a traveling mechanism, the first moving platform being located on the traveling mechanism, and the control method for the battery swapping device including the following steps:

[0045] The first mobile platform is controlled to move to the battery swapping station so that it is aligned with the positioning seat of the battery pack on the electric vehicle.

[0046] In this technical solution, the above steps can achieve precise positioning of the first mobile platform, ensuring the reliability of the battery swapping equipment operation.

[0047] Preferably, the first mobile platform includes a first guide fork;

[0048] Controlling the first mobile platform to move to the battery swapping station so that the first mobile platform is aligned with the positioning seat of the battery pack on the electric vehicle includes the following steps:

[0049] Control the first mobile platform to move to the battery swapping station so that the first guide fork is aligned with the positioning seat.

[0050] In this technical solution, the alignment of the first guide fork with the positioning seat is achieved by controlling the first moving platform in order to perform the battery swapping operation.

[0051] Preferably, controlling the first mobile platform to move to the battery swapping station so that the first mobile platform is aligned with the positioning seat of the battery pack on the electric vehicle includes the following steps:

[0052] Upon receiving a battery removal or installation signal, the current position of the first mobile platform is obtained and compared with the battery swapping station of the first mobile platform;

[0053] Control the first mobile platform to move to the battery swapping station.

[0054] In this technical solution, the first mobile platform can be precisely moved to the battery swapping station through the above steps.

[0055] Preferably, the first mobile platform and the walking mechanism are respectively provided with a first positioning origin and a first origin sensor for detecting the first positioning origin;

[0056] Controlling the first mobile platform to move to the battery swapping station so that the first mobile platform is aligned with the positioning seat of the battery pack on the electric vehicle includes the following steps:

[0057] Establish an origin coordinate system, where the first standard coordinate difference is the coordinate difference between the first positioning origin and the first origin sensor when the first mobile platform is at the battery swapping station.

[0058] Obtain the actual coordinate difference between the first origin sensor and the first positioning origin;

[0059] The first moving platform is controlled to move according to the actual coordinate difference until the actual coordinate difference between the first origin sensor and the first positioning origin is equal to the first standard coordinate difference.

[0060] Preferably, the battery swapping equipment further includes a second mobile platform, which is located below the first mobile platform;

[0061] Controlling the first mobile platform to move to the battery swapping station so that the first mobile platform is aligned with the positioning seat of the battery pack on the electric vehicle, further includes the following steps:

[0062] The second mobile platform is controlled to move to the battery pack disassembly or installation station, and the battery pack is disassembled or installed at the battery swapping location under the electric vehicle.

[0063] In this technical solution, the second mobile platform can be adjusted to the disassembly station or the installation station through the above steps to carry out subsequent battery pack disassembly and assembly operations.

[0064] Preferably, the second mobile platform is moved to the battery pack disassembly station, and the battery pack is disassembled and installed at the battery swapping location under the electric vehicle, including the following steps:

[0065] Upon receiving a battery removal signal, the current position of the second mobile platform is obtained and compared with the removal station of the second mobile platform;

[0066] Control the second mobile platform to move to the disassembly station.

[0067] In this technical solution, the second mobile platform can be accurately moved to the disassembly station through the above steps.

[0068] Preferably, the second mobile platform is moved to the battery pack installation position, and the battery pack is installed or removed at the battery swapping location under the electric vehicle, including the following steps:

[0069] Upon receiving a battery installation signal, the current position of the second mobile platform is obtained and compared with the installation station of the second mobile platform;

[0070] Control the second mobile platform to move to the installation station.

[0071] In this technical solution, the second mobile platform can be accurately moved to the installation station through the above steps.

[0072] Preferably, the second mobile platform and the walking mechanism are respectively provided with a second positioning origin and a second origin sensor for detecting the second positioning origin;

[0073] The second mobile platform is controlled to move to the battery pack disassembly station, and the battery pack is disassembled and installed at the battery swapping location under the electric vehicle, including the following steps:

[0074] Establish an origin coordinate system, and the second disassembly standard coordinate difference is the coordinate difference between the second positioning origin and the second origin sensor when the second moving platform is in the disassembly station;

[0075] Obtain the actual coordinate difference between the second origin sensor and the second positioning origin;

[0076] The second moving platform is controlled to move according to the actual coordinate difference until the actual coordinate difference between the second origin sensor and the second positioning origin is equal to the second disassembly standard coordinate difference.

[0077] In this technical solution, the above steps can be used to control the second mobile platform to move accurately to the disassembly station.

[0078] Preferably, the second mobile platform and the walking mechanism are respectively provided with a second positioning origin and a second origin sensor for detecting the second positioning origin;

[0079] The second mobile platform is controlled to move to the battery pack installation position, and the battery pack is installed and removed at the battery swapping location under the electric vehicle, including the following steps:

[0080] Establish an origin coordinate system, and the second installation standard coordinate difference is the coordinate difference between the second positioning origin and the second origin sensor when the second mobile platform is in the installation position;

[0081] Obtain the actual coordinate difference between the second origin sensor and the second positioning origin;

[0082] The second moving platform is controlled to move according to the actual coordinate difference until the actual coordinate difference between the second origin sensor and the second positioning origin is equal to the second installation standard coordinate difference.

[0083] In this technical solution, the above steps enable the second mobile platform to be accurately moved to the installation station.

[0084] Preferably, the second mobile platform is provided with an unlocking device, the unlocking device including an unlocking lever.

