Battery swapping system, battery swapping station, battery swapping method, and computer readable storage medium

Abstract

The application discloses a battery replacing system, a battery replacing station, a battery replacing method and a computer readable storage medium, and relates to the technical field of battery replacing systems. The battery replacing system comprises a lifting positioning mechanism, a battery replacing robot and a control module. The lifting positioning mechanism comprises a lifting device. The battery replacing robot comprises a mounting frame, a walking mechanism and at least two battery replacing mechanisms. The battery replacing mechanism comprises a lifting assembly, a lifting platform and a locking assembly. The lifting assembly is mounted on the mounting frame. The lifting platform is mounted on the lifting assembly. The walking mechanism is used to drive the mounting frame to move. The lifting platform is provided with a containing bin. The lifting assembly is used to lift the lifting platform, so that the locking assembly can mount a battery located in the containing bin to a vehicle or so that the locking assembly can detach the battery from the vehicle into the containing bin. The lifting device, the walking mechanism, the lifting assembly and the locking assembly are electrically connected with the control module. During the battery replacing process, the battery replacing robot only needs to go back and forth between the vehicle and the battery containing bin once to complete the battery replacing of the vehicle, and the battery replacing process is simplified.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electric vehicle battery swap, and particularly relates to a battery swap system, a battery swap station, a battery swap method and a computer readable storage medium. BACKGROUND

[0002] Battery swap is a power battery energy supplement method based on the fact that the charging speed of pure electric vehicles cannot meet the use requirements of specific scenarios with the development of new energy vehicles. Generally, when charging a pure electric vehicle, more than 80% of the slow AC charging needs 8 hours or even more, and only a small part of the fast DC charging can be completed within 30 minutes, and it cannot guarantee the normal capacity of the battery. The full charge has an adverse effect on the cycle life of the power battery. In the uninterrupted operation scenarios of taxis, trucks and other vehicles, the charging mode cannot fully utilize the vehicle resources in the time dimension, while the battery swap mode has a supplement time close to the traditional vehicle refueling time, which can better adapt to this scenario, and thus has higher economic benefits.

[0003] The existing battery swap mode usually uses an AGV (English full name: Automated Guided Vehicle, Chinese name: automatic guided vehicle) or an RGV (English full name: Rail Guided Vehicle, Chinese name: rail guided vehicle) battery swap robot to perform battery swap. The battery swap process is roughly as follows: the battery swap robot is controlled to first move to the bottom of the vehicle to remove the battery on the vehicle, then move to a battery swap station to remove the old battery, and then move to the bottom of the vehicle to install the new battery. The battery swap process is complicated and time-consuming.

[0004] In view of this, it is necessary to provide a new battery swap system, a battery swap station, a battery swap method and a computer readable storage medium to solve or at least alleviate the above technical defects. SUMMARY

[0005] The main purpose of the present application is to provide a battery swap system, a battery swap station, a battery swap method and a computer readable storage medium, which aims to solve the technical problem of the complicated and time-consuming existing battery swap process.

[0006] In order to achieve the above purpose, the present application provides a battery swap system, which comprises:

[0007] A lifting positioning mechanism, the lifting positioning mechanism comprises a lifting device, and the lifting device is used to lift the vehicle;

[0008] The battery replacing robot comprises a mounting frame, a walking mechanism and at least two battery replacing mechanisms, the battery replacing mechanism comprises a lifting assembly, a lifting platform and a locking assembly, the lifting assembly is mounted on the mounting frame, the lifting platform is mounted on the lifting assembly, the walking mechanism is used to drive the mounting frame to move, the lifting platform is provided with a containing cavity for containing a battery, and the lifting assembly is used to lift the lifting platform, so that the locking assembly can mount the battery in the containing cavity to the vehicle or dismount the battery from the vehicle to the containing cavity.

[0009] The control module is electrically connected with the lifting device, the walking mechanism, the lifting assembly and the locking assembly.

[0010] In an embodiment, the battery replacing system further comprises a vehicle information acquisition module, the vehicle information acquisition module is used to acquire battery replacing information, the number of the lifting positioning mechanisms is at least four and corresponds to the wheel arrangement of the vehicle, each of the lifting positioning mechanisms comprises a first position adjusting assembly and a second position adjusting assembly, the second position adjusting assembly is mounted on the first position adjusting assembly, the first position adjusting assembly is used to drive the second position adjusting assembly to move in a first direction in a horizontal plane, and the lifting device is mounted on the second position adjusting assembly, and the second position adjusting assembly is used to drive the lifting device to move in a second direction perpendicular to the first direction in a horizontal plane.

[0011] In an embodiment, the battery replacing mechanism further comprises a locking state detection assembly, the locking state detection assembly is electrically connected with the control module, the locking state detection assembly is mounted on the lifting platform, and the locking state detection assembly is used to detect the locking state of the locking assembly.

[0012] In an embodiment, the battery replacing system further comprises a track, the track is used to be arranged below the vehicle, the track extends along the length direction or the width direction of the vehicle, and the walking mechanism is used to travel on the track.

[0013] In addition, the present application also provides a battery replacing station, the battery replacing station comprises a battery replacing cavity, a charging module and the above-mentioned battery replacing system, the battery replacing cavity comprises a cavity body and a support frame arranged in the cavity body, the cavity body is provided with a through hole for the battery replacing robot to enter and exit, the locking assembly is used to mount the battery in the containing cavity to the support frame or dismount the battery from the support frame to the containing cavity, and the charging module is used to charge the battery on the support frame.

[0014] Further, the application also provides a battery replacement method applied to the above battery replacement system, the battery replacement mechanism comprises a first battery replacement mechanism and a second battery replacement mechanism, the first battery replacement mechanism comprises a first lifting assembly, a first lifting platform and a first locking assembly, the first lifting platform is provided with a first accommodating bin; the second battery replacement mechanism comprises a second lifting assembly, a second lifting platform and a second locking assembly, the second lifting platform is provided with a second accommodating bin; the battery replacement method comprises:

[0015] controlling the battery replacement robot to receive a high-capacity battery in the first accommodating bin in the battery replacement bin;

[0016] when it is detected that a vehicle enters the battery replacement station, controlling the lifting device to lift the vehicle at the battery replacement station to a first height;

[0017] controlling the battery replacement robot to move, so that the second accommodating bin moves below the battery compartment of the vehicle; controlling the second lifting assembly to lift the second accommodating bin, controlling the second locking assembly to unload the battery to be replaced in the battery compartment into the second accommodating bin, and then controlling the second lifting assembly to descend;

[0018] controlling the battery replacement robot to move, so that the first accommodating bin with the high-capacity battery moves below the battery compartment, controlling the first lifting assembly to lift the first accommodating bin, controlling the first locking assembly to install the high-capacity battery in the battery compartment, and controlling the first lifting assembly to descend;

[0019] controlling the battery replacement robot to leave the bottom of the vehicle, and then controlling the lifting device to descend.

[0020] In an embodiment, the step of controlling the battery replacement robot to receive a high-capacity battery in the first accommodating bin in the battery replacement bin comprises:

[0021] controlling the vehicle information acquisition module to acquire battery replacement information; wherein the battery replacement information comprises battery information and battery replacement sequence information;

[0022] controlling the battery replacement robot to receive a high-capacity battery in the first accommodating bin in the battery replacement bin according to the battery information;

[0023] the step of controlling the battery replacement robot to leave the bottom of the vehicle, and then controlling the lifting device to descend comprises:

[0024] controlling the battery replacement robot to leave the bottom of the vehicle;

[0025] judging whether there is a vehicle to be replaced behind the vehicle after the battery replacement according to the battery replacement sequence information;

[0026] If yes, the battery replacing robot is controlled to carry the battery to be replaced to the battery replacing cabin for charging, and the high-power battery is received into the first containing cabin while the lifting device is controlled to descend;

[0027] When the vehicle after the battery replacement leaves the battery replacing station and the vehicle to be replaced drives into the battery replacing station, the step of controlling the lifting device to lift the vehicle in the battery replacing station to the first height is performed.

[0028] In an embodiment, the battery replacing information further comprises vehicle model information; the number of the lifting positioning mechanisms is at least four and corresponds to the wheel arrangement of the vehicle, each of the lifting positioning mechanisms comprises a first position adjusting assembly and a second position adjusting assembly; after the step of when the vehicle after the battery replacement leaves the battery replacing station, before the step of when the vehicle to be replaced drives into the battery replacing station, the method comprises:

[0029] The first position adjusting assembly is controlled according to the vehicle model information to adjust the position of the lifting device in a first direction, and the second position adjusting assembly is controlled to adjust the position of the lifting device in a second direction.

[0030] In an embodiment, the step of controlling the battery replacing robot to move so that the second containing cabin moves below the battery cabin of the vehicle comprises:

[0031] The battery replacing robot is controlled to move according to a first preset distance, a second preset distance and a third preset distance so that the second containing cabin moves below the battery cabin of the vehicle; the first preset distance is the distance from the through hole of the battery replacing cabin to the battery replacing station, the second preset distance is matched with the vehicle model information, and the second preset distance is the distance from the center position of the battery cabin to the battery replacing station; and the third preset distance is the distance from the center position of the second containing cabin to the through hole of the battery replacing cabin.

[0032] The step of controlling the battery replacing robot to move so that the first containing cabin containing the high-power battery moves below the battery cabin comprises:

[0033] The battery replacing robot is controlled to move according to the displacement information so that the containing cabin containing the high-power battery moves below the battery cabin of the vehicle; the fourth preset distance is the distance from the center position of the first containing cabin to the center position of the second containing cabin.

[0034] Further, the application also provides a computer readable storage medium, wherein a battery replacement program is stored on the computer readable storage medium, and the battery replacement program is executed by a processor to implement the steps of the battery replacement method.

[0035] In the technical scheme, the at least two battery replacement mechanisms are divided into a first battery replacement mechanism and a second battery replacement mechanism, the first battery replacement mechanism comprises a first lifting assembly, a first lifting platform and a first locking assembly, and the first lifting platform is provided with a first accommodating cavity; the second battery replacement mechanism comprises a second lifting assembly, a second lifting platform and a second locking assembly, and the second lifting platform is provided with a second accommodating cavity; the battery replacement robot moves to the battery replacement cavity through the walking mechanism, so that the first accommodating cavity receives the high-power battery in the battery replacement cavity; when the vehicle drives into a position capable of being lifted by the lifting device, i.e., a battery replacement station, the lifting device lifts the vehicle to a certain height, the walking mechanism drives the second accommodating cavity to move to below the battery cavity of the vehicle through the mounting frame, the second lifting assembly drives the second lifting platform to ascend, so that the second locking assembly can disassemble the battery to be replaced in the battery cavity, the battery to be replaced falls into the second accommodating cavity, the second lifting assembly drives the second lifting platform to descend, the walking mechanism drives the first accommodating cavity to move to below the battery cavity, the first lifting assembly drives the first lifting platform to ascend, so that the high-power battery moves into the battery cavity, and then the high-power battery is installed on the vehicle through the first locking assembly; thereafter, the first lifting assembly drives the first lifting platform to descend, so that the battery replacement robot leaves the bottom of the vehicle through the walking mechanism, the lifting device drives the vehicle to be lowered, and thus the battery replacement of one vehicle is completed; in the battery replacement process, the battery replacement robot only needs to go back and forth to the battery replacement cavity once, so that the battery replacement process is simplified, and the battery replacement time is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0036] In order to more clearly illustrate the technical scheme in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only show some embodiments of the application, and those skilled in the art can obtain other drawings according to the structures shown in these drawings without any creative effort.

[0037] Figure 1 FIG. 1 is a partial structural schematic diagram of a battery replacement station according to an embodiment of the application;

[0038] Figure 2 FIG. 2 is a three-dimensional structural schematic diagram of a battery replacement robot according to an embodiment of the application;

[0039] Figure 3 FIG. 3 is a top view of the battery replacement robot shown in FIG. 2; Figure 2 FIG. 4 is a side view of the battery replacement robot shown in FIG. 2;

[0040] Figure 4 FIG. 5 is a front view of the battery replacement robot shown in FIG. 2; and Figure 3A local enlarged schematic view at A;

[0041] Figure 5 A cross-sectional view of a partial structure of a battery replacement system according to an embodiment of the present application;

[0042] Figure 6 A flowchart of a battery replacement method according to a first embodiment of the present application;

[0043] Figure 7 A flowchart of a battery replacement method according to a second embodiment of the present application;

[0044] Figure 8 A flowchart of a battery replacement method according to a third embodiment of the present application.

[0045] BRIEF DESCRIPTION OF DRAWINGS

[0046]

[0047]

[0048] The implementation, functional features and advantages of the present application will be further described with reference to the accompanying drawings. DETAILED DESCRIPTION

[0049] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying 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 of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0050] It should be noted that all directional indications, such as upper, lower, left, right, front, back, and the like, are only used to explain the relative position relationship, movement condition and the like between components in a certain specific posture (such as the posture shown in the drawings) and change accordingly if the specific posture changes. Figure 1

[0051] In addition, the description such as "first", "second" and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features.

[0052] ​Moreover, the technical solutions among the various embodiments of the present application can be combined with each other, but it must be based on the realization of a person skilled in the art, when the combination of technical solutions appears contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist, nor within the scope of protection required by the present application.

[0053] The present application provides a battery replacement system 1, as shown in Figure 1 and Figure 2 The battery replacement system 1 includes a lifting positioning mechanism 11, a battery replacement robot 12 and a control module, the lifting positioning mechanism 11 includes a lifting device (not shown in the figure), the lifting device is used to lift the vehicle; the battery replacement robot 12 includes a mounting frame 121, a walking mechanism 122 and at least two battery replacement mechanisms 123, the battery replacement mechanism 123 includes a lifting assembly 1231, a lifting platform 1232 and a locking assembly 1233, the lifting assembly 1231 is installed on the mounting frame 121, the lifting platform 1232 is installed on the lifting assembly 1231, the walking mechanism 122 is used to drive the mounting frame 121 to move, the lifting platform 1232 is provided with a containing bin 1211 for containing the battery 3, the lifting assembly 1231 is used to lift the lifting platform 1232, so that the locking assembly 1233 can install the battery 3 located in the containing bin 1211 to the vehicle or so that the locking assembly 1233 can disassemble the battery 3 from the vehicle to the containing bin 1211; the lifting device, the walking mechanism 122, the lifting assembly 1231 and the locking assembly 1233 are all electrically connected with the control module.

[0054] At least two battery replacement mechanisms 123 include a first battery replacement mechanism 123A and a second battery replacement mechanism 123B. The first battery replacement mechanism 123A includes a first lifting assembly 1231, a first lifting platform 1232, and a first locking assembly 1233. The first lifting platform 1232 is provided with a first containing bin 1211. The second battery replacement mechanism 123B includes a second lifting assembly 1231, a second lifting platform 1232, and a second locking assembly 1233. The second lifting platform 1232 is provided with a second containing bin 1211. The battery replacement robot 12 moves to the battery replacement bin 21 through the walking mechanism 122, so that the first containing bin 1211 receives the high-capacity battery in the battery replacement bin 21. The first containing bin 1211 can receive the high-capacity battery by moving the high-capacity battery into the first containing bin 1211 through the stacker, or the stacker can place the high-capacity battery in the battery replacement bin 21. The walking mechanism 122 drives the first containing bin 1211 to move below the high-capacity battery. The first lifting assembly 1231 drives the first lifting platform 1232 to rise, so that the first locking assembly 1233 can disassemble the high-capacity battery from the battery replacement bin 21. The disassembled high-capacity battery falls into the first containing bin 1211. When the vehicle drives to a position that can be lifted by the lifting device, i.e., a battery replacement station, the lifting device lifts the vehicle to a certain height. The walking mechanism 122 drives the second containing bin 1211 to move below the battery compartment of the vehicle through the mounting frame 121. The second lifting assembly 1231 drives the second lifting platform 1232 to rise, so that the second locking assembly 1233 can disassemble the battery to be replaced in the battery compartment. The battery to be replaced falls into the second containing bin 1211. The second lifting assembly 1231 drives the second lifting platform 1232 to descend. The walking mechanism 122 drives the first containing bin 1211 to move below the battery compartment. The first lifting assembly 1231 drives the first lifting platform 1232 to rise, so that the high-capacity battery moves into the battery compartment. The first locking assembly 1233 installs the high-capacity battery on the vehicle. Then, the first lifting assembly 1231 drives the first lifting platform 1232 to descend, so that the battery replacement robot 12 leaves the bottom of the vehicle through the walking mechanism 122. The lifting device drives the vehicle to descend, thereby completing the battery replacement of one vehicle. During the battery replacement process, the battery replacement robot 12 only needs to go back and forth once in the battery replacement bin 21 to complete the battery replacement of the vehicle, which simplifies the battery replacement process and reduces the battery replacement time. Compared with the traditional battery replacement time, the battery replacement time is shortened by at least 30%, the battery replacement efficiency is improved, for example, the single battery replacement time of the original single-bin battery replacement station based on Baojun E100 is 3.5-5 minutes, and the average single battery replacement time of the battery replacement station 2 of the present application is less than 2.5 minutes.It should be noted that the height of the lifting device lifting the vehicle can be adjusted to be matched with the height of the battery 3 according to the different height sizes of the battery 3, so that the battery replacing robot 12 enters the bottom of the vehicle without interfering with the vehicle; or the height of the lifting is matched according to the highest height size of all battery 3 models, that is, the height of the vehicle lifted by the lifting device is the same each time, and the lifting is carried out according to the maximum height, so as to avoid the interference between the battery replacing robot 12 or the battery 3 and the vehicle. It should be noted that the locking assembly 1233 can be an automatic bolt tightening gun. The locking assembly 1233 can also be a locking driving part 1234 and a fixing part 1235 connected with the output shaft of the locking driving part 1234. The locking driving part 1234 is installed on the lifting platform 1232. The fixing part 1235 is provided with a groove matched with the shape of the vehicle battery fixing device. The fixing part 1235 rises or falls with the lifting platform 1232. When it is needed to install the high-power battery into the battery compartment of the vehicle, the first lifting assembly 1231 drives the first lifting platform 1232 to rise, so that the high-power battery in the first containing compartment 1211 enters the battery compartment, and the fixing part 1235 and the vehicle battery fixing device are clamped. The locking driving part 1234 drives the fixing part 1235 to rotate, so as to drive the vehicle battery fixing device to clamp and fix the battery 3 or release the clamping and fixing.

[0055] According to an embodiment of the present application, the battery replacing system 1 further comprises a track 13, the walking mechanism 122 is capable of moving on the track 13, the track 13 plays a guiding and positioning role for the walking mechanism 122, the walking mechanism 122 moves on the track 13 at a faster speed and with more accurate positioning compared with the AGV without the track 13, which can effectively improve the success rate of replacing the battery 3. According to an embodiment of the present application, the track 13 is arranged above the vehicle, the track 13 can extend along the length direction of the vehicle or extend along the width direction of the vehicle, taking the example that the track 13 extends along the width direction of the vehicle, the center position of the battery compartment and the center position of the containing compartment 1211 are both on the same horizontal line on the ground, and the extension direction of the horizontal line is parallel to the width direction of the vehicle, thus only the position of the containing compartment 1211 needs to be adjusted along the extension direction of the track 13, so that the center position of the battery 3 in the containing compartment 1211 coincides with the center position of the battery compartment or the center position of the containing compartment 1211 coincides with the center position of the battery 3 in the battery compartment, to ensure the success rate of replacing the battery 3; arranging the track 13 below the center position of the battery compartment facilitates the positioning of the battery replacing robot 12, reduces the process of adjusting the position of the battery replacing robot 12 along the direction perpendicular to the extension direction of the track 13, thereby saving the time spent on positioning and improving the positioning accuracy. It should be noted that the battery replacing robot 12 moves from the battery replacing compartment 21 to below the vehicle, so that the containing compartment 1211 is located below the battery compartment, which can be adding a position recognition member in the battery replacing system 1, adding a laser positioning plate to the mounting frame 121, each laser positioning plate corresponds to a containing compartment 1211, and by recognizing the laser positioning plate through the position recognition member, the corresponding containing compartment 1211 can be stopped at the specified position, and the above positioning method can be realized by using the existing technology.According to an embodiment of the present application, wherein the distance between the position of the battery replacement compartment 21 and the battery replacement station is constant, and the distance from the through hole 213 of the battery replacement compartment 21 to the battery replacement station is a first preset distance, the center position of the vehicle battery compartment is preset according to the vehicle type information, and the distance from the center position of the vehicle battery compartment to the battery replacement station is a second preset distance. If the first containing compartment 1211 receives a high-capacity battery in the battery replacement compartment 21, the positions of the first containing compartment 1211 and the second containing compartment 1211 are fixed, and the distance from the through hole 213 of the battery replacement compartment 21 to the center point of the second containing compartment 1211 can be obtained according to the distance from the high-capacity battery to the through hole 213 of the battery replacement compartment 21 and the distance between the center points of the first containing compartment 1211 and the second containing compartment 1211, and the distance is a third preset distance. In addition, the containing compartments 1211 are arranged at equal intervals, and the distance between the center point of the first containing compartment 1211 and the center point of the second containing compartment 1211 is a fourth preset distance. The control module controls the walking mechanism 122 to move the empty containing compartment 1211 to the position below the vehicle battery compartment according to the first preset distance, the second preset distance, and the third preset distance. After the disassembly of the battery to be replaced is completed, the control module controls the containing compartment 1211 containing the high-capacity battery to move to the position below the battery compartment according to the fourth preset distance, thereby installing the high-capacity battery on the vehicle. The battery replacement process of the battery replacement robot 12 is realized by program analysis of data without relying on the laser positioning plate and the position recognition device, thereby effectively reducing the cost of the battery replacement system 1.

[0056] According to another embodiment of the present application, the top surface of the lifting platform 1232 is provided with a guide positioning cone 1238, wherein the number of the guide positioning cone 1238 is at least two, and the guide positioning cone 1238 is used to be inserted into the positioning hole at the bottom of the vehicle, thereby assisting the alignment of the containing compartment 1211 with the center position of the battery compartment, so that the battery 3 in the containing compartment 1211 can smoothly enter the battery compartment, or the battery 3 in the battery compartment can smoothly enter the containing compartment 1211, thereby improving the success rate and reliability of the battery replacement of the battery replacement system 1.

[0057] In addition, the battery replacing system 1 further comprises a vehicle information acquisition module (not shown in the figure) configured to acquire the battery replacing information. The number of the lifting positioning mechanisms 11 is at least four and corresponds to the wheel arrangement of the vehicle. Each of the lifting positioning mechanisms 11 comprises a first position adjusting assembly (not shown in the figure) and a second position adjusting assembly (not shown in the figure). The second position adjusting assembly is installed on the first position adjusting assembly. The first position adjusting assembly is configured to drive the second position adjusting assembly to move in a first direction in a horizontal plane. The lifting device is installed on the second position adjusting assembly. The second position adjusting assembly is configured to drive the lifting device to move in a second direction perpendicular to the first direction in the horizontal plane. Since the wheel track and the wheelbase of different vehicle models can be different, the battery replacing system 1 is provided with at least four lifting positioning mechanisms 11 to adapt to different vehicle models. Each of the lifting positioning mechanisms 11 corresponds to a tire. The vehicle information acquisition module is configured to acquire the vehicle model information. The wheel track and the wheelbase of the vehicle are obtained according to the vehicle model information. The control module is configured to control the first adjusting assembly to adjust the position of the lifting device in the first direction according to the wheel track and the wheelbase of the vehicle, and control the second adjusting assembly to adjust the position of the lifting device in the second direction, so that the position of each lifting device is adapted to the position of the tire of the vehicle to be replaced. The lifting positioning mechanisms 11 can realize the lifting of different vehicle models, that is, the battery replacing system 1 can replace the battery for a slightly larger vehicle model such as a micro van, and can also replace the battery for an A00 passenger car or a city terminal logistics vehicle. It should be noted that the center position of the battery compartment of the vehicle lifted by the lifting positioning mechanism 11, the center position of the containing compartment 1211 or the center position of the battery 3 in the containing compartment 1211 are all on the same straight line on the ground, and the straight line is consistent with the extension direction of the track 13. It should be further noted that when the first direction is the left-right direction as shown in Figure 1 , the second direction is the front-rear direction as shown in Figure 1 , when the first direction is the front-rear direction as shown in Figure 1 , the second direction is the left-right direction as shown in Figure 1 .

[0058] According to an embodiment of the present application, as shown in Figure 2 and Figure 3As shown, the battery replacing mechanism 123 further comprises a plurality of battery positioning mechanisms arranged along the circumference of the slot wall of the accommodating cavity 1211, the battery positioning mechanism comprising a positioning driving member and a positioning plate connected with the extension shaft of the positioning driving member, wherein the positioning driving member can be a pneumatic cylinder or an oil cylinder, etc. In order to adapt to batteries 3 of different sizes, the size of the accommodating cavity 1211 is designed to be able to accommodate the largest battery 3, when the battery 3 is placed in the accommodating cavity 1211, the control module controls the stroke of the extension shaft of each positioning driving member according to the battery 3 information, so that the positioning driving member drives the positioning plate to abut against the battery 3 to complete the positioning of the battery 3. It should be noted that the center position of the battery 3 after positioning coincides with the center position of the accommodating cavity 1211 or the center position of the battery cavity.

[0059] According to another embodiment of the present application, the side wall of the accommodating cavity 1211 is provided with a guide slope 1239, so that the caliber of the slot opening of the accommodating cavity 1211 is tapered from outside to inside, which is used to adapt to batteries 3 of different sizes, and the guide slope 1239 can also be used to guide the battery 3 to slide into the middle part of the accommodating cavity 1211, so that the center position of the battery 3 coincides with the center position of the accommodating cavity 1211, thereby realizing the positioning of the battery 3.

[0060] According to still another embodiment of the present application, the lifting device comprises a lifting driving member and a wheel positioning member 111 connected with the lifting driving member, the lifting driving member is used to drive the wheel positioning member 111 to lift and lower, and the wheel positioning member 111 is used to position the wheels, so as to avoid the movement of the lifted vehicle relative to the lifting device, which affects the normal replacement of the battery 3.

[0061] As Figures 2 to 4As shown, the battery replacing mechanism 123 further comprises a locking state detection assembly 1237 electrically connected with the control module, the locking state detection assembly 1237 is installed on the lifting platform 1232, and the locking state detection assembly 1237 is used to detect the locking state of the locking assembly 1233. By arranging the locking state detection assembly 1237 to detect the locking state of the locking assembly 1233, it is determined whether the locking assembly 1233 successfully installs the battery 3 on the vehicle or whether the locking assembly 1233 successfully removes the battery 3 from the vehicle. The locking state detection assembly 1237 can be a visual detection assembly. According to an embodiment of the present application, the locking state detection assembly 1237 is a photoelectric switch, the locking assembly 1233 can be a locking driving member 1234 and a fixing member 1235 connected with the output shaft of the locking driving member 1234, the locking driving member 1234 is used to drive the fixing member 1235 to rotate, the fixing member 1235 comprises a locking position and an original position, when the fixing member 1235 rotates from the original position to the locking position, the fixing member 1235 will drive the battery 3 fixing device to clamp the battery 3, thereby completing the installation of the battery 3, on the contrary, if the fixing member 1235 rotates from the locking position to the original position, the battery 3 fixing device connected with the fixing member 1235 will release the restriction on the battery 3, thereby unloading the battery 3 from the vehicle, the outer wall of the fixing member 1235 is provided with two measured members 1236, the two measured members 1236 are arranged at intervals along the circumference of the fixing member 1235, one of the measured members 1236 is arranged corresponding to the original position, and the other measured member 1236 is arranged corresponding to the locking position, when the locking state detection assembly 1237 detects the measured member 1236 corresponding to the original position, it indicates that the fixing member 1235 is in the original position, similarly, when the locking state detection assembly 1237 detects the measured member 1236 corresponding to the locking position, it indicates that the fixing member 1235 is in the locking position; in actual application, when the locking state detection assembly 1237 detects one measured member 1236, if the fixing member 1235 is in the original position, when the battery 3 needs to be installed on the vehicle, the fixing member 1235 needs to rotate from the original position to the locking position, with the rotation of the fixing member 1235, the locking assembly 1233 should detect the other measured member 1236 again, if the locking state detection assembly 1237 fails to detect the other measured member 1236 within a period of time, it indicates that the locking assembly 1233 fails to complete the installation of the battery 3, then the locking state detection assembly 1237 triggers an alarm to inform the staff to check the fault condition, avoiding the safety hidden danger caused by the improper installation of the battery 3, thereby ensuring the reliability of the battery replacing system 1 in replacing the battery 3.

[0062] In addition, the present application also provides a battery replacing station 2, such as Figure 1 and Figure 5As shown, the battery swap station 2 comprises a battery swap cabin 21, a charging module (not shown in the figure) and the battery swap system 1 described above. The battery swap cabin 21 comprises a cabin body 211 and a support frame 212 arranged in the cabin body 211. The cabin body 211 is provided with a through hole 213 for the battery swap robot 12 to enter and exit. The locking assembly 1233 is used to install the battery 3 located in the containing cabin 1211 to the support frame 212 or to detach the battery 3 from the support frame 212 to the containing cabin 1211. The charging module is used to charge the battery 3 located on the support frame 212. By arranging the battery swap cabin 21 and the charging module, the battery 3 swapped from the vehicle can be charged so as to be fully charged and then installed on another vehicle. It should be noted that if a vehicle ends the battery swap and there is still a vehicle that needs to be swapped, while the second battery swap mechanism 123B installs the battery to be replaced to the support frame 212, the first battery swap mechanism 123A detaches the high-power battery from the first support frame 212 to the first containing cabin 1211, that is, the first containing cabin 1211 receives the high-power battery and places the battery to be replaced on the support frame 212 at the same time, thereby further improving the battery swap efficiency. The high-power battery can be a battery 3 information obtained by the control module according to the vehicle information obtained by the information acquisition module, which is controlled by the stacker to be transported to the position where the first battery swap mechanism 123A receives the high-power battery. According to an embodiment of the present application, the stacking mode of the battery swap cabin 21 in the battery swap station 2 can be freely expanded according to the site conditions, and the modular design is adopted, so that the different charging cabins can be disassembled or assembled, thereby greatly improving the adaptability of the battery swap station 2. On the basis of the existing battery swap station 2, a plurality of charging cabins can be arranged in the vertical direction in sequence, thereby increasing the number of batteries 3 contained in the battery swap station 2, and each battery swap cabin 21 can be used to contain batteries 3 of different sizes and charge them, thereby expanding the number of vehicle models supported by the battery swap station 2 to replace the batteries 3.

[0063] According to an embodiment of the present application, the number of battery replacing mechanisms 123 is two, the two battery replacing mechanisms 123 are respectively a first battery replacing mechanism 123A and a second battery replacing mechanism 123B, the number of battery replacing bays 21 is multiple, the multiple battery replacing bays 21 are arranged in sequence along the extension direction of the track 13, the support frame 212 in each battery replacing bay 21 is provided with a first battery replacing position corresponding to the first battery replacing mechanism 123A and a second battery replacing position corresponding to the second battery replacing mechanism 123B, after the first battery replacing mechanism 123A receives the high-charge battery from the first battery replacing position, the high-charge battery matched with the battery 3 information behind the battery replacing vehicle is moved to the first battery replacing position by the stacker or the mechanical arm, when the battery replacing robot 12 moves into the bay body 211 after completing the battery replacing, the first battery replacing mechanism 123A receives the high-charge battery at the first battery replacing position, the second battery replacing mechanism 123B moves the battery to be replaced to the second battery replacing position for charging, during the process of the battery replacing robot 12 replacing the battery of the next vehicle, the stacker moves the high-charge battery to be replaced of the next vehicle to the first battery replacing position of another battery replacing bay 21, the battery replacing robot 12 moves to the battery replacing bay 21 after completing the battery replacing, and the process is repeated, so as to realize the cyclic battery replacing of different vehicle models.

[0064] In addition, the present application also provides a battery replacing method, which is applied to the above-mentioned battery replacing system, the battery replacing mechanism includes a first battery replacing mechanism and a second battery replacing mechanism, the first battery replacing mechanism includes a first lifting assembly, a first lifting table and a first locking assembly, and the first lifting table is provided with a first containing bay; the second battery replacing mechanism includes a second lifting assembly, a second lifting table and a second locking assembly, and the second lifting table is provided with a second containing bay; as shown in the figure, the battery replacing method includes: Figure 6

[0065] S100, controlling the battery replacing robot to receive the high-charge battery into the first containing bay in the battery replacing bay;

[0066] The first containing bay receiving the high-charge battery can be that the stacker moves the high-charge battery into the first containing bay, or that the stacker places the high-charge battery in the battery replacing bay, the walking mechanism drives the first containing bay to move below the high-charge battery, the first lifting assembly drives the first lifting table to rise, so that the first locking assembly can disassemble the high-charge battery from the battery replacing bay, and the disassembled high-charge battery falls into the first containing bay.

[0067] S200, when it is detected that the vehicle drives into the battery replacing station, controlling the lifting device to lift the vehicle at the battery replacing station to a first height;

[0068] ​The lifting device can lift the vehicle to a height that is matched with the height of the battery, so that the battery replacement robot can enter the bottom of the vehicle without interference with the vehicle; or the lifting height is set according to the height of the largest battery among all battery models, that is, the lifting device lifts the vehicle to the same height each time, and the lifting height is the maximum height, so as to avoid interference between the battery replacement robot and the vehicle.

[0069] S300, the battery replacement robot is controlled to move, so that the second containing bin moves to below the battery bin of the vehicle; the second lifting assembly is controlled to lift the second containing bin, the second locking assembly is controlled to unload the battery to be replaced in the battery bin into the second containing bin, and then the second lifting assembly is controlled to descend;

[0070] The walking mechanism drives the second containing bin to move to below the battery bin of the vehicle through the mounting frame, the second lifting assembly drives the second lifting platform to ascend, so that the second locking assembly can unload the battery to be replaced in the battery bin, the battery to be replaced falls into the second containing bin, and the second lifting assembly drives the second lifting platform to descend, so as to realize automatic unloading of the battery to be replaced.

[0071] S400, the battery replacement robot is controlled to move, so that the first containing bin containing the high-charge battery moves to below the battery bin, the first lifting assembly is controlled to lift the first containing bin, the first locking assembly is controlled to install the high-charge battery in the battery bin, and the first lifting assembly is controlled to descend;

[0072] The first lifting assembly drives the first lifting platform to ascend, so that the high-charge battery moves into the battery bin, and then the first locking assembly installs the high-charge battery on the vehicle, and then the first lifting assembly drives the first lifting platform to descend, so that after the battery to be replaced is taken, the battery replacement of the vehicle is completed without returning to the battery replacement bin, the battery replacement time is saved, and the battery replacement efficiency is improved by at least 30% compared with the traditional battery replacement time.

[0073] S500, the battery replacement robot is controlled to leave the bottom of the vehicle, and then the lifting device is controlled to descend.

[0074] After the battery replacement robot leaves the bottom of the vehicle, the lifting device is controlled to drive the vehicle to descend, so as to avoid damage to the battery replacement robot by the vehicle during the descending process.

[0075] The battery replacing robot moves to the battery replacing cabin through the walking mechanism, so that the first containing cabin receives the high-power battery in the battery replacing cabin; when the vehicle drives into a position capable of being lifted by the lifting device, i.e., the battery replacing station, the lifting device lifts the vehicle to a certain height, then the walking mechanism drives the second containing cabin to move to the position below the battery cabin of the vehicle through the mounting frame, the second lifting assembly drives the second lifting platform to ascend, so that the second locking assembly can disassemble the battery to be replaced in the battery cabin, the battery to be replaced falls into the second containing cabin, the second lifting assembly drives the second lifting platform to descend, the walking mechanism drives the first containing cabin to move to the position below the battery cabin again, the first lifting assembly drives the first lifting platform to ascend, so that the high-power battery moves into the battery cabin, and then the first locking assembly is used to install the high-power battery on the vehicle, after that, the first lifting assembly drives the first lifting platform to descend, so that the battery replacing robot leaves the bottom of the vehicle through the walking mechanism, the lifting device drives the vehicle to descend, thereby completing the battery replacement of one vehicle, and the battery replacing robot only needs to go back and forth once to complete the battery replacement of the vehicle, so that the battery replacing process is simplified, and the battery replacing time is reduced.

[0076] According to an embodiment of the present application, the control module comprises a wireless communication module, the battery replacing system further comprises a vehicle position detection member and a battery replacing starting module, the position detection member and the battery replacing starting module are in communication connection with the wireless communication module, and the step of controlling the lifting device to lift the vehicle located in the battery replacing station to a first height when it is detected that the vehicle drives into the battery replacing station comprises:

[0077] controlling the vehicle position detection member to acquire position detection information, and controlling the vehicle position detection member to transmit the position detection information to the vehicle VCU through the wireless communication module and the wireless transmission module of the vehicle in sequence; meanwhile, controlling the battery replacing starting module to acquire battery replacing starting information, and controlling the battery replacing starting module to transmit the battery replacing starting information to the vehicle VCU through the wireless communication module and the wireless transmission module of the vehicle in sequence;

[0078] controlling the vehicle VCU to determine whether the vehicle is located in the battery replacing station according to the position detection information, and controlling the vehicle VCU to determine whether the battery replacing process is started according to the battery replacing starting information;

[0079] if the vehicle is located in the battery replacing station and the battery replacing process is started, then controlling the vehicle VCU to control the vehicle to lower the high voltage;

[0080] controlling the vehicle state recognition module to acquire second vehicle state information;

[0081] determining whether the vehicle successfully lowers the high voltage according to the second vehicle state information;

[0082] If yes, the lifting device is controlled to lift the vehicle at the battery swap station to a first height;

[0083] If no, the alarm device is controlled to alarm.

[0084] The vehicle VCU (Vehicle Control Unit) receives the position detection information and the battery swap starting information, and determines whether the vehicle is at the battery swap station according to the position detection information, and determines whether the battery swap process is started according to the battery swap starting information. Only when the vehicle is at the battery swap station and the battery swap process is started, the vehicle VCU controls the vehicle to lower the high voltage. Thus, the safety of battery swap is ensured, and the battery swap efficiency is not affected by the control of the vehicle to lower the high voltage by the battery swap starting module in the battery swap station. If the vehicle fails to lower the high voltage, the staff needs to confirm with the driver on site. It should be noted that the battery swap starting module can be a button module, which includes a button body and a button position detection piece. The button position detection piece is used to obtain the position information of the button body, i.e., the battery swap starting information, to determine whether the button body is pressed. When the staff needs to start the battery swap process, the button body is pressed.

[0085] According to another embodiment of the present application, the battery swap system further includes a vehicle state identification module, which is used to detect whether the high-voltage interlock of the vehicle is faulty. The steps of controlling the first lifting assembly to lift the first containing bin and controlling the first locking assembly to install the high-capacity battery in the battery bin include:

[0086] The first lifting assembly is controlled to lift the first containing bin;

[0087] The vehicle state identification module is controlled to obtain first vehicle state information;

[0088] It is determined whether the vehicle successfully lowers the high voltage according to the first vehicle state information;

[0089] If no, the first lifting assembly is controlled to lower the first containing bin, and the alarm device is controlled to alarm;

[0090] If yes, the first locking assembly is controlled to install the high-capacity battery in the battery bin.

[0091] After the vehicle is powered down, since the 12V low voltage of the vehicle is still connected at this time, it will be identified by the vehicle state identification module to confirm whether the vehicle is successfully powered down (i.e., to confirm that the quick-change plug electrical connection is normal, and if the high-voltage interlock fails, it means that the vehicle high-voltage connection is abnormal, and the most likely reason is that it is not connected properly). At this time, the locking action will not be started, the storage bin will be lowered, and the system will report an error, notifying the on-site technician to check and handle. The vehicle state identification module is used to identify whether the vehicle is successfully powered down, thereby ensuring that the subsequent battery replacement robot replacement process is carried out in the state that the vehicle is powered down, and further ensuring the safety of the replacement process. It should be noted that the first vehicle state information includes insulation value information, battery relay state information, etc. It should also be noted that if it is determined from the first vehicle state information that the vehicle is not powered down, the alarm device is triggered to alarm. It should also be noted that during the replacement process, the vehicle driver is usually standing outside the vehicle, and if the vehicle driver is inside the vehicle, in order to avoid the vehicle driver being mistakenly started by the vehicle driver after the vehicle is successfully powered down, the vehicle VCU sends a high-voltage prohibition instruction to the corresponding vehicle components before the step of controlling the first locking assembly to install the high-capacity battery in the battery compartment and after the step of controlling the vehicle VCU to power down the vehicle. The corresponding components are prevented from performing the high-voltage operation, wherein the high-voltage prohibition instruction is a periodic signal that will stop being sent only when the battery installation is completed, at which time the vehicle can be started. This situation also applies to vehicles with automatic parking and replacement, and there is a function of prohibiting remote starting of the vehicle.

[0092] The step of controlling the battery replacement robot to leave the bottom of the vehicle includes:

[0093] When the vehicle is powered on, the battery replacement robot is controlled to leave the bottom of the vehicle, and the vehicle state identification module is controlled to obtain second vehicle state information;

[0094] According to the second vehicle state information, it is determined whether the vehicle can be driven;

[0095] If yes, the lifting device is controlled to be lowered.

[0096] After the vehicle is replaced with a high-capacity battery, it will be powered on, and according to the second vehicle state information, it is determined whether the high-voltage interlock of the vehicle is normal and other related information to determine whether the vehicle can be normally driven, thereby avoiding safety accidents caused by the vehicle line not being connected, and also helping to improve the replacement success rate.

[0097] As shown in Figure 7 The steps of S100 include:

[0098] S110, control the vehicle information acquisition module to acquire replacement information; wherein the replacement information includes battery information and replacement sequence information;

[0099] S120, controlling the battery swap robot to receive the high-capacity battery into the first containing bin according to the battery information;

[0100] The steps of S500 include:

[0101] S510, controlling the battery swap robot to leave the bottom of the vehicle;

[0102] S520, judging whether there is a vehicle to be swapped according to the battery swap sequence information after the vehicle whose battery has been swapped;

[0103] S530, if yes, controlling the battery swap robot to transport the battery to be swapped to the battery swap bin for charging, receiving the high-capacity battery into the first containing bin in the battery swap bin, and controlling the lifting device to descend;

[0104] S540, when detecting that the vehicle whose battery has been swapped leaves the battery swap station and the vehicle to be swapped behind the vehicle whose battery has been swapped enters the battery swap station, performing the step of controlling the lifting device to lift the vehicle in the battery swap station to the first height.

[0105] If a vehicle ends battery swap and there is still a vehicle to be swapped, the first battery swap mechanism removes the high-capacity battery from the first support frame to the first containing bin while the second battery swap mechanism installs the battery to be swapped to the support frame, that is, the first containing bin receives the high-capacity battery and the support frame places the battery to be swapped at the same time, so as to further improve the battery swap efficiency and shorten the battery swap time. It should be noted that the battery swap sequence information can be pre-ordered by the user through the website or APP, or the battery swap system further includes a wireless transmission module, which can be Bluetooth or gateway, etc. The battery swap system completes information interaction with the signal transmission module on the vehicle through the wireless transmission module, so as to obtain the battery information and the battery swap sequence information of the vehicle; or the battery swap system includes an RFID (English full name: Radio Frequency Identification, Chinese name: Radio Frequency Identification) information reading mechanism, which is used to read the information on the electronic tag on the vehicle to obtain the information related to the vehicle.

[0106] As shown in Figure 8 the battery swap information further includes vehicle type information; the number of the lifting positioning mechanisms is at least four and corresponds to the wheel arrangement of the vehicle, each of the lifting positioning mechanisms includes a first position adjusting assembly and a second position adjusting assembly; after the step of when the vehicle whose battery has been swapped leaves the battery swap station, before the step of when the vehicle to be swapped behind the vehicle whose battery has been swapped enters the battery swap station, it includes:

[0107] controlling the first position adjusting assembly to adjust the position of the lifting device in a first direction according to the vehicle model information, and controlling the second position adjusting assembly to adjust the position of the lifting device in a second direction.

[0108] Since the wheel track and wheelbase of different vehicle models may be different, the battery replacement system is provided with at least four lifting positioning mechanisms, each of which corresponds to a tire set. The vehicle model information is obtained by the vehicle information acquisition module, and the wheel track and wheelbase of the vehicle are obtained according to the vehicle model information. The control module controls the first adjusting assembly to adjust the position of the lifting device in a first direction according to the wheel track and wheelbase of the vehicle, and controls the second adjusting assembly to adjust the position of the lifting device in a second direction, so that the position of each lifting device is adapted to the position of the tire of the vehicle to be replaced, so that the lifting positioning mechanism can realize lifting of different vehicle models.

[0109] In addition, the step of controlling the battery replacement robot to move so that the second containing bin moves to the lower side of the battery compartment of the vehicle comprises:

[0110] The step of controlling the battery replacement robot to move so that the second containing bin moves to the lower side of the battery compartment of the vehicle comprises:

[0111] The battery replacement robot is controlled to move according to the first preset distance, the second preset distance and the third preset distance, so that the second containing bin moves to the lower side of the battery compartment of the vehicle; wherein the first preset distance is the distance from the through hole of the battery replacement bin to the battery replacement station, the second preset distance is matched with the vehicle model information, and the second preset distance is the distance from the center position of the battery compartment to the battery replacement station; and the third preset distance is the distance from the center position of the second containing bin to the through hole of the battery replacement bin.

[0112] The step of controlling the battery replacement robot to move so that the first containing bin containing the high-capacity battery moves to the lower side of the battery compartment comprises:

[0113] The battery replacement robot is controlled to move according to the displacement information, so that the containing bin containing the high-capacity battery moves to the lower side of the battery compartment of the vehicle; wherein the fourth preset distance is the distance from the center position of the first containing bin to the center position of the second containing bin.

[0114] Since the distance between the battery replacement warehouse and the battery replacement station is constant, the distance from the through hole of the battery replacement warehouse to the battery replacement station is a first preset distance, the distance from the center position of the battery compartment of the vehicle to the battery replacement station is a second preset distance according to the vehicle type information, if the first containing warehouse receives a high-power battery in the battery replacement warehouse, the position of the first containing warehouse to the second containing warehouse is fixed, the distance from the center point of the second containing warehouse to the through hole of the battery replacement warehouse can be obtained according to the distance from the high-power battery to the through hole of the battery replacement warehouse and the distance between the center points of the first containing warehouse and the second containing warehouse, and the distance is a third preset distance; in addition, the containing warehouses are arranged at equal intervals, the distance from the center point of the first containing warehouse to the center point of the second containing warehouse is a fourth preset distance, and the control module controls the walking mechanism to move the empty containing warehouse to the lower side of the battery compartment of the vehicle according to the first preset distance, the second preset distance and the third preset distance, and after the disassembly of the battery to be replaced is completed, the control module moves the containing warehouse containing the high-power battery to the lower side of the battery compartment according to the fourth preset distance, so as to install the high-power battery on the vehicle. The battery replacement process of the battery replacement robot is realized by relying on program analysis of data without relying on laser positioning plate and position recognition device, which effectively reduces the cost of the battery replacement system.

[0115] In addition, the application also provides a computer readable storage medium, wherein the computer readable storage medium stores a battery replacement program, and the battery replacement program is executed by a processor to realize the steps of the above-mentioned battery replacement method. Since the computer readable storage medium adopts all the technical solutions of the above-mentioned embodiments, it at least has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here.

[0116] The above is only the preferred embodiment of the application, and does not limit the patent scope of the application, and any equivalent structural transformation made according to the content of the application specification and drawings, or direct / indirect application in other related technical fields is included in the patent protection scope of the application.

Claims

1. A battery swapping method, characterized in that, The battery swapping method is applied to a battery swapping system, the battery swapping system comprising: include: A lifting and positioning mechanism, the lifting and positioning mechanism including a lifting device for lifting a vehicle; A battery swapping robot includes a mounting frame, a walking mechanism, and at least two battery swapping mechanisms. Each battery swapping mechanism includes a lifting assembly, a lifting platform, and a locking assembly. The lifting assembly is mounted on the mounting frame, and the lifting platform is mounted on the lifting assembly. The walking mechanism drives the mounting frame to move. The lifting platform is provided with a receiving compartment for accommodating batteries. The lifting assembly is used to lift the lifting platform so that the locking assembly can install the battery located in the receiving compartment into the vehicle or remove the battery from the vehicle into the receiving compartment. The control module is electrically connected to the lifting device, the traveling mechanism, the lifting assembly, and the locking assembly. The battery swapping mechanism includes a first battery swapping mechanism and a second battery swapping mechanism. The first battery swapping mechanism includes a first lifting component, a first lifting platform, and a first locking component. The first lifting platform is provided with a first receiving compartment. The second battery swapping mechanism includes a second lifting component, a second lifting platform, and a second locking component. The second lifting platform is provided with a second receiving compartment. The battery swapping method includes: The battery swapping robot is controlled to receive high-capacity batteries in the battery swapping compartment and transfer them into the first receiving compartment. When a vehicle is detected to have entered the battery swapping station, the lifting device is controlled to lift the vehicle at the battery swapping station to a first height. Control the battery swapping robot to move so that the second receiving compartment moves to below the battery compartment of the vehicle; control the second lifting component to lift the second receiving compartment, control the second locking component to unload the battery to be replaced from the battery compartment into the second receiving compartment, and then control the second lifting component to lower; Control the battery swapping robot to move so that the first receiving compartment containing the high-capacity battery moves to below the battery compartment, control the first lifting component to lift the first receiving compartment, control the first locking component to install the high-capacity battery into the battery compartment, and control the first lifting component to descend. Control the battery swapping robot to move away from the bottom of the vehicle, and then control the lifting device to descend.

2. The battery swapping method according to claim 1, characterized in that, The battery swapping system further includes a vehicle information acquisition module for acquiring battery swapping information; the number of lifting and positioning mechanisms is at least four and corresponds to the wheel arrangement of the vehicle, each lifting and positioning mechanism includes a first position adjustment component and a second position adjustment component, the second position adjustment component is mounted on the first position adjustment component, the lifting device is mounted on the second position adjustment component, the first position adjustment component is used to drive the lifting device to move in a first direction in the horizontal plane, and the second position adjustment component is used to drive the lifting device to move in a second direction perpendicular to the first direction in the horizontal plane.

3. The battery swapping method according to claim 1, characterized in that, The battery swapping mechanism also includes a locking state detection component, which is electrically connected to the control module and installed on the lifting platform. The locking state detection component is used to detect the locking state of the locking component.

4. The battery swapping method according to claim 1, characterized in that, The battery swapping system also includes a track, which is disposed under the vehicle and extends along the length or width of the vehicle, and the traveling mechanism travels on the track.

5. The battery swapping method according to claim 1, characterized in that, The step of controlling the battery swapping robot to receive a high-capacity battery into the first receiving compartment in the battery swapping bay includes: The vehicle information acquisition module acquires battery swapping information; wherein, the battery swapping information includes battery information and battery swapping sequence information; Based on the battery information, the battery swapping robot is controlled to receive high-capacity batteries in the battery swapping compartment and transfer them to the first receiving compartment. The steps of controlling the battery swapping robot to leave the bottom of the vehicle and then controlling the lifting device to descend include: Control the battery swapping robot to move away from the bottom of the vehicle; Based on the battery swapping sequence information, determine whether there are vehicles waiting to be swapped behind the vehicle that has completed the battery swapping. If so, the battery swapping robot is controlled to transport the battery to be replaced to the battery swapping compartment for charging, and the high-capacity battery is received in the battery swapping compartment and placed into the first receiving compartment, while the lifting device is controlled to descend. After the vehicle that has completed the battery swap leaves the battery swap station, when the vehicle waiting to have its battery swapped, located behind the vehicle that has completed the battery swap, enters the battery swap station, the step of controlling the lifting device to lift the vehicle located at the battery swap station to a first height is executed.

6. The battery swapping method according to claim 5, characterized in that, The battery swapping information also includes vehicle model information; the number of lifting and positioning mechanisms is at least four and corresponds to the wheel arrangement of the vehicle, each lifting and positioning mechanism including a first position adjustment component and a second position adjustment component; after the step of the vehicle that has completed the battery swapping leaving the battery swapping station, and before the step of the vehicle to be swapped entering the battery swapping station from behind the vehicle that has completed the battery swapping, the following steps are included: Based on the vehicle model information, the first position adjustment component is controlled to adjust the position of the lifting device in the first direction, while the second position adjustment component is controlled to adjust the position of the lifting device in the second direction.

7. The battery swapping method according to claim 6, characterized in that, The step of controlling the battery swapping robot to move so that the second receiving compartment is moved below the vehicle's battery compartment includes: The battery swapping robot is controlled to move according to a first preset distance, a second preset distance, and a third preset distance, so that the second receiving compartment moves to below the battery compartment of the vehicle; wherein, the first preset distance is the distance from the through hole of the battery swapping compartment to the battery swapping station; the second preset distance is matched with the vehicle model information and is the distance from the center position of the battery compartment to the battery swapping station; the third preset distance is the distance from the center position of the second receiving compartment to the through hole of the battery swapping compartment; The step of controlling the battery swapping robot to move the first receiving compartment containing the high-capacity battery to a position below the battery compartment includes: The displacement information controls the movement of the battery swapping robot so that the storage compartment containing the high-capacity battery moves to below the battery compartment of the vehicle; wherein, the fourth preset distance is the distance from the center position of the first storage compartment to the center position of the second storage compartment.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a battery swapping program, which, when executed by a processor, implements the steps of the battery swapping method as described in any one of claims 1 to 7.

9. A battery swapping station, characterized in that, The battery swapping station includes a battery swapping compartment, a charging module, and the battery swapping system. The battery swapping system is used to execute the battery swapping method according to any one of claims 1 to 4. The battery swapping compartment includes a compartment body and a support frame disposed within the compartment body. The compartment body has a through hole for the battery swapping robot to enter and exit. The locking assembly is used to install the battery located in the compartment onto the support frame or to remove the battery from the support frame into the compartment. The charging module is used to charge the battery located on the support frame.

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