Limiting detection device, battery swap station and battery swap control method

Abstract

The application discloses a limiting detection device, a battery swap station and a battery swap control method. The limiting detection device is arranged on a battery swap channel in the battery swap station for a shuttle vehicle to travel, and is used for detecting the shuttle vehicle positioned and moved on the battery swap channel. The limiting detection device comprises a backing plate and a magnetic element arranged on the backing plate. The magnetic element is used for triggering a detection signal when the shuttle vehicle travels to a preset positioning position. The limiting detection device saves space, beautifies the appearance, and effectively and stably transmits the limiting signal. The first detection component is below the working plane of the battery swap channel, so that the safety hidden danger is excluded, and the working space is simple.

Description

[0001] This application is a divisional application of the Chinese patent application No. 202010925483.1, filed on September 3, 2020, entitled "Limit detection device, battery swap station and battery swap control method". TECHNICAL FIELD

[0002] The present application relates to a limit detection device, a battery swap station and a battery swap control method. BACKGROUND

[0003] In the current battery swap station, a shuttle vehicle is usually used to realize the carrying of the battery. On the one hand, the shuttle vehicle needs to be accurately positioned to realize the alignment with the electric vehicle and further realize the disassembly and assembly of the battery. On the other hand, the shuttle vehicle needs to be aligned with the battery transfer equipment in the battery swap station to realize the taking and placing of the battery pack.

[0004] The existing limit detection is mainly realized by setting a limit detection device on the battery swap channel where the shuttle vehicle travels, and setting a corresponding detection sensor on the shuttle vehicle for detection. The detection sensor is generally an optical sensor. Since the limit detection device detected by the optical sensor is generally an iron block, if there is an iron element in the walking range of the shuttle vehicle, it is easy to cause false triggering, so that the shuttle vehicle does not stop at the corresponding position. In addition, the limit detection device is protrudingly installed above the plane of the battery swap channel, which is easy to be stepped on and damaged, and has safety hazards. Moreover, the limit detection device is complicated to install and difficult to operate. SUMMARY

[0005] The technical problem to be solved by the present application is to overcome the defects of the prior art limit detection device, such as easy false triggering, occupying space, complicated installation, easy to be stepped on and having safety hazards. The present application provides a limit detection device, a battery swap station and a battery swap control method.

[0006] The present application solves the above technical problems by the following technical solutions:

[0007] A limit detection device is arranged on a battery swap channel for the shuttle vehicle to travel in a battery swap station, and is used to detect the shuttle vehicle moving on the battery swap channel. The limit detection device comprises a pad and a magnetic element arranged on the pad. The magnetic element is used to trigger a detection signal when the shuttle vehicle travels to a preset positioning position.

[0008] The battery swap channel comprises a channel plate. The limit detection device comprises a first detection assembly. The first detection assembly comprises a first origin pad and a first magnetic element. The first magnetic element is connected to the first origin pad. The first origin pad is fixed to the lower surface of the channel plate of the battery swap station, and the first magnetic element is not exposed to the channel plate.

[0009] The limiting detection device comprises a second detection assembly, the magnetic element comprises a second magnetic element, and the backing plate comprises a second origin backing plate.

[0010] In the scheme, the shuttle vehicle is subjected to limiting detection by the inductive magnetic element. The magnetic element is fixed by the backing plate and connected to the corresponding position, which not only reduces the installation difficulty of the limiting detection device, but also shields the magnetic element to avoid damage.

[0011] The first detection assembly located below the channel plate is isolated from the upper part of the battery replacement channel, so that the first detection assembly does not protrude from the working plane and is not subjected to treading. Meanwhile, the movement and stress on the battery replacement channel are borne by the channel plate, which does not affect the first detection assembly, so that the first detection assembly is not easily damaged and does not pose a safety hazard.

[0012] Alternatively, the second detection assembly can be arranged inside the battery replacement bin and not subjected to treading by pedestrians and vehicles. The second detection assembly is adjusted in height by the induction bracket, thereby ensuring that it can be inducted by the magnetic sensor on the shuttle vehicle.

[0013] Preferably, the limiting detection device further comprises a limiting detection mounting plate, and the first magnetic element is connected between the limiting detection mounting plate and the first origin backing plate.

[0014] The limiting detection mounting plate and the first origin backing plate together limit and fix the first magnetic element, wherein the first origin backing plate serves to fix the first magnetic element, and the limiting detection mounting plate and the channel plate clamp and fix the first origin backing plate from the top and bottom.

[0015] Preferably, the lower surface of the first origin backing plate is formed with a recessed cavity, and the first magnetic element is arranged in the cavity.

[0016] The first magnetic element arranged in the cavity inside the first origin backing plate can reduce the overall thickness, and the first magnetic element in the cavity can reduce the impact received, thereby avoiding damage to the first magnetic element. The opening of the cavity facilitates the installation and replacement of the first magnetic element, and the limiting detection mounting plate can close the opening of the cavity to isolate the first magnetic element from the outside.

[0017] Preferably, the number of the first magnetic elements is at least two, which are arranged staggered.

[0018] The at least two first magnetic elements are staggered in the length direction. When the shuttle vehicle is aligned, the sensors on the shuttle vehicle will successively detect different first magnetic elements. The simultaneous detection of all first magnetic elements ensures the positioning of the shuttle vehicle in the length direction of the first magnetic elements.

[0019] Preferably, the first magnetic elements are magnetic strips.

[0020] Preferably, the first magnetic elements are attached to the first origin pad.

[0021] The attachment method facilitates the installation of the first magnetic elements and the first origin pad. At the same time, it reduces unnecessary connecting elements, the complexity and weight of the first detection assembly, and facilitates maintenance.

[0022] Preferably, the first origin pad has a boss, and the channel plate has an opening, and the boss is installed in the opening.

[0023] The first origin pad and the channel plate are positioned and limited in the plane direction by the boss and the opening. During installation, it ensures that the first detection assembly can be installed at the corresponding position of the channel plate, ensuring the accuracy of the positioning. At the same time, the two bosses correspond to two first magnetic elements, which are exposed to avoid signal shielding and improve signal directivity.

[0024] Preferably, the first origin pad is made of nylon or polytetrafluoroethylene. Nylon or polytetrafluoroethylene can effectively shield magnetism, avoid external interference, not affect the transmission of magnetic induction signals, and effectively transmit the limiting signal to the controller.

[0025] Preferably, the second magnetic element is arranged between the second origin pad and the induction bracket.

[0026] Preferably, the induction bracket includes a mounting portion arranged at the top, the second origin pad is fixed to the mounting portion, the second origin pad has a cavity, and the second magnetic element is arranged in the cavity.

[0027] The origin pad is installed on the top of the induction bracket, so as to ensure a closer distance to the bottom of the shuttle vehicle and ensure the stability of the magnetic induction signal reception.

[0028] A battery swap station includes a battery swap cabin, a vehicle loading platform, a shuttle vehicle, and the limiting detection device. The shuttle vehicle moves back and forth between the battery swap cabin and the vehicle loading platform along a battery swap channel to replace the battery. The limiting detection device is arranged on the battery swap channel. The shuttle vehicle is provided with a magnetic sensor for detecting the magnetic elements of the limiting detection device and sending a detection signal to the shuttle vehicle control unit to control the movement of the shuttle vehicle.

[0029] Preferably, two tracks for the shuttle vehicle to travel are arranged on the battery replacement channel, and the limit detection device is arranged between the two tracks.

[0030] Therefore, the limit detection device can avoid the tracks while being aligned with the middle position of the shuttle vehicle, thereby improving the accuracy of alignment.

[0031] Preferably, the limit detection device is arranged at a vehicle alignment position on the battery replacement channel below the electric vehicle, and is used to control the shuttle vehicle to travel to the vehicle alignment position below the electric vehicle.

[0032] The shuttle vehicle travels to the vehicle alignment position on the battery replacement channel, and the shuttle vehicle can be aligned with the electric vehicle and perform the action of installing or removing the battery from the electric vehicle.

[0033] Preferably, the limit detection device is arranged on the battery replacement channel between the vehicle loading platform and the battery replacement cabinet, and is used to detect the shuttle vehicle traveling to the extreme limit position.

[0034] The shuttle vehicle travels to the extreme limit position on the battery replacement channel, and the shuttle vehicle is limited from further movement to avoid the shuttle vehicle from exiting the track or interfering with other equipment.

[0035] Preferably, the limit detection device includes a first detection assembly, the backing plate includes a first origin backing plate, and the magnetic element includes a first magnetic element.

[0036] Preferably, the limit detection device is arranged in the battery replacement cabinet, and is used to detect the shuttle vehicle traveling to the origin position in the battery replacement cabinet.

[0037] Preferably, the limit detection device is further arranged in the battery replacement cabinet, and is used to detect the shuttle vehicle traveling to the retracted extreme limit position in the battery replacement cabinet.

