A battery replacement process for vehicles in low-profile underground chambers

Abstract

The present invention discloses a battery replacement process for vehicles in low-profile underground chambers, which relates to the technical field of auxiliary transportation equipment in coal mines, and includes the following steps: S1, a battery replacement preparation stage; S2, an empty battery unloading stage; S3, a fully charged battery loading stage; S4, a battery compartment management stage; and S5, a charging management stage. The present invention provides a transfer area at the battery compartment, with three vacant areas and three fully charged battery placement areas on either side of the transfer area. Thus, the battery replacement process for vehicles in low-profile underground chambers provided by the present invention can employ three feeding vehicles for simultaneous battery replacement operations or three feeding vehicles for intermittent battery replacement operations, thereby improving the battery replacement efficiency of explosion-proof lithium battery vehicles in the limited space of a low chamber, thereby improving the efficiency of subsequent use of explosion-proof lithium battery vehicles and improving the efficiency of auxiliary transportation.

Description

Technical Field

[0001] The present invention relates to the technical field of auxiliary transportation equipment in underground coal mines, and in particular to a battery replacement process for vehicles in low-profile underground chambers. Background Art

[0002] Rubber-tyred trackless mining vehicles are primarily used for transporting personnel and materials underground and are a crucial component of auxiliary transportation equipment in coal mines. With the growing demand for intelligent and green coal mines, lithium-ion battery vehicles are becoming a trend in underground transportation equipment. However, due to the complex underground operating environment and inherent limitations of battery capacity, the range of lithium-ion battery vehicles cannot fully adapt to all application scenarios.

[0003] Battery swapping for explosion-proof lithium-ion battery vehicles has become the primary solution to addressing the issue of insufficient battery life. This is because underground battery swapping must be performed in fixed charging and swapping chambers. Coal mine chambers are restricted by coal seam geology and chamber excavation regulations, resulting in limited height, width, and depth, which restricts the space available for battery swapping operations. Especially in low chambers, the development of battery swapping technology for explosion-proof lithium-ion battery vehicles is hampered by the challenge of developing a rational battery swapping process that addresses height limitations and better accommodates the rapid charging within these low chambers.

[0004] Therefore, how to change the current situation of rapid battery replacement for explosion-proof lithium battery vehicles in the limited space of a low chamber has become an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of the present invention is to provide a battery replacement process for vehicles in low-lying underground chambers to solve the problems existing in the above-mentioned prior art, improve the battery replacement efficiency of explosion-proof lithium battery vehicles in the limited space of low-lying chambers, and thereby improve the subsequent use efficiency of explosion-proof lithium battery vehicles and improve the auxiliary transportation efficiency.

[0006] To achieve the above object, the present invention provides the following solutions:

[0007] The present invention provides a battery replacement process for vehicles in a low-profile underground chamber, comprising the following steps:

[0008] S1 Battery swap preparation stage: The feeding vehicle enters the designated battery swap area, unlocks the feeding battery box, and the battery swap system detects the position of the feeding battery box, confirms success, and starts the battery swap;

[0009] S2 Empty battery unloading stage: The battery swap system lifting robot moves from the transfer area in the Y direction to a fixed position, the lifting device descends in the Z direction, locks the feeding battery on the feeding vehicle, and lifts the lifting device to the set position. The lifting robot moves in the Y direction to the transfer area, determines the serial number of the vacant area, and moves in the X direction to the top of the vacant area with the corresponding serial number. The lifting device descends and places the feeding battery in the vacant area with the corresponding serial number. The lifting device is lifted to the set position.

[0010] S3 fully-charged battery loading stage: The fully-charged battery placement area number is determined, and the hoisting robot moves in the X direction to above the fully-charged battery placement area with the corresponding number; the hoist descends and locks the fully-charged battery; the hoist is raised to the set position, and the hoisting robot moves in the X direction to the transfer area; the hoisting robot moves in the Y direction to a fixed position, and the hoist is lowered to place the fully-charged battery on the feeding vehicle. After unlocking, the hoist is raised to the set position, and the hoisting robot moves in the Y direction to the transfer area, and reset is successful;

[0011] S4 battery warehouse management stage: Determine the management of the empty area and fully charged battery placement area of ​​the battery warehouse based on the battery replacement mode of the feeding vehicle;

[0012] S5 charging management stage: After the storage location management of the fully charged battery placement area of ​​the feed battery is realized, charging management is carried out. After charging is completed, the fully charged storage location information is submitted to the system.

[0013] Optionally, a transfer area is provided at the battery compartment, and three vacant areas and three fully-charged battery placement areas are respectively provided on both sides of the transfer area.

[0014] Optionally, the battery compartment positions are in the following order: fully charged battery placement area B3, fully charged battery placement area B2, fully charged battery placement area B1, transfer area, vacant area A1, vacant area A2, and vacant area A3.

[0015] Optionally, the battery replacement mode of the feeding vehicles is that three feeding vehicles perform battery replacement operations simultaneously or three feeding vehicles perform battery replacement operations at intervals.

[0016] Optionally, when adopting the operation mode of simultaneous battery replacement by three feeding vehicles, the steps of the S4 battery compartment management stage and the S5 charging management stage include: placing the feeding batteries in the vacant area A1, the vacant area A2, and the vacant area A3 in sequence, and the order of picking up the fully charged battery positions is the fully charged battery placement area B1, the fully charged battery placement area B2, and the fully charged battery placement area B3; after placing the fully fed batteries in the vacant area A1, the vacant area A2, and the vacant area A3, charging is started at the same time; after the feeding batteries are fully charged, when the operation mode of simultaneous battery replacement by three feeding vehicles is entered again, the original vacant area A1, vacant area A2, and vacant area A3 position information is updated to the fully charged battery placement area B3, the fully charged battery placement area B2, and the fully charged battery placement area B1; the original fully charged battery placement area B3, the fully charged battery placement area B2, and the fully charged battery placement area B1 position information is updated to the vacant area A1, the vacant area A2, and the vacant area A3.

[0017] Optionally, when three feeding vehicles are used for intermittent battery replacement operations, the steps of the S4 battery compartment management stage and the S5 charging management stage include: placing the feeding batteries in the vacant area A1, the vacant area A2, and the vacant area A3 in sequence, and the picking order of the fully charged battery positions is the fully charged battery placement area B3, the fully charged battery placement area B2, and the fully charged battery placement area B1; charging begins immediately after the corresponding feeding batteries are placed in the vacant positions; when feeding batteries are placed in the vacant areas A1, A2, and A3, charging is interrupted, and the feeding batteries on the vacant area A3 are moved to the fully charged battery placement area B3, the feeding batteries on the vacant area A2 are moved to the fully charged battery placement area B2, and the feeding batteries on the vacant area A1 are moved to the fully charged battery placement area B1; the battery compartment position information does not change, charging continues, and after charging is completed, it is ready to enter the next round of intermittent battery replacement operations with three feeding vehicles.

[0018] Compared with the prior art, the present invention has achieved the following technical effects:

[0019] The present invention sets up a variety of battery storage spaces including a fully charged battery placement area, an empty area and a conversion area. When changing batteries, the maximum lifting height of the hoist does not need to be higher than the height of two batteries, thereby reducing the overall height of the entire battery changing mechanism and achieving multiple ground changing operations at a lower lifting height during battery changing operations, better adapting to battery changing operations in low chambers, and improving the underground battery changing efficiency of mining lithium batteries; by setting up two battery changing modes, it provides solutions to two different battery changing needs: simultaneous battery changing of multiple vehicles and intermittent battery changing of multiple vehicles, adapting to a variety of underground operation scenarios, further improving the battery changing efficiency, and thereby improving the efficiency of auxiliary transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1-1 This is a front view of the first height increase of the battery replacement process of the present invention;

[0022] Figure 1-2 This is a side view of the first height increase of the battery replacement process of the present invention;

[0023] Figure 2-1 This is a front view of the second height increase of the battery replacement process of the present invention;

[0024] Figure 2-2 This is a side view of the second height increase of the battery replacement process of the present invention;

[0025] Figure 3 This is a schematic plan view of the battery swapping operation space of the present invention;

[0026] Figure 4 This is a schematic diagram of the first battery replacement mode flow in a low-profile chamber of the present invention;

[0027] Figure 5 This is a schematic diagram of the second battery replacement mode flow in a low-profile chamber of the present invention;

[0028] Among them, 1 is the power feeding vehicle, 2 is the power feeding battery box, 3 is the fully charged battery placement area, 4 is the charger, 5 is the transfer area, 6 is the vacant area, and 7 is the fully charged battery. DETAILED DESCRIPTION

[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0030] The purpose of the present invention is to provide a battery replacement process for vehicles in low-lying underground chambers to solve the problems existing in the above-mentioned prior art, improve the battery replacement efficiency of explosion-proof lithium battery vehicles in the limited space of low-lying chambers, and thereby improve the subsequent use efficiency of explosion-proof lithium battery vehicles and improve the auxiliary transportation efficiency.

[0031] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] The present invention provides a battery replacement process for vehicles in a low-profile underground chamber. Figure 1-1 、 Figure 1-2 、 Figure 2-1 、 Figure 2-2 、 Figure 3 、 Figure 4 and Figure 5 As shown, a transfer area 5 is provided at the battery compartment position, and three vacant areas 6 and three fully charged battery placement areas 3 are provided on both sides of the transfer area 5. The process specifically includes the following steps:

[0033] S1 Battery swap preparation stage: Feed vehicle 1 enters the designated battery swap area, unlocks the battery box, and the battery swap system detects the battery box position, confirms success, and starts battery swap;

[0034] S2 Feed battery unloading stage: The battery swap system lifting robot moves from the Y direction of the transfer area 5 to a fixed position, the lifting device descends in the Z direction, locks the feed battery on the vehicle feed battery box 2, and the lifting device is lifted to the set position. The lifting robot moves in the Y direction to the transfer area 5, determines the serial number of the empty area 6 of the battery, and moves in the X direction to the top of the empty area 6 of the serial number. The lifting device descends and places the feed battery in the empty area 6 of the serial number. The lifting device is lifted to the set position.

[0035] S3 fully-charged battery loading stage: Determine the serial number of fully-charged battery placement area 3, and move the lifting robot in the X direction to above the fully-charged battery placement area 3 with the corresponding serial number; the lifting device descends and locks the fully-charged battery 7; the lifting device is lifted to the set position, and the lifting robot moves in the X direction to the transfer area 5; the lifting robot moves in the Y direction to a fixed position, and the lifting device descends to place the fully-charged battery 7 on the battery-swap vehicle. After unlocking, the lifting device is lifted to the set position, and the lifting robot moves in the Y direction to the transfer area 5, and the reset is successful;

[0036] S4 Battery warehouse management stage: Determine the management of the vacant area 6 and the fully charged battery placement area 3 according to the battery replacement mode of the feed vehicle 1. The battery replacement mode of the feed vehicle 1 is the battery replacement operation of three feed vehicles at the same time or the battery replacement operation of three feed vehicles at intervals, such as Figure 4 and Figure 5As shown, in order to facilitate understanding and distinction, the present invention numbers the battery compartment positions in sequence. The fully charged battery placement area 3 is numbered including the fully charged battery placement area B3, the fully charged battery placement area B2, and the fully charged battery placement area B1. The transfer area 5 is numbered Z. The vacant area 6 is numbered including the vacant area A3, the vacant area A2, and the vacant area A1. When the three vehicles are simultaneously changing batteries in the operation mode, the steps of the S4 battery compartment management stage and the S5 charging management stage include: placing the feed battery in the vacant area A1, the vacant area A2, and the vacant area A3 in sequence. The picking order of the fully charged battery position is 1, 2, and 3. Battery placement area B1, fully charged battery placement area B2, fully charged battery placement area B3; after the vacant area A1, vacant area A2, and vacant area A3 are fully charged, charging starts at the same time; after the feeding battery is fully charged, when the three vehicles enter the simultaneous battery replacement operation mode again, the position information of vacant area A1, vacant area A2, and vacant area A3 is updated to fully charged battery placement area B3, fully charged battery placement area B2, and fully charged battery placement area B1; the position information of fully charged battery placement area B3, fully charged battery placement area B2, and fully charged battery placement area B1 is updated to vacant area A1, vacant area A2, and vacant area A3.

[0037] When the three-vehicle interval battery replacement operation mode is adopted, the steps of the S4 battery compartment management stage and the S5 charging management stage include: placing the feeding batteries in the empty area A1, the empty area A2, and the empty area A3 in sequence, and the picking order of the fully charged battery positions is the fully charged battery placement area B3, the fully charged battery placement area B2, and the fully charged battery placement area B1; charging starts immediately after the corresponding batteries are placed in the empty areas; when the feeding batteries are placed in the empty areas A1, the empty areas A2, and the empty areas A3, charging is interrupted, and the feeding battery on the empty area A3 is moved to the fully charged battery placement area B3, the feeding battery on the empty area A2 is moved to the fully charged battery placement area B2, and the feeding battery on the empty area A1 is moved to the fully charged battery placement area B1; the battery compartment position information does not change, charging continues, and charging is completed, and preparations are made again to enter the next round of three-vehicle interval battery replacement operations.

[0038] In this specific embodiment, Figure 1-1 and Figure 1-2 As shown, when the height space for battery replacement operation is large, when the operation process shown in the figure is adopted, the battery replacement battery is lifted to a height h1, and the bottom of the battery box is higher than the height of the battery box placed on the ground. It can be moved to an empty position for charging without restriction. Similarly, a fully charged battery at any position can also be lifted to a position higher than the battery height to complete the battery replacement.

[0039] like Figure 2-1 and Figure 2-2As shown, when the battery replacement operation height is limited, the battery is lifted to a height of h2 to meet the conditions for unloading from the vehicle. When it is moved to the transfer area, it cannot be moved to an empty position for charging due to interference with other battery boxes placed on the ground. Similarly, a fully charged battery cannot pass over the remaining batteries to complete the battery replacement.

[0040] Figure 1-1 、 Figure 1-2 、 Figure 2-1 and Figure 2-2 In the battery area, there is no base, so the actual use is as follows Figure 1-1 、 Figure 1-2 In the schematic diagram of battery replacement shown, the height of h1 will be greater, and the height requirement for battery replacement operation in the chamber will be higher, which cannot meet the battery replacement operation under the limited height of the low chamber.

[0041] like Figures 3-5 The figure shows an operation diagram of a low-profile underground chamber vehicle battery replacement process provided by the present invention.

[0042] Specifically, if Figure 3 Schematic diagram of the battery replacement operation, in which the feeding vehicle 1, the battery compartment area, and the charger 4 are distributed along the Y direction. The feeding battery box 2 is placed on the feeding vehicle 1. The battery compartment area is divided into a fully charged battery placement area 3, a transfer area 5, and an empty area 6. The fully charged battery placement area 3 is used to place fully charged batteries 7. The transfer area has the same X position as the feeding battery box 2 installed on the feeding vehicle 1, and the empty area is used to place the feeding battery 2. Figure 4 and Figure 5 As shown, for the convenience of distinction and understanding, the battery compartment positions are numbered in sequence as fully charged battery placement area B3, fully charged battery placement area B2, fully charged battery placement area B1, transfer area Z, vacant area A3, vacant area A2, and vacant area A1.

[0043] Specifically, if Figure 4 The figure shows the battery swapping process when three vehicles are swapping batteries at the same time. Figure 4As shown, No. 1 vehicle enters the battery swap chamber and battery swapping begins; No. 2 transfers the feeding battery from the vehicle to the vacant area A1; No. 3 transfers the fully charged battery from the B1 area to the feeding vehicle, and the battery swap for the first vehicle is completed; No. 4 swaps the battery for the second vehicle, places the feeding battery in the vacant area A2, and places the battery in the fully charged battery placement area B2 on the vehicle, and the battery swap for the second vehicle is completed; No. 5 swaps the battery for the third vehicle, places the feeding battery in the vacant area A3, and places the battery in the fully charged battery placement area B3 on the vehicle, and the battery swap for the third vehicle is completed; No. 6 When the vacant area A1, vacant area A2, and vacant area A3 are all filled with full batteries, charging starts at the same time; No. 7 When the feeding batteries are all fully charged, when the three vehicles enter the simultaneous battery swapping operation mode again, the vacant area A1 and vacant area A2 , the position information of the vacant area A3 is updated to the fully charged battery placement area B3, the fully charged battery placement area B2, and the fully charged battery placement area B1; the position information of the fully charged battery placement area B3, the fully charged battery placement area B2, and the fully charged battery placement area B1 is updated to the vacant area A1, the vacant area A2, and the vacant area A3; Serial number ⑧ The first vehicle replaces the battery, the feeding battery is placed in the vacant area A1, and the battery on the fully charged battery placement area B1 is placed on the vehicle, and the battery replacement of the first vehicle is completed; Serial number ⑨ The second vehicle replaces the battery, the feeding battery is placed in the vacant area A2, and the battery on the fully charged battery placement area B2 is placed on the vehicle, and the battery replacement of the second vehicle is completed; Serial number ⑩ The third vehicle replaces the battery, the feeding battery is placed in the vacant area A3, and the battery on the fully charged battery placement area B3 is placed on the vehicle, and the battery replacement of the third vehicle is completed; Serial number When the vacant area A1, vacant area A2, and vacant area A3 are all filled with batteries, charging starts at the same time; When all the feed batteries are fully charged, when the three vehicles enter the simultaneous battery swapping mode again, the position information of vacant area A1, vacant area A2, and vacant area A3 is updated to fully charged battery placement area B3, fully charged battery placement area B2, and fully charged battery placement area B1; the position information of fully charged battery placement area B3, fully charged battery placement area B2, and fully charged battery placement area B1 is updated to vacant area A1, vacant area A2, and vacant area A3. After completing two three-vehicle simultaneous battery swaps, the battery compartment positions remain the same as the initial positions. When the battery swap operation is repeated again, the above sequence can be repeated.

[0044] like Figure 5 The figure shows the battery replacement process diagram when three vehicles are used for battery replacement. Figure 5As shown, the vehicle No. 1 enters the battery swap chamber and the battery swap begins; the vehicle No. 2 transfers the feed battery from the vehicle to the vacant area A1 and starts charging; the vehicle No. 3 transfers the fully charged battery from the B1 area to the feed vehicle, and the battery swap for the first vehicle is completed; the vehicle No. 4 transfers the feed battery to the vacant area A2 and starts charging, and the fully charged battery in the fully charged battery placement area B2 is placed on the vehicle, and the battery swap for the second vehicle is completed; the vehicle No. 5 transfers the feed battery to the vacant area A3, start charging, place the fully charged battery on the fully charged battery placement area B3 on the vehicle, and the battery replacement of the third vehicle is completed; sequence number ⑥ When the empty areas A1, empty areas A2, and empty areas A3 are all filled with full batteries, all charging is interrupted; sequence number ⑦ moves the feeding battery on the empty area A3 to the fully charged battery placement area B3, the feeding battery on the empty area A2 to the fully charged battery placement area B2, and the feeding battery on the empty area A1 to the fully charged battery placement area B1, and all continue charging. The battery compartment position information does not change. When preparing to enter the next round of three-vehicle interval battery replacement operation, the above sequence can be repeated. At this time, the battery on the fully-charged battery placement area B1 has been charged for the longest time and has the shortest remaining charging time. It is fully charged first, which can meet the use needs of the first vehicle loaded with the fully-charged battery placement area B1. Similarly, when the second and third vehicles are replaced with batteries, the batteries on the fully-charged battery placement area B2 and the fully-charged battery placement area B3 are fully charged at intervals. When replacing fully-charged batteries, there is no need to transfer them multiple times. You can directly continue the original battery replacement steps to replace them with fully-charged batteries in sequence as needed, which better meets the use needs in the low cavern and improves the battery replacement efficiency.

[0045] In the description of the present invention, it should be noted that the terms "center," "top," "bottom," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0046] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A battery replacement process for vehicles in a low-profile underground chamber, characterized by: The steps include: S1 Battery swap preparation stage: The feeding vehicle enters the designated battery swap area, unlocks the feeding battery box, and the battery swap system detects the position of the feeding battery box, confirms success, and starts the battery swap; S2 Empty battery unloading stage: The battery swap system lifting robot moves from the transfer area in the Y direction to a fixed position, the lifting device descends in the Z direction, locks the feeding battery on the feeding vehicle, and lifts the lifting device to the set position. The lifting robot moves in the Y direction to the transfer area, determines the serial number of the vacant area, and moves in the X direction to the top of the vacant area with the corresponding serial number. The lifting device descends and places the feeding battery in the vacant area with the corresponding serial number. The lifting device is lifted to the set position. S3 fully-charged battery loading stage: The fully-charged battery placement area number is determined, and the hoisting robot moves in the X direction to above the fully-charged battery placement area with the corresponding number; the hoist descends and locks the fully-charged battery; the hoist is raised to the set position, and the hoisting robot moves in the X direction to the transfer area; the hoisting robot moves in the Y direction to a fixed position, and the hoist is lowered to place the fully-charged battery on the feeding vehicle. After unlocking, the hoist is raised to the set position, and the hoisting robot moves in the Y direction to the transfer area, and reset is successful; S4 battery warehouse management stage: Determine the management of the empty area and fully charged battery placement area of ​​the battery warehouse based on the battery replacement mode of the feeding vehicle; S5 charging management stage: After the storage area management of the fully charged battery of the feed battery is realized, charging management is carried out. After charging is completed, the fully charged storage area information is submitted to the system; The battery compartment is provided with a transfer area, and three vacant areas and three fully charged battery placement areas are respectively provided on both sides of the transfer area; the battery compartment positions are in the following order: fully charged battery placement area B3, fully charged battery placement area B2, fully charged battery placement area B1, transfer area, vacant area A1, vacant area A2, and vacant area A3; the battery replacement mode of the feeding vehicles is the simultaneous battery replacement operation of three feeding vehicles or the battery replacement operation of three feeding vehicles at intervals; When the three feeding vehicles are used for simultaneous battery replacement operation mode, the steps of the S4 battery compartment management stage and the S5 charging management stage include: placing the feeding batteries in the vacant area A1, the vacant area A2, and the vacant area A3 in sequence, and the picking order of the fully charged battery positions is the fully charged battery placement area B1, the fully charged battery placement area B2, and the fully charged battery placement area B3; after the fully charged feeding batteries are placed in the vacant area A1, the vacant area A2, and the vacant area A3, charging starts at the same time; after the feeding batteries are fully charged, when the three feeding vehicles are used for simultaneous battery replacement operation mode again, the original vacant area A1, vacant area A2, and vacant area A3 position information is updated to the fully charged battery placement area B3, the fully charged battery placement area B2, and the fully charged battery placement area B1; the original fully charged battery placement area B3, the fully charged battery placement area B2, and the fully charged battery placement area B1 position information is updated to the vacant area A1, the vacant area A2, and the vacant area A3; When three feeding vehicles are used for intermittent battery replacement operation, the steps of S4 battery compartment management stage and S5 charging management stage include: placing the feeding batteries in vacant area A1, vacant area A2, and vacant area A3 in sequence, and the order of picking up the fully charged battery positions is fully charged battery placement area B1, fully charged battery placement area B2, and fully charged battery placement area B3; charging starts immediately after the corresponding feeding batteries are placed in the vacant positions; when feeding batteries are placed in vacant area A1, vacant area A2, and vacant area A3, charging is interrupted, and the feeding battery on vacant area A3 is moved to the fully charged battery placement area B3, the feeding battery on vacant area A2 is moved to the fully charged battery placement area B2, and the feeding battery on vacant area A1 is moved to the fully charged battery placement area B1; the battery compartment position information does not change, charging continues, and charging is completed, and preparations are made again to enter the next round of intermittent battery replacement operation with three feeding vehicles.

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