Vehicle correction system, battery swap station and battery swap method

Abstract

The invention discloses a vehicle correction system, a battery replacing station and a battery replacing method, the vehicle correction system comprises a vehicle carrying platform and a battery replacing device, and the vehicle carrying platform is used for driving an electric vehicle carried on the vehicle carrying platform to do lifting motion; the battery replacing equipment is used for replacing the battery of the vehicle on the vehicle carrying platform, the battery replacing equipment is provided with a dismounting and mounting mechanism and a leveling piece, the dismounting and mounting mechanism is used for unlocking or locking a locking piece used for locking the battery on the vehicle, the leveling piece is provided with a plurality of calibration surfaces used for being in contact with the vehicle, and the calibration surfaces are located in the same plane; in the process that the dismounting and mounting mechanism unlocks or locks the locking piece, the leveling piece supports the vehicle. The relative position relation between the vehicle and the disassembly and assembly mechanism is calibrated through the leveling piece, it is guaranteed that the disassembly and assembly mechanism can be accurately matched with the locking piece, and therefore the risk of mechanical abrasion caused by low positioning precision among the battery replacement equipment, the vehicle and the battery is reduced, the situation that the battery replacement equipment and the battery are stuck in the battery replacement process can be avoided, and the battery replacement efficiency is improved. And the battery replacement efficiency can be improved.

Description

[0001] This application is a division of a Chinese invention patent with an application date of December 2, 2021, application number 202111460188.4, and name “Vehicle Calibration System, Battery Swap Station and Battery Swap Method”. Technical Field

[0002] The present application relates to the field of vehicle battery replacement technology, and in particular to a vehicle calibration system, a battery replacement station and a battery replacement method. Background Art

[0003] The battery swap station is used to swap batteries for electric vehicles. When a vehicle enters the battery swap station and is accurately positioned, the relevant equipment in the battery swap station removes the depleted battery from the vehicle, and then installs the fully charged battery stored in the battery swap station on the vehicle. After the battery swap is completed, the vehicle drives out of the vehicle loading platform. During the battery swap process, the positioning accuracy of the vehicle directly affects the working conditions of the relevant equipment for removing and installing batteries. In the prior art, there are situations where the relevant equipment, batteries, and vehicles suffer mechanical wear and even get stuck during the battery swap due to the low positioning accuracy of the vehicle. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the defects of mechanical wear of battery replacement equipment, batteries and vehicles due to poor positioning during the battery replacement process, and to provide a vehicle correction system, a battery replacement station and a battery replacement method.

[0005] The present invention solves the above technical problems through the following technical solutions:

[0006] A vehicle correction system, comprising:

[0007] The vehicle-carrying platform is used to drive the electric vehicle carried thereon to perform lifting motion;

[0008] A battery replacement device, used for replacing batteries of vehicles on the vehicle-carrying platform, the battery replacement device is provided with a disassembly and assembly mechanism and a leveling member, the disassembly and assembly mechanism is used to unlock or lock the locking member on the vehicle for locking the battery, the leveling member has a plurality of calibration surfaces for contacting the vehicle, and each of the calibration surfaces is located in the same plane;

[0009] During the process of the disassembly and assembly mechanism unlocking or locking the locking member, the leveling member supports the vehicle.

[0010] In this solution, the relative position relationship between the vehicle and the disassembly and assembly mechanism is calibrated through leveling parts, ensuring that the disassembly and assembly mechanism can accurately cooperate with the locking parts, thereby reducing the risk of mechanical wear between the battery swapping equipment, the vehicle and the battery due to low positioning accuracy, and can effectively avoid jamming between the battery swapping equipment and the battery during the battery swapping process, which helps to improve the battery swapping efficiency.

[0011] Preferably, the plane where each of the calibration surfaces is located is parallel to the plane where the disassembly and assembly mechanism is located.

[0012] In this solution, the plane where each calibration surface is located is parallel to the plane where the disassembly and assembly mechanism is located, which can ensure that the plane where the vehicle chassis and the battery locking parts are located are parallel to the disassembly and assembly mechanism, thereby ensuring that the disassembly and assembly mechanism can accurately cooperate with the locking parts, thereby improving the accuracy and efficiency of battery replacement.