[0085] Controlling the second mobile platform to move to the battery pack disassembly or installation station, and disassembling or assembling the battery pack at the battery swapping location under the electric vehicle, also includes the following steps:

[0086] Control the unlocking lever to move to the locked or unlocked position.

[0087] In this technical solution, the above steps enable the unlocking device to lock and unlock the battery pack.

[0088] Preferably, the unlocking device further includes a first unlocking sensor, which is used to detect whether the unlocking lever is in the locked position;

[0089] Controlling the unlocking lever to move to the locked position includes the following steps:

[0090] The first unlocking sensor detects that the unlocking lever has reached the locking position and controls the unlocking lever to stop moving.

[0091] In this technical solution, the above steps ensure that the unlocking lever reaches the locking position, thus guaranteeing the reliability of the locking.

[0092] Preferably, the unlocking device further includes a second unlocking sensor, which is used to detect whether the unlocking lever is in the unlocking position;

[0093] Controlling the unlock lever to move to the unlock position includes the following steps:

[0094] The second unlocking sensor detects that the unlocking lever has reached the unlocking position and controls the unlocking lever to stop moving.

[0095] In this technical solution, the above steps ensure that the unlocking lever reaches the unlocking position, guaranteeing that the battery pack can be unlocked smoothly.

[0096] Preferably, the battery swapping equipment travels along a travel path between the battery swapping position and the exchange position; the battery swapping equipment control method includes the following steps:

[0097] Upon receiving a signal for battery removal or installation, the system controls the battery swapping equipment to move along the walking path to the battery swapping location.

[0098] In this technical solution, the above steps can be used to keep the battery swapping equipment in the battery swapping position.

[0099] Preferably, the battery swapping equipment travels along a travel path between a battery swapping position and an exchange position, and the travel path is provided with a first waiting position located between the battery swapping position and the exchange position;

[0100] The battery swapping equipment control method includes the following steps:

[0101] Upon receiving the first waiting signal, the battery swapping equipment is controlled to move along the walking path to the first waiting position.

[0102] In this technical solution, the above steps enable the battery swapping equipment to accurately stop at the first waiting position without affecting the battery swapping operation of another battery swapping equipment.

[0103] Preferably, the battery swapping equipment travels along a travel path between a battery swapping position and an exchange position. The travel path is provided with a second waiting position, and the battery swapping position is located between the second waiting position and the exchange position.

[0104] The battery swapping equipment control method includes the following steps:

[0105] Upon receiving the second waiting signal, the battery swapping equipment is controlled to move along the walking path to the second waiting position.

[0106] In this technical solution, the above steps enable the battery swapping device to accurately stop at the first waiting position without affecting the other battery swapping device from putting the battery pack into the battery compartment.

[0107] Preferably, the battery swapping equipment travels along a travel path between a battery swapping position and an exchange position, and the travel path is provided with limit positions;

[0108] Controlling the first mobile platform to move to the battery pack disassembly or installation station, and disassembling or assembling the battery pack at the battery swapping location under the electric vehicle, includes the following steps:

[0109] The battery swapping equipment stops moving when it reaches the extreme positioning point.

[0110] In this technical solution, the above steps can prevent the power swapping equipment from leaving the working area and causing danger.

[0111] The positive and progressive effects of this invention are as follows: the battery swapping equipment and the battery swapping equipment control method of this invention can realize rapid battery swapping operation, improve battery swapping efficiency and the stability of battery swapping operation. Attached Figure Description

[0112] Figure 1 This is a schematic diagram of the battery swapping equipment according to Embodiment 1 of the present invention.

[0113] Figure 2 for Figure 1 The diagram shows the structure of the unlocking device for the battery swapping equipment.

[0114] Figure 3 for Figure 1 The diagram shows the structure of the power swapping equipment.

[0115] Figure 4 This is a schematic diagram of the steps of the battery swapping equipment control method in Embodiment 3 of the present invention.

[0116] Figure 5 This is a schematic diagram of the steps of the battery swapping equipment control method in Embodiment 4 of the present invention.

[0117] Figure 6 This is a schematic diagram of the steps of the battery swapping equipment control method in Embodiment 6 of the present invention.

[0118] Figure 7 This is a schematic diagram of the steps of the battery swapping equipment control method in Embodiment 7 of the present invention.

[0119] Figure 8 This is a schematic diagram of the steps of the battery swapping equipment control method in Embodiment 8 of the present invention.

[0120] Figure 9 This is a schematic diagram of the steps of the battery swapping equipment control method in Embodiment 9 of the present invention.

[0121] Explanation of reference numerals in the attached figures

[0122] First Mobile Platform 1

[0123] First origin sensor 11

[0124] Second Mobile Platform 2

[0125] Second origin sensor 21

[0126] Walking mechanism 3

[0127] Unlocking device 4

[0128] Unlock lever 41

[0129] First unlocking sensor 42

[0130] Second unlocking sensor 43

[0131] First guide fork 5

[0132] Controller 10 Detailed Implementation

[0133] The present invention will be further illustrated by way of embodiments below, but the present invention is not limited to the scope of the embodiments.

[0134] Example 1

[0135] like Figures 1-3 As shown, a battery swapping device includes a traveling mechanism 3, a first moving platform 1, and a controller 10. The first moving platform 1 is located on the traveling mechanism 3, and the controller 10 controls the movement of the traveling mechanism 3. The controller 10 also controls the movement of the first moving platform 1 relative to the traveling mechanism 3, so that the first moving platform 1 is aligned with the positioning seat of the battery pack on the electric vehicle. By controlling the movement of the traveling mechanism 3, the battery swapping device reaches the battery swapping position under the electric vehicle, and the first moving platform 1 is aligned with the positioning seat of the battery pack on the electric vehicle, enabling the battery swapping operation.

