Chassis-based battery swapping methods, systems, equipment, and storage media for battery swapping vehicles

Abstract

This invention discloses a chassis-based battery swapping method, system, equipment, and storage medium for battery swapping vehicles. The chassis-based battery swapping method includes: controlling the battery swapping equipment to move to a corresponding battery swapping position on the bottom of the battery swapping vehicle, so that the first unlocking device, the second unlocking device, and the unlocking block on the locking mechanism are respectively aligned; controlling the battery swapping platform to lift or the battery swapping vehicle to lower, so that the unloaded battery swapping platform abuts against the battery pack on the battery swapping vehicle, or the battery swapping platform drives the battery pack to abut against the battery swapping vehicle; and controlling the upper plate to perform disassembly or installation operations on the battery pack. In the process of disassembling or installing the battery pack, this application achieves the battery swapping requirements by having the first unlocking device abut against the second unlocking device, and then having the second unlocking device on the battery pack abut against the unlocking block on the vehicle body, thus ensuring the accuracy and efficiency of the disassembly or installation process.

Description

Technical Field

[0001] This invention relates to the field of new energy battery swapping control technology, and in particular to a chassis-type battery swapping method, system, equipment and storage medium for battery swapping vehicles. Background Technology

[0002] With the development and popularization of new energy vehicles, battery pack quick-swap technology has also developed rapidly. Currently, quick-swap technology is most mature in small passenger vehicles. Since passenger vehicle batteries are fixed to the vehicle chassis, specialized battery swapping equipment needs to be moved to the bottom of the vehicle for battery removal or installation when replacing the battery pack. Moreover, due to the relatively small weight of passenger vehicles, the battery pack is also relatively small, making battery replacement very convenient.

[0003] However, for large vehicles, such as light trucks, the large vehicle body and cargo weight result in a high demand for battery pack capacity. Sufficiently large electrical capacity is required to support the driving range of light trucks and meet actual needs. Therefore, in existing technologies, batteries in new energy light trucks are generally placed on both sides of the vehicle's frame, supported by brackets welded to the frame. This results in a complex vehicle-side fixing structure, making battery swapping inconvenient. Furthermore, battery swapping requires two swapping devices on each side of the vehicle, demanding a large space for the swapping station. The need for two sets of swapping equipment also significantly increases the cost of the swapping station and reduces efficiency. Therefore, a simpler, easier-to-implement, and more widely adopted battery swapping model is urgently needed for light trucks and other battery swapping vehicles. For example, a chassis-based battery swapping mode for passenger vehicles can be adopted. In this mode, before removing or installing the battery pack, the battery swapping equipment (or battery swapping trolley) needs to be moved to the swapping position under the vehicle. Then, the lifting operation of the swapping platform on the battery swapping equipment and the removal or installation of the battery pack are performed to complete the entire battery swapping process.

[0004] However, when replacing chassis-mounted battery packs in battery-swapping vehicles such as light trucks, the low chassis and heavy batteries result in limited space for battery swapping at the bottom of the vehicle. This can lead to low swapping efficiency when removing old battery packs or installing new ones, and may also pose safety hazards. Furthermore, the precise positioning of the battery swapping equipment is difficult to control for different vehicles, affecting the removal and installation of battery packs, causing instability in the battery swapping system, and in some cases, even battery swapping failure. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the defects of existing technologies in battery swapping vehicles such as light trucks, such as insufficient battery swapping space, low battery swapping efficiency and safety hazards, and to provide a chassis-type battery swapping method, system, equipment and storage medium for battery swapping vehicles.

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

[0007] A chassis-based battery swapping method for a battery swapping vehicle, wherein the battery swapping vehicle has two beams arranged along the length of the vehicle body, and locking mechanisms for replacing battery packs are installed on the two beams. The battery pack is disassembled or installed through a battery swapping device. The battery swapping platform of the battery swapping device includes a base and an upper plate and a lower plate respectively movably disposed on the base and arranged vertically. A first unlocking device is movably disposed on the lower plate. A through hole is provided at a preset position of the battery pack, and a second unlocking device is disposed in the through hole and movably disposed along its length.

[0008] The chassis-type battery swapping method includes:

[0009] Control the battery swapping equipment to move to the corresponding battery swapping position at the bottom of the battery swapping vehicle, so that the first unlocking device, the second unlocking device, and the unlocking block on the locking mechanism are respectively in an aligned state;

[0010] Control the battery swapping platform to lift or the battery swapping vehicle to lower, so that the unloaded battery swapping platform can abut against the battery pack on the battery swapping vehicle, or the battery swapping platform can abut against the battery pack on the battery swapping vehicle.

[0011] The upper plate is controlled to perform disassembly or installation operations on the battery pack.

[0012] In the above solution, during the battery pack disassembly and assembly process, the first unlocking device abuts against the second unlocking device, and then the second unlocking device on the battery pack abuts against the unlocking block on the vehicle body, thereby meeting the battery pack disassembly or assembly requirements and ensuring the accuracy and efficiency of the disassembly or assembly process. Especially for battery-swapping vehicles such as light trucks, this solution provides a novel chassis-based battery swapping structure and mode, addressing the shortcomings of existing side-mounted battery swapping technologies.

[0013] Preferably, during the process of disassembling the battery pack of the battery swapping vehicle, the step of controlling the battery swapping device to move to the corresponding battery swapping position on the bottom of the battery swapping vehicle includes:

[0014] The travel distance of the battery swapping vehicle is obtained based on its parking location and is matched with the unloaded battery swapping platform.

[0015] The battery swapping platform is driven to move according to the travel distance;

[0016] The battery swapping platform is positioned so that the first unlocking device and the second unlocking device are aligned.

[0017] In the above scheme, in the scenario of battery removal, the vehicle obtains the travel distance matching the unloaded battery swapping platform based on the parking position of the battery swapping vehicle, moves to the corresponding position based on the matching travel distance, and then performs positioning operation through the battery swapping platform to achieve relative alignment of the first unlocking device and the second unlocking device, ensuring the timeliness and accuracy of the unlocking device alignment control, thereby ensuring the efficiency of subsequent battery removal and installation.

[0018] Preferably, the step of controlling the lifting of the battery swapping platform or the lowering of the battery swapping vehicle to cause the unloaded battery swapping platform to abut against the battery pack on the battery swapping vehicle, or the battery swapping platform causing the battery pack to abut against the battery swapping vehicle, includes:

[0019] Control the first unlocking device to rise to a high position;

[0020] The battery swapping platform is raised or the battery swapping vehicle is lowered to drive the first unlocking device to push against the second unlocking device until the second unlocking device pushes against the unlocking block.

[0021] Preferably, the disassembly operation includes:

[0022] The upper plate is controlled to move the battery pack horizontally a first preset distance along the locking direction, so that the battery pack can be successfully unlocked relative to the locking mechanism;

[0023] The upper plate is controlled to move the battery pack horizontally a second preset distance along the unlocking direction; the unlocking direction is opposite to the locking direction.

[0024] Control the first unlocking device to descend and detach from the battery pack;

[0025] The upper plate is controlled to move the battery pack horizontally a third preset distance along the unlocking direction;

[0026] The battery swapping platform is controlled to lower the battery pack.

[0027] In the above solution, during the battery pack disassembly process, after unlocking by pre-pushing along the locking direction, the battery pack needs to be moved in the opposite direction a certain distance before the first unlocking device descends to a position detached from the battery pack. This avoids interference between the battery pack and the first unlocking device during movement, which could prevent the disassembly operation from being completed. Simultaneously, it effectively protects the structure of the first unlocking device from damage, extending the equipment's service life.

[0028] Preferably, the locking mechanism includes a lock base with a lock groove and a lock tongue that matches the lock groove. When the battery pack is locked, the lock shaft of the battery pack is locked in the lock groove by the lock tongue. The disassembly operation further includes:

[0029] The first moving range of the first unlocking device within the through hole and the second moving range within the lock groove that can block the bolt from falling are obtained.

[0030] The second preset distance is set based on the first movement range and the second movement range.

[0031] In the above solution, taking into account the unique structure of the locking mechanism, a precise second preset distance is determined by the first moving range in the through hole and the second moving range in the lock groove that can block the bolt from falling. This effectively avoids interference or collision between the battery pack and the first unlocking device, and at the same time, it can prevent the bolt from falling down again to lock the battery pack, ensuring that the battery pack disassembly process is safe and reliable.

[0032] Preferably, the battery swapping platform further includes a tray that can be floated on the upper plate. The tray has a clearance hole at a position corresponding to the first unlocking device. A clearance groove is formed in the clearance hole to allow the tray to move relative to the first unlocking device. The length of the clearance groove is greater than the sum of the first preset distance, the second preset distance, and the third preset distance.

[0033] In the above scheme, considering that the position of the first unlocking device on the lower plate remains unchanged during the disassembly control process, by setting a clearance hole, the tray extends out before the battery swapping platform is lifted to the point where the first unlocking device pushes against the second unlocking device. On the one hand, this facilitates the first unlocking device to extend out of the tray and dock with the battery pack, thus achieving effective unlocking; on the other hand, the clearance hole forms a moving path for the tray to move relative to the first unlocking device, thus avoiding collisions between the first unlocking device and the upper plate or the tray.