[0013] Preferably, the leveling member comprises a plurality of leveling columns, the plurality of leveling columns have the same height, and the top surfaces of the leveling columns form the calibration surface.

[0014] In this solution, the top surfaces of multiple leveling columns form a calibration surface, and the heights of the calibration columns are the same, ensuring that the multiple calibration surfaces are located in the same plane. The leveling piece has a simple structure and high calibration accuracy.

[0015] Preferably, the battery exchange device includes a device body and a mounting base, the disassembly and assembly mechanism is arranged on the device body, the mounting base is installed on the device body around the outer edges of the device body, the mounting base is arranged on the outside of the disassembly and assembly mechanism, and the leveling column is arranged on the mounting base.

[0016] In this solution, the leveling column is installed on the outer edges of the device body through the mounting base. The leveling column is located outside the disassembly and assembly mechanism. The disassembly and assembly mechanism is aligned with the position of the battery. The leveling column can avoid the battery, which can effectively avoid collision and interference between the leveling column and the battery. In addition, in this solution, the leveling column is installed on the device body through the mounting base, so that the leveling column can be directly installed on the existing battery exchange equipment without making other improvements to the existing battery exchange equipment. The modification cost is low, and modular assembly can be achieved, which is easy to disassemble and maintain.

[0017] Preferably, the battery exchange device further includes an adjustment part, which is respectively connected to the device body and the mounting base, and the adjustment part is configured to be able to drive the mounting base to move horizontally and / or vertically relative to the device body.

[0018] Different models of vehicles have different optimal support points. By adjusting the position of the leveling column through the adjustment part, the optimal support point can be selected according to the model, which can not only level different models of vehicles, but also maximize the protection of the vehicle, thereby improving the universality of the battery replacement equipment for various types of electric vehicles. In addition, the adjustment part can be used to control the vertical position of the leveling column, and it can also be used to control the lifting of the vehicle. This function can be used in conjunction with the lifting function of the vehicle platform.

[0019] Preferably, the adjusting part comprises a guide rail and a slider, the guide rail is mounted on the equipment body, the slider is movably arranged on the guide rail, and the mounting base is connected to the slider; or,

[0020] The adjusting part comprises a rotating assembly having a rotating shaft, wherein the rotating assembly is arranged on the equipment body, the rotating shaft is connected to the mounting base, and the rotating assembly is used for converting the rotational motion of the rotating shaft into the linear motion of the mounting base.

[0021] In this solution, the adjustment part includes a guide rail and a slider, or the adjustment part adopts a rotating assembly. The adjustment part has a simple structure and is easy to use. With a guide rail slider structure, moving the slider can drive the mounting base to slide on the guide rail to achieve the position adjustment of the leveling column. With a rotating assembly structure, rotating the rotating shaft can drive the mounting base to move to achieve the position adjustment of the leveling column.

[0022] Preferably, the adjusting part further includes a power element, the power element is arranged on the equipment body, and the power element is connected to the slider or the rotating shaft.

[0023] In this solution, the slider is driven to move or the rotating shaft is driven to rotate by a power element, which is beneficial to improving the adjustment efficiency and adjustment accuracy.

[0024] Preferably, a positioning pin is also provided on the battery exchange device, and a positioning hole for accommodating the positioning pin is opened on the chassis of the vehicle.

[0025] In this solution, the locating pin and the locating hole cooperate with each other. After the locating pin is inserted into the locating hole, the relative position relationship between the vehicle and the battery exchange equipment can be determined, which can effectively ensure the alignment accuracy between the vehicle chassis and the leveling column and between the battery and the disassembly and assembly mechanism.

[0026] Preferably, the battery exchange device is also provided with a lifting mechanism, and the lifting mechanism is respectively connected to the disassembly and assembly mechanism and the positioning pin.

[0027] The lifting mechanism can drive the disassembly and assembly mechanism and the positioning pin to rise and fall, so that the disassembly and assembly mechanism can contact or separate with the locking member, and the positioning pin can be inserted into or removed from the positioning hole. When controlling the positioning pin to be inserted into the positioning hole, the lifting mechanism can be used to control the positioning pin to move upward until it is inserted into the positioning hole, or the vehicle can be controlled to move downward until the positioning pin is inserted into the positioning hole, or the vehicle can be controlled to move downward and the positioning pin can be controlled to move upward until the positioning pin is inserted into the positioning hole.