[0136] The first mobile platform 1 includes a first guide fork 5. When the first mobile platform 1 moves to the battery swapping station, the first guide fork 5 is aligned with the positioning seat. By adjusting the first mobile platform 1, the first guide fork 5 is aligned with the positioning seat to facilitate subsequent battery swapping operations.

[0137] The first mobile platform 1 and the walking mechanism 3 are respectively equipped with a first positioning origin and a first origin sensor 11 for detecting the first positioning origin. The first origin sensor 11 is used to detect the coordinate difference between the first origin sensor 11 and the first positioning origin. When the coordinate difference reaches the standard value, it indicates that the first mobile platform 1 has reached the battery swapping station, so that the battery swapping equipment can accurately perform the battery swapping operation.

[0138] A specific control method for moving the first mobile platform 11 to the battery swapping station is as follows: the first standard coordinate difference is the coordinate difference between the first positioning origin and the first origin sensor 11 when the first mobile platform 11 is at the battery swapping station; the first origin sensor 11 is a vision sensor, which is used to obtain the actual coordinates of the first positioning origin. The controller 10 is also used to compare the actual coordinates of the first positioning origin and the actual coordinates of the first origin sensor 11 to generate the first standard coordinate difference. The controller 10 is also used to control the movement of the first mobile platform 1 according to the first standard coordinate difference. By using the vision sensor to obtain the first standard coordinate difference in real time, and the controller 10 to control the movement of the first mobile platform 1 according to the first standard coordinate difference, the position of the first mobile platform 1 can be precisely controlled to facilitate subsequent battery swapping operations.

[0139] In some other preferred embodiments, the first origin sensor 11 can also be other types of sensors, such as an infrared sensor. In this case, the movement control method for the first moving platform 1 is as follows: the battery swapping equipment includes an infrared transmitter, which is positioned at the first positioning origin. The infrared sensor is used to obtain the distance between the infrared sensor and the infrared transmitter. The controller 10 is also used to control the movement of the first moving platform 1 based on this distance. The coordinate difference between the first positioning origin and the infrared sensor can be obtained using the infrared sensor, and the controller 10 controls the movement of the first moving platform 1 based on this coordinate difference.

[0140] The battery swapping equipment also includes a second mobile platform 2, which is located below the first mobile platform 1. The controller 10 is also used to control the movement of the second mobile platform 2 to the battery pack disassembly or installation station. The battery swapping equipment can perform battery pack disassembly or installation operations by adjusting the second mobile platform 2.

[0141] The second mobile platform 2 is provided with a second positioning origin, and the walking mechanism 3 is provided with a second origin sensor 21 for detecting the second positioning origin. The position of the second positioning origin is detected by the second origin sensor 21. When the second origin sensor 21 detects the second positioning origin, it indicates that the second mobile platform 2 has reached the predetermined position.

[0142] A specific control method for moving the second mobile platform 2 to the disassembly station is as follows: the second disassembly standard coordinate difference is the coordinate difference between the second positioning origin and the second origin sensor 21 when the second mobile platform 2 is in the disassembly station; the second origin sensor 21 is a vision sensor, which is used to obtain the actual coordinates of the second positioning origin. The controller 10 is also used to compare the actual coordinates of the second positioning origin and the actual coordinates of the second origin sensor 21 to generate the second disassembly standard coordinate difference. The controller 10 is also used to control the movement of the second mobile platform 2 according to the second disassembly standard coordinate difference. By using the vision sensor to obtain the second disassembly standard coordinate difference in real time, and the controller 10 to control the movement of the second mobile platform 2 according to the second disassembly standard coordinate difference, the position of the second mobile platform 2 can be precisely controlled to facilitate subsequent disassembly operations.

[0143] Similarly, a specific control method for moving the second mobile platform 2 to the installation station is as follows: the second installation standard coordinate difference is the coordinate difference between the second positioning origin and the second origin sensor 21 when the second mobile platform 2 is in the installation station; the second origin sensor 21 is a vision sensor, which is used to obtain the actual coordinates of the second positioning origin. The controller 10 is also used to compare the actual coordinates of the second positioning origin and the actual coordinates of the second origin sensor 21 to generate the second installation standard coordinate difference. The controller 10 is also used to control the movement of the second mobile platform 2 according to the second installation standard coordinate difference. By using the vision sensor to obtain the second installation standard coordinate difference in real time, and the controller 10 to control the movement of the second mobile platform 2 according to the second installation standard coordinate difference, the position of the second mobile platform 2 can be precisely controlled to facilitate subsequent installation operations.

[0144] In some other preferred embodiments, the second origin sensor 21 can also be other types of sensors, such as an infrared sensor. In this case, the movement of the second mobile platform 2 is controlled as follows: the battery swapping equipment includes an infrared transmitter, which is positioned at the second positioning origin. The infrared sensor is used to obtain the distance between itself and the infrared transmitter. The controller 10 is also used to control the movement of the second mobile platform 2 based on this distance. The coordinate difference between the second positioning origin and the infrared sensor can be obtained using the infrared sensor, and the controller 10 controls the movement of the second mobile platform 2 based on this coordinate difference.

[0145] The battery swapping equipment includes an unlocking device 4, which comprises an unlocking lever 41 and a drive mechanism. The drive mechanism controls the unlocking lever 41 to move to a locked or unlocked position, thereby locking and unlocking the battery pack. Locking and unlocking of the battery pack is achieved by controlling the movement of the unlocking lever 41 of the unlocking device 4.

[0146] The unlocking device 4 also includes a first unlocking sensor 42, which is used to detect whether the unlocking lever 41 is in the locked position; the controller 10 is also used to control the unlocking lever 41 to stop moving when the unlocking lever 41 is in the locked position. Controlling the unlocking lever 41 to be in the locked position ensures that the unlocking lever 41 does not interfere with the movement of the locking mechanism when the battery pack is installed.

[0147] Similarly, the unlocking device 4 also includes a second unlocking sensor 43, which is used to detect whether the unlocking lever 41 is in the unlock position; the controller 10 is also used to control the unlocking lever 41 to stop moving when the unlocking lever 41 is in the unlock position. The second unlocking sensor 43 is used to detect whether the unlocking lever 41 has reached the unlock position so that the unlocking lever 41 is aligned with the unlocking point on the locking mechanism.

[0148] The battery swapping location has an alignment origin point, and the battery swapping equipment is equipped with an alignment sensor. The alignment sensor is used to detect whether the battery swapping equipment has reached the alignment origin point. By using the alignment sensor to detect the position of the alignment origin point, when the alignment sensor detects the alignment origin point, it means that the battery swapping equipment has reached the battery swapping location, allowing the battery swapping equipment to stop accurately at the battery swapping location.

[0149] The battery swapping equipment travels along a walkway between the battery swapping position and the exchange position. The walkway has a first waiting position located between the battery swapping position and the exchange position. The battery swapping equipment is also used to move to the first waiting position along the walkway upon receiving a first waiting signal. Before the electric vehicle is parked, the battery swapping equipment can pre-position itself at the first waiting position. After the electric vehicle is parked, the battery swapping equipment can move from the first waiting position to the battery swapping position to install or remove the battery pack.

[0150] The battery swapping equipment travels along a walkway between the swapping position and the exchange position. The walkway has a second waiting position, located between the swapping position and the exchange position. The battery swapping equipment is also used to move to the second waiting position along the walkway upon receiving a second waiting signal. After moving to the swapping position to install or remove the battery pack, the equipment continues moving forward along its original direction to the second waiting position to perform the next swapping action. For example, after removing the battery pack, it can wait for another battery swapping equipment to move along the same walkway to the swapping position to install the battery pack, or after installing the battery pack, it can move to the second waiting position to wait for the electric vehicle to leave.

[0151] The battery swapping equipment travels along a designated path between swapping and exchange positions. This path is equipped with limit positions, and the equipment is designed to stop when it reaches these limit positions. When a limit sensor detects a limit position, the equipment stops moving to prevent it from exceeding the limit and causing a hazard.

[0152] Example 2

[0153] The present invention also provides a control method for a battery swapping device. The battery swapping device is used to replace the battery pack on an electric vehicle. The battery swapping device includes a first moving platform 1 and a traveling mechanism 3. The first moving platform 1 is located on the traveling mechanism 3. The control method for the battery swapping device includes the following steps:

[0154] S1. Control the first mobile platform 1 to move to the battery swapping station so that the first mobile platform 1 is aligned with the positioning seat of the battery pack on the electric vehicle.

[0155] Through the above steps, the first mobile platform 1 can be controlled to move to the battery swapping station, so that the battery swapping equipment is aligned with the electric vehicle, ensuring the reliability of the battery swapping equipment operation.

[0156] The first mobile platform 1 includes a first guide fork 5;

[0157] S1 includes the following steps:

[0158] S10001, Control the first mobile platform 1 to move to the battery swapping station so that the first guide fork 5 is aligned with the positioning seat.

[0159] By controlling the first moving platform 1, the first guide fork 5 is aligned with the positioning seat to perform the battery swapping operation.

[0160] Example 3

[0161] The power swapping equipment control method in this embodiment, such as Figure 4 As shown, the following steps are added based on Example 2.

[0162] Step S1 includes:

[0163] S11. When a battery removal signal or installation signal is received, the current position of the first mobile platform 1 is obtained and compared with the battery swapping station of the first mobile platform 1.

[0164] S12, Control the first mobile platform 1 to move to the battery swapping station.

[0165] When the battery swapping equipment receives a battery removal or installation signal, it obtains the current position of the first mobile platform 1 and compares it with the battery swapping station of the first mobile platform 1. In this embodiment, through the above steps, based on the position comparison result, the first mobile platform 1 can be controlled to move precisely to the battery swapping station.

[0166] Example 4

[0167] The power swapping equipment control method in this embodiment, such as Figure 5 As shown, the following steps are added based on Example 2.

[0168] The first mobile platform 1 and the walking mechanism 3 are respectively provided with a first positioning origin and a first origin sensor 11 for detecting the first positioning origin.

[0169] Step S1 includes:

[0170] S110. Establish the origin coordinate system. The first standard coordinate difference is the coordinate difference between the first positioning origin and the first origin sensor 11 when the first mobile platform 1 is in the power swapping station.

[0171] S120: Obtain the actual coordinate difference between the first origin sensor 11 and the first positioning origin;

[0172] S130. Control the first moving platform 1 to move according to the actual coordinate difference until the actual coordinate difference between the first origin sensor 11 and the first positioning origin is the first standard coordinate difference.

[0173] Through the above steps, based on the comparison between the position of the first positioning origin detected by the first origin sensor 11 and the battery swapping station, the first moving platform 1 is controlled to move to the battery swapping station, thereby improving the reliability of subsequent battery pack installation and removal. The first origin sensor can be a vision sensor, an infrared ranging sensor, etc.

[0174] Example 5

[0175] The battery swapping equipment control method in this embodiment adds the following steps to the method in embodiment 2.

[0176] The battery swapping equipment also includes a second mobile platform 2, which is located below the first mobile platform 1.

[0177] S1 also includes:

[0178] S101. Control the second mobile platform 2 to move to the battery pack disassembly or installation station, and disassemble or install the battery pack at the battery swapping location under the electric vehicle.

[0179] In this embodiment, the second mobile platform 2 can be adjusted to a disassembly station or an installation station through the above steps to perform subsequent battery pack disassembly and assembly operations.

[0180] Example 6

[0181] The power swapping equipment control method in this embodiment, such as Figure 6 As shown, the following steps are added based on Example 5.

[0182] S101 includes the following steps:

[0183] S1011. Upon receiving the battery removal signal, obtain the current position of the second mobile platform 2 and compare it with the removal station of the second mobile platform 2.

[0184] S1012, Control the second mobile platform 2 to move to the disassembly station.

[0185] When the battery swapping equipment receives a battery removal signal, it obtains the current position of the second mobile platform 2 and compares it with the removal station of the second mobile platform 2. Through the above steps, based on the position comparison result, the second mobile platform 2 can be accurately moved to the removal station for subsequent removal work.

[0186] Example 7

[0187] The power swapping equipment control method in this embodiment, such as Figure 7 As shown, the following steps are added based on Example 5.

[0188] S101 includes the following steps:

[0189] S10110. Upon receiving the battery installation signal, obtain the current position of the second mobile platform 2 and compare it with the installation station of the second mobile platform 2.

[0190] S10120: Control the second mobile platform 2 to move to the installation station.

[0191] When the battery swapping equipment receives the battery installation signal, it obtains the current position of the second mobile platform 2 and compares it with the installation position of the second mobile platform 2. Through the above steps, based on the position comparison result, the second mobile platform 2 can be accurately moved to the installation position for subsequent installation work.

[0192] Example 8

[0193] The power swapping equipment control method in this embodiment, such as Figure 8 As shown, the following steps are added based on Example 5.

[0194] The second mobile platform 2 and the walking mechanism 3 are respectively equipped with a second positioning origin and a second origin sensor 21 for detecting the second positioning origin.

[0195] S101 includes the following steps:

[0196] S10101. Establish the origin coordinate system. The second disassembly standard coordinate difference is the coordinate difference between the second positioning origin and the second origin sensor 21 when the second moving platform 2 is in the disassembly station.

[0197] S10102. Obtain the actual coordinate difference between the second origin sensor 21 and the second positioning origin;

[0198] S10103. Control the second moving platform 2 to move according to the actual coordinate difference until the actual coordinate difference between the second origin sensor 21 and the second positioning origin is the second disassembly standard coordinate difference.

[0199] Through the above steps, the second mobile platform 2 can be accurately moved to the disassembly station.

[0200] In the above steps, the second origin sensor 21 can be a vision sensor. The vision sensor can acquire the second disassembly standard coordinate difference in real time. The controller 10 controls the movement of the second moving platform 2 according to the second disassembly standard coordinate difference. The controller can accurately control the movement of the second moving platform 2 to the disassembly station to facilitate subsequent disassembly operations.

[0201] Example 9

[0202] The power swapping equipment control method in this embodiment, such as Figure 9 As shown, the following steps are added based on Example 5.

[0203] The second mobile platform 2 and the walking mechanism 3 are respectively equipped with a second positioning origin and a second origin sensor 21 for detecting the second positioning origin.

[0204] S101 includes the following steps:

[0205] S101010. Establish the origin coordinate system. The second installation standard coordinate difference is the coordinate difference between the second positioning origin and the second origin sensor 21 when the second moving platform 2 is in the installation position.

[0206] S101020: Obtain the actual coordinate difference between the second origin sensor 21 and the second positioning origin;

[0207] S101030: Control the second moving platform 2 to move according to the actual coordinate difference until the actual coordinate difference between the second origin sensor 21 and the second positioning origin is the second installation standard coordinate difference.

[0208] Through the above steps, the second mobile platform 2 can be accurately moved to the installation position.

[0209] In the above steps, the second origin sensor 21 can be a vision sensor. The vision sensor can acquire the second installation standard coordinate difference in real time. The controller 10 controls the movement of the second moving platform 2 according to the second installation standard coordinate difference, which can accurately control the movement of the second moving platform 2 to the installation position to facilitate subsequent installation operations.

[0210] Example 10

[0211] The battery swapping equipment control method in this embodiment adds the following steps to the method in embodiment 5.

[0212] The second mobile platform 2 is equipped with an unlocking device 4, which includes an unlocking lever 41.

[0213] S101 includes the following steps:

[0214] S10111, Control the unlock lever 41 to move to the locked position or the unlocked position.

[0215] Through the above steps, the unlocking device 4 can lock and unlock the battery pack.

[0216] The unlocking device 4 also includes a first unlocking sensor 42, which is used to detect whether the unlocking lever 41 is in the locked position.

[0217] S10111 includes the following steps:

[0218] S101111, the first unlocking sensor 42 detects that the unlocking lever 41 has reached the locked position and controls the unlocking lever 41 to stop moving.

[0219] By following the steps described above, it can be ensured that the unlocking lever 41 reaches the locking position, thus guaranteeing the reliability of the locking.

[0220] The unlocking device 4 also includes a second unlocking sensor 43, which is used to detect whether the unlocking lever 41 is in the unlocked position.

[0221] S10111 includes the following steps:

[0222] S101112, The second unlocking sensor 43 detects that the unlocking lever 41 has reached the unlocking position and controls the unlocking lever 41 to stop moving.

[0223] The unlocking lever 41 is positioned in the locked position so that when the battery pack is installed, the unlocking lever 41 does not interfere with the movement of the locking mechanism. This ensures that the unlocking lever 41 reaches the unlock position, guaranteeing that the battery pack can be unlocked smoothly.

[0224] Example 11

[0225] The battery swapping equipment control method in this embodiment adds the following steps to the method in embodiment 2.

[0226] The battery swapping equipment travels along a designated path between the swapping and exchange locations. The control method for the battery swapping equipment includes the following steps:

[0227] S100: When a battery removal signal or a battery installation signal is received, the battery swapping equipment is controlled to move along the walking path to the battery swapping position.

[0228] When the battery swapping equipment receives a battery removal signal or a battery installation signal, the controller of the battery swapping equipment controls the battery swapping equipment to move along the walking channel to the battery swapping position. Through the above operation, the battery swapping equipment can reach the battery swapping position to perform the battery swapping operation.

[0229] In addition, the walking passage is also equipped with a first waiting position, which is located between the battery swapping position and the exchange position. The battery swapping equipment control method includes the following steps:

[0230] S200. Upon receiving the first waiting signal, control the battery swapping equipment to move along the walking path to the first waiting position.

[0231] When the battery swapping equipment receives the first waiting signal, the controller of the battery swapping equipment controls the battery swapping equipment to move along the walking channel to the first waiting position. Through the above steps, the battery swapping equipment can accurately stop at the first waiting position. Before the electric vehicle stops in place, the battery swapping equipment can stay at the first waiting position in advance. After the electric vehicle stops in place, the battery swapping equipment can enter the battery swapping position from the first waiting position to remove and install the battery pack.

[0232] Furthermore, the walking passage is also equipped with a second waiting position, and the battery swapping position is located between the second waiting position and the swapping position.

[0233] The control method for battery swapping equipment includes the following steps:

[0234] S300: Upon receiving the second waiting signal, control the battery swapping equipment to move along the walking path to the second waiting position.

[0235] When the battery swapping device receives the second waiting signal, its controller controls it to move along the travel path to the second waiting position. In this embodiment, the above steps ensure the battery swapping device accurately stops at the second waiting position. After moving along the travel path to the swapping position to install or remove the battery pack, the device continues to move forward along its original travel direction to the second waiting position to perform the next swapping action. For example, after removing the battery pack, it can wait for another battery swapping device to move along the same travel path to the swapping position to install the battery pack, or after installing the battery pack, it can move to the second waiting position and wait for the electric vehicle to leave.

[0236] The walking passage is also equipped with extreme positions. Preferably, multiple extreme positions are provided.

[0237] The control method for battery swapping equipment includes the following steps:

[0238] S400, the battery swapping equipment stops moving when it reaches the limit positioning point.

[0239] In this embodiment, the above steps can prevent the battery swapping equipment from leaving the working area and causing danger.

[0240] In this embodiment, the battery swapping system is equipped with multiple positioning points and multiple corresponding positioning sensors to correspond to the aforementioned battery swapping position, first waiting position, second waiting position, and extreme position, thereby achieving positioning control.

[0241] While specific embodiments of the present invention have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of the present invention 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 invention, but all such changes and modifications fall within the scope of protection of the present invention.

Claims

1. A battery swapping device, characterized in that, The battery swapping equipment includes: Walking mechanism; Controller, the controller being used to control the movement of the walking mechanism; The battery swapping equipment travels along a walking channel between a battery swapping position and an exchange position. The walking channel is provided with a first waiting position, which is located between the battery swapping position and the exchange position. The battery swapping equipment is also used to move along the walking channel to the first waiting position when it receives a first waiting signal. The battery swapping equipment travels along a walking channel between a battery swapping position and an exchange position. The walking channel is provided with a second waiting position. The battery swapping position is located between the second waiting position and the exchange position. The battery swapping equipment is also used to move along the walking channel to the second waiting position when it receives a second waiting signal. After the battery swapping equipment moves along the walking channel to the battery swapping position to perform the action of disassembling and assembling the battery pack, it continues to move forward along the original walking direction to the second waiting position in order to perform the next battery swapping action.

2. The battery swapping equipment as described in claim 1, characterized in that, The battery swapping equipment also includes a first mobile platform located on the walking mechanism; the controller is further configured to control the movement of the first mobile platform relative to the walking mechanism so that the first mobile platform is aligned with the positioning seat of the battery pack on the electric vehicle.

3. The battery swapping equipment as described in claim 2, characterized in that, The first mobile platform includes a first guide fork, which aligns with the positioning seat when the first mobile platform moves to the battery swapping station.

4. The battery swapping equipment as described in claim 2, characterized in that, The first mobile platform and the walking mechanism are respectively provided with a first positioning origin and a first origin sensor for detecting the first positioning origin.