[0034] Preferably, during the battery pack installation process of the battery swapping vehicle, before the step of controlling the battery swapping equipment to move to the corresponding battery swapping position on the bottom of the battery swapping vehicle, the method further includes:

[0035] Obtain the current state of the first unlocking device to ensure that the first unlocking device descends to the low position;

[0036] The battery pack to be installed is transferred to the upper plate;

[0037] The step of controlling the battery swapping device to move to the corresponding battery swapping position at the bottom of the battery swapping vehicle includes:

[0038] Obtain the distance the battery swapping platform needs to travel to the bottom of the vehicle;

[0039] The battery swapping platform is driven to move synchronously carrying the battery pack;

[0040] The battery swapping platform is positioned so that the second unlocking device is aligned with the unlocking block.

[0041] In the above scheme, during the installation of the battery pack, the required travel distance for the battery swapping platform to move to the bottom of the vehicle is obtained in advance, and the platform is moved to the corresponding position based on the required travel distance. Then, the positioning operation is performed through the battery swapping platform to achieve relative alignment between the second unlocking device and the unlocking block, ensuring the timeliness and accuracy of the unlocking device alignment control, thereby ensuring the efficiency of subsequent battery removal and installation.

[0042] Preferably, the installation operation includes:

[0043] The upper plate is controlled to move the battery pack a fourth preset distance along the battery locking direction to the locking position, so that the unlocking block descends and the locking mechanism is successfully locked.

[0044] The upper plate is controlled to move the battery pack a fifth preset distance along the unlocking direction.

[0045] In the above scheme, during the installation of the battery pack, after the second unlocking device is aligned with the unlocking block, the upper plate is controlled to move the battery pack a fourth preset distance along the battery locking direction to the locking position to lock the battery pack. Then, it moves in the opposite direction a fifth preset distance to unload the load force that moved the battery pack to the fourth preset distance, thereby realizing the entire installation process of the battery pack.

[0046] Preferably, during the movement of the battery pack driven by the upper plate, the top of the second unlocking device inside the battery pack moves relative to the unlocking block.

[0047] In the above scheme, due to the structural limitations of the battery swapping equipment, the battery pack is moved by the upper plate during the disassembly control process. During this process, the position of the first unlocking device set on the lower plate remains stationary. By limiting the two ends of the second unlocking device to move relative to the unlocking block and the first unlocking device at the same time, smooth horizontal movement is ensured. At the same time, it is also ensured that the first unlocking device, the second unlocking device and the unlocking block are in contact, thereby ensuring the smooth progress of the disassembly process.

[0048] Preferably, the top surface of the second unlocking device has a rollable ball so that the second unlocking device can slide relative to the bottom surface of the unlocking block.

[0049] In the above solution, a rolling ball surface is provided on the top surface of the second unlocking device to ensure that the second unlocking device can move smoothly relative to the unlocking block, thereby ensuring the smooth progress of the subsequent disassembly process.

[0050] Preferably, the step of obtaining the travel distance required for the battery swapping platform to move to the bottom of the vehicle includes:

[0051] The required travel distance is obtained based on the travel distance obtained during the battery removal operation of the battery swapping vehicle.

[0052] or,

[0053] The required travel distance of the battery swapping vehicle is calculated based on the parking position of the battery swapping vehicle and the initial position of the battery swapping equipment.

[0054] In the above scheme, during the battery pack installation process, the travel distance obtained during the battery removal operation of the battery swapping vehicle is used as the travel distance required for the battery swapping platform to move to the bottom of the vehicle. Alternatively, the required travel distance can be calculated based on the parking position of the battery swapping vehicle and the initial position of the battery swapping platform. This improves the timeliness and accuracy of the alignment control of the unlocking device, thereby ensuring the execution efficiency of the subsequent battery pack installation.

[0055] Preferably, the upper plate is provided with positioning pins, and the battery pack is provided with positioning holes. The step of controlling the lifting of the battery swapping platform or the lowering of the battery swapping vehicle includes:

[0056] Control the battery swapping platform to rise or the battery swapping vehicle to descend until the positioning pin is inserted into the positioning hole.

[0057] In the above solution, the positioning pins and positioning holes can quickly and accurately position the upper plate, thereby ensuring the timely execution of the subsequent disassembly process.

[0058] Preferably, before the step of controlling the upper plate to perform a disassembly or installation operation on the battery pack, the method further includes:

[0059] Real-time acquisition of disassembly height information;

[0060] Based on the arrival information, control the battery swapping platform to stop lifting or the battery swapping vehicle to descend.

[0061] In the above scheme, during the process of controlling the lifting of the upper plate, the system obtains the lifting position information in real time to determine whether the lifting is in place and controls it to stop rising in time, which ensures the accuracy and timeliness of the battery swapping control, and also avoids excessive squeezing between equipment structures that could lead to structural damage.

[0062] Preferably, the first unlocking device and / or the second unlocking device have built-in elastic elements, so that after the battery swapping platform is raised into position or the battery swapping vehicle is lowered into position, the position of the unlocking block remains unchanged and the elastic elements are compressed.

[0063] The step of obtaining the disassembly height information in real time includes:

[0064] The positioning information is obtained based on the compression information of the elastic element.

[0065] In the above scheme, an elastic element is set in the first unlocking device or the second unlocking device, and the lifting position is determined based on the compression information of the elastic element. The structure is simple and easy to install, ensuring the accuracy and timeliness of battery swapping control.

[0066] Preferably, in the step of controlling the lifting of the battery swapping platform or the lowering of the battery swapping vehicle, the battery swapping platform is controlled to be lifted or the battery swapping vehicle is lowered to a preset battery removal height corresponding to the battery swapping vehicle.

[0067] Preferably, the base is provided with a walking mechanism, and the step of controlling the battery swapping equipment to move to the battery swapping position corresponding to the bottom of the battery swapping vehicle specifically includes:

[0068] The walking mechanism is controlled to drive the base to move toward the bottom of the battery swapping vehicle, thereby moving the battery swapping platform to the battery swapping location.

[0069] The above solution provides a way to move the battery swapping equipment to the battery swapping location. It directly controls the base body to drive the battery swapping platform to move directly to the bottom of the battery swapping vehicle. That is, the entire battery swapping equipment is moved to the bottom of the battery swapping vehicle, thereby realizing the battery swapping of the vehicle. The battery swapping equipment has a simple structure and is easy to operate.

[0070] Preferably, the battery swapping equipment has a lifting mechanism mounted on the base, a traveling mechanism at the bottom of the base, and the battery swapping platform mounted on the lifting mechanism via a telescopic mechanism. The step of controlling the battery swapping equipment to move to the battery swapping position corresponding to the bottom of the battery swapping vehicle specifically includes:

[0071] The walking mechanism is controlled to drive the base to move toward the battery swapping area closer to the battery swapping vehicle;

[0072] The telescopic mechanism is controlled to drive the battery swapping platform to move horizontally to the battery swapping location.

[0073] The above solution provides another way to move the battery swapping platform to the battery swapping location. The battery swapping platform is driven to move horizontally to the battery swapping location through a telescopic mechanism. That is, the main body of the battery swapping equipment is located on one side of the battery swapping vehicle, while the battery swapping platform extends to the bottom of the battery swapping vehicle, thereby realizing the battery swapping of the battery swapping vehicle. This can better adapt to the situation where there is insufficient space under the battery swapping vehicle.

[0074] A chassis-type battery swapping system for a battery swapping vehicle, the battery swapping vehicle having two beams arranged along the length of the vehicle body, the two beams being equipped with locking mechanisms for replacing the battery pack, the battery pack being disassembled or installed via a battery swapping device, the battery swapping platform of the battery swapping device including a base and an upper plate and a lower plate respectively movably disposed on the base and arranged vertically, a first unlocking device being movably disposed on the lower plate, a through hole being provided at a preset position of the battery pack, and a second unlocking device being disposed within the through hole and movably disposed along its length;

[0075] The chassis-type battery swapping system includes:

[0076] The mobile control module is used to control the battery swapping equipment to move to the corresponding battery swapping position at the bottom of the battery swapping vehicle, so that the first unlocking device, the second unlocking device and the unlocking block on the locking mechanism are respectively in an aligned state;

[0077] The lifting control module is used to control the lifting of the battery swapping platform or the lowering of the battery swapping vehicle, so as to drive the unloaded battery swapping platform to abut against the battery pack on the battery swapping vehicle or the battery swapping platform to drive the battery pack to abut against the battery swapping vehicle.

[0078] The disassembly / assembly module is used to control the upper board to perform disassembly or installation operations on the battery pack.

[0079] In the above solution, during the battery pack disassembly and assembly process, the first unlocking device abuts against the second unlocking device, and then the second unlocking device on the battery pack abuts against the unlocking block on the vehicle body, thereby meeting the battery pack disassembly or assembly requirements and ensuring the accuracy and efficiency of the disassembly or assembly process. Especially for battery-swapping vehicles such as light trucks, this solution provides a novel chassis-based battery swapping structure and mode, addressing the shortcomings of existing side-mounted battery swapping technologies.

[0080] Preferably, during the process of disassembling the battery pack of the battery swapping vehicle, the movement control module is specifically used for:

[0081] The travel distance of the battery swapping vehicle is obtained based on its parking location and is matched with the unloaded battery swapping platform.

[0082] The battery swapping platform is driven to move according to the travel distance;

[0083] The battery swapping platform is positioned so that the first unlocking device and the second unlocking device are aligned.

[0084] In the above scheme, in the scenario of battery removal, the vehicle obtains the travel distance matching the unloaded battery swapping platform based on the parking position of the battery swapping vehicle, moves to the corresponding position based on the matching travel distance, and then performs positioning operation through the battery swapping platform to achieve relative alignment of the first unlocking device and the second unlocking device, ensuring the timeliness and accuracy of the unlocking device alignment control, thereby ensuring the efficiency of subsequent battery removal and installation.

[0085] Preferably, the lifting control module is specifically used for:

[0086] Control the first unlocking device to rise to a high position;

[0087] Control the battery swapping platform to lift or the battery swapping vehicle to lower, so as to drive the first unlocking device to push against the second unlocking device until the second unlocking device pushes against the unlocking block;

[0088] Preferably, the disassembly / assembly module includes a disassembly unit, which is specifically used for:

[0089] The upper plate is controlled to move the battery pack horizontally a first preset distance along the locking direction, so that the battery pack can be successfully unlocked relative to the locking mechanism;

[0090] The upper plate is controlled to move the battery pack horizontally a second preset distance along the unlocking direction; the unlocking direction is opposite to the locking direction.

[0091] Control the first unlocking device to descend and detach from the battery pack;

[0092] The upper plate is controlled to move the battery pack horizontally a third preset distance along the unlocking direction;

[0093] The battery swapping platform is controlled to lower the battery pack.

[0094] In the above solution, during the battery pack disassembly process, after unlocking by pre-pushing along the locking direction, the battery pack needs to be moved in the opposite direction a certain distance before the first unlocking device descends to a position detached from the battery pack. This avoids interference between the battery pack and the first unlocking device during movement, which could prevent the disassembly operation from being completed. Simultaneously, it effectively protects the structure of the first unlocking device from damage, extending the equipment's service life.

[0095] Preferably, the locking mechanism includes a lock base with a lock groove and a lock tongue that matches the lock groove. When the battery pack is locked, the lock shaft of the battery pack is locked in the lock groove by the lock tongue. The disassembly unit is further used for:

[0096] The first moving range of the first unlocking device within the through hole and the second moving range within the lock groove that can block the bolt from falling are obtained.

[0097] The second preset distance is set based on the first movement range and the second movement range.

[0098] In the above solution, taking into account the unique structure of the locking mechanism, a precise second preset distance is determined by the first moving range in the through hole and the second moving range in the lock groove that can block the bolt from falling. This effectively avoids interference or collision between the battery pack and the first unlocking device, and at the same time, it can prevent the bolt from falling down again to lock the battery pack, ensuring that the battery pack disassembly process is safe and reliable.

[0099] Preferably, the battery swapping platform further includes a tray that can be floated on the upper plate. The tray has a clearance hole at a position corresponding to the first unlocking device. A clearance groove is formed in the clearance hole to allow the tray to move relative to the first unlocking device. The length of the clearance groove is greater than the sum of the first preset distance, the second preset distance, and the third preset distance.

[0100] In the above scheme, considering that the position of the first unlocking device on the lower plate remains stationary during the disassembly control process, a clearance hole is provided to allow the tray to extend before the battery swapping platform is raised to the point where the first unlocking device pushes against the second unlocking device. This facilitates the first unlocking device extending from the tray to connect with the battery pack, achieving effective unlocking. Furthermore, the clearance hole creates a movement path for the tray relative to the first unlocking device, preventing collisions between the first unlocking device and the upper plate or the tray. Preferably, during the battery pack installation process of the battery swapping vehicle, the chassis-type battery swapping system also includes:

[0101] The unlocking device status acquisition module is used to acquire the current status of the first unlocking device to ensure that the first unlocking device drops to a low position;

[0102] A battery transfer module is used to transfer the battery pack to be installed to the upper plate;

[0103] The motion control module is specifically used for:

[0104] Obtain the distance the battery swapping platform needs to travel to the bottom of the vehicle;

[0105] The battery swapping platform is driven to move synchronously carrying the battery pack;

[0106] The battery swapping platform is positioned so that the second unlocking device is aligned with the unlocking block.

[0107] In the above scheme, during the installation of the battery pack, the required travel distance for the battery swapping platform to move to the bottom of the vehicle is obtained in advance, and the platform is moved to the corresponding position based on the required travel distance. Then, the positioning operation is performed through the battery swapping platform to achieve relative alignment between the second unlocking device and the unlocking block, ensuring the timeliness and accuracy of the unlocking device alignment control, thereby ensuring the efficiency of subsequent battery removal and installation.

[0108] Preferably, the disassembly / assembly module includes an installation unit, which is specifically used for:

[0109] The upper plate is controlled to move the battery pack a fourth preset distance along the battery locking direction to the locking position, so that the unlocking block descends and the locking mechanism is successfully locked.

[0110] The upper plate is controlled to move the battery pack a fifth preset distance along the unlocking direction.

[0111] In the above scheme, during the installation of the battery pack, after the second unlocking device is aligned with the unlocking block, the upper plate is controlled to move the battery pack a fourth preset distance along the battery locking direction to the locking position to lock the battery pack. Then, it moves in the opposite direction a fifth preset distance to unload the load force that moved the battery pack to the fourth preset distance, thereby realizing the entire installation process of the battery pack.

[0112] Preferably, during the movement of the battery pack driven by the upper plate, the top of the second unlocking device inside the battery pack moves relative to the unlocking block.

[0113] In the above scheme, due to the structural limitations of the battery swapping equipment, the battery pack is moved by the upper plate during the disassembly control process. During this process, the position of the first unlocking device set on the lower plate remains stationary. By limiting the two ends of the second unlocking device to move relative to the unlocking block and the first unlocking device at the same time, smooth horizontal movement is ensured. At the same time, it is also ensured that the first unlocking device, the second unlocking device and the unlocking block are in contact, thereby ensuring the smooth progress of the disassembly process.

[0114] Preferably, the top surface of the second unlocking device has a rollable ball so that the second unlocking device can slide relative to the bottom surface of the unlocking block.

[0115] In the above solution, a rolling ball surface is provided on the top surface of the second unlocking device to ensure that the second unlocking device can move smoothly relative to the unlocking block, thereby ensuring the smooth progress of the subsequent disassembly process.

[0116] Preferably, the motion control module is further configured to:

[0117] The required travel distance is obtained based on the travel distance obtained during the battery removal operation of the battery swapping vehicle.

[0118] or,

[0119] The required travel distance of the battery swapping vehicle is calculated based on the parking position of the battery swapping vehicle and the initial position of the battery swapping equipment.

[0120] In the above scheme, during the battery pack installation process, the travel distance obtained during the battery removal operation of the battery swapping vehicle is used as the travel distance required for the battery swapping platform to move to the bottom of the vehicle. Alternatively, the required travel distance can be calculated based on the parking position of the battery swapping vehicle and the initial position of the battery swapping platform. This improves the timeliness and accuracy of the alignment control of the unlocking device, thereby ensuring the execution efficiency of the subsequent battery pack installation.

[0121] Preferably, the upper plate is provided with a positioning pin, and the lifting control module is specifically used for:

[0122] Control the battery swapping platform to rise or the battery swapping vehicle to descend until the positioning pin is inserted into the positioning hole.

[0123] In the above solution, the positioning pins and positioning holes can quickly and accurately position the upper plate, thereby ensuring the timely execution of the subsequent disassembly process.

[0124] Preferably, the lifting control module is specifically used for:

[0125] Real-time acquisition of disassembly height information;

[0126] Based on the arrival information, control the battery swapping platform to stop lifting or the battery swapping vehicle to descend.

[0127] In the above scheme, during the process of controlling the lifting of the upper plate, the system obtains the lifting position information in real time to determine whether the lifting is in place and controls it to stop rising in time, which ensures the accuracy and timeliness of the battery swapping control, and also avoids excessive squeezing between equipment structures that could lead to structural damage.

[0128] Preferably, the first unlocking device and / or the second unlocking device have built-in elastic elements, so that after the upper plate is raised into position or the battery swapping vehicle is lowered into position, the position of the unlocking block remains unchanged and the elastic elements are compressed.

[0129] The lifting control module is specifically used to obtain the positioning information based on the compression information of the elastic element.

[0130] In the above scheme, an elastic element is set in the first unlocking device or the second unlocking device, and the lifting position is determined based on the compression information of the elastic element. The structure is simple and easy to install, ensuring the accuracy and timeliness of battery swapping control.

[0131] Preferably, in the step of controlling the lifting of the upper plate or the lowering of the battery swapping vehicle, the battery swapping platform is controlled to be lifted or the battery swapping vehicle is controlled to be lowered to a preset battery removal height corresponding to the battery swapping vehicle.

[0132] Preferably, in the above scheme, a walking mechanism is provided at the bottom of the base, and the movement control module is specifically used for:

[0133] The walking mechanism is controlled to drive the base to move toward the bottom of the battery swapping vehicle, thereby moving the battery swapping platform to the battery swapping location.

[0134] The above solution provides a way to move the battery swapping equipment to the battery swapping location. It directly controls the base body to drive the battery swapping platform to move directly to the bottom of the battery swapping vehicle. That is, the entire battery swapping equipment is moved to the bottom of the battery swapping vehicle, thereby realizing the battery swapping of the vehicle. The battery swapping equipment has a simple structure and is easy to operate.

[0135] Preferably, the battery swapping equipment has a lifting mechanism mounted on the base, a traveling mechanism at the bottom of the base, and the battery swapping platform is mounted on the lifting mechanism via a telescopic mechanism. The movement control module is specifically used for:

[0136] The walking mechanism is controlled to drive the base to move toward the battery swapping area closer to the battery swapping vehicle;

[0137] The telescopic mechanism is controlled to drive the battery swapping platform to move horizontally to the battery swapping location.

[0138] The above solution provides another way to move the battery swapping platform to the battery swapping location. The battery swapping platform is driven to move horizontally to the battery swapping location through a telescopic mechanism. That is, the main body of the battery swapping equipment is located on one side of the battery swapping vehicle, while the battery swapping platform extends to the bottom of the battery swapping vehicle, thereby realizing the battery swapping of the battery swapping vehicle. This can better adapt to the situation where there is insufficient space under the battery swapping vehicle.

[0139] An electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the aforementioned chassis-type battery swapping method for battery swapping vehicles.

[0140] A computer-readable storage medium having a computer program stored thereon, characterized in that the computer program, when executed by a processor, implements the aforementioned chassis-type battery swapping method for battery swapping vehicles.

[0141] The significant advantages of this invention are as follows: During the battery pack disassembly and assembly process, the first unlocking device abuts against the second unlocking device, and then the second unlocking device on the battery pack abuts against the unlocking block on the vehicle body, thereby achieving the battery pack disassembly or assembly requirements and ensuring the accuracy and efficiency of the disassembly or assembly process. Especially for battery-swapping vehicles such as light trucks, it provides a novel chassis-based battery swapping structure and mode, overcoming the shortcomings of existing side-mounted battery swapping technologies. Attached Figure Description

[0142] Figure 1 This is a schematic diagram of the lower part of the cargo box structure of the battery swapping vehicle (light truck) according to Embodiment 1 of the present invention.

[0143] Figure 2 For use Figure 1 A schematic diagram of the battery swapping equipment structure for battery swapping vehicles.

[0144] Figure 3 This is a flowchart of the chassis-type battery swapping method for battery swapping vehicles according to Embodiment 1 of the present invention.

[0145] Figure 4 for Figure 2 A schematic diagram of the walking mechanism of the power exchange equipment.

[0146] Figure 5 This is a schematic diagram of the structure of the vehicle beam and locking mechanism in Embodiment 1 of the present invention.

[0147] Figure 6 for Figure 5 A partial enlarged view of the locking mechanism.

[0148] Figure 7 For use Figure 1 A schematic diagram of the battery pack structure of a battery swapping vehicle.

[0149] Figure 8 for Figure 7 A schematic diagram of the locking shaft structure at the top of the battery pack.

[0150] Figure 9 for Figure 7 A cross-sectional view of the battery pack.

[0151] Figure 10 for Figure 2 A partial structural diagram of the power swapping equipment.

[0152] Figure 11 This is a flowchart of the chassis-type battery swapping method for a battery swapping vehicle during battery pack removal, according to Embodiment 1 of the present invention.

[0153] Figure 12 for Figure 6 A schematic diagram of the internal structure of the locking mechanism.

[0154] Figure 13 for Figure 2 A schematic diagram of the tray structure of the power exchange equipment.

[0155] Figure 14 for Figure 13 Enlarged view of the clearance holes on the middle tray structure.

[0156] Figure 15 This is a flowchart of the chassis-type battery swapping method for battery swapping vehicles during battery pack installation, according to Embodiment 1 of the present invention.

[0157] Figure 16 This is a schematic diagram of the chassis-type battery swapping system of the battery swapping vehicle according to Embodiment 1 of the present invention.

[0158] Figure 17 This is a schematic diagram of the electronic device according to Embodiment 3 of the present invention. Detailed Implementation

[0159] The present invention will be further illustrated by way of embodiments below, but the present invention is not limited to the scope of the embodiments described herein.

[0160] Example 1

[0161] The chassis-type battery installation method of the battery swapping vehicle in this embodiment is applied to the chassis-type battery swapping structure of the battery swapping vehicle, wherein the battery swapping vehicle includes, but is not limited to, truck vehicles, such as light trucks.

[0162] like Figure 1 As shown, the battery swapping vehicle 100 has the lower cargo box structure of a light truck, namely the beam structure and wheels, etc. A small container is fixed on the beam for carrying cargo. Naturally, its cargo capacity is much smaller than that of a heavy truck, and... Figure 1 The front structure of the vehicle is not shown in the diagram. The battery swapping vehicle 100 also has beams for locking the quick-swap battery pack 200, specifically two beams 201 extending along the length of the vehicle body. Locking mechanisms 202 are installed on the two beams 201 respectively, and the battery pack 200 is connected through the locking mechanisms 202.

[0163] Based on the aforementioned quick-swap battery pack structure for light trucks, due to the large size and weight of the batteries, replacing the battery pack necessitates using specialized battery swapping equipment to move it to the bottom of the battery swapping vehicle's beam for disassembly or installation. For example... Figure 2 The power swapping device 500 shown is used for... Figure 1 Battery pack replacement for light trucks.

[0164] Based on the aforementioned battery swapping vehicle and battery swapping equipment, this embodiment provides a chassis-based battery swapping method for a battery swapping vehicle suitable for the aforementioned battery swapping equipment.

[0165] like Figure 3 As shown, the chassis-based battery swapping method includes:

[0166] Step 10: Control the battery swapping equipment to move to the corresponding battery swapping position at the bottom of the battery swapping vehicle, so that the first unlocking device, the second unlocking device, and the unlocking block on the locking mechanism are respectively aligned.

[0167] Specifically, according to Figure 1 The battery swapping vehicle 100 shown has a specific structure. When battery installation is required, the battery swapping vehicle 100 must first be parked in a designated battery swapping area to facilitate... Figure 2 The battery swapping device 500 shown can be moved to a battery swapping location within the battery swapping area to perform battery removal and installation operations.

[0168] For example Figure 2 and Figure 4 As shown, the battery swapping equipment 500 includes a base 510 and a walking mechanism 520. The walking mechanism 520 includes multiple walking wheels 511 disposed at the bottom of the base 510 and a drive unit disposed inside the base 510. The drive unit drives the walking wheels to move the base 510, thereby realizing the overall movement of the battery swapping equipment 500.

[0169] The battery swapping equipment 500 also includes a battery swapping platform 530 disposed in the central area of ​​the base 510, and the battery swapping platform 530 is liftable and height-adjustable on the base 510. Thus, by controlling the battery swapping platform 530 to be in a lowered position, it is possible to ensure that the battery swapping equipment 500 can be smoothly moved into or out of the bottom of the battery swapping vehicle 100 at a lower height; and by controlling the battery swapping platform 530 to be in a raised position, it is possible to ensure sufficient height is available when the battery swapping platform 530 performs battery installation operations.

[0170] In addition, the battery swapping position mentioned here refers to the standard position that enables the battery swapping equipment 500 to perform battery removal or installation operations on the battery swapping vehicle 100, that is, the necessary components for battery removal or installation on the battery swapping equipment 500 are aligned with the necessary components for battery locking at the bottom of the battery swapping vehicle 100.

[0171] Step 20: Control the battery swapping platform to lift or the battery swapping vehicle to lower, so that the unloaded battery swapping platform can contact the battery pack on the battery swapping vehicle, or the battery swapping platform can contact the battery pack on the battery swapping vehicle.

[0172] Based on the specific structure of the battery swapping equipment 500 described above, in this step, the battery swapping platform 530 can be raised or the battery swapping vehicle 100 can be lowered to the corresponding height position. At this time, the battery swapping equipment 500 is entirely located at the bottom of the battery swapping vehicle 100. In this step, based on the above... Figure 1 The battery swapping vehicle 100 shown is as follows: Figure 5-7 As shown, multiple locking mechanisms 202 are fixedly installed on the beam 201 of the battery swapping vehicle 100. The locking mechanisms 202 can be installed on any side wall or bottom wall of the beam 201. For example, the locking mechanisms 202 can be installed on the outer side walls of two beams 201 along the length of the vehicle body. The locking mechanism 202 includes a lock base 204 with a lock groove 203 and a lock tongue 205.

[0173] like Figure 8 and Figure 9 As shown, the battery pack 200 is provided with a locking shaft 101 that cooperates with the locking groove 203 and the locking tongue 205. The locking groove 203 is lower than the bottom wall of the vehicle beam 201, thereby creating open spaces on both sides of the locking groove 203 to facilitate movement of the locking shaft 101 on the battery pack 200 relative to the locking groove 203. When the battery pack 200 is locked on the vehicle beam 201 of the battery swapping vehicle 100, the locking shaft 101 of the battery pack 200 is locked in the locking groove 203 by the locking tongue 205.

[0174] For example Figure 10 As shown, the battery swapping platform of the battery swapping equipment includes a base and an upper plate 531 and a lower plate 532 that are movably mounted on the base and arranged vertically. The battery swapping platform is equipped with a first unlocking device 533. (See also...) Figure 6 The vehicle beam is also equipped with an unlocking component 206 for moving the bolt away from the lock groove. See also... Figure 9 The battery pack 200 has a built-in through hole 102 and a second unlocking device 103 located within the through hole and matching the first unlocking device 533. The second unlocking device is movable along the length of the through hole. After the battery swapping platform is lifted under no-load, the first unlocking device 533 pushes against the unlocking member through the second unlocking device 103, thereby moving the locking tongue 205 away from the locking groove 203, so that the battery pack can be disengaged from the locking mechanism. Alternatively, after the battery swapping platform is lifted, the first unlocking device 533 pushes against the unlocking member through the second unlocking device 103, thereby moving the locking tongue 205 away from the locking groove 203, so that the battery pack can be locked and installed.

[0175] Step 30: Control the upper board to perform disassembly or installation operations on the battery pack.

[0176] In the above implementation, during the battery pack disassembly and assembly process, the first unlocking device abuts against the second unlocking device, and then the second unlocking device on the battery pack abuts against the unlocking block on the vehicle body, thereby meeting the battery pack disassembly or assembly requirements and ensuring the accuracy and efficiency of the disassembly or assembly process. Especially for battery-swapping vehicles such as light trucks, this provides a novel chassis-based battery swapping structure and mode, addressing the shortcomings of existing side-mounted battery swapping technologies.

[0177] In this embodiment, during the disassembly of the battery pack of the battery swapping vehicle, such as Figure 11 As shown, step 10 specifically includes:

[0178] Step 111: Obtain the travel distance matching the idle battery swapping platform based on the parking location of the battery swapping vehicle;

[0179] Step 112: Drive the battery swapping platform to move according to the travel distance;

[0180] Step 113: Perform a positioning operation on the battery swapping platform to align the first unlocking device with the second unlocking device.

[0181] In the above implementation method, in the scenario of battery removal, the vehicle obtains the travel distance matching the unloaded battery swapping platform based on the parking position of the battery swapping vehicle, moves to the corresponding position based on the matching travel distance, and then performs positioning operation through the battery swapping platform to achieve relative alignment of the first unlocking device and the second unlocking device, ensuring the timeliness and accuracy of the unlocking device alignment control, thereby ensuring the efficiency of subsequent battery removal and installation.

[0182] Further, see Figure 11 Step 20, which involves controlling the lifting of the upper plate or the lowering of the battery swapping vehicle to drive the second unlocking device against the unlocking block, includes:

[0183] Step 2001: Control the first unlocking device to rise to the high position;

[0184] Step 2002: Control the battery swapping platform to lift or the battery swapping vehicle to lower, so as to drive the first unlocking device to push against the second unlocking device until the second unlocking device pushes against the unlocking block;

[0185] Furthermore, step 30 specifically involves disassembly; see [link to disassembly procedure]. Figure 11 Specifically, it includes:

[0186] Step 311: Control the upper plate to move the battery pack horizontally along the locking direction by a first preset distance so that the battery pack can be successfully unlocked relative to the locking mechanism;

[0187] Specifically, after the battery swapping platform moves the battery pack horizontally a first preset distance along the locking direction, as follows: Figure 12As shown, during the movement, the locking shaft 101 compresses the elastic element 207 inside the locking mechanism 202. At the same time, the second unlocking device 103 pushes against the unlocking block 206 to drive the locking tongue 205 out of the locking groove 203, so as to successfully unlock.

[0188] Step 312: Control the upper plate to move the battery pack horizontally a second preset distance along the unlocking direction; the unlocking direction is opposite to the locking direction.

[0189] Step 313: Control the first unlocking device to descend and detach from the battery pack;

[0190] Step 314: Control the upper plate to move the battery pack horizontally along the unlocking direction by a third preset distance;

[0191] Step 315: Control the battery swapping platform to lower the battery pack.

[0192] In the above implementation, during the battery pack disassembly process, after pre-pushing along the locking direction to unlock, the battery pack needs to be moved in the opposite direction a certain distance before the first unlocking device descends to a position detached from the battery pack. This avoids interference between the battery pack and the first unlocking device during movement, which could prevent the disassembly operation from being completed. Simultaneously, it effectively protects the structure of the first unlocking device from damage, extending the equipment's service life.

[0193] In this embodiment, see Figure 11 Before step 311, the disassembly operation also includes:

[0194] Step 3001: Obtain the first movement range of the first unlocking device within the through hole and the second movement range within the lock groove that can block the bolt from falling;

[0195] Step 3002: Set a second preset distance based on the first and second movement ranges.

[0196] In the above implementation method, based on the unique structure of the locking mechanism, a precise second preset distance is determined by the first moving range in the through hole and the second moving range in the lock groove that can block the lock tongue from falling. This effectively avoids interference or collision between the battery pack and the first unlocking device, and at the same time, it can prevent the lock tongue from falling down again to lock the battery pack, ensuring that the battery pack disassembly process is safe and reliable.

[0197] In this embodiment, as Figures 13-14As shown, the battery swapping platform also includes a tray 534 that is floatingly mounted on the upper plate 531. The tray 534 has a clearance hole 535 at a position corresponding to the first unlocking device 533. A clearance groove is formed in the clearance hole 535 to allow the tray 534 to move relative to the first unlocking device 533. The length of the clearance groove is greater than the sum of a first preset distance and a second and a third preset distance. It should be noted that the upper plate 531 moves the tray 534 and the battery pack 200, while the first unlocking device 533 on the lower plate 532 remains stationary.

[0198] In the above implementation, considering that the position of the first unlocking device on the lower plate remains unchanged during the disassembly control process, by setting a clearance hole, the tray extends out before the battery swapping platform is lifted to the point where the first unlocking device pushes against the second unlocking device. On the one hand, this facilitates the first unlocking device to extend out of the tray and dock with the battery pack, thus achieving effective unlocking; on the other hand, the clearance hole forms a movement path that allows the tray to move relative to the first unlocking device, thus avoiding collisions between the first unlocking device and the upper plate or the tray.

[0199] In this embodiment, during the battery pack installation process of the battery swapping vehicle, such as Figure 15 As shown, step 10 is preceded by:

[0200] Step 1001: Obtain the current state of the first unlocking device to ensure that the first unlocking device descends to the low position;

[0201] Step 1002: Transfer the battery pack to be installed to the upper board;

[0202] Further, see Figure 15 Step 10 specifically includes:

[0203] Step 121: Obtain the distance the battery swapping platform needs to travel to the bottom of the vehicle;

[0204] Step 122: Drive the battery swapping platform to move synchronously with the battery pack;

[0205] Step 123: Perform a positioning operation on the battery swapping platform to align the second unlocking device with the unlocking block.

[0206] In the above implementation method, during the battery pack installation process, the required travel distance for the battery swapping platform to move to the bottom of the vehicle is obtained in advance, and the platform is moved to the corresponding position based on the required travel distance. Then, the positioning operation is performed through the battery swapping platform to achieve relative alignment between the second unlocking device and the unlocking block, ensuring the timeliness and accuracy of the unlocking device alignment control, thereby ensuring the efficiency of subsequent battery removal and installation.

[0207] Further, see Figure 15 Step 30 is the installation process, which includes:

[0208] Step 321: Control the upper plate to move the battery pack along the battery locking direction by a fourth preset distance to the locking position, so that the unlocking block descends and the locking mechanism is successfully locked.

[0209] Step 322: Control the upper plate to move the battery pack along the unlocking direction by a fifth preset distance.

[0210] For details, see Figure 12 The second unlocking device 103 pushes against the unlocking block 206 to drive the locking tongue 205 out of the locking groove 203. At the same time, the battery swapping platform is controlled to move the battery pack horizontally along the locking direction by a fourth preset distance. During the movement, the locking shaft 101 compresses the compression component 207 in the locking mechanism 202. The locking shaft moves from the solid line state to the dotted line state. Then, the battery swapping platform is controlled to move in the opposite direction by a fifth preset distance to complete the installation of the battery pack.

[0211] In the above implementation, during the installation of the battery pack, after the second unlocking device is aligned with the unlocking block, the upper plate is controlled to move the battery pack a fourth preset distance along the battery locking direction to the locking position to lock the battery pack. Then, it moves in the opposite direction a fifth preset distance to unload the load force that moved the battery pack to the fourth preset distance, thereby realizing the entire installation process of the battery pack.

[0212] During the movement of the battery pack driven by the upper plate, the top of the second unlocking device inside the battery pack moves relative to the unlocking block.

[0213] The top surface of the second unlocking device has a rollable ball so that the second unlocking device can slide relative to the bottom surface of the unlocking block.

[0214] In the above implementation, due to the structural limitations of the battery swapping equipment, during the disassembly control process, the upper plate drives the battery pack to move. During this process, the position of the first unlocking device, located on the lower plate, remains stationary. By limiting the movement of both ends of the second unlocking device relative to the unlocking block and the first unlocking device simultaneously, smooth horizontal movement is ensured, and the first and second unlocking devices are also ensured to be in contact with the unlocking block, thereby ensuring the smooth progress of the disassembly process. Specifically, a rollable ball bearing surface is provided on the top surface of the second unlocking device to ensure that the second unlocking device can move smoothly relative to the unlocking block, thus ensuring the smooth progress of the subsequent disassembly process.

[0215] In this embodiment, step 121 specifically includes:

[0216] The required travel distance is obtained based on the travel distance obtained during the battery removal operation of the battery swapping vehicle.

[0217] or,

[0218] The required travel distance of the battery swapping vehicle is calculated based on the parking location of the battery swapping vehicle and the initial location of the battery swapping equipment.

[0219] In the above implementation, during the battery pack installation process, the travel distance obtained during the battery removal operation of the battery swapping vehicle is used as the travel distance required for the battery swapping platform to move to the bottom of the vehicle. Alternatively, the required travel distance can be calculated based on the parking position of the battery swapping vehicle and the initial position of the battery swapping platform. This improves the timeliness and accuracy of the alignment control of the unlocking device, thereby ensuring the execution efficiency of the subsequent battery pack installation.

[0220] In this embodiment, the upper plate is provided with positioning pins, and the battery pack is provided with positioning holes. Step 20 further includes:

[0221] Control the battery swapping platform to rise or the battery swapping vehicle to descend until the positioning pin is inserted into the positioning hole.

[0222] In the above implementation method, the positioning pins and positioning holes can quickly and accurately position the upper plate, thereby ensuring the timely execution of the subsequent disassembly process.

[0223] In this embodiment, a specific implementation of the chassis-type battery swapping method is provided. Before step 30, the method further includes:

[0224] Step 21: Obtain the disassembly height information in real time;

[0225] Step 22: Based on the arrival information, control the battery swapping platform to stop lifting or the battery swapping vehicle to descend.

[0226] In the above implementation method, during the process of controlling the lifting of the upper plate, the lifting position information is obtained in real time to determine whether the lifting is in place and to control it to stop rising in time, which ensures the accuracy and timeliness of the battery swapping control, and also avoids excessive squeezing between equipment structures, which may cause structural damage.

[0227] The first unlocking device and / or the second unlocking device have built-in elastic elements. After the battery swapping platform is raised into place or the battery swapping vehicle is lowered into place, the position of the unlocking block remains unchanged and the elastic elements are compressed.

[0228] Furthermore, step 21 specifically includes:

[0229] Position information is obtained based on the compression information of the elastic element.

[0230] In the above implementation method, an elastic element is set in the first unlocking device or the second unlocking device, and the lifting position is determined according to the compression information of the elastic element. The structure is simple and easy to install, ensuring the accuracy and timeliness of battery swapping control.

[0231] In this embodiment, in the step of controlling the lifting of the battery swapping platform or the lowering of the battery swapping vehicle, the battery swapping platform is controlled to be lifted or the battery swapping vehicle is lowered to a preset battery removal height corresponding to the battery swapping vehicle.

[0232] In this embodiment, a walking mechanism is provided at the bottom of the base, and step 10 includes:

[0233] The control mechanism drives the base to move toward the bottom of the battery swapping vehicle, thereby moving the battery swapping platform to the battery swapping position.

[0234] The above implementation provides a method for moving the battery swapping equipment to the battery swapping location. The base body is directly controlled to drive the battery swapping platform to move directly to the bottom of the battery swapping vehicle. That is, the entire battery swapping equipment is moved to the bottom of the battery swapping vehicle, thereby realizing the battery swapping of the vehicle. The battery swapping equipment has a simple structure and is easy to operate.

[0235] In this embodiment, the battery swapping equipment has a lifting mechanism mounted on a base, a traveling mechanism at the bottom of the base, and a battery swapping platform mounted on the lifting mechanism via a telescopic mechanism. Step 10 specifically includes:

[0236] The control mechanism drives the base to move toward the battery swapping area closer to the battery swapping vehicle;

[0237] The telescopic mechanism is controlled to drive the battery swapping platform to move horizontally to the battery swapping location.

[0238] Among the above implementation methods, another method is provided to move the battery swapping platform to the battery swapping location. The battery swapping platform is driven to move horizontally to the battery swapping location through a telescopic mechanism. That is, the main body of the battery swapping equipment is located on one side of the battery swapping vehicle, while the battery swapping platform extends to the bottom of the battery swapping vehicle, thereby realizing the battery swapping of the battery swapping vehicle. This method can better adapt to situations where there is insufficient space at the bottom of the battery swapping vehicle.

[0239] Example 2

[0240] A chassis-type battery swapping system for a battery swapping vehicle is disclosed. This system is applied to the chassis-type battery swapping structure of the vehicle, which is identical to the structure described in Embodiment 1 and will not be repeated here. Figure 16 As shown, the chassis-type battery swapping system includes:

[0241] The mobile control module 1 is used to control the battery swapping equipment to move to the battery swapping position corresponding to the bottom of the battery swapping vehicle, so that the first unlocking device, the second unlocking device and the unlocking block on the locking mechanism are respectively in an aligned state;

[0242] The lifting control module 5 is used to control the lifting of the battery swapping platform or the lowering of the battery swapping vehicle, so as to drive the unloaded battery swapping platform to abut against the battery pack on the battery swapping vehicle or the battery swapping platform to drive the battery pack to abut against the battery swapping vehicle.

[0243] The disassembly / assembly module 3 is used to control the upper board to perform disassembly or installation operations on the battery pack.

[0244] In the above implementation, during the battery pack disassembly and assembly process, the first unlocking device abuts against the second unlocking device, and then the second unlocking device on the battery pack abuts against the unlocking block on the vehicle body, thereby meeting the battery pack disassembly or assembly requirements and ensuring the accuracy and efficiency of the disassembly or assembly process. Especially for battery-swapping vehicles such as light trucks, this provides a novel chassis-based battery swapping structure and mode, addressing the shortcomings of existing side-mounted battery swapping technologies.

[0245] In this embodiment, during the disassembly of the battery pack of the battery swapping vehicle, the movement control module 1 is specifically used for:

[0246] The travel distance of the battery swapping vehicle is obtained based on its parking location and is matched with the unloaded battery swapping platform.

[0247] The battery swapping platform is driven to move according to the travel distance;

[0248] The battery swapping platform is positioned so that the first unlocking device and the second unlocking device are aligned.

[0249] In the above implementation, in the scenario of battery removal, the vehicle obtains the travel distance matching the unloaded battery swapping platform based on the parking position of the battery swapping vehicle, moves to the corresponding position based on the matching travel distance, and then performs a positioning operation through the battery swapping platform to achieve relative alignment between the first unlocking device and the second unlocking device, ensuring the timeliness and accuracy of the unlocking device alignment control, thereby ensuring the efficiency of subsequent battery removal and installation.

[0250] In this embodiment, the lifting control module 5 is specifically used for:

[0251] Control the first unlocking device to rise to a high position;

[0252] Control the battery swapping platform to lift or the battery swapping vehicle to lower, so as to drive the first unlocking device to push against the second unlocking device until the second unlocking device pushes against the unlocking block;

[0253] In this embodiment, see Figure 16 The disassembly / assembly module 3 includes a disassembly unit 31, which is specifically used for:

[0254] The upper plate is controlled to move the battery pack horizontally a first preset distance along the locking direction, so that the battery pack can be successfully unlocked relative to the locking mechanism;

[0255] The upper plate is controlled to move the battery pack horizontally a second preset distance along the unlocking direction; the unlocking direction is opposite to the locking direction.

[0256] Control the first unlocking device to descend and detach from the battery pack;

[0257] The upper plate is controlled to move the battery pack horizontally a third preset distance along the unlocking direction;

[0258] The battery swapping platform is controlled to lower the battery pack.

[0259] In the above implementation, during the battery pack disassembly process, after pre-pushing along the locking direction to unlock, the battery pack needs to be moved in the opposite direction a certain distance before the first unlocking device descends to a position detached from the battery pack. This avoids interference between the battery pack and the first unlocking device during movement, which could prevent the disassembly operation from being completed. Simultaneously, it effectively protects the structure of the first unlocking device from damage, extending the equipment's service life.

[0260] In this embodiment, the locking mechanism includes a lock base with a lock groove and a lock tongue that matches the lock groove. When the battery pack is locked, the lock shaft of the battery pack is locked in the lock groove by the lock tongue. The disassembly unit 31 is further used for:

[0261] The first moving range of the first unlocking device within the through hole and the second moving range within the lock groove that can block the bolt from falling are obtained.

[0262] The second preset distance is set based on the first movement range and the second movement range.

[0263] In the above implementation method, based on the unique structure of the locking mechanism, a precise second preset distance is determined by the first moving range in the through hole and the second moving range in the lock groove that can block the lock tongue from falling. This effectively avoids interference or collision between the battery pack and the first unlocking device, and at the same time, it can prevent the lock tongue from falling down again to lock the battery pack, ensuring that the battery pack disassembly process is safe and reliable.

[0264] In this embodiment, the battery swapping platform further includes a tray that can be floated on the upper plate. The tray has a clearance hole at a position corresponding to the first unlocking device. A clearance groove is formed in the clearance hole to allow the tray to move relative to the first unlocking device. The length of the clearance groove is greater than the sum of the first preset distance, the second preset distance, and the third preset distance.

[0265] In the above implementation, considering that the position of the first unlocking device on the lower plate remains stationary during the disassembly control process, a clearance hole is provided to allow the tray to extend before the battery swapping platform is raised to the point where the first unlocking device pushes against the second unlocking device. This facilitates the first unlocking device extending from the tray to connect with the battery pack, achieving effective unlocking. Furthermore, the clearance hole forms a movement path for the tray relative to the first unlocking device, preventing collisions between the first unlocking device and the upper plate or the tray. (See also...) Figure 16 During the battery pack installation process of the battery swapping vehicle, the chassis-type battery swapping system further includes:

[0266] The unlocking device status acquisition module 5 is used to acquire the current status of the first unlocking device to ensure that the first unlocking device descends to a low position.

[0267] Battery transfer module 4 is used to transfer the battery pack to be installed to the upper plate;

[0268] The motion control module 1 is specifically used for:

[0269] Obtain the distance the battery swapping platform needs to travel to the bottom of the vehicle;

[0270] The battery swapping platform is driven to move synchronously carrying the battery pack;

[0271] The battery swapping platform is positioned so that the second unlocking device is aligned with the unlocking block.

[0272] In the above implementation method, during the battery pack installation process, the required travel distance for the battery swapping platform to move to the bottom of the vehicle is obtained in advance, and the platform is moved to the corresponding position based on the required travel distance. Then, the positioning operation is performed through the battery swapping platform to achieve relative alignment between the second unlocking device and the unlocking block, ensuring the timeliness and accuracy of the unlocking device alignment control, thereby ensuring the efficiency of subsequent battery removal and installation.

[0273] In this embodiment, see Figure 16 The disassembly / assembly module 3 includes an installation unit 32, which is specifically used for:

[0274] The upper plate is controlled to move the battery pack a fourth preset distance along the battery locking direction to the locking position, so that the unlocking block descends and the locking mechanism is successfully locked.

[0275] The upper plate is controlled to move the battery pack a fifth preset distance along the unlocking direction.

[0276] In the above implementation, during the installation of the battery pack, after the second unlocking device is aligned with the unlocking block, the upper plate is controlled to move the battery pack a fourth preset distance along the battery locking direction to the locking position to lock the battery pack. Then, it moves in the opposite direction a fifth preset distance to unload the load force that moved the battery pack to the fourth preset distance, thereby realizing the entire installation process of the battery pack.

[0277] In this embodiment, during the movement of the battery pack driven by the upper plate, the top of the second unlocking device inside the battery pack moves relative to the unlocking block.

[0278] In the above implementation method, due to the limitations of the battery swapping equipment structure, during the disassembly control process, the battery pack is moved by the upper plate. During this process, the position of the first unlocking device set on the lower plate remains unchanged. By limiting the two ends of the second unlocking device to move relative to the unlocking block and the first unlocking device at the same time, smooth horizontal movement is ensured. At the same time, it is also ensured that the first unlocking device, the second unlocking device and the unlocking block are in contact, thereby ensuring the smooth progress of the disassembly process.

[0279] In this embodiment, the top surface of the second unlocking device has a rollable ball so that the second unlocking device can slide relative to the bottom surface of the unlocking block.

[0280] In the above implementation, a rollable ball surface is provided on the top surface of the second unlocking device to ensure that the second unlocking device can move smoothly relative to the unlocking block, thereby ensuring the smooth progress of the subsequent disassembly process.

[0281] In this embodiment, the motion control module 1 is further configured to:

[0282] The required travel distance is obtained based on the travel distance obtained during the battery removal operation of the battery swapping vehicle.

[0283] or,

[0284] The required travel distance of the battery swapping vehicle is calculated based on the parking position of the battery swapping vehicle and the initial position of the battery swapping equipment.

[0285] In the above implementation, during the battery pack installation process, the travel distance obtained during the battery removal operation of the battery swapping vehicle is used as the travel distance required for the battery swapping platform to move to the bottom of the vehicle. Alternatively, the required travel distance can be calculated based on the parking position of the battery swapping vehicle and the initial position of the battery swapping platform. This improves the timeliness and accuracy of the alignment control of the unlocking device, thereby ensuring the execution efficiency of the subsequent battery pack installation.

[0286] In this embodiment, the upper plate is provided with positioning pins, and the lifting control module 5 is specifically used for:

[0287] Control the battery swapping platform to rise or the battery swapping vehicle to descend until the positioning pin is inserted into the positioning hole.

[0288] In the above implementation method, the positioning pins and positioning holes can quickly and accurately position the upper plate, thereby ensuring the timely execution of the subsequent disassembly process.

[0289] In this embodiment, the lifting control module 5 is specifically used for:

[0290] Real-time acquisition of disassembly height information;

[0291] Based on the arrival information, control the battery swapping platform to stop lifting or the battery swapping vehicle to descend.

[0292] In the above implementation method, during the process of controlling the lifting of the upper plate, the lifting position information is obtained in real time to determine whether the lifting is in place and to control it to stop rising in time, which ensures the accuracy and timeliness of the battery swapping control, and also avoids excessive squeezing between equipment structures, which may cause structural damage.

[0293] In this embodiment, the first unlocking device and / or the second unlocking device have built-in elastic elements. After the upper plate is lifted into place or the battery swapping vehicle is lowered into place, the position of the unlocking block remains unchanged, and the elastic elements are compressed.

[0294] The lifting control module 5 is specifically used to obtain the positioning information based on the compression information of the elastic element.

[0295] In the above implementation method, an elastic element is set in the first unlocking device or the second unlocking device, and the lifting position is determined according to the compression information of the elastic element. The structure is simple and easy to install, ensuring the accuracy and timeliness of battery swapping control.

[0296] In this embodiment, in the step of controlling the upper plate to lift or the battery swapping vehicle to lower, the battery swapping platform is controlled to lift or the battery swapping vehicle to a preset battery removal height corresponding to the battery swapping vehicle.

[0297] In this embodiment of the above implementation, a walking mechanism is provided at the bottom of the base, and the movement control module 1 is specifically used for:

[0298] The walking mechanism is controlled to drive the base to move toward the bottom of the battery swapping vehicle, thereby moving the battery swapping platform to the battery swapping location.

[0299] The above implementation provides a method for moving the battery swapping equipment to the battery swapping location. The base body is directly controlled to drive the battery swapping platform to move directly to the bottom of the battery swapping vehicle. That is, the entire battery swapping equipment is moved to the bottom of the battery swapping vehicle, thereby realizing the battery swapping of the vehicle. The battery swapping equipment has a simple structure and is easy to operate.

[0300] In this embodiment, the battery swapping equipment has a lifting mechanism mounted on the base, a traveling mechanism is provided at the bottom of the base, and the battery swapping platform is mounted on the lifting mechanism via a telescopic mechanism. The movement control module 1 is specifically used for:

[0301] The walking mechanism is controlled to drive the base to move toward the battery swapping area closer to the battery swapping vehicle;

[0302] The telescopic mechanism is controlled to drive the battery swapping platform to move horizontally to the battery swapping location.

[0303] Among the above implementation methods, another method is provided to move the battery swapping platform to the battery swapping location. The battery swapping platform is driven to move horizontally to the battery swapping location through a telescopic mechanism. That is, the main body of the battery swapping equipment is located on one side of the battery swapping vehicle, while the battery swapping platform extends to the bottom of the battery swapping vehicle, thereby realizing the battery swapping of the battery swapping vehicle. This method can better adapt to situations where there is insufficient space at the bottom of the battery swapping vehicle.

[0304] Example 3

[0305] An electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the chassis-type battery swapping method for the battery swapping vehicle described in Embodiment 1.

[0306] Figure 17 This is a schematic diagram of the structure of an electronic device provided in this embodiment. Figure 17 A block diagram is shown of an exemplary electronic device 90 suitable for implementing embodiments of the present invention. Figure 17 The electronic device 90 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of the present invention.

[0307] like Figure 17 As shown, the electronic device 90 can be represented in the form of a general-purpose computing device, such as a server device. The components of the electronic device 90 may include, but are not limited to: at least one processor 91, at least one memory 92, and a bus 93 connecting different system components (including memory 92 and processor 91).

[0308] Bus 93 includes a data bus, an address bus, and a control bus.

[0309] The memory 92 may include volatile memory, such as random access memory (RAM) 921 and / or cache memory 922, and may further include read-only memory (ROM) 923.

[0310] The memory 92 may also include a program tool 925 having a set (at least one) of program modules 924, including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0311] The processor 91 performs various functional applications and data processing by running computer programs stored in the memory 92.

[0312] Electronic device 90 can also communicate with one or more external devices 94 (e.g., keyboard, pointing device, etc.). This communication can be performed through input / output (I / O) interface 95. Furthermore, electronic device 90 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public network, such as the Internet) via network adapter 96. Network adapter 96 communicates with other modules of electronic device 90 via bus 93. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 90, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (disk array) systems, tape drives, and data backup storage systems.

[0313] It should be noted that although several units / modules or sub-units / modules of the electronic device have been mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, according to the embodiments of this application, the features and functions of two or more units / modules described above can be embodied in one unit / module. Conversely, the features and functions of one unit / module described above can be further divided and embodied by multiple units / modules.

[0314] Example 4

[0315] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the chassis-type battery swapping method for the battery swapping vehicle described in Embodiment 1.

[0316] The readable storage medium may be more specifically adopted, including but not limited to: portable disk, hard disk, random access memory, read-only memory, erasable programmable read-only memory, optical storage device, magnetic storage device, or any suitable combination thereof.

[0317] In a possible implementation, the present invention can also be implemented as a program product comprising program code, which, when the program product is run on a terminal device, is used to cause the terminal device to execute the chassis-type battery swapping method for the battery swapping vehicle described in Embodiment 1.

[0318] The program code for executing the present invention can be written in any combination of one or more programming languages. The program code can be executed entirely on the user device, partially on the user device, as a standalone software package, partially on the user device and partially on a remote device, or entirely on a remote device.

[0319] While specific embodiments of the present invention have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of the present invention is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but all such changes and modifications fall within the scope of protection of the present invention.

Claims

1. A chassis type battery replacement method of a battery replacement vehicle, characterized by, The battery swapping vehicle has two beams arranged along the length of the vehicle body. Locking mechanisms for replacing the battery pack are installed on the two beams. The battery pack is disassembled or installed through the battery swapping equipment. The battery swapping platform of the battery swapping equipment includes a base and an upper plate and a lower plate that are movably arranged on the base and arranged vertically. A first unlocking device is movably arranged on the lower plate. The battery pack has a through hole at a preset position. A second unlocking device is arranged in the through hole and is movably arranged along its length. The chassis-type battery swapping method includes: Control the battery swapping equipment to move to the corresponding battery swapping position at the bottom of the battery swapping vehicle, so that the first unlocking device, the second unlocking device, and the unlocking block on the locking mechanism are respectively in an aligned state; Control the battery swapping platform to lift or the battery swapping vehicle to lower, so that the unloaded battery swapping platform can abut against the battery pack on the battery swapping vehicle, or the battery swapping platform can abut against the battery pack on the battery swapping vehicle. The upper plate is controlled to perform disassembly or installation operations on the battery pack.

2. The chassis-based battery swapping method for battery swapping vehicles as described in claim 1, characterized in that, During the process of disassembling the battery pack of the battery swapping vehicle, the step of controlling the battery swapping equipment to move to the corresponding battery swapping position on the bottom of the battery swapping vehicle includes: The travel distance of the battery swapping vehicle is obtained based on its parking location and is matched with the unloaded battery swapping platform. The battery swapping platform is driven to move according to the travel distance; The battery swapping platform is positioned so that the first unlocking device and the second unlocking device are aligned.

3. The chassis-type battery swapping method for battery swapping vehicles as described in claim 2, characterized in that, The steps of controlling the battery swapping platform to lift or the battery swapping vehicle to lower, so as to drive the unloaded battery swapping platform to abut against the battery pack on the battery swapping vehicle, or the battery swapping platform driving the battery pack to abut against the battery swapping vehicle, include: Control the first unlocking device to rise to a high position; The battery swapping platform is raised or the battery swapping vehicle is lowered to drive the first unlocking device to push against the second unlocking device until the second unlocking device pushes against the unlocking block.

4. The chassis-type battery swapping method for battery swapping vehicles as described in claim 3, characterized in that, The disassembly operation includes: The upper plate is controlled to move the battery pack horizontally a first preset distance along the locking direction, so that the battery pack can be successfully unlocked relative to the locking mechanism; The upper plate is controlled to move the battery pack horizontally a second preset distance along the unlocking direction; the unlocking direction is opposite to the locking direction. Control the first unlocking device to descend and detach from the battery pack; The upper plate is controlled to move the battery pack horizontally a third preset distance along the unlocking direction; The battery swapping platform is controlled to lower the battery pack.

5. The chassis-type battery swapping method for battery swapping vehicles as described in claim 4, characterized in that, The locking mechanism includes a lock base with a lock groove and a lock tongue that matches the lock groove. When the battery pack is locked, the lock shaft of the battery pack is locked in the lock groove by the lock tongue. The disassembly operation further includes: The first moving range of the first unlocking device within the through hole and the second moving range within the lock groove that can block the bolt from falling are obtained. The second preset distance is set based on the first movement range and the second movement range.

6. The chassis-based battery swapping method for battery swapping vehicles as described in claim 4, characterized in that, The battery swapping platform also includes a tray that can be floated on the upper plate. The tray has a clearance hole at a position corresponding to the first unlocking device. A clearance groove is formed in the clearance hole to allow the tray to move relative to the first unlocking device. The length of the clearance groove is greater than the sum of the first preset distance, the second preset distance, and the third preset distance.

7. The chassis-based battery swapping method for battery swapping vehicles as described in claim 1, characterized in that, Before the step of controlling the battery swapping device to move to the corresponding battery swapping position at the bottom of the battery swapping vehicle during the battery pack installation process, the method further includes: Obtain the current state of the first unlocking device to ensure that the first unlocking device descends to the low position; The battery pack to be installed is transferred to the upper plate; The step of controlling the battery swapping device to move to the corresponding battery swapping position at the bottom of the battery swapping vehicle includes: Obtain the distance the battery swapping platform needs to travel to the bottom of the vehicle; The battery swapping platform is driven to move synchronously carrying the battery pack; The battery swapping platform is positioned so that the second unlocking device is aligned with the unlocking block.

8. The chassis-type battery swapping method for battery swapping vehicles as described in claim 7, characterized in that, The installation operation includes: The upper plate is controlled to move the battery pack a fourth preset distance along the battery locking direction to the locking position, so that the unlocking block descends and the locking mechanism is successfully locked. The upper plate is controlled to move the battery pack a fifth preset distance along the unlocking direction.

9. The chassis-type battery swapping method for battery swapping vehicles as described in claim 7 or 8, characterized in that, As the upper plate moves the battery pack, the top of the second unlocking device inside the battery pack moves relative to the unlocking block.

10. The chassis-type battery swapping method for battery swapping vehicles as described in claim 9, characterized in that, The top surface of the second unlocking device has a rollable ball so that the second unlocking device can slide relative to the bottom surface of the unlocking block.

11. The chassis-type battery swapping method for battery swapping vehicles as described in claim 7, characterized in that, The step of obtaining the distance traveled by the battery swapping platform to the bottom of the vehicle includes: The required travel distance is obtained based on the travel distance obtained during the battery removal operation of the battery swapping vehicle. or, The required travel distance of the battery swapping vehicle is calculated based on the parking position of the battery swapping vehicle and the initial position of the battery swapping equipment.

12. The chassis-based battery swapping method for battery swapping vehicles as described in claim 1, characterized in that, The upper plate is provided with positioning pins, and the battery pack is provided with positioning holes. The steps of controlling the lifting of the battery swapping platform or the lowering of the battery swapping vehicle include: Control the battery swapping platform to rise or the battery swapping vehicle to descend until the positioning pin is inserted into the positioning hole.

13. The chassis-type battery swapping method for battery swapping vehicles as described in claim 1, characterized in that, Before the step of controlling the upper plate to perform disassembly or installation operations on the battery pack, the method further includes: Real-time acquisition of disassembly height information; Based on the arrival information, control the battery swapping platform to stop lifting or the battery swapping vehicle to descend.

14. The chassis-type battery swapping method for battery swapping vehicles as described in claim 13, characterized in that, The first unlocking device and / or the second unlocking device have built-in elastic elements. After the battery swapping platform is raised into position or the battery swapping vehicle is lowered into position, the position of the unlocking block remains unchanged, and the elastic elements are compressed. The step of obtaining the disassembly height information in real time includes: The positioning information is obtained based on the compression information of the elastic element.

15. The chassis-based battery swapping method for battery swapping vehicles as described in claim 13, characterized in that, In the step of controlling the lifting of the battery swapping platform or the lowering of the battery swapping vehicle, the battery swapping platform is raised or the battery swapping vehicle is lowered to a preset battery removal height corresponding to the battery swapping vehicle.

16. The chassis-type battery swapping method for battery swapping vehicles as described in claim 1, characterized in that, The base is equipped with a walking mechanism, and the step of controlling the battery swapping equipment to move to the corresponding battery swapping position at the bottom of the battery swapping vehicle specifically includes: The walking mechanism is controlled to drive the base to move toward the bottom of the battery swapping vehicle, thereby moving the battery swapping platform to the battery swapping location.

17. The chassis-type battery swapping method for battery swapping vehicles as described in claim 1, characterized in that, The battery swapping equipment has a lifting mechanism mounted on the base, and a traveling mechanism is provided at the bottom of the base. The battery swapping platform is mounted on the lifting mechanism via a telescopic mechanism. The step of controlling the battery swapping equipment to move to the battery swapping position corresponding to the bottom of the battery swapping vehicle specifically includes: The walking mechanism is controlled to drive the base to move toward the battery swapping area closer to the battery swapping vehicle; The telescopic mechanism is controlled to drive the battery swapping platform to move horizontally to the battery swapping location.

18. A chassis-type battery swapping system for a battery swapping vehicle, characterized in that, The battery swapping vehicle has two beams arranged along the length of the vehicle body. Locking mechanisms for replacing the battery pack are installed on the two beams. The battery pack is disassembled or installed through the battery swapping equipment. The battery swapping platform of the battery swapping equipment includes a base and an upper plate and a lower plate that are movably arranged on the base and arranged vertically. A first unlocking device is movably arranged on the lower plate. The battery pack has a through hole at a preset position. A second unlocking device is arranged in the through hole and is movably arranged along its length. The chassis-type battery swapping system includes: The mobile control module is used to control the battery swapping equipment to move to the corresponding battery swapping position at the bottom of the battery swapping vehicle, so that the first unlocking device, the second unlocking device and the unlocking block on the locking mechanism are respectively in an aligned state; The lifting control module controls the lifting of the battery swapping platform or the lowering of the battery swapping vehicle, so as to drive the unloaded battery swapping platform to abut against the battery pack on the battery swapping vehicle, or the battery swapping platform drives the battery pack to abut against the battery swapping vehicle. The disassembly / assembly module is used to control the upper board to perform disassembly or installation operations on the battery pack.

19. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the chassis-type battery swapping method for the battery swapping vehicle as described in any one of claims 1-17.

20. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the chassis-type battery swapping method for the battery swapping vehicle as described in any one of 1-17.

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