[0028] Preferably, when the lifting mechanism is in a lifting state, the top of the positioning pin is higher than the calibration surface of the leveling member.

[0029] This solution can first control the locating pin to be inserted into the locating hole to roughly position the vehicle, and then use the leveling column to correct the position of the vehicle to achieve precise positioning, thereby ensuring the accuracy of the positional relationship between the battery pack and the disassembly and assembly mechanism; it also avoids the risk of the locating pin being unable to be inserted into the locating hole, resulting in interference between the leveling column and the vehicle due to the locating pin being lower than the leveling column.

[0030] Preferably, the battery exchange device is also provided with a detection element, and the detection element is used to detect whether the calibration surface is in contact with the vehicle.

[0031] Whether the vehicle has reached a preset state is determined based on the detection results of the detection element, and the calibration accuracy is high.

[0032] Preferably, the vehicle loading platform includes a front lifting mechanism corresponding to the front wheels of the vehicle and a rear lifting mechanism corresponding to the rear wheels of the vehicle, and the battery exchange device exchanges battery for the vehicle between the front lifting mechanism and the rear lifting mechanism.

[0033] Preferably, the vehicle carrying platform and the leveling member jointly lift the vehicle during the process in which the disassembly and assembly mechanism unlocks or locks the locking member.

[0034] In this solution, the contact between the vehicle and the calibration surface is controlled while ensuring that the wheels do not leave the vehicle platform. During the process of unlocking and locking the locking member by the disassembly and assembly mechanism, the leveling member and the vehicle platform jointly support the vehicle. Thus, the vehicle platform can share the load of the leveling member, and the force borne by each leveling member is reduced, thereby increasing the life of the leveling member.

[0035] Preferably, the vehicle carrying platform has a first lifting height and a second lifting height. When the vehicle carrying platform is at the first lifting height, the vehicle carried on the vehicle carrying platform is higher than the leveling member; when the vehicle carrying platform is at the second lifting height, the vehicle carrying platform is not higher than the leveling member.

[0036] In this solution, when the vehicle carrying platform is at the first lifting height, the lower surface of the vehicle is higher than the calibration surface of the leveling piece, and the battery swapping equipment can drive under the vehicle carried on the vehicle carrying platform; when the vehicle carrying platform is at the second lifting height, the upper surface of the vehicle carrying platform is not higher than the upper surface of the leveling piece, and the leveling piece supports the vehicle or the vehicle carrying platform and the leveling piece jointly lift the vehicle.

[0037] A battery swap station comprises a vehicle calibration system as described in any one of the above items.

[0038] A battery replacement method based on the vehicle correction system as described in any one of the above items comprises the following steps:

[0039] Control the battery swap device to drive in and position it under the vehicle on the vehicle loading platform so that the battery swap device is aligned with the battery position on the vehicle;

[0040] Adjusting the relative position between the vehicle-carrying platform and the battery-changing device in the vertical direction so that the leveling member supports the vehicle;

[0041] The disassembly and assembly mechanism is controlled to disassemble the battery on the vehicle or to install the battery to be installed on the vehicle.

[0042] In this solution, leveling parts are used to support the vehicle so that the vehicle reaches a preset state, achieving precise positioning of the locking parts and the disassembly and assembly mechanism, and then the disassembly and assembly mechanism is used to remove and install the battery, which improves the battery replacement progress and reduces the risk of mechanical wear between the battery replacement equipment, vehicle and battery due to low positioning accuracy. It can also effectively avoid jamming between the battery replacement equipment and the battery during the battery replacement process, which helps to improve the battery replacement efficiency.

[0043] Preferably, the step of adjusting the relative position between the vehicle-carrying platform and the battery-exchanging device in the vertical direction so that the leveling member supports the vehicle comprises:

[0044] The relative movement between the vehicle-carrying platform and the leveling member is controlled to detect in real time whether each calibration surface is in contact with the vehicle. If each calibration surface is in contact with the vehicle, the relative movement between the vehicle-carrying platform and the leveling member is stopped, and the leveling member supports the vehicle.

[0045] In this solution, during the relative movement of the vehicle-carrying platform and the leveling member, the movement of the vehicle-carrying platform and the leveling member is controlled by implementing detection to ensure that each calibration surface is in contact with the vehicle, and the calibration accuracy is high.