5. The battery swapping equipment as described in claim 4, characterized in that, The first standard coordinate difference is the coordinate difference between the first positioning origin and the first origin sensor when the first mobile platform is at the battery swapping station; the first origin sensor is a vision sensor, which is used to obtain the actual coordinates of the first positioning origin; the controller is also used to compare the actual coordinates of the first positioning origin and the actual coordinates of the first origin sensor to generate the first standard coordinate difference; the controller is also used to control the movement of the first mobile platform according to the first standard coordinate difference.

6. The battery swapping equipment as described in claim 4, characterized in that, The first origin sensor is an infrared sensor, the battery swapping equipment includes an infrared transmitter, the infrared transmitter is set at the first positioning origin, the infrared sensor is used to obtain the distance between the infrared sensor and the infrared transmitter, and the controller is also used to control the movement of the first mobile platform according to the distance.

7. The battery swapping equipment as described in claim 2, characterized in that, The battery swapping equipment also includes a second mobile platform located below the first mobile platform. The controller is also used to control the second mobile platform to move to the battery pack disassembly or installation station.

8. The battery swapping equipment as described in claim 7, characterized in that, The second mobile platform is provided with a second positioning origin, and the walking mechanism is provided with a second origin sensor for detecting the second positioning origin.

9. The battery swapping equipment as described in claim 8, characterized in that, The second disassembly standard coordinate difference is the coordinate difference between the second positioning origin and the second origin sensor when the second mobile platform is in the disassembly station; the second origin sensor is a vision sensor, which is used to obtain the actual coordinates of the second positioning origin, and the controller is also used to compare the actual coordinates of the second positioning origin and the actual coordinates of the second origin sensor to generate the second disassembly standard coordinate difference, and the controller is also used to control the movement of the second mobile platform according to the second disassembly standard coordinate difference.

10. The battery swapping equipment as described in claim 8, characterized in that, The second installation standard coordinate difference is the coordinate difference between the second positioning origin and the second origin sensor when the second mobile platform is in the installation position; the second origin sensor is a vision sensor, which is used to obtain the actual coordinates of the second positioning origin, and the controller is also used to compare the actual coordinates of the second positioning origin and the actual coordinates of the second origin sensor to generate the second installation standard coordinate difference, and the controller is also used to control the movement of the second mobile platform according to the second installation standard coordinate difference.

11. The battery swapping equipment as described in claim 8, characterized in that, The second origin sensor is an infrared sensor. The battery swapping equipment includes an infrared transmitter, which is located at the second positioning origin. The infrared sensor is used to receive signals emitted by the infrared transmitter. The infrared sensor is also used to generate a positioning signal after receiving the signals emitted by the infrared transmitter. The controller is also used to stop the movement of the second moving platform after receiving the positioning signal.

12. The battery swapping equipment as described in claim 7, characterized in that, The battery swapping device includes an unlocking device, which includes an unlocking lever and a driving mechanism. The driving mechanism is used to control the unlocking lever to move to a locked position or an unlocked position to lock and unlock the battery pack.

13. The battery swapping equipment as described in claim 12, characterized in that... The unlocking device further includes a first unlocking sensor, which is used to detect whether the unlocking lever is in the locked position; the controller is also used to control the unlocking lever to stop moving when the unlocking lever is in the locked position.

14. The battery swapping equipment as described in claim 12, characterized in that, The unlocking device further includes a second unlocking sensor, which is used to detect whether the unlocking lever is in the unlocking position; the controller is also used to control the unlocking lever to stop moving when the unlocking lever is in the unlocking position.

15. The battery swapping equipment as described in claim 1, characterized in that, The battery swapping location is provided with an alignment origin, and the battery swapping equipment is provided with an alignment sensor. The alignment sensor is used to detect whether the battery swapping equipment has reached the alignment origin.

16. The battery swapping equipment as described in claim 1, characterized in that, The battery swapping equipment travels along a walking channel between a battery swapping position and an exchange position. The walking channel has extreme positions, and the battery swapping equipment is also used to stop moving when it reaches the extreme positions.

17. A control method for a battery swapping device, the battery swapping device being used to replace a battery pack in an electric vehicle, characterized in that, The battery swapping equipment includes a traveling mechanism. The battery swapping equipment travels along a traveling channel between a battery swapping position and an exchange position. The traveling channel has a first waiting position and a second waiting position. The first waiting position is located between the battery swapping position and the exchange position. The battery swapping position is located between the second waiting position and the exchange position. The battery swapping equipment control method includes the following steps: Upon receiving the first waiting signal, the device is controlled to move along the walking path to the first waiting position; upon receiving the second waiting signal, the device is controlled to move along the walking path to the second waiting position. After the device moves along the walking path to the battery swapping position to perform the battery pack removal and installation action, it continues to move forward along the original walking direction to the second waiting position in order to perform the next battery swapping action.

18. The control method for battery swapping equipment as described in claim 17, characterized in that, The battery swapping equipment includes a first mobile platform located on the walking mechanism, and the battery swapping equipment control method includes the following steps: The first mobile platform is controlled to move to the battery swapping station so that it is aligned with the positioning seat of the battery pack on the electric vehicle.

19. The control method for battery swapping equipment as described in claim 18, characterized in that, The first mobile platform includes a first guide fork; Controlling the first mobile platform to move to the battery swapping station so that the first mobile platform is aligned with the positioning seat of the battery pack on the electric vehicle includes the following steps: Control the first mobile platform to move to the battery swapping station so that the first guide fork is aligned with the positioning seat.

20. The control method for battery swapping equipment as described in claim 18, characterized in that, Controlling the first mobile platform to move to the battery swapping station so that the first mobile platform is aligned with the positioning seat of the battery pack on the electric vehicle includes the following steps: Upon receiving a battery removal or installation signal, the current position of the first mobile platform is obtained and compared with the battery swapping station of the first mobile platform; Control the first mobile platform to move to the battery swapping station.