[0038] The shuttle vehicle travels to the origin position on the battery replacement channel, and the shuttle vehicle and the battery transfer equipment are aligned with each other, thereby achieving the transportation of the battery pack from the shuttle vehicle to the battery transfer equipment or the transportation of the battery pack from the battery transfer equipment to the shuttle vehicle.

[0039] Preferably, the limit detection device includes a second detection assembly, the magnetic element includes a second magnetic element, and the backing plate includes a second origin backing plate.

[0040] A battery replacement control method is used to control the movement of a shuttle vehicle in a battery replacement station, and the battery replacement control method includes:

[0041] The shuttle vehicle is controlled to extend along the battery swap channel towards the vehicle platform;

[0042] The shuttle vehicle control unit is determined whether the detection signal corresponding to the vehicle alignment position is received, and if so, the shuttle vehicle is controlled to continue moving for a first stroke to the vehicle alignment position;

[0043] Preferably, the battery swap control method further comprises determining whether the detection signal corresponding to the extension limit position is received by the shuttle vehicle control unit, and if so, controlling the shuttle vehicle to stop moving;

[0044] Preferably, the battery swap control method further comprises

[0045] The shuttle vehicle is controlled to extend along the battery swap channel towards the vehicle platform;

[0046] The shuttle vehicle control unit is determined whether the detection signal corresponding to the vehicle alignment position is received, and if so, the shuttle vehicle is controlled to continue moving for a first stroke to the vehicle alignment position;

[0047] Preferably, the battery swap control method further comprises determining whether the detection signal corresponding to the extension limit position is received by the shuttle vehicle control unit, and if so, controlling the shuttle vehicle to stop moving;

[0048] The positive progress effect of the application is that the limit detection device is not easy to be triggered by mistake, saves space, beautifies the appearance, and effectively and stably transmits the limit signal. The first detection assembly is below the working plane of the battery swap channel, which eliminates safety hazards and simplifies the working space. BRIEF DESCRIPTION OF DRAWINGS

[0049] Figure 1 It is a top view structural schematic diagram of the battery swap station of embodiment 1 of the application.

[0050] Figure 2 It is a side view structural schematic diagram of the limit detection device of embodiment 1 of the application.

[0051] Figure 3 It is a connection structural schematic diagram of the first detection assembly of embodiment 1 of the application.

[0052] Figure 4 It is a connection structural schematic diagram of the second detection assembly of embodiment 1 of the application.

[0053] Figure 5 It is a top view structural schematic diagram of the first origin pad of embodiment 1 of the application.

[0054] Figure 6 It is a bottom view structural schematic diagram of the first origin pad of embodiment 1 of the application.

[0055] Figure 7This is a schematic diagram of the limit detection device and the shuttle car sensing alignment in Embodiment 1 of the present invention.

[0056] Figure 8 This is a schematic diagram of another limit detection device and shuttle car sensing alignment in Embodiment 1 of the present invention.

[0057] Figure 9 This is a top view of the battery swapping station according to Embodiment 2 of the present invention. Detailed Implementation

[0058] 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.

[0059] Example 1

[0060] like Figure 1 As shown, this embodiment discloses a battery swapping station, including a first detection component 1, a second detection component 2, a shuttle vehicle 4, a battery swapping channel 5, a battery swapping compartment 6, and a vehicle platform 7, wherein, as... Figure 1 As shown, the shuttle 4 travels back and forth between the battery swapping compartment 6 and the vehicle platform 7 along the battery swapping channel 5 to replace batteries. The limit detection device (first detection component 1 and second detection component 2) is installed on the battery swapping channel 5. The shuttle 4 is equipped with a magnetic sensor 42, which is used to detect the first magnetic element 31 of the first detection component 1 and the second magnetic element 32 of the second detection component 2, and trigger a detection signal to the control unit of the shuttle 4 to control the movement of the shuttle 4.

[0061] like Figure 1 As shown, Figure 1 The dashed lines indicate the vehicle alignment position A when the shuttle 4 aligns with the electric vehicle to be swapped, the maximum extension position C that the shuttle 4 can reach when it extends, the origin position B when the shuttle 4 retracts, the maximum retraction position D when the shuttle 4 retracts, and the battery swapping parking position E of the electric vehicle.

[0062] The preset positioning positions in this embodiment include a vehicle alignment position A and an origin position B. The vehicle alignment position A is set on the battery swapping channel 5 below the electric vehicle at the battery swapping stop E. The origin position B can be set inside the battery swapping compartment 6 or at a position aligned with the battery transfer equipment. The shuttle 4 is configured to move back and forth between the vehicle alignment position A and the origin position B. After the electric vehicle reaches the battery swapping stop E, the shuttle 4 extends and moves to the vehicle alignment position A. The shuttle 4 aligns with the electric vehicle at the vehicle alignment position A and removes the depleted battery pack from the electric vehicle. Then, the shuttle 4 moves along the battery swapping channel 5 to the origin position B, where it exchanges battery packs with the transfer equipment, replaces them with fully charged battery packs, and moves back to the vehicle alignment position A to install the new battery packs.

[0063] In this embodiment, the extension limit position C corresponds to the vehicle alignment position A, representing the farthest extension limit position of the shuttle 4. The retraction limit position D corresponds to the origin position B, representing the farthest retraction limit position of the shuttle 4 into the battery swapping compartment. The first detection component 1 and the magnetic sensor 42 in this embodiment are used to detect whether the shuttle 4 is located at the vehicle alignment position A and the extension limit position C. The second detection component 2 and the magnetic sensor 42 are used to detect whether the shuttle 4 is located at the origin position B when retracted and the retraction limit position D when retracted. Specifically, when the magnetic sensor 42 detects that the shuttle 4 has exceeded the vehicle alignment position A and reached the extension limit position C, it prevents the shuttle 4 from moving further to avoid it derailing from the track 51. When it detects that the shuttle 4 has exceeded the origin position B and reached the retraction limit position D, it prevents the shuttle 4 from moving further to avoid interference between the shuttle 4 and the battery transfer equipment.

[0064] Among them, such as Figure 1 As shown, the battery swapping channel 5 in this embodiment is provided with two tracks 51 for the shuttle car 4 to travel on. The tracks 51 connect the battery swapping compartment 6 and the vehicle platform 7. The first detection component 1 and the second detection component 2 are located between the two tracks 51. Thus, the first detection component 1 and the second detection component 2 can avoid the tracks 51 and can be aligned with the magnetic sensor 42 on the shuttle car 4, improving the accuracy of alignment.

[0065] like Figure 2 and Figure 3 As shown, the battery swapping channel 5 in this embodiment includes a channel plate 50, and the first detection component 1 includes a first origin pad 11 and a first magnetic element 31. The first magnetic element 31 is connected to the first origin pad 11, and the first origin pad 11 is fixed to the lower surface of the channel plate 50 of the battery swapping station, separating the first magnetic element 31 from the channel plate 50. The first detection component 1, located below the channel plate 50, is isolated from the upper part of the battery swapping channel 5, thus preventing the first detection component 1 from protruding from the working plane and from being stepped on. At the same time, the movement and force on the battery swapping channel 5 are borne by the channel plate 50, which will not affect the first detection component 1, making the first detection component 1 less prone to damage and eliminating safety hazards.

[0066] like Figure 2 and Figure 3As shown, the first detection assembly 1 of the embodiment further comprises a limit detection mounting plate 12, and the first origin pad plate 11 is fixed on the lower surface of the passage plate 50 through the fastener 13. In this way, the first magnetic element 31 is connected between the limit detection mounting plate 12 and the first origin pad plate 11, so that the limit detection mounting plate 12 and the first origin pad plate 11 together limit and fix the first magnetic element 31, wherein the first origin pad plate 11 plays a role in fixing the first magnetic element 31, and the limit detection mounting plate 12 and the passage plate 50 clamp and fix the first origin pad plate 11 from the top and bottom, which is convenient for installation and disassembly.

[0067] As shown in Figure 3 and Figure 6 As shown, the lower surface of the first origin pad plate 11 of the embodiment forms a recessed cavity 110, the first magnetic element 31 is arranged in the cavity 110, and the opening of the cavity 110 is closed by the limit detection mounting plate 12. The first magnetic element 31 of the embodiment is arranged in the cavity 110 inside the first origin pad plate 11, which can reduce the overall thickness, and the first magnetic element 31 in the cavity 110 can reduce the impact received, avoiding damage to the first magnetic element 31. The opening of the cavity 110 facilitates the installation and replacement of the first magnetic element 31, and the limit detection mounting plate 12 isolates the first magnetic element 31 from the outside.

[0068] As shown in Figure 3 , Figure 5 and Figure 6 As shown, the first origin pad plate 11 of the embodiment forms a boss 111, and the passage plate 50 forms an opening 501, and the boss 111 is installed in the opening 501. The first origin pad plate 11 and the passage plate 50 realize mutual positioning through the boss 111 and the opening 501, realizing the limit in the plane direction. During installation, on the one hand, it ensures that the first detection assembly 1 can be installed at the corresponding position of the passage plate 50, ensuring the accuracy of positioning. At the same time, the two bosses 111 correspond to the two first magnetic elements 31 respectively, and are exposed through the bosses 111 to avoid signal shielding and improve the directivity of the signal.

[0069] As shown in Figure 4 The second detection assembly 2 of the embodiment comprises a second origin pad plate 21, a sensing bracket 22 and a second magnetic element 32, wherein the second magnetic element 32 is arranged on the second origin pad plate 21, and the second origin pad plate 21 is fixed on the sensing bracket 22. Specifically, the sensing bracket 22 comprises a mounting portion arranged on the top, and the second origin pad plate 21 is fixed on the mounting portion. The origin pad plate is installed on the top of the sensing bracket 22, so as to ensure a closer distance from the bottom of the shuttle vehicle 4 and ensure the stability of the magnetic induction signal reception.

[0070] As shown in Figure 1As shown, the second detection assembly 2 can be arranged at a position inside the battery swap cabin 6 that will not be stepped on by pedestrians and vehicles, so that the second detection assembly 2 inside will not be affected by stepping. The second detection assembly 2 is adjusted in height by the induction support 22, so as to ensure that it can be inducted with the magnetic sensor 42 on the shuttle vehicle 4.

[0071] The first and second origin pads 11 and 21 in this embodiment are made of nylon or polytetrafluoroethylene. The nylon or polytetrafluoroethylene can effectively shield the magnetic field outside the first and second origin pads 11 and 21, avoid external interference, not affect the transmission of the magnetic induction signal, and effectively transmit the limit signal to the controller.

[0072] The first and second magnetic elements 31 and 32 in this embodiment can be magnetic strips. The first magnetic element 31 is attached to the first origin pad 11. The attachment mode facilitates the installation of the first magnetic element 31 and the first origin pad 11. At the same time, unnecessary connecting elements can be reduced, the complexity and weight of the first detection assembly 1 can be reduced, and maintenance is facilitated.

[0073] As shown in the drawings, Figure 6 The number of the first magnetic elements 31 in this embodiment is at least two, which are arranged staggered. The two first magnetic elements 31 are staggered in the length direction. Among them, the staggered first magnetic elements 31 can be used to detect two positions at the same time. As shown in the drawings, Figure 7 When the shuttle vehicle 4 approaches the first detection assembly 1 for alignment, the magnetic sensor 42 on the shuttle vehicle 4 will sense different first magnetic elements 31 in sequence. The first magnetic element 31 located Figure 7 above can cooperate with the magnetic sensor 42 to detect whether the shuttle vehicle 4 reaches the vehicle alignment position A, and the first magnetic element 31 located Figure 7 below can cooperate with the magnetic sensor 42 to detect whether the shuttle vehicle 4 reaches the limit position C. Thus, by sensing different first magnetic elements 31, it can be judged whether the shuttle vehicle 4 is at the vehicle alignment position A and the limit position C. The staggered arrangement in this embodiment means that the two first magnetic elements 31 are arranged in parallel and have a certain gap in the width direction and are arranged in front and back in the length direction.

[0074] Specifically, as shown in the drawings, Figure 7 Figure 7 ​The shuttle 4 has four magnetic sensors 42 connected to it via a common mounting part 41. The four magnetic sensors 42 include a pair of extension sensors for detecting when the shuttle 4 extends toward the electric vehicle and a pair of retraction sensors for detecting when the shuttle 4 retracts toward the battery swapping compartment. The pair of extension sensors detects whether the shuttle 4 is at vehicle alignment position A and extension limit position C when it extends toward the electric vehicle on the vehicle platform. The pair of retraction sensors detects the origin position B and retraction limit position D of the shuttle when it retracts into the battery swapping compartment, aligning it with the battery transfer equipment.

[0075] The extension sensor includes a first extension sensor 421 and a second extension sensor 422. The first extension sensor 421 is used to detect whether the shuttle is in the vehicle alignment position A, and the second extension sensor 422 is used to detect whether the shuttle has reached the extension limit position C. The retraction sensor includes a first retraction sensor 423 and a second retraction sensor 424. The first retraction sensor 423 is used to detect whether the shuttle is in the origin position B, and the second retraction sensor 424 is used to detect whether the shuttle has reached the retraction limit position D.

[0076] like Figure 7 As shown, the two upper magnetic sensors 42 act as retraction sensors to detect the two second magnetic elements 32 corresponding to the second detection component 2, while the two lower magnetic sensors 42 act as extension sensors to detect the two first magnetic elements 31 corresponding to the first detection component 1. Alternatively, as... Figure 8 As shown, the two magnetic sensors 42 located at the highest and third highest points serve as retraction sensors to detect the two second magnetic elements 32 corresponding to the second detection component 2, and the two magnetic sensors 42 located at the lowest and second highest points serve as extension sensors to detect the two first magnetic elements 31 corresponding to the first detection component 1.

[0077] like Figure 7 When the shuttle 4 shown moves to the right, it is located at Figure 7 The first magnetic element 31 on the upper side, used to detect whether the shuttle has reached the vehicle alignment position A, extends to the left and is therefore detected first by the corresponding first extension sensor 421. At this point, it can be confirmed that the shuttle 4 has entered the vehicle alignment position A. If the shuttle 4 does not stop moving further to the right at this time, it will be located at... Figure 7 The first magnetic element 31 on the lower side, used to detect whether the shuttle has reached its extension limit position, is also detected by the corresponding second extension sensor 422. This indicates that the shuttle 4 has reached its extension limit position C. In this case, the shuttle 4 is restricted from further movement and controlled to move back to the vehicle alignment position A.

[0078] In this embodiment, the first magnetic element 31 used to detect whether the shuttle 4 is in the vehicle alignment position A and the extended limit position C can be installed on the same first origin pad 11, or they can be installed on different first origin pads 11. Similarly, the second magnetic element 32 used to detect whether the shuttle 4 is in the origin position B and the retracted limit position D can be installed on the same second origin pad 21, or they can be installed on different second origin pads 21.

[0079] Example 2

[0080] like Figure 9 As shown, this embodiment is the same as embodiment 1 in terms of other structures and operation, except that this embodiment includes two sets of shuttle cars 4, which continue to travel back and forth between the origin alignment position B and the vehicle alignment position A in the battery swapping compartments 6 on both sides. One shuttle car 4 is used to remove the battery, and the other shuttle car 4 is used to install the battery, which can improve efficiency. In this embodiment... Figure 9 The vehicle alignment position A of the upper shuttle 4 and the lower shuttle 4 is the same. Therefore, when the shuttle 4 on both sides travels to the vehicle alignment position A of the battery swapping channel 5, the shuttle 4 can align with the electric vehicle and perform battery installation or removal operations on the electric vehicle.

[0081] In this embodiment, it is located Figure 9 The upper shuttle 4 corresponds to the one that is close to Figure 9 The first detection component 1 and the second detection component 2 on the left side of track 51 are located Figure 9 The lower shuttle 4 corresponds to the one that is close to Figure 9 The first detection component 1 and the second detection component 2 on the right side of track 51. Therefore, Figure 9 The magnetic sensor 42 of the lower shuttle 4 is located on the right side, and detection is only performed on the right side, which avoids the need for sensors located on the right side. Figure 9 Interference from the first detection component 1 on the left. Conversely, Figure 9 The magnetic sensor 42 of the upper shuttle 4 is located on the left side, and detection is only performed on the left side, which avoids being located on the left side. Figure 9 Interference from the first detection component 1 on the right. Example 3

[0082] This embodiment discloses a battery swapping control method, which utilizes a battery swapping station as described in Embodiment 1 or Embodiment 2 to achieve control. The specific control process is as follows:

[0083] The steps for controlling the extension of shuttle 4 are as follows:

[0084] Step 1.1: Control the shuttle car 4 to extend along the battery swapping channel 5 toward the vehicle platform 7.

[0085] Step 1.2, judging whether the shuttle vehicle control unit receives the detection signal corresponding to the vehicle alignment position A, if yes, controlling the shuttle vehicle 4 to continue moving the first stroke to the vehicle alignment position A.

[0086] The first extension sensor 421 on the shuttle vehicle 4 detects the first magnetic element 31 for detecting the vehicle alignment position A and sends the detection signal to the shuttle vehicle control unit, and the shuttle vehicle control unit sends a control signal to the servo motor of the shuttle vehicle 4 to operate a predetermined amount, thereby controlling the shuttle vehicle 4 to continue moving the first stroke and then stop, at this time, the shuttle vehicle 4 reaches the vehicle alignment position A. The first magnetic element 31 includes a front end and a tail end, the front end is the end close to the shuttle vehicle 4, when the shuttle vehicle 4 extends towards the vehicle loading platform 7, the first extension sensor 421 on the shuttle vehicle 4 first detects the front end of the first magnetic element 31, and after the shuttle vehicle control unit obtains the signal detected by the first extension sensor 421, it controls the shuttle vehicle 4 to stop moving after the first stroke from the front end, which is the distance from the detection of the front end of the first magnetic element 31 to the arrival of the shuttle vehicle 4 at the vehicle alignment position A.

[0087] Step 1.3, judging whether the shuttle vehicle control unit receives the detection signal corresponding to the extension limit position C, if yes, controlling the shuttle vehicle 4 to stop moving.

[0088] The second extension sensor 422 detects the first magnetic element 31 for detecting the extension limit position C and controls the shuttle vehicle 4 to stop moving. If the shuttle vehicle 4 does not stop after reaching the vehicle alignment position A and continues to move, the second extension sensor 422 detects and controls the shuttle vehicle 4 to stop moving, when the second extension sensor 422 detects the front end of the first magnetic element 31 for detecting the extension limit position C, the shuttle vehicle 4 stops moving.

[0089] The steps of controlling the shuttle vehicle 4 to retract are as follows:

[0090] Step 2.1, controlling the shuttle vehicle 4 to retract along the battery swapping channel 5 towards the battery swapping cabin 6.

[0091] Step 2.2, judging whether the shuttle vehicle control unit receives the detection signal corresponding to the origin position B, if yes, controlling the shuttle vehicle to continue moving the second stroke to the origin position B.

[0092] The first retraction sensor 423 on the shuttle vehicle 4 detects the second magnetic element 32 for detecting the original position B and sends the detection signal to the shuttle vehicle control unit, and the shuttle vehicle control unit sends a control signal to the servo motor of the shuttle vehicle 4 to operate a predetermined amount, so as to control the shuttle vehicle 4 to continue to move and stop after the second stroke, at this time, the shuttle vehicle 4 reaches the original position B. The second magnetic element 32 includes a front end and a tail end, and the front end is close to one end of the shuttle vehicle 4. When the shuttle vehicle 4 retracts towards the battery swap cabin 6, the first retraction sensor 423 on the shuttle vehicle 4 detects the front end of the second magnetic element 32. After the shuttle vehicle control unit obtains the signal detected by the first retraction sensor 423, the shuttle vehicle control unit controls the shuttle vehicle 4 to stop moving after the second stroke from the front end. The second stroke is the running distance of the shuttle vehicle from detecting the front end of the second magnetic element 32 to reaching the original position B.

[0093] Step 2.3, judging whether the shuttle vehicle control unit receives the detection signal corresponding to the retraction limit position D, if yes, controlling the shuttle vehicle 4 to stop moving.

[0094] The second retraction sensor 424 detects the second magnetic element for detecting the retraction limit position D, and controls the shuttle vehicle 4 to stop moving. If the shuttle vehicle 4 does not stop after reaching the original position B and continues to move, the second retraction sensor 424 detects and controls the stop of the shuttle vehicle. When the second retraction sensor 424 detects the front end of the second magnetic element 32 for detecting the retraction limit position D, the shuttle vehicle 4 is controlled to stop moving.

[0095] The limit detection device of the present application saves space, beautifies the appearance, and effectively and stably transmits the limit signal. The first detection assembly 1 is below the working plane of the battery swap channel 5, which eliminates the safety hazard and simplifies the working space.

[0096] Although the specific embodiments of the present application are described above, those skilled in the art should understand that this is only an example, and the protection scope of the present application 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 application, and these changes and modifications all fall within the protection scope of the present application.

Claims

1. A position limiting detection device, which is arranged on a battery replacement channel in a battery replacement station for a shuttle vehicle to travel, and is used for detecting a shuttle vehicle positioned on the battery replacement channel and moving, characterized in that, The limiting detection device comprises a pad plate and a magnetic element arranged on the pad plate, and the magnetic element is used to trigger a detection signal when the shuttle vehicle drives to a preset positioning position. The battery replacement channel comprises a channel plate, and the limiting detection device comprises a first detection assembly, the first detection assembly comprises a first origin pad plate and a first magnetic element, wherein the first magnetic element is connected to the first origin pad plate, the first origin pad plate is fixed to the lower surface of the channel plate of the battery replacement station, and the first magnetic element is not exposed to the channel plate; or, The limiting detection device comprises a second detection assembly, the magnetic element comprises a second magnetic element, and the pad plate comprises a second origin pad plate, the second detection assembly comprises a second origin pad plate, a sensing bracket, and a second magnetic element, wherein the second magnetic element is arranged on the second origin pad plate, and the second origin pad plate is fixed to the sensing bracket.

2. The position-limiting detection apparatus according to claim 1, wherein The limiting detection device further comprises a limiting detection mounting plate, and the first magnetic element is connected between the limiting detection mounting plate and the first origin pad plate.

3. The position-limiting detection apparatus according to claim 2, wherein The lower surface of the first origin pad plate is formed with a recessed cavity, and the first magnetic element is arranged in the cavity.

4. The position detecting apparatus according to claim 1, wherein The number of the first magnetic elements is at least two, and the first magnetic elements are arranged staggeredly. And / or, the first magnetic element is a magnetic strip. And / or, a boss is formed on the first origin pad plate, an opening is formed on the channel plate, and the boss is installed in the opening. And / or, the first origin pad plate is made of nylon or polytetrafluoroethylene.

5. The position detecting apparatus according to claim 1, wherein The second magnetic element is arranged between the second origin pad plate and the sensing bracket. And / or, the sensing bracket comprises a mounting portion arranged on the top, the second origin pad plate is fixed to the mounting portion, the second origin pad plate has a cavity, and the second magnetic element is arranged in the cavity.

6. A battery swap station comprising a battery swap cabin, a vehicle carrying platform, a shuttle vehicle and the position limiting detection device according to any one of claims 1-5, characterized in that, The shuttle vehicle moves back and forth between the battery replacement bin and the vehicle loading platform along the battery replacement channel to replace the battery, the limiting detection device is arranged on the battery replacement channel, a magnetic sensor is arranged on the shuttle vehicle to detect the magnetic element of the limiting detection device and send a detection signal to the shuttle vehicle control unit to control the movement of the shuttle vehicle. 7.The battery swapping station of claim 6, wherein, Two tracks for the shuttle vehicle to drive are arranged on the battery replacement channel, the tracks are connected between the battery replacement bin and the vehicle loading platform, and the limiting detection device is arranged between the two tracks. And / or, the limiting detection device is arranged on the battery replacement channel below the electric vehicle to control the shuttle vehicle to drive to a vehicle alignment position below the vehicle. 8.The battery swapping station of claim 7, wherein, The limiting detection device is also arranged on the battery replacement channel between the vehicle loading platform and the battery replacement bin to detect the shuttle vehicle driving to an extended limit position. 9.The battery swapping station of claim 6, wherein, The limiting detection device comprises a first detection assembly, the pad plate comprises a first origin pad plate, and the magnetic element comprises a first magnetic element. 10.The battery swapping station of claim 6, wherein, The limiting detection device is arranged in the battery replacement bin to control the shuttle vehicle to drive to an origin position in the battery replacement bin. 11.The battery swapping station of claim 10, wherein, The limiting detection device is also arranged in the battery replacement bin to detect the shuttle vehicle driving to a retracted limit position in the battery replacement bin. 12.The battery swapping station of claim 10, wherein, The limiting detection device comprises a second detection assembly, the magnetic element comprises a second magnetic element, and the backing plate comprises a second original backing plate.

13. A battery replacement control method for controlling movement of a shuttle vehicle in a battery replacement station, the method comprising: receiving a battery replacement request; determining a target battery replacement station based on the battery replacement request; and controlling the shuttle vehicle to move to the target battery replacement station. The battery swap station of any one of claims 6-12, the battery swap control method comprising: Controlling the shuttle vehicle to extend along the battery swap channel towards the direction of the vehicle platform; Determining whether the shuttle vehicle control unit receives the detection signal corresponding to the vehicle alignment position, and if so, controlling the shuttle vehicle to continue moving for a first stroke to the vehicle alignment position. 14.The battery replacement control method of claim 13, wherein, The battery swap control method further comprises: Controlling the shuttle vehicle to retract along the battery swap channel towards the battery swap compartment; Determining whether the shuttle vehicle control unit receives the detection signal corresponding to the original position, and if so, controlling the shuttle vehicle to continue moving for a second stroke to the original position. 15.The battery replacement control method of claim 14, wherein, The battery swap control method further comprises determining whether the shuttle vehicle control unit receives the detection signal corresponding to the retraction limit position, and if so, controlling the shuttle vehicle to stop moving. 16.The battery replacement control method of claim 13, wherein, The battery swap control method further comprises determining whether the shuttle vehicle control unit receives the detection signal corresponding to the extension limit position, and if so, controlling the shuttle vehicle to stop moving.

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