[0046] Preferably, after the step of the leveling member supporting the vehicle, and before the step of controlling the disassembly and assembly mechanism to disassemble the battery on the vehicle or to install the battery to be installed on the vehicle, the method further includes the following steps:

[0047] Detect whether the front lifting mechanism of the vehicle loading platform and the rear lifting mechanism of the vehicle loading platform are both in contact with the vehicle. If not, control the corresponding front lifting mechanism or the rear lifting mechanism to rise until it is in contact with the vehicle, so that the front lifting mechanism and the rear lifting mechanism and the leveling member jointly lift the vehicle.

[0048] In this solution, the front lifting mechanism, the rear lifting mechanism and the leveling columns jointly lift the vehicle, so that the vehicle loading platform can share the load of the leveling parts, and the force borne by each leveling part is reduced, thereby increasing the life of the leveling parts, and the vehicle has better stability because it has more support points.

[0049] Preferably, the step of controlling the battery swapping device to drive into and position under the vehicle on the vehicle loading platform so that the battery swapping device is aligned with the battery position on the vehicle includes:

[0050] After the battery swapping device drives under the vehicle on the vehicle loading platform, the vehicle loading platform and the battery swapping device are controlled to move relative to each other. When the positioning pin on the battery swapping device is inserted into the positioning hole on the vehicle chassis, the battery position of the battery swapping device is aligned with that of the vehicle.

[0051] In this solution, the positioning pin is inserted into the positioning hole to determine the relative position relationship between the vehicle and the battery replacement equipment, which can effectively ensure the alignment accuracy between the vehicle chassis and the leveling column as well as the battery and the disassembly and assembly mechanism.

[0052] Preferably, the step of controlling the battery swapping device to drive into and position under the vehicle on the vehicle-carrying platform so that the battery swapping device is aligned with the battery position on the vehicle also includes the following steps:

[0053] The vehicle model is obtained, and the relative position of the leveling column with respect to the device body is adjusted in the horizontal direction and / or the vertical direction according to the vehicle model information.

[0054] In this solution, the position of the leveling column is adjusted according to the vehicle model information, and the best support point can be selected according to the vehicle model. This can not only level vehicles of different models, but also maximize the protection of the vehicles, thereby improving the universality of battery swapping equipment for various types of electric vehicles.

[0055] On the basis of being in accordance with the common sense in the art, the above-mentioned preferred conditions can be arbitrarily combined to obtain the preferred embodiments of the present invention.

[0056] The positive and progressive effects of the present invention are:

[0057] The present invention calibrates the relative position relationship between the vehicle and the disassembly and assembly mechanism through a leveling part, ensuring that the disassembly and assembly mechanism can accurately cooperate with the locking part, thereby reducing the risk of mechanical wear between the battery replacement equipment, the vehicle and the battery due to low positioning accuracy, and can effectively avoid jamming between the battery replacement equipment and the battery during the battery replacement process, which helps to improve the battery replacement efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 The figure is a schematic structural diagram of a vehicle calibration system according to an embodiment of the present invention.

[0059] Figure 2 This is a schematic structural diagram of a battery replacement device according to an embodiment of the present invention.

[0060] Figure 3 This is a flow chart of a battery replacement method according to an embodiment of the present invention.

[0061] Description of reference numerals:

[0062] Vehicle calibration system 100

[0063] Car platform 1

[0064] Front lifting mechanism 11

[0065] Rear lifting mechanism 12

[0066] Battery replacement equipment 2

[0067] Disassembly and assembly mechanism 21

[0068] Positioning pin 211

[0069] Leveling piece 22

[0070] Calibration surface 221

[0071] Hollow column 222

[0072] Leveling pad 223

[0073] Mounting plate 224

[0074] Equipment body 23

[0075] Mounting base 24 DETAILED DESCRIPTION

[0076] The present invention is further described below by way of examples, but the present invention is not limited to the scope of the following examples.

[0077] The embodiment of the present invention provides a battery swap station for replacing batteries for electric vehicles. When a vehicle enters the battery swap station and the vehicle is accurately positioned, the relevant equipment in the battery swap station removes the depleted battery on the vehicle, and then installs the fully charged battery stored in the battery swap station on the vehicle. After the battery swap is completed, the vehicle drives out of the vehicle loading platform 1. The battery swap station includes a vehicle correction system. When a vehicle enters the battery swap station, the vehicle correction system corrects the position of the vehicle so that the vehicle is in a preset state, so that the relevant equipment can replace the battery of the vehicle.