21. The control method for battery swapping equipment as described in claim 18, characterized in that, The first mobile platform and the walking mechanism are respectively provided with a first positioning origin and a first origin sensor for detecting the first positioning origin; Controlling the first mobile platform to move to the battery swapping station so that the first mobile platform is aligned with the positioning seat of the battery pack on the electric vehicle includes the following steps: Establish an origin coordinate system, where the first standard coordinate difference is the coordinate difference between the first positioning origin and the first origin sensor when the first mobile platform is at the battery swapping station. Obtain the actual coordinate difference between the first origin sensor and the first positioning origin; The first moving platform is controlled to move according to the actual coordinate difference until the actual coordinate difference between the first origin sensor and the first positioning origin is equal to the first standard coordinate difference.

22. The control method for battery swapping equipment as described in claim 18, characterized in that, The battery swapping equipment also includes a second mobile platform, which is located below the first mobile platform; Controlling the first mobile platform to move to the battery swapping station so that the first mobile platform is aligned with the positioning seat of the battery pack on the electric vehicle, further includes the following steps: The second mobile platform is controlled to move to the battery pack disassembly or installation station, and the battery pack is disassembled or installed at the battery swapping location under the electric vehicle.

23. The control method for battery swapping equipment as described in claim 22, characterized in that, The second mobile platform is controlled to move to the battery pack disassembly station, and the battery pack is disassembled and installed at the battery swapping location under the electric vehicle, including the following steps: Upon receiving a battery removal signal, the current position of the second mobile platform is obtained and compared with the removal station of the second mobile platform; Control the second mobile platform to move to the disassembly station.

24. The control method for battery swapping equipment as described in claim 22, characterized in that, The second mobile platform is controlled to move to the battery pack installation position, and the battery pack is installed and removed at the battery swapping location under the electric vehicle, including the following steps: Upon receiving a battery installation signal, the current position of the second mobile platform is obtained and compared with the installation station of the second mobile platform; Control the second mobile platform to move to the installation station.

25. The control method for battery swapping equipment as described in claim 22, characterized in that, The second mobile platform and the walking mechanism are respectively provided with a second positioning origin and a second origin sensor for detecting the second positioning origin; The second mobile platform is controlled to move to the battery pack disassembly station, and the battery pack is disassembled and installed at the battery swapping location under the electric vehicle, including the following steps: Establish an origin coordinate system, and the second disassembly standard coordinate difference is the coordinate difference between the second positioning origin and the second origin sensor when the second moving platform is in the disassembly station; Obtain the actual coordinate difference between the second origin sensor and the second positioning origin; The second moving platform is controlled to move according to the actual coordinate difference until the actual coordinate difference between the second origin sensor and the second positioning origin is equal to the second disassembly standard coordinate difference.

26. The control method for battery swapping equipment as described in claim 22, characterized in that, The second mobile platform and the walking mechanism are respectively provided with a second positioning origin and a second origin sensor for detecting the second positioning origin; The second mobile platform is controlled to move to the battery pack installation position, and the battery pack is installed and removed at the battery swapping location under the electric vehicle, including the following steps: Establish an origin coordinate system, and the second installation standard coordinate difference is the coordinate difference between the second positioning origin and the second origin sensor when the second mobile platform is in the installation position; Obtain the actual coordinate difference between the second origin sensor and the second positioning origin; The second moving platform is controlled to move according to the actual coordinate difference until the actual coordinate difference between the second origin sensor and the second positioning origin is equal to the second installation standard coordinate difference.

27. The control method for battery swapping equipment as described in claim 22, characterized in that, The second mobile platform is equipped with an unlocking device, which includes an unlocking lever. Controlling the second mobile platform to move to the battery pack disassembly or installation station, and disassembling or assembling the battery pack at the battery swapping location under the electric vehicle, also includes the following steps: Control the unlocking lever to move to the locked or unlocked position.

28. The control method for battery swapping equipment as described in claim 27, characterized in that, The unlocking device further includes a first unlocking sensor, which is used to detect whether the unlocking lever is in the locked position; Controlling the unlocking lever to move to the locked position includes the following steps: The first unlocking sensor detects that the unlocking lever has reached the locking position and controls the unlocking lever to stop moving.

29. The control method for battery swapping equipment as described in claim 28, characterized in that, The unlocking device further includes a second unlocking sensor, which is used to detect whether the unlocking lever is in the unlocking position; Controlling the unlock lever to move to the unlock position includes the following steps: The second unlocking sensor detects that the unlocking lever has reached the unlocking position and controls the unlocking lever to stop moving.

30. The control method for battery swapping equipment as described in claim 17, characterized in that, The battery swapping equipment travels along a travel path between battery swapping positions and exchange positions; the battery swapping equipment control method includes the following steps: Upon receiving a battery removal signal or a battery installation signal, the system controls the battery swapping equipment to move along the walking path to the battery swapping location.

31. The control method for battery swapping equipment as described in claim 18, characterized in that, The battery swapping equipment travels along a travel path between a battery swapping position and an exchange position, and the travel path is provided with extreme positions. Controlling the first mobile platform to move to the battery pack disassembly or installation station, and disassembling or assembling the battery pack at the battery swapping location under the electric vehicle, includes the following steps: The battery swapping equipment stops moving when it reaches the extreme positioning point.

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