Battery swapping system and method compatible with multiple battery packs

Abstract

The present application specifically provides a battery replacement system and a battery replacement method that are compatible with multiple battery packs. The battery replacement system includes a first back battery pack, a first side-mounted battery pack, a communication module, a navigation and positioning module, an AGV robot, and a scheduling module. The first back battery pack includes a first back connecting seat and a first back battery body arranged on the first back connecting seat. The first side-mounted battery pack includes a first side-mounted connecting seat and a first side-mounted battery body arranged on the first side-mounted connecting seat. The communication module is used to obtain standard information of the battery pack on the battery replacement vehicle. The navigation and positioning module is used to obtain the position and posture of the battery replacement vehicle and the battery pack of the battery replacement vehicle. The AGV robot includes a driving component, a lifting component, and a supporting component. The lifting component is connected to the driving component, and the supporting component is connected to the lifting component. The scheduling module controls the AGV robot to replace the battery of the battery replacement vehicle according to the standard information and the position and posture of the battery replacement vehicle and the battery pack of the battery replacement vehicle.

Description

Technical Field

[0001] The present application relates to the field of battery replacement, and in particular to a battery replacement system and method that is compatible with multiple battery packs. Background Art

[0002] Battery swapping is an important way to replenish energy for electric vehicles. The current battery swapping methods mainly include back battery swapping and side battery swapping. Back battery swapping is a more traditional battery swapping method. The battery pack is usually placed on the back of the cockpit and can be lifted by a gantry truck or a ground rail trolley for battery swapping.

[0003] Since rear-mounted battery swapping limits the distance the cockpit can move backwards in the event of a collision, and the rear-mounted battery body blocks the driver's rear view, there are certain installation risks. The rear-mounted battery body will occupy part of the cargo space, resulting in a reduction in cargo capacity. Some vehicles even need to modify the vehicle structure to accommodate the rear-mounted battery body, such as improving the chassis structure, which will increase the development cycle and cost. Therefore, the industry is currently exploring and improving side-mounted battery swap solutions and products to improve the above problems. The side-mounted battery body is usually set on both sides of the bottom of the vehicle, or on the vehicle chassis, so the side-mounted battery body is difficult to replace by hoisting or other methods.

[0004] Therefore, the current battery replacement system uses a gantry truck or other lifting structure for the rear battery, which is usually only able to replace the battery of the rear battery itself, but it is difficult to replace the side-mounted battery. Summary of the Invention

[0005] In view of this, it is necessary to provide a battery replacement system and method that is compatible with multiple battery packs and can replace the back battery pack and the side-mounted battery pack.

[0006] An embodiment of the present application provides a battery exchange system, including a first back battery pack, a first side-mounted battery pack, a communication module, a navigation and positioning module, an AGV robot and a scheduling module. The first back battery pack includes a first back connecting seat and a first back battery body arranged on the first back connecting seat. The first side-mounted battery pack includes a first side-mounted connecting seat and a first side-mounted battery body arranged on the first side-mounted connecting seat. The communication module is used to obtain standard information of the battery pack of the battery exchange vehicle to determine the type of battery pack of the battery exchange vehicle. The navigation and positioning module is used to obtain the position and posture of the battery exchange vehicle and the battery pack of the battery exchange vehicle. The AGV robot includes a driving component, a lifting component and a supporting component, the lifting component is connected to the driving component, the supporting component is connected to the lifting component, the driving component and the lifting component drive the supporting component to move, so that the supporting component carries the first back battery body or the first side-mounted battery body. The scheduling module controls the AGV robot to remove the second rear battery body or the second side-mounted battery body of the battery-swapping vehicle based on the standard information and the position and posture of the battery-swapping vehicle and the battery pack of the battery-swapping vehicle, and installs the corresponding first rear battery body or the first side-mounted battery body on the battery-swapping vehicle.

[0007] In the battery swapping system of the above embodiment, the communication module obtains the battery model of the battery swapping vehicle, and the navigation and positioning module obtains the location and posture of the battery swapping vehicle. The dispatching module can then control the AGV battery swapping robot to swap the battery of the battery swapping vehicle. Whether it is a side-mounted battery pack or a back-mounted battery pack, the AGV battery swapping robot can replace the battery. This ensures that the AGV robot will not be idle for long periods of time, and will not need to be eliminated in the future when side-mounted battery packs become popular, effectively reducing costs.

[0008] An embodiment of the present application further provides a battery replacement method, which uses a battery replacement system to replace batteries, including:

[0009] Obtaining standard information: the communication module obtains standard information of the battery pack of the battery-swapping vehicle to determine the type of the battery pack of the battery-swapping vehicle;

[0010] Acquiring position and posture: the navigation and positioning module acquires the position and posture of the battery-swapping vehicle and the battery pack of the battery-swapping vehicle;

[0011] The AGV robot moves to a first preset position: the scheduling module controls the AGV robot to move toward the battery swap vehicle to the first preset position according to the position and posture of the battery swap vehicle and the battery pack of the battery swap vehicle, so that the supporting component is adapted to the docking piece of the battery pack of the battery swap vehicle;

[0012] Battery replacement for the battery-swapping vehicle: the AGV robot replaces the battery of the battery-swapping vehicle according to the battery pack type of the battery-swapping vehicle;

[0013] In the battery replacement method of the above embodiment, the AGV robot can replace batteries according to different types of battery packs on the battery replacement vehicle, and has strong applicability. The AGV robot will neither be idle for a long time nor be eliminated after the side-mounted battery packs become popular in the future.

[0014] In at least one embodiment, the step of "swapping a battery in a battery swapping vehicle" includes:

[0015] The supporting component is lifted to a first preset height to separate the second back battery body from the second back connecting seat;

[0016] The AGV robot operates according to a preset action so that the supporting component carries the first rear battery body toward the battery-swapping vehicle;

[0017] The driving component and the lifting component adjust the position and height of the supporting component to lift the first back battery body to a first preset height and position it above the second back connecting seat;

[0018] The supporting portion of the AGV robot is lowered to a second preset height so that the first back battery body is installed on the second back connecting seat.

[0019] In the battery replacement method of the above embodiment, when replacing the back battery pack, the supporting part of the AGV robot is extended into the docking part of the battery body, and then the battery body is lifted to separate the back battery body from the back connecting seat, which makes the battery replacement method simple.

[0020] In at least one embodiment, before the step of raising the supporting component of the AGV robot to the first preset height to separate the second back battery body from the second back connecting seat, the step further includes:

[0021] The scheduling module receives the first unlocking signal and controls the rear locking mechanism of the battery-swap vehicle to unlock the second rear battery body;

[0022] The step further includes: lowering the supporting portion of the AGV robot to a second preset height so that the first back battery body is installed on the second back connecting seat;

[0023] The scheduling module receives a first locking signal and controls the back locking mechanism to lock the first back battery body.

[0024] In the battery replacement method of the above embodiment, since the battery replacement vehicle usually needs to be equipped with a locking mechanism, the locking mechanism needs to be unlocked before removing the second rear battery body, and the locking mechanism needs to be locked after the first rear battery body is installed on the second rear connecting seat.

[0025] In at least one embodiment, the step of "swapping a battery in a battery swapping vehicle" includes:

[0026] The AGV robot sends a second unlocking signal to the scheduling module, and the scheduling module controls the side-mounted locking mechanism of the battery-swapping vehicle to unlock the second side-mounted battery body, so that the supporting component supports the second side-mounted battery body;

[0027] The supporting component is lowered to a third preset height to separate the second side-mounted battery body from the second side-mounted connecting seat;

[0028] The AGV robot operates according to a preset action so that the supporting component carries the first side-mounted battery body toward the battery-swapping vehicle;

[0029] The supporting component mounts the first side-mounted battery body on the second side-mounted connecting seat;

[0030] The scheduling module receives a second locking signal and controls the side-mounted locking mechanism to lock the first side-mounted battery body.

[0031] In the battery replacement method of the above embodiment, when replacing the battery of the side-hanging battery pack, the side-hanging locking mechanism is unlocked, and the second side-hanging battery body can fall directly onto the supporting component, and then the supporting component descends and the second side-hanging battery body can be completely separated from the second side-hanging connecting seat. After the first side-hanging battery body is installed on the second side-hanging connecting seat, the side-hanging locking mechanism needs to be locked to prevent the first side-hanging battery body from falling off from the second side-hanging connecting seat due to gravity. When replacing the battery of the side-hanging battery pack, two AGV robots can be moved synchronously to the opposite sides of the battery-changing vehicle to synchronously remove the second side-hanging battery bodies on both sides of the battery-changing vehicle, and synchronously install the first side-hanging battery body on the second side-hanging connecting seat. You can also use an AGV robot to remove the second side-hanging battery body on one side of the battery-changing vehicle, remove the first side-hanging battery body, and install it on the second side-hanging connecting seat, and then replace the second side-hanging battery body on the other side of the battery-changing vehicle. There are various replacement methods.

[0032] In at least one embodiment, the step of mounting the first side-mounted battery body on the second side-mounted connector by the supporting component includes:

[0033] The AGV robot obtains the no-load posture of the second side-mounted connecting seat;

[0034] The scheduling module adjusts the height and position of the supporting component according to the no-load posture so that the first side-mounted battery body is located below the second side-mounted connecting seat;

[0035] The supporting component rises to a fourth preset height so that the first side-mounted battery body is installed on the second side-mounted connecting seat.

[0036] In the battery swapping method of the above embodiment, after removing one of the second side-mounted battery bodies from the battery swapping vehicle, the different number of second side-mounted battery bodies on both sides of the battery swapping vehicle can easily cause the battery swapping vehicle to tilt, thereby affecting the posture of the second side-mounted connector. Therefore, it is necessary to obtain the unloaded posture of the second side-mounted connector, determine the position of the second side-mounted connector, and then install the first side-mounted battery body on the second side-mounted connector, so that the first side-mounted battery body can be stably installed on the second side-mounted connector.

[0037] In at least one embodiment, the step of "swapping the battery of the battery swapping vehicle" further includes:

[0038] The scheduling module controls the AGV robot to move to a second preset position according to the position and posture of the battery-swapping vehicle and the battery pack of the battery-swapping vehicle to replace the second side-mounted battery body on the other side.

[0039] In the battery replacement method of the above embodiment, after replacing one second side-mounted battery body, other second side-mounted battery bodies can also be replaced according to actual needs.

[0040] In at least one embodiment, the AGV robot operates according to a preset action including:

[0041] The AGV robot places the second battery body on the supporting component at the transfer position of the battery replacement system;

[0042] The AGV robot takes out the first back battery body of the first back connecting seat or the first side hanging battery body of the first side hanging connecting seat of the battery exchange system and moves toward the first preset position.

[0043] In the battery swap method of the above embodiment, the AGV robot needs to first place the second battery body on the supporting component, and then remove the first battery body from the battery swap system. The intermediate transfer position can be the first connection seat in the battery swap system, so that the second battery body does not need to be moved from the intermediate transfer position to the first connection seat later. The intermediate transfer position can also be elsewhere, so that the battery swap system does not need to reserve an extra first connection seat, which can save costs.

[0044] In at least one embodiment, before the step of "the AGV robot moves to the first preset position", the step further includes:

[0045] The first insert arm of the supporting component takes out the first back battery body on the first back connecting seat of the battery replacement system or the first side hanging battery body on the first side hanging connecting seat;

[0046] The AGV robot operates according to the preset actions including:

[0047] The rotating part of the AGV robot drives the supporting part to rotate so that the first insertion arm of the supporting part and the first rear battery body or the first side-mounted battery body on the first insertion arm face the battery-exchange vehicle.

[0048] In the battery swapping method of the above embodiment, the first arm of the AGV robot removes the first battery body, and the second arm extends into the second battery body. The rotating component rotates so that the first arm faces the battery swapping vehicle, thereby enabling the first battery body to be installed on the first connector. As a result, there is no need for an intermediate transfer position during the battery swapping process, which can save space and reduce costs. In addition, the battery body does not need to be placed in the intermediate transfer position during the battery swapping process, which can effectively reduce the number of battery swapping steps, streamline the battery swapping process, and improve battery swapping efficiency.

[0049] In at least one embodiment, the step of "obtaining position and posture" includes:

[0050] The navigation and positioning module obtains the actual model of the battery-swapping vehicle and the battery pack of the battery-swapping vehicle;

[0051] The scheduling module obtains a standard model of the battery-swapping vehicle and the battery pack of the battery-swapping vehicle according to the standard information, and compares the standard model with the actual model;

[0052] According to the position difference between the standard model and the actual model, the position of the battery-swap vehicle and the battery pack of the battery-swap vehicle is obtained, and according to the posture difference between the standard model and the actual model, the posture of the battery-swap vehicle and the battery pack of the battery-swap vehicle is obtained.

[0053] In the battery replacement method of the above embodiment, by comparing the actual model with the standard model, the position and posture of the battery replacement vehicle and the battery pack of the battery replacement vehicle can be accurately obtained, so that the AGV robot can accurately replace the battery.

[0054] In at least one embodiment, the step of "the AGV robot moves to a first preset position" includes:

[0055] The scheduling module provides a first driving signal to the lifting component of the AGV robot according to the posture of the battery-swapping vehicle and the battery pack of the battery-swapping vehicle;

[0056] The scheduling module provides a second driving signal to the driving component of the AGV robot according to the position of the battery-swapping vehicle and the battery pack of the battery-swapping vehicle;

[0057] According to the first driving signal, the lifting component adjusts the height of the supporting component. According to the second driving signal, the driving component drives the AGV robot to move toward a first preset position so that the supporting component extends into the docking piece of the second battery body.

[0058] In the battery swapping method of the above embodiment, the height of the supporting component is adjusted by a first drive signal so that the height of the supporting component corresponds to the slot of the battery pack of the battery swapping vehicle. The position of the supporting component is adjusted by a second drive signal so that the supporting component can move to a first preset position and extend into the docking member of the battery pack.

[0059] The present invention provides a battery replacement method that uses an AGV robot in a battery replacement system to replace both the back battery pack and the side battery pack. This reduces the idle time of the AGV robot and eliminates the need to replace the battery replacement system equipment after the back battery pack is gradually replaced by the side battery pack. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 It is a three-dimensional structural diagram of a battery swap system and a battery swap vehicle in one embodiment of the present application.

[0061] Figure 2 yes Figure 1 Three-dimensional structure diagram of the middle back battery pack.

[0062] Figure 3 yes Figure 1 A three-dimensional structural diagram of the first side-mounted battery pack.

[0063] Figure 4 yes Figure 1 A three-dimensional structural diagram of the first side-mounted battery pack or the second side-mounted battery pack.

[0064] Figure 5 FIG. 1 is an exploded view of a second side-mounted battery pack in another embodiment.

[0065] Figure 6 yes Figure 1 The three-dimensional structure diagram of the AGV robot.

[0066] Figure 7 2 is a three-dimensional structural diagram of an AGV robot in another embodiment.

[0067] Figure 8 This is a relationship diagram of the battery replacement system in an embodiment of the present application.

[0068] Figure 9This is a flow chart of a battery replacement method in an embodiment of the present application.

[0069] Description of main component symbols

[0070] Battery swap system 200

[0071] Battery exchange parking space 201

[0072] Transfer position 202

[0073] Back frame 203

[0074] Side mount 204

[0075] First back battery pack 10

[0076] First back battery body 11

[0077] Docking 111

[0078] First back connecting seat 12

[0079] Second back battery pack 20

[0080] Second back battery body 21

[0081] Second back connecting seat 22

[0082] First side-mounted battery pack 30

[0083] First side-mounted battery body 31

[0084] First side hanging connection seat 32

[0085] Second side-mounted battery pack 40

[0086] Second side-mounted battery body 41

[0087] Second side hanging connection seat 42

[0088] AGV Robot 50

[0089] Driving component 51

[0090] Lifting component 52

[0091] Supporting component 53

[0092] First interposition arm 531

[0093] Second interposition arm 532

[0094] Rotating member 54

[0095] Communication module 60

[0096] Navigation and positioning module 70

[0097] Scheduling module 80

[0098] Battery swap vehicles 300

[0099] Internet of Vehicles Platform 401

[0100] Operation Interaction Platform 402 DETAILED DESCRIPTION

[0101] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments.

[0102] It should be noted that when a component is considered to be "connected to" another component, it can be directly connected to the other component or there may be an intermediate component. When a component is considered to be "disposed on" another component, it can be directly disposed on the other component or there may be an intermediate component. The terms "top", "bottom", "upper", "lower", "left", "right", "front", "back", and similar expressions used herein are for illustrative purposes only.

[0103] When two elements (planes, lines) are arranged in parallel, it should be understood that the relationship between the two elements includes parallel and approximately parallel. Approximately parallel should be understood as a certain angle between the two elements, which is greater than 0° and less than or equal to 10°.

[0104] When two elements (planes, lines) are arranged perpendicularly, it should be understood that the relationship between the two elements includes perpendicular and approximately perpendicular. Approximately perpendicular should be understood as the angle between the two elements being greater than or equal to 80° and less than 90°.

[0105] When a parameter is greater than, equal to, or less than a certain endpoint value, it should be understood that the endpoint value allows a tolerance of ±10%. For example, if the ratio of A to B is greater than 10, it should be understood to include the case where the ratio of A to B is greater than 9, and also include the case where the ratio of A to B is greater than 11.

[0106] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application.

[0107] In the embodiments of the present application, the battery pack of the battery-swapping vehicle should be understood as at least one of the second rear battery pack or the second side-mounted battery pack. The first connector should be understood as at least one of the first rear connector or the first side-mounted connector in the battery-swapping system. The second connector should be understood as at least one of the second rear connector or the second side-mounted connector on the battery-swapping vehicle. The first battery body should be understood as at least one of the first rear battery body or the first side-mounted battery body located in the battery-swapping system. The second battery body should be understood as at least one of the second rear battery body or the second side-mounted battery body located in the battery-swapping vehicle.

[0108] Some embodiments of the present application provide a battery swap system, including a battery swap parking space, a first rear battery pack, a first side-mounted battery pack, a communication module, a navigation and positioning module, an AGV robot, and a scheduling module. The battery swap parking space is used to park a battery swap vehicle. The first rear battery pack includes a first rear connection seat and a first rear battery body arranged on the first rear connection seat. The first side-mounted battery pack includes a first side-mounted connection seat and a first side-mounted battery body arranged on the first side-mounted connection seat. The communication module is used to obtain standard information of the battery pack of the battery swap vehicle. The navigation and positioning module is used to obtain the position and posture of the battery swap vehicle and the battery pack of the battery swap vehicle. The AGV robot includes a driving component, a lifting component, and a supporting component, the lifting component is connected to the driving component, and the supporting component is connected to the lifting component. The scheduling module controls the AGV robot to swap batteries for the battery swap vehicle based on the standard information and the position and posture of the battery swap vehicle and the battery pack of the battery swap vehicle.

[0109] In the battery swapping system of the above embodiment, after the battery swapping vehicle enters the battery swapping parking space, the communication module obtains the model of the battery pack of the battery swapping vehicle. After the navigation and positioning module obtains the location and posture of the battery swapping vehicle, the scheduling module can control the AGV battery swapping robot to swap the battery of the battery swapping vehicle. Whether it is a side-mounted battery pack or a back-mounted battery pack, the AGV battery swapping robot can replace the battery. This ensures that the AGV robot will not be idle for a long time, and will not need to be eliminated in the future when side-mounted battery packs become popular, effectively reducing costs.

[0110] The following will describe some embodiments of the present application in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments may be combined with each other.

[0111] Embodiment one:

[0112] See also Figures 1 to 6, the first embodiment of the present application provides a battery swap system 200. The battery swap system 200 can swap batteries for corresponding battery swap vehicles 300 according to the type of battery pack on the battery swap vehicle 300. The type of battery swap vehicle 300 can be a commercial vehicle, such as a heavy truck, a light truck, etc., or an engineering vehicle, such as an excavator, or a passenger car, such as a private car.

[0113] The battery exchange system 200 includes a battery exchange parking space 201, a first rear battery pack 10, a first side-mounted battery pack 30, a communication module 60, a navigation and positioning module 70, an AGV robot 50 and a scheduling module 80.

[0114] The communication module 60, the navigation and positioning module 70, and the dispatching module 80 can be set on the AGV robot 50, or can be set in other places of the battery swap system 200. The communication module 60, the navigation and positioning module 70, and the dispatching module 80 can be set together or separately in different locations. The position and range of the battery swap parking space 201 can be set according to actual conditions, and the battery swap vehicle 300 can be parked. The AGV robot 50 can move to the battery swap parking space 201 when working, and the signals of the communication module 60, the navigation and positioning module 70, and the dispatching module 80 can cover the battery swap parking space 201.

[0115] Each battery exchange system 200 has a plurality of first back battery packs 10, and the first back battery packs 10 include a first back connecting seat 12 and a plurality of first back battery bodies 11. The first back connecting seat 12 is arranged on the back frame 203 of the battery exchange system 200 and is connected to the charging and discharging module of the battery exchange system 200. A plurality of first back battery bodies 11 are arranged on the first back connecting seat 12. The first back battery body 11 is provided with a docking piece 111. The docking piece 111 is arranged on the side of the first back battery body 11 so that the first back battery body 11 of the AGV robot 50 can be inserted when the first back battery body 11 moves. Optionally, the docking piece 111 is a slot for the AGV robot 50 to extend into. The slot can be positioned on one side of the first back battery body 11 and close to the bottom, and when the first back battery body 11 is installed on the battery exchange vehicle 300, the slot is located on one side of the battery exchange vehicle 300 so that the AGV robot 50 can insert and remove it. The maximum number of first back battery bodies 11 that can be mounted on the first back connector 12 can be determined based on actual needs, and can include one, two, or three. Multiple first back battery bodies 11 on the first back connector 12 can be arranged in parallel, allowing for flexible mounting of the first back battery bodies 11 on the first back connector 12 while each forming an independent circuit. For example, a first back connector 12 that can accommodate a maximum of two first back battery bodies 11 can also accommodate only one first back battery body 11.

[0116] Each battery exchange system 200 has a plurality of first side-mounted battery packs 30, and each first side-mounted battery pack 30 includes a first side-mounted connector 32 and a plurality of first side-mounted battery bodies 31. The plurality of first side-mounted battery bodies 31 are arranged on the side-mounted frame 204 of the battery exchange system 200. The first side-mounted connector 32 is slidably arranged on the side-mounted frame 204 and is moved toward the first side-mounted battery body 31 by a driving member so that the first side-mounted connector 32 can be installed and matched with the first side-mounted battery body 31. Optionally, the driving member is a cylinder. The first side-mounted battery body 31 is provided with a docking member 111 that is the same as the first back battery body 11. The docking member 111 is provided on the side of the first side-mounted battery body 31 to facilitate the AGV robot 50 to carry the first side-mounted battery body 31 through the docking member 111. The first side-mounted battery bodies 31 arranged on the first side-mounted connector 32 are connected in parallel with each other, so that the number of installed first side-mounted battery bodies 31 can be flexibly set, and all can form independent circuits.

[0117] It is understood that the first rear battery body 11 and the first side-mounted battery body 31 can be structurally identical or different. The first rear connector 12 and the first side-mounted connector 32 can be structurally identical or different.

[0118] The charging and discharging module in the battery swap system 200 charges or discharges the first rear battery body 11 and the first side-mounted battery body 31. For example, the first battery body is charged during the off-peak period at night and discharged during the day to power the lighting, scheduling module 80, communication module 60, and navigation and positioning module 70 of the battery swap system 200. Alternatively, the first battery body that has been fully charged at night can be replaced with the vehicle 300 to achieve the effect of peak-shaving and valley-filling of electricity.

[0119] The battery pack of the battery-swapping vehicle 300 includes a second back battery pack 20 and a second side-mounted battery pack 40. The second back battery pack 20 is arranged on the frame of the battery-swapping vehicle 300 and is located on the back of the cockpit. The second back battery pack 20 includes a second back connecting seat 22 and a plurality of second back battery bodies 21. The second back battery body 21 has the same structure as the first back battery body 11. The number of back battery bodies that can be installed on the second back connecting seat 22 and the first back connecting seat 12 can be the same or different. For example, the first back connecting seat 12 can only be equipped with one back battery body, and the second back connecting seat 22 can be equipped with two back battery bodies. The second back battery pack 20 also includes a back locking mechanism, which is arranged between the second back connecting seat 22 and the second back battery body 21 to play a locking role.

[0120] The second side-mounted battery pack 40 is arranged on both sides or the chassis of the battery-swapping vehicle 300. The second side-mounted battery pack 40 includes a second side-mounted battery body 41 and a second side-mounted connector 42. The second side-mounted battery body 41 is arranged on the second side-mounted connector 42. The second side-mounted battery body 41 has the same structure as the first side-mounted battery body 31. The structure of the second side-mounted connector 42 can be the same as or different from that of the first side-mounted connector 32. The second side-mounted battery pack 40 also includes a side-mounted locking mechanism, which is arranged between the second side-mounted connector 42 and the second side-mounted battery body 41 to play a locking role.

[0121] The AGV robot 50 includes a drive unit 51, a lifting unit 52, and a support unit 53. The lifting unit 52 is mounted on the drive unit 51, and the support unit 53 is mounted on the lifting unit 52. The drive unit 51 drives the support unit 53 to move, and the lifting unit 52 adjusts the height of the support unit 53. The support unit 53 is used to extend into the docking unit 111 to insert and remove the battery.

[0122] Through the cooperation of the scheduling module 80 , the navigation and positioning module 70 , and the communication module 60 , the AGV robot 50 can remove the battery body of the battery-swapping vehicle 300 and install the battery body in the battery-swapping system 200 on the battery-swapping vehicle 300 .

[0123] Optionally, each battery exchange system 200 is provided with an intermediate transfer position 202 for the temporary placement of the battery body. For example, after the AGV robot 50 takes out the second battery body of the battery exchange vehicle 300, it can be temporarily placed on the intermediate transfer position 202, and then the first battery body is taken out from the battery exchange system 200 and installed on the battery exchange vehicle 300, and the second battery body in the intermediate transfer position 202 is placed on the first connection seat of the battery exchange system 200 to achieve battery exchange. Optionally, the intermediate transfer position 202 is the first back connection seat 12 or the first side hanging connection seat 32 in the battery exchange system 200 where no battery body is provided. At this time, the AGV robot 50 does not need to carry the second battery body on the intermediate transfer position 202, which can improve efficiency, and can stably install the second battery body on the corresponding connection seat. It can be understood that the intermediate transfer position 202 is limited to the first connection seat, and the intermediate transfer position 202 can also be an open space, etc.

[0124] Optionally, the battery swap system 200 is further provided with a fire protection module. The fire protection module is electrically connected to the first rear battery pack 10 and the first side-mounted battery pack 30 of the battery swap system 200 to detect the status of the first battery body. When the first battery body is in an abnormal state, an alarm can be promptly issued to achieve danger warning and active fire protection. When an open flame or combustion occurs, the fire protection module can promptly extinguish the fire to achieve passive fire protection.

[0125] Example 2:

[0126] See also Figure 7 , the second embodiment of the present application provides a battery replacement system 200, which differs from the first embodiment in that the AGV robot 50 of the present application further includes a rotating component 54. The rotating component 54 is arranged between the driving component 51 and the lifting component 52, and the supporting component 53 includes a first arm 531 and a second arm 532 that are arranged opposite to each other and face opposite directions. The rotating component 54 can control the rotation of the lifting component 52 and the supporting component 53, so that when the driving component 51 does not move relative to the ground, the rotating component 54 causes the first arm 531 and the second arm 532 to face each battery body located on the same side of the driving component 51 in sequence. After the first arm 531 faces one side of the driving component 51 to obtain the battery body, the rotating component 54 drives the second arm 532 to rotate toward another battery body, and after the second arm 532 carries the battery body, the first arm 531 and the second arm 532 each correspond to a battery body, so that the AGV robot 50 can carry two battery bodies at the same time. This makes it possible for the battery swap system 200 to not require an intermediate transfer position 202, and the battery swap process does not require the battery body to be placed on the intermediate transfer position 202, which can streamline the battery swap process and improve battery swap efficiency.

[0127] Take the replacement of the second back battery pack 20 on the battery-swapping vehicle 300 as an example: during the battery-swapping process, after the first arm 531 takes out the first back battery body 11, the rotating component 54 drives the supporting component 53 to rotate 180°, so that the first arm 531 faces inward and the second arm 532 faces outward, and then moves to the battery-swapping vehicle 300, and takes out the second back battery body 21 of the battery-swapping vehicle 300 through the second arm 532. The supporting component 53 is then driven to rotate by the rotating component 54, so that the first arm 531 faces from the inside to the outside, that is, toward the battery-swapping vehicle 300, and the first back battery body 11 is installed on the second back connecting seat 22. The second back battery body 21 taken out of the battery-swapping vehicle 300 can also be installed on the first back connecting seat 12 through the second arm 532 to achieve battery replacement. The battery-swapping process does not require the battery body to be placed on the intermediate transfer position 202, which is faster. Furthermore, since the insertion arm can be turned inward by the rotating component 54 after the battery body is removed, the center of gravity of the AGV robot 50 will not deviate too much, thereby maintaining the position of the AGV robot 50 stable.

[0128] Example 3:

[0129] See also Figure 8 and Figure 9 The third embodiment of the present application provides a battery replacement method for replacing the battery of a battery replacement vehicle 300 according to different types of battery packs. This battery replacement method uses the battery replacement system 200 in the first embodiment to replace the battery of the battery replacement vehicle 300. The battery replacement method includes:

[0130] S101: The battery swap vehicle 300 enters the battery swap parking space 201.

[0131] S201: Obtain standard information: The communication module 60 obtains standard information of the battery pack of the battery-swapping vehicle 300 to determine the battery pack type of the battery-swapping vehicle 300 .

[0132] S202: Obtain position and posture: The navigation positioning module 70 obtains the position and posture of the battery-swap vehicle 300 and the battery pack of the battery-swap vehicle 300.

[0133] S301: The AGV robot moves to the first preset position: The scheduling module 80 controls the AGV robot 50 to move toward the battery swapping vehicle 300 to the first preset position according to the position and posture of the battery swapping vehicle 300 and the battery pack of the battery swapping vehicle 300, so that the supporting component 53 is adapted to the docking component 111 of the battery pack of the battery swapping vehicle 300.

[0134] S302: Battery replacement of the battery-swapping vehicle: The AGV robot 50 replaces the battery of the battery-swapping vehicle 300 according to the battery pack type of the battery-swapping vehicle 300.

[0135] The communication module 60 can obtain the standard information of the battery pack of the battery swap vehicle 300 through the battery swap system 200 operating platform and the Internet of Vehicles platform 401. The standard information includes the type of the battery pack of the battery swap vehicle 300, and the battery pack type of the battery swap vehicle 300 includes a second rear battery pack 20 and a second side-mounted battery pack 40. After determining the position and posture of the battery swap vehicle 300 and the battery pack of the battery swap vehicle 300 through the navigation and positioning module 70, the scheduling module 80 controls the AGV robot 50 to swap batteries according to the battery pack type of the battery swap vehicle 300. Both the second rear battery pack 20 and the second side-mounted battery pack 40 on the battery swap vehicle 300 can be swapped by the AGV robot 50 in the battery swap system 200. After the first rear battery pack 11 or the first side-mounted battery pack 31 is replaced with the battery-swapping vehicle 300, the high and low voltage management system of the battery-swapping vehicle 300 is adapted to the battery management system of the first rear battery pack 11 or the first side-mounted battery pack 31, so that the first battery pack can replace the battery for the battery-swapping vehicle 300. Therefore, when there is currently little demand for replacing the side-mounted battery pack, the AGV robot 50 will not be idle. In the future, when the side-mounted battery pack gradually replaces the rear battery pack, the AGV robot 50 can also replace the side-mounted battery pack and will not be eliminated. This achieves the purpose of reducing costs.

[0136] Since the position of the battery swap vehicle 300 entering the battery swap parking space 201 will not completely coincide with the standard position, and the battery pack types on the battery swap vehicle 300 entering the battery swap parking space 201 are different, the position of the second battery body will also be different. Therefore, in order to accurately obtain the position and posture of the battery swap vehicle 300 and the battery pack of the battery swap vehicle 300, step S202 includes:

[0137] S202a: The navigation and positioning module 70 obtains the actual model of the battery swap vehicle 300 and the battery pack of the battery swap vehicle 300 in the battery swap parking space 201.

[0138] S202b: The scheduling module 80 obtains the standard model of the battery-swapping vehicle 300 and the battery pack of the battery-swapping vehicle 300 based on the standard information, and compares it with the actual model.

[0139] S202c: Based on the position difference between the standard model and the actual model, the position of the battery-swap vehicle 300 and the battery pack of the battery-swap vehicle 300 is obtained; based on the posture difference between the standard model and the actual model, the posture of the battery-swap vehicle 300 and the battery pack of the battery-swap vehicle 300 is obtained.

[0140] The navigation and positioning module 70 can scan the battery-swapping vehicle 300 and the battery pack of the battery-swapping vehicle 300 in the battery-swapping parking space 201 through at least one of a laser structure or a visual structure to obtain the actual model of the battery-swapping vehicle 300 and the battery pack of the battery-swapping vehicle 300. The laser structure can scan the battery-swapping vehicle 300 in dim light at night to accurately obtain the actual model.

[0141] In addition to obtaining the type of battery pack on the battery-swap vehicle 300, the standard information includes that the scheduling module 80 can also obtain the standard model of the battery-swap vehicle 300 and the battery pack of this type from the database based on the standard information to facilitate comparison with the actual model.

[0142] The posture of the battery-swap vehicle 300 and the battery pack of the battery-swap vehicle 300 includes the tilt angle of the battery-swap vehicle 300 and the battery pack of the battery-swap vehicle 300, and the height of the battery pack on the battery-swap vehicle 300. The tilt angle of the battery-swap vehicle 300 refers to the tilt of the battery-swap vehicle 300 relative to the horizontal plane due to uneven ground or unbalanced wheels caused by aging of the wheels. It also includes the tilt of the vehicle length direction from the front to the rear of the battery-swap vehicle 300 and the length direction of the battery-swap parking space 201 planned on the ground due to differences in parking operations.

[0143] After determining the position and posture of the battery swap vehicle 300 and the battery pack of the battery swap vehicle 300, in order to accurately remove the second battery body, step S301 includes:

[0144] S301 a: The scheduling module 80 provides a first driving signal to the lifting component 52 of the AGV robot 50 according to the posture of the battery-swapping vehicle 300 and the battery pack of the battery-swapping vehicle 300.

[0145] S301b: The scheduling module 80 provides a second driving signal to the driving component 51 of the AGV robot 50 based on the position of the battery-swapping vehicle 300 and the battery pack of the battery-swapping vehicle 300.

[0146] S301 c: According to the first driving signal, the lifting component 52 adjusts the height of the supporting component 53, and according to the second driving signal, the driving component 51 drives the AGV robot 50 to move toward the first preset position so that the supporting component 53 extends into the docking part 111 of the second battery body.

[0147] The first preset position can be the position where the supporting component 53 just extends into the docking piece 111 of the second battery body when the AGV robot 50 moves to the first preset position. Alternatively, when the AGV robot 50 moves to the first preset position, the supporting component 53 of the AGV robot 50 faces the second battery body and is located outside the docking piece 111. The second battery pack is positioned using the positioning component on the AGV robot 50 to re-acquire the position and posture of the second battery body before the supporting component 53 extends into the docking piece 111.

[0148] Since the positions of the battery-swapping vehicle 300 and its battery pack have been determined, the AGV robot 50 can move to the first preset position relatively accurately. If the position moved by the AGV robot 50 deviates too much from the first preset position, an alarm will be activated. Since the supporting component 53 and the docking member 111 are clearance-fitted, a certain degree of error can exist in the height and horizontal directions. Therefore, even if the position moved by the AGV robot 50 deviates from the preset position by a certain amount, the supporting component 53 can still extend into the docking member 111.

[0149] When the supporting component 53 fails to extend into the docking part 111 due to reasons such as excessive error, damage or crooked structure of the second battery body, and instead conflicts with the second battery body, or when the docking part 111 is tilted relative to the supporting component 53, causing the supporting component 53 to conflict with the groove wall of the docking part 111 during the extension process, the sensor at the end of the supporting component 53 can send a signal to prevent the supporting component 53 from continuing to extend. At this time, the navigation and positioning module 70 will re-determine the position and posture of the battery swap vehicle 300 and the battery pack of the battery swap vehicle 300, and drive the AGV robot 50 to move to the first preset position again, and extend the supporting component 53 into the docking part 111. When the number of repetitions reaches the preset value and the supporting component 53 still fails to extend into the docking part 111, an alarm is issued.

[0150] Since the battery replacement methods of the back battery pack and the side battery pack are different, the AGV robot 50 needs to perform corresponding operations according to different types of battery packs to achieve battery replacement. When the battery pack on the vehicle 300 to be replaced is the second back battery pack 20, step S302 includes:

[0151] S302b: The supporting component 53 is lifted to a first preset height to separate the second rear battery body 21 from the second rear connecting seat 22.

[0152] Since there are guide mechanisms and other structural obstructions between the second back battery body 21 and the second back connecting seat 22, the second back battery body 21 cannot move horizontally directly and needs to move upward a certain distance first to completely separate the second back battery body 21 from the second back connecting seat 22.

[0153] S302c: The AGV robot 50 operates according to the preset action so that the supporting component 53 carries the first rear battery body 11 and moves toward the battery-exchange vehicle 300.

[0154] The preset action in S302c includes the AGV robot 50 placing the second back battery body 21 on the supporting component 53 at the transfer position 202 of the battery replacement system 200.

[0155] The supporting component 53 takes out the first back battery body 11 on the first back connecting seat 12 of the battery replacement system 200 and moves toward the first preset position.

[0156] The intermediate transfer position 202 can be a first back connection base 12 that is not provided with the first back battery body 11. The AGV robot 50 directly places the second back battery body 21 on the first back connection base 12 for charging. This can reduce the need for the AGV robot 50 to subsequently move the second back battery body 21, thereby improving efficiency. The intermediate transfer position 202 can also be an open space that is wide enough to allow the AGV robot 50 to directly place the second back battery body 21. When the intermediate transfer position 202 is an open space, the AGV robot 50 will subsequently need to install the second back battery body 21 in the open space on the first back connection base 12.

[0157] S302d: The driving component 51 and the lifting component 52 adjust the position and height of the supporting component 53 to lift the first back battery body 11 to a first preset height and position it above the second back connecting seat 22.

[0158] The above should be understood as the electrical connector of the first back battery body 11 being roughly located above the electrical connector of the second back connecting seat 22, and when the first back battery body 11 descends toward the second back connecting seat 22, the first back battery body 11 can be slightly moved in the horizontal direction through the guide mechanism between the second back battery group 20, so that after the first back battery body 11 is installed on the second back connecting seat 22, the electrical connector of the first back battery body 11 and the electrical connector of the second back connecting seat 22 are adapted to each other to achieve electrical connection.

[0159] S302e: The supporting part of the AGV robot 50 descends to a second preset height so that the first back battery body 11 is installed on the second back connecting seat 22.

[0160] Since the battery swap vehicle 300 may shake and vibrate during driving, in order to keep the second back battery body 21 and the second back connection base 22 relatively stable, a back locking mechanism is usually used to lock the second back battery body 21 and the second back connection base 22. In this case, the following steps need to be performed before step S302b:

[0161] S302a: The scheduling module 80 receives the first unlocking signal and controls the locking mechanism between the second back connecting seat 22 and the second back battery body 21 to unlock.

[0162] It is understandable that there is no specific execution order for step S302a. The locking mechanism can be unlocked from the time the battery-swapping vehicle 300 enters the battery-swapping parking space 201 to the time the supporting component 53 of the AGV robot 50 extends into the docking component 111 of the second rear battery body 21. The first unlocking signal can be issued by multiple components, for example, the battery-swapping vehicle 300 issues an unlocking signal after the battery-swapping vehicle 300 parks at the battery-swapping parking space 201, and the AGV robot 50 issues an unlocking signal after the AGV robot 50 reaches the first preset position. The scheduling module 80 can unlock immediately after receiving the first unlocking signal from any component, or it can unlock after receiving all unlocking signals.

[0163] If due to a malfunction or other reasons the back locking mechanism of the scheduling module 80 remains in a locked state after receiving the first unlocking signal, when the AGV robot 50 extends into the supporting component 53 of the docking piece 111 and begins to rise toward the first preset height, when the pressure on the pressure sensor on the supporting component 53 is greater than the preset pressure, an alarm will be issued to stop the supporting component 53 from rising.

[0164] After step S302e, the following steps are required:

[0165] S302f: The scheduling module 80 receives the first locking signal and controls the locking mechanism between the second connecting seat and the first battery body to lock.

[0166] It is understandable that the first locking signal can be issued by multiple components, for example, it can be issued by the AGV robot 50 after the supporting component 53 of the AGV robot 50 descends to the second preset height, or it can be issued by the battery-swapping vehicle 300 after sensing that the first rear battery body 11 is installed on the second rear connecting seat 22.

[0167] When the battery pack of the battery-swapping vehicle 300 is the second side-mounted battery pack 40, step S302 includes:

[0168] S302a′: the AGV robot 50 sends a second unlocking signal to the scheduling module 80 , and the scheduling module 80 controls the side-mounted locking mechanism to unlock, and the supporting component 53 supports the second side-mounted battery body 41 .

[0169] The second side-mounted battery body 41 is disposed below the second side-mounted connector 42 . When the side-mounted locking mechanism is unlocked, the second side-mounted battery body 41 will fall off the second side-mounted connector 42 due to gravity and be supported by the supporting component 53 .

[0170] S302b′: the supporting component 53 descends to a third preset height to separate the second side-mounted battery body 41 from the second side-mounted connector 42 .

[0171] S302c': The AGV robot 50 operates according to the preset action so that the supporting component 53 carries the first side-mounted battery body 31 toward the battery-exchange vehicle 300.

[0172] The preset action in S302c' includes the AGV robot 50 placing the second side-mounted battery body 41 on the supporting component 53 at the transfer position 202 of the battery exchange system 200.

[0173] The supporting component 53 takes out the first side-hanging battery body 31 on the first side-hanging connecting seat 32 of the battery replacement system 200 and moves toward the first preset position.

[0174] S302d′: The supporting component 53 installs the first side-mounted battery body 31 on the second connecting seat.

[0175] S302e': The scheduling module 80 receives the second locking signal and controls the side hanging locking mechanism to lock.

[0176] It can be understood that the second locking signal can be issued by multiple components, for example, it is issued after the supporting component 53 of the AGV robot 50 installs the first side-mounted battery body 31 on the second side-mounted connecting seat 42, or it can be issued after the battery-swapping vehicle 300 senses that the first side-mounted battery body 31 is installed on the second side-mounted connecting seat 42.

[0177] In step S302d', the number of second side-mounted battery packs 40 is usually multiple, and they are installed on both sides or the chassis of the battery-swapping vehicle 300. When the second side-mounted battery pack 40 is installed in the middle of the chassis of the battery-swapping vehicle 300, the battery-swapping vehicle 300 will not tilt after the second side-mounted battery body 41 is removed. When the second side-mounted battery pack 40 is installed on both sides of the battery-swapping vehicle 300, due to the light weight of the second side-mounted battery pack 40 and the overall structural stability of the battery-swapping vehicle 300, after the second side-mounted battery body 41 on one side of the battery-swapping vehicle 300 is removed, the battery-swapping vehicle 300 will not tilt because one side has the second side-mounted battery body 41 and the other side does not have the second side-mounted battery body 41. Therefore, when the posture of the second side-mounted connecting seat 42 has basically not changed, the supporting component 53 can be directly moved to the first preset position, and the supporting part can be lowered to the third preset height, and then the supporting component 53 rises to install the first side-mounted battery body 31 on the second side-mounted connecting seat 42. Or two AGV robots 50 can be set up at the same time, and the two AGV robots 50 can be located on opposite sides of the battery-swapping vehicle 300 to simultaneously remove the second side-mounted battery bodies 41 located on opposite sides of the battery-swapping vehicle 300. Since the two second side-mounted battery bodies 41 located on opposite sides are removed at the same time, the battery-swapping vehicle 300 will not tilt. At this time, the supporting parts 53 of the two AGV robots 50 can be moved to the corresponding first preset positions, and the two first side-mounted battery bodies 31 can be installed on the corresponding second side-mounted connecting seats 42 at the same time by the two AGV robots 50. Since the side-mounted batteries are removed and installed synchronously, the stability of the battery-swapping vehicle 300 can be effectively maintained.

[0178] After the second side-mounted battery body 41 is removed, due to the different number of second side-mounted battery bodies 41 on both sides of the battery-swapping vehicle 300 and the heavy weight of the second side-mounted battery body 41, the battery-swapping vehicle 300 is tilted relative to the horizontal plane, thereby changing the posture of the second side-mounted connector 42, step S302d' includes:

[0179] S3021d': The AGV robot 50 obtains the unloaded posture of the second side-mounted connecting seat 42;

[0180] The AGV robot 50 may move to the first preset position and then obtain the no-load posture of the second connecting seat, or may move to the vicinity of the first preset position and then obtain the no-load posture of the second connecting seat.

[0181] There are several ways to determine the unloaded state. For example, the positioning component of the AGV robot 50 can capture an image of the second side-mounted connector 42 and compare it with an image of the second side-mounted connector 42 before the second side-mounted battery body 41 was removed, or with a standard image of the second side-mounted connector 42, to determine the unloaded state. Alternatively, the positioning component of the AGV robot 50 can emit a laser beam to a receiver on the second side-mounted connector 42. By continuously adjusting the position of the positioning component, the unloaded state of the second side-mounted connector 42 can be determined when the laser beam emitted by the positioning component is received by the receiver. The unloaded state of the second side-mounted connector 42 includes the tilt angle of the second side-mounted connector 42 relative to the horizontal plane and the height of the second side-mounted connector 42.

[0182] S3022d': The scheduling module 80 adjusts the height and position of the supporting component 53 according to the unloaded state so that the first side-mounted battery body 31 is located below the second side-mounted connector 42;

[0183] S3023d′: The supporting component 53 rises to a fourth preset height so that the first side-mounted battery body 31 is installed on the second side-mounted connecting seat 42 .

[0184] First replace the side-mounted battery on one side of the battery-swapping vehicle 300, and then replace the side-mounted battery on the other side. There is no need to use two AGV battery-swapping robots 50 at the same time, and there is no need to let the two AGV battery-swapping robots 50 operate synchronously. This can reduce the situation where the two AGV battery-swapping robots 50 are not synchronized in removing or installing the side-mounted batteries due to insufficient synchronization rate when they operate synchronously, causing the side-mounted battery on one side of the battery-swapping vehicle 300 to be removed or installed first, thereby causing the battery-swapping vehicle 300 to tilt, causing the side-mounted battery on the other side of the battery-swapping vehicle 300 to be removed or installed later, resulting in errors when removing or installing, making it difficult to remove or install.

[0185] After the second side-mounted battery body 41 on one side of the battery-swapping vehicle 300 is replaced, the second side-mounted battery body 41 on the other side also needs to be replaced. Therefore, step 302 also includes:

[0186] S302f': The scheduling module 80 controls the AGV robot 50 to move to a second preset position according to the position and posture of the battery-swapping vehicle 300 and the second side-mounted battery pack 40 to replace the second side-mounted battery body 41 on the other side.

[0187] The second preset position and the first preset position are located on both sides of the battery-swapping vehicle 300. The second preset position can be obtained by re-model comparison, or the width of the battery-swapping vehicle 300 can be increased by the first preset position to obtain the second preset position.

[0188] In summary, the overall process of the battery replacement method provided in this embodiment includes:

[0189] The battery swap vehicle 300 enters the battery swap parking space 201;

[0190] The navigation and positioning module 70 obtains the actual model of the battery swap vehicle 300 and the battery pack of the battery swap vehicle 300 in the battery swap parking space 201;

[0191] The scheduling module 80 obtains the standard model of the battery-swapping vehicle 300 and the battery pack of the battery-swapping vehicle 300 according to the standard information, and compares it with the actual model;

[0192] Based on the position difference between the standard model and the actual model, the position of the battery-swap vehicle 300 and the battery pack of the battery-swap vehicle 300 is obtained, and based on the posture difference between the standard model and the actual model, the posture of the battery-swap vehicle 300 and the battery pack of the battery-swap vehicle 300 is obtained.

[0193] The scheduling module 80 provides a first driving signal to the lifting component 52 of the AGV robot 50 according to the posture of the battery-swapping vehicle 300 and the battery pack of the battery-swapping vehicle 300 .

[0194] The scheduling module 80 provides a second driving signal to the driving component 51 of the AGV robot 50 according to the position of the battery-swapping vehicle 300 and the battery pack of the battery-swapping vehicle 300 .

[0195] According to the first driving signal, the lifting component 52 adjusts the height of the supporting component 53. According to the second driving signal, the driving component 51 drives the AGV robot 50 to move toward the first preset position so that the supporting component 53 extends into the docking piece 111 of the second battery body.

[0196] When the battery pack of the battery-swap vehicle 300 is the second rear battery pack 20:

[0197] The scheduling module 80 receives the first unlocking signal and controls the locking mechanism between the second back connecting base 22 and the second back battery body 21 to unlock.

[0198] The supporting component 53 is lifted to a first predetermined height to separate the second rear battery body 21 from the second rear connecting base 22 .

[0199] The AGV robot 50 operates according to preset actions so that the supporting component 53 carries the first rear battery body 11 toward the battery-exchange vehicle 300 .

[0200] The driving component 51 and the lifting component 52 adjust the position and height of the supporting component 53 to lift the first back battery body 11 to a first predetermined height and position it directly above the second back connecting seat 22;

[0201] The supporting portion of the AGV robot 50 descends to a second predetermined height so that the first rear battery body 11 is mounted on the second rear connecting seat 22 .

[0202] The scheduling module 80 receives the first locking signal and controls the locking mechanism between the second connecting socket and the first battery body to lock.

[0203] When the battery pack of the battery-swapping vehicle 300 is the second side-mounted battery pack 40:

[0204] The AGV robot 50 sends a second unlocking signal to the scheduling module 80 , and the scheduling module 80 controls the side-mounted locking mechanism to unlock, and the supporting component 53 supports the second side-mounted battery body 41 ;

[0205] The supporting member 53 descends to a third preset height to separate the second side-mounted battery body 41 from the second side-mounted connector 42;

[0206] The AGV robot 50 operates according to a preset action so that the supporting component 53 carries the first side-mounted battery body 31 toward the battery-swapping vehicle 300;

[0207] The AGV robot 50 obtains the unloaded posture of the second side-mounted connecting seat 42 again;

[0208] The scheduling module 80 adjusts the height and position of the supporting component 53 according to the no-load posture so that the first side-mounted battery body 31 is located below the second side-mounted connecting seat 42;

[0209] The supporting component 53 rises to a fourth predetermined height so that the first side-mounted battery body 31 is mounted on the second side-mounted connector 42 .

[0210] The scheduling module 80 receives the second locking signal and controls the side hanging locking mechanism to lock.

[0211] The scheduling module 80 controls the AGV robot 50 to move to a second preset position according to the position and posture of the battery-swapping vehicle 300 and the second side-mounted battery pack 40 to replace the second side-mounted battery body on the other side.

[0212] Embodiment four:

[0213] The fourth embodiment of the present application provides a battery replacement method, which uses the battery replacement system 200 in the second embodiment to perform battery replacement, thereby reducing the number of battery replacement steps for the AGV robot 50. This battery replacement method differs from the third embodiment in that it further includes the following steps before step 301:

[0214] Step S300: The first insertion arm 531 of the supporting component 53 removes the first back battery body 11 on the first back connecting seat 12 of the battery exchange system 200, or removes the first side hanging battery body 31 of the first side hanging connecting seat 32.

[0215] When the battery pack of the battery-swapping vehicle 300 is the second rear battery pack 20, the first arm 531 takes out the first rear battery body 11. When the battery pack of the battery-swapping vehicle 300 is the second side-mounted battery pack 40, the first arm 531 takes out the first side-mounted battery body 31.

[0216] After the AGV robot 50 moves to the first preset position in step S301 , the second insertion arm 532 of the supporting component 53 can extend into the docking piece 111 of the second rear battery body 21 or the second side-mounted battery body 41 .

[0217] The preset actions in step S302c include:

[0218] The rotating part 54 of the AGV robot 50 drives the supporting part 53 to rotate so that the first insertion arm 531 and the first rear battery body 11 of the supporting part 53 face the battery-exchange vehicle 300 .

[0219] The preset actions in step S302c' include:

[0220] The rotating part 54 of the AGV robot 50 drives the supporting part 53 to rotate so that the first insertion arm 531 and the first side-mounted battery body 31 of the supporting part 53 face the battery-exchange vehicle 300 .

[0221] By removing two battery bodies at once through the supporting member 53, the intermediate transfer position 202 is no longer required when replacing the battery in the battery-swapping vehicle 300, thereby saving space and reducing costs. Furthermore, the battery bodies do not need to be placed on the intermediate transfer position 202 during the battery replacement process, which can streamline the battery replacement process and reduce the number of round trips of the AGV robot 50, thereby improving the battery replacement efficiency of the AGV robot 50.

[0222] In summary, a battery replacement method is provided in an embodiment of the present application, through which the AGV robot 50 of the battery replacement system 200 can replace the battery of both the back battery pack and the side-mounted battery pack, thereby improving the utilization rate of the battery replacement system 200.

[0223] In addition, those skilled in the art should recognize that the above embodiments are merely intended to illustrate the present application and are not intended to limit the present application. As long as they are within the spirit of the present application, appropriate changes and modifications to the above embodiments are within the scope of the present application.

Claims

1. A battery replacement system compatible with multiple battery packs, characterized in that: include: A first back battery pack includes a first back connection base and a first back battery body disposed on the first back connection base; The first side-mounted battery pack includes a first side-mounted connector and a first side-mounted battery body disposed on the first side-mounted connector; A communication module, used to obtain standard information of the battery pack of the battery-swap vehicle to determine the type of the battery pack of the battery-swap vehicle; A navigation and positioning module, used to obtain the position and posture of the battery-swapping vehicle and the battery pack on the battery-swapping vehicle; The AGV robot includes a driving component, a lifting component, and a supporting component, wherein the lifting component is connected to the driving component, and the supporting component is connected to the lifting component. The driving component and the lifting component drive the supporting component to move so that the supporting component carries the first back battery body or the first side-mounted battery body; The scheduling module controls the AGV robot to remove the second rear battery body or the second side-mounted battery body of the battery-swapping vehicle according to the standard information and the position and posture of the battery-swapping vehicle and the battery pack on the battery-swapping vehicle, and installs the corresponding first rear battery body or the first side-mounted battery body on the battery-swapping vehicle.

2. A battery replacement method, characterized in that: Replacing batteries using the battery replacement system according to claim 1, comprising: Obtaining standard information: the communication module obtains standard information of the battery pack of the battery-swapping vehicle to determine the type of the battery pack of the battery-swapping vehicle; Acquiring position and posture: the navigation and positioning module acquires the position and posture of the battery-swapping vehicle and the battery pack of the battery-swapping vehicle; The AGV robot moves to a first preset position: the scheduling module controls the AGV robot to move toward the battery swap vehicle to the first preset position according to the position and posture of the battery swap vehicle and the battery pack of the battery swap vehicle, so that the supporting component is adapted to the docking piece of the battery pack of the battery swap vehicle; Battery replacement for the battery-swapping vehicle: The AGV robot replaces the battery for the battery-swapping vehicle according to the battery pack type of the battery-swapping vehicle.

3. The battery replacement method according to claim 2, wherein: The step of "swapping the battery of the battery swapping vehicle" includes: The supporting component is lifted to a first preset height to separate the second back battery body from the second back connecting seat; The AGV robot operates according to a preset action so that the supporting component carries the first rear battery body toward the battery-swapping vehicle; The driving component and the lifting component adjust the position and height of the supporting component to lift the first back battery body to a first preset height and position it above the second back connecting seat; The supporting portion of the AGV robot is lowered to a second preset height so that the first back battery body is installed on the second back connecting seat.

4. The battery replacement method according to claim 3, wherein: Before the step of "raising the supporting component of the AGV robot to the first preset height to separate the second back battery body from the second back connecting seat", the method further includes: The scheduling module receives the first unlocking signal and controls the rear locking mechanism of the battery-swap vehicle to unlock the second rear battery body; The step further includes: lowering the supporting portion of the AGV robot to a second preset height so that the first back battery body is installed on the second back connecting seat; The scheduling module receives a first locking signal and controls the back locking mechanism to lock the first back battery body.

5. The battery replacement method according to claim 3, wherein: The step of "swapping the battery of the battery swapping vehicle" includes: The AGV robot sends a second unlocking signal to the scheduling module, and the scheduling module controls the side-mounted locking mechanism of the battery-swapping vehicle to unlock the second side-mounted battery body, so that the supporting component supports the second side-mounted battery body; The supporting component is lowered to a third preset height to separate the second side-mounted battery body from the second side-mounted connecting seat; The AGV robot operates according to a preset action so that the supporting component carries the first side-mounted battery body toward the battery-swapping vehicle; The supporting component mounts the first side-mounted battery body on the second side-mounted connecting seat; The scheduling module receives a second locking signal and controls the side-mounted locking mechanism to lock the first side-mounted battery body.

6. The battery replacement method according to claim 5, characterized in that: The step of mounting the first side-mounted battery body on the second side-mounted connector by the supporting component includes: The AGV robot obtains the no-load posture of the second side-mounted connecting seat; The scheduling module adjusts the height and position of the supporting component according to the no-load posture so that the first side-mounted battery body is located below the second side-mounted connecting seat; The supporting component rises to a fourth preset height so that the first side-mounted battery body is installed on the second side-mounted connecting seat.

7. The battery replacement method according to claim 6, wherein: The step of "swapping the battery of the battery swapping vehicle" also includes: The scheduling module controls the AGV robot to move to a second preset position according to the position and posture of the battery-swapping vehicle and the battery pack of the battery-swapping vehicle to replace the second side-mounted battery body on the other side.

8. The battery replacement method according to claim 3 or 5, characterized in that: The AGV robot operates according to the preset actions including: The AGV robot places the second battery body on the supporting component at the transfer position of the battery replacement system; The AGV robot takes out the first back battery body of the first back connecting seat or the first side hanging battery body of the first side hanging connecting seat of the battery exchange system and moves toward the first preset position.

9. The battery replacement method according to claim 3 or 5, characterized in that: Before the step of "the AGV robot moves to the first preset position", the method further includes: The first insert arm of the supporting component takes out the first back battery body on the first back connecting seat of the battery replacement system or the first side hanging battery body on the first side hanging connecting seat; The AGV robot operates according to the preset actions including: The rotating part of the AGV robot drives the supporting part to rotate so that the first insertion arm of the supporting part and the first rear battery body or the first side-mounted battery body on the first insertion arm face the battery-exchange vehicle.

10. The battery replacement method according to claim 2, wherein: The step "obtaining position and posture" includes: The navigation and positioning module obtains the actual model of the battery-swapping vehicle and the battery pack of the battery-swapping vehicle; The scheduling module obtains a standard model of the battery-swapping vehicle and the battery pack of the battery-swapping vehicle according to the standard information, and compares the standard model with the actual model; According to the position difference between the standard model and the actual model, the position of the battery-swap vehicle and the battery pack of the battery-swap vehicle is obtained, and according to the posture difference between the standard model and the actual model, the posture of the battery-swap vehicle and the battery pack of the battery-swap vehicle is obtained.

11. The battery replacement method according to claim 10, wherein: The step of "the AGV robot moves to a first preset position" includes: The scheduling module provides a first driving signal to the lifting component of the AGV robot according to the posture of the battery-swapping vehicle and the battery pack of the battery-swapping vehicle; The scheduling module provides a second driving signal to the driving component of the AGV robot according to the position of the battery-swapping vehicle and the battery pack of the battery-swapping vehicle; According to the first driving signal, the lifting component adjusts the height of the supporting component. According to the second driving signal, the driving component drives the AGV robot to move toward a first preset position so that the supporting component extends into the docking piece of the second battery body.

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