[0078] See also Figure 1 , Figure 2 to understand. An embodiment of the present invention provides a vehicle correction system 100 for use in the above-mentioned battery swap station. The vehicle correction system includes a vehicle-carrying platform 1 and a battery swapping device 2. The vehicle-carrying platform 1 is used to drive the electric vehicle carried thereon to perform lifting and lowering movements; the battery swapping device 2 is used to swap the battery of the vehicle on the vehicle-carrying platform 1. In specific applications, the vehicle-carrying platform 1 performs a preliminary positioning of the vehicle in the horizontal direction, and the battery swapping device 2 performs a precise positioning of the vehicle so that the vehicle is in a preset state, and then removes the depleted battery from the vehicle, and then installs a fully charged battery to complete the battery swap.

[0079] The battery exchange device 2 is provided with a disassembly and assembly mechanism 21 and a leveling part 22. The leveling part 22 is used to accurately position the vehicle and put the vehicle in a preset state. The disassembly and assembly mechanism 21 is used to unlock or lock the locking part on the vehicle for locking the battery. When used, the vehicle loading platform 1 preliminarily positions the horizontal direction of the vehicle, and then makes the leveling part 22 contact with the vehicle. The vehicle is supported by the leveling part 22 to achieve leveling of the vehicle. At this time, the positions of the disassembly and assembly mechanism 21 and the locking part are accurately positioned, and the disassembly and assembly mechanism 21 can remove and install the battery on the vehicle.

[0080] The leveling member 22 has a plurality of calibration surfaces 221 for contacting the vehicle, and each calibration surface 221 is located in the same plane. By making each calibration surface 221 contact the vehicle, the vehicle can be accurately positioned so that the vehicle is in a preset state. During the process of unlocking or locking the locking member by the disassembly and assembly mechanism 21, the leveling member 22 supports the vehicle.

[0081] The overall process of vehicle battery replacement is as follows: the vehicle enters the vehicle-carrying platform 1, and the vehicle-carrying platform 1 positions the front and rear wheels in the front-to-back direction and the left-to-right direction, thereby realizing the preliminary positioning of the vehicle in the horizontal direction; the vehicle is lifted by the vehicle-carrying platform 1 so that the battery replacement equipment 2 can smoothly enter and exit under the vehicle; the unloaded battery replacement equipment 2 is controlled to drive in directly under the electric vehicle; the vehicle is supported by the leveling member 22, and the calibration surfaces 221 located in the same plane fit the vehicle chassis so that the vehicle can be stably parked in a preset state; the disassembly and assembly mechanism 21 is controlled to remove the low-power battery on the vehicle, and the battery is transported to the battery storage rack without interfering with the vehicle-carrying platform 1, and the battery replacement equipment 2 is controlled to transport the fully charged battery on the battery storage rack to directly under the vehicle, and the leveling member 22 is used to support the vehicle so that the vehicle can be stably parked in a preset state, and the disassembly and assembly mechanism 21 is used to install the fully charged battery on the vehicle, and then the battery replacement equipment 2 and the vehicle-carrying platform 1 are reset respectively, and the vehicle can drive out of the battery replacement station.

[0082] From the above, it can be seen that the present embodiment calibrates the relative position relationship between the vehicle and the disassembly and assembly mechanism 21 through the leveling part 22, thereby ensuring that the disassembly and assembly mechanism 21 can accurately cooperate with the locking part, thereby reducing the risk of mechanical wear between the battery swapping equipment, the vehicle and the battery due to low positioning accuracy, and can effectively avoid jamming between the battery swapping equipment and the battery during the battery swapping process, which helps to improve the battery swapping efficiency.

[0083] In one embodiment, the plane where each calibration surface 221 is located is parallel to the plane where the disassembly and assembly mechanism 21 is located, thereby ensuring that the plane where the vehicle chassis and the battery locking parts are located are parallel to the disassembly and assembly mechanism 21, and further ensuring that the disassembly and assembly mechanism 21 can accurately cooperate with the locking parts, thereby improving the accuracy and efficiency of battery replacement.

[0084] The vehicle loading platform 1 has a first lifting height and a second lifting height. When the vehicle loading platform 1 is at the first lifting height, the vehicle loaded on the vehicle loading platform 1 is higher than the leveling member 22 ; when the vehicle loading platform 1 is at the second lifting height, the vehicle loading platform 1 is not higher than the leveling member 22 .

[0085] In other words, when the vehicle-carrying platform 1 is at the first lifting height, the lower surface of the vehicle is higher than the calibration surface 221 of the leveling piece 22, and at this time, the battery exchange equipment 2 can smoothly drive under the vehicle carried on the vehicle-carrying platform 1; when the vehicle-carrying platform 1 is at the second lifting height, the upper surface of the vehicle-carrying platform 1 is not higher than the upper surface of the leveling piece 22, and the vehicle is supported by the leveling piece 22 or lifted jointly by the leveling piece 22 and the vehicle-carrying platform 1.

[0086] In specific applications, the vehicle platform 1 includes a front lifting mechanism 11 and a rear lifting mechanism 12. The front lifting mechanism 11 corresponds to the front wheels of the vehicle, and the rear lifting mechanism 12 corresponds to the rear wheels of the vehicle. The front lifting mechanism 11 and the rear lifting mechanism 12 can be raised and lowered synchronously to control the height of the vehicle. Of course, the two can also be raised and lowered separately to meet the needs of the battery swap station. The front lifting mechanism 11 and the rear lifting mechanism 12 are implemented using existing lifting equipment with lifting functions.

[0087] A passage is formed between the front lifting mechanism 11 and the rear lifting mechanism 12, and the passage is used for the battery swapping device 2 to enter and exit. In other words, the battery swapping device 2 swaps the battery of the vehicle between the front lifting mechanism 11 and the rear lifting mechanism 12. The vehicle loading platform 1 has a movable plate, which can be moved between the front lifting mechanism 11 and the rear lifting mechanism 12 and shielded above the passage, so that the wheels can drive from the rear lifting mechanism 12 to the front lifting mechanism 11. The movable plate can also be moved out from above the passage to make room for the battery swapping device 2 to perform battery swapping operations on the vehicle.

[0088] The calibration surface 221 is used to fit the chassis of the vehicle. The position of the calibration surface 221 is determined according to the positional relationship between the vehicle and the disassembly and assembly mechanism 21. The calibration surface 221 avoids the position of the battery and faces the lower surface of the vehicle chassis. Each calibration surface 221 is pre-leveled to ensure the position accuracy of the vehicle; providing multiple calibration surfaces 221 can ensure the stability of the vehicle. In this embodiment, one leveling member 22 has one calibration surface 221, and in other embodiments, as an alternative, one leveling member 22 can have multiple calibration surfaces 221.

[0089] Furthermore, the vehicle-carrying platform 1 and the leveling member 22 jointly lift the vehicle during the process of the disassembly and assembly mechanism 21 unlocking or locking the locking member. In specific applications, before the disassembly and assembly mechanism 21 replaces the battery of the vehicle, the vehicle is controlled to contact the calibration surface 221 while ensuring that the wheel does not separate from the vehicle-carrying platform 1. If it is detected that the wheel is separated from the front lifting mechanism 11 or the rear lifting mechanism 12, the front lifting mechanism 11 and the rear lifting mechanism 12 are controlled to rise to contact the wheel. In this embodiment, during the process of the disassembly and assembly mechanism 21 unlocking and locking the locking member, the leveling member 22 and the vehicle-carrying platform 1 jointly support the vehicle, so that the vehicle-carrying platform 1 can share the load of the leveling member 22, and the force on each leveling member 22 is reduced, thereby increasing the life of the leveling member 22, and the vehicle has better stability because it has more support points.

[0090] The leveling part 22 includes multiple leveling columns, and the top surfaces of the leveling columns form calibration surfaces 221. The heights of the leveling columns are the same, ensuring that the multiple calibration surfaces 221 are located in the same plane. The leveling part 22 has a simple structure and high calibration accuracy. Only one type of leveling column is required on the same model of battery exchange equipment 2, which facilitates mass production and reduces production costs. There is no need to distinguish the models of leveling columns during installation, which improves assembly efficiency.

[0091] The leveling column includes a hollow column 222 and a leveling pad 223. The leveling pad 223 is detachably mounted on the upper end of the hollow column 222, and the calibration surface 221 is located on the leveling pad 223. The leveling pad 223 is made of nylon material, which can level the vehicle without causing mechanical damage to the vehicle. The leveling column also includes a mounting plate 224. A mounting plate 224 is arranged on the upper end surface of the hollow column 222. The leveling pad 223 is mounted on the mounting plate 224 by fasteners, so that the force borne by the leveling pad 223 can be transmitted to the hollow column 222 more evenly through the mounting plate 224, reducing the deformation caused by the stress concentration on the leveling pad 223, and thus the service life of the leveling pad 223 is longer. A mounting plate 224 is also arranged below the hollow column 222, and the hollow column 222 transmits the force to other components of the battery exchange device 2 through the mounting plate 224. The hollow column 222 and the mounting plate 224 are made of steel plates, which have higher deformation resistance. In actual application, the leveling columns are distributed around the disassembly and assembly mechanism 21, so as not to collide with the battery, and can also support the vehicle from different positions, reducing the risk of vehicle tipping and swaying, and improving the stability of the vehicle.

[0092] The battery exchange device 2 includes a device body 23 and a mounting base 24. The device body 23 is a carrier of other components in the battery exchange device 2. The disassembly and assembly mechanism 21 is arranged on the device body 23. The mounting base 24 is installed on the device body 23 around the outer edges of the device body 23. The mounting base 24 is arranged on the outside of the disassembly and assembly mechanism 21, and the leveling column is arranged on the mounting base 24. Specifically, the leveling column is installed on the outer edges of the device body 23 through the mounting base 24. The disassembly and assembly mechanism 21 is aligned with the position of the battery. The leveling column can avoid the battery, which can effectively avoid the collision and interference between the leveling column and the battery. In addition, in the present solution, the leveling column is installed on the device body 23 through the mounting base 24, so that the leveling column can be directly installed on the existing battery exchange device without other improvements to the existing battery exchange device, and the modification cost is low. The disassembly and assembly mechanism 21 is installed on the equipment body 23, and the leveling column is installed on the equipment body 23 through the installation base 24, so that the various parts of the battery exchange device 2 are modularized, which is convenient for disassembly and maintenance. In addition, the battery exchange device 2 of this embodiment can be modified by installing the leveling part 22 on the existing equipment with the disassembly and assembly mechanism 21, and it is not necessary to replace the entire battery exchange device 2, so that the above-mentioned functions can be obtained at a lower modification cost.

[0093] In specific applications, a track that cooperates with the equipment body 23 is provided in the battery swap station, and the equipment body 23 moves along the track to control the position of the disassembly and assembly mechanism 21. The equipment body 23 can be implemented by using the device used to carry the disassembly and assembly mechanism 21 in the existing battery swap station. The disassembly and assembly mechanism 21 is installed in the middle of the equipment body 23, and the leveling member 22 is indirectly connected to the disassembly and assembly mechanism 21 through the mounting base 24. The mounting base 24 is connected to the outer edge of the equipment body 23, avoiding the position of the disassembly and assembly mechanism 21, and is also conducive to avoiding the position of the battery. In this embodiment, the leveling member 22 and the mounting base 24 are arranged in a one-to-one correspondence, and the mounting base 24 is arranged at the four corners of the equipment body 23. In other embodiments, as a replacement means, the mounting base 24 can be annular and arranged around the outer edge of the equipment body 23, and the leveling member 22 is arranged at each corner of the mounting base 24.

[0094] The battery exchange device 2 also includes an adjustment unit, which is configured to drive the mounting base 24 to move horizontally and / or vertically relative to the device body 23. Different types of vehicles have different preferred support points. By adjusting the position of the leveling column through the adjustment unit, the preferred support point can be selected according to the vehicle model, which can not only level different types of vehicles, but also maximize the protection of the vehicle, thereby improving the universality of the battery exchange device 2 for various types of electric vehicles. In addition, the adjustment unit is used to control the position of the leveling column in the vertical direction, and the lifting and lowering of the vehicle can also be controlled thereby. This function can be used in conjunction with the lifting and lowering function of the vehicle carrier platform 1.

[0095] In specific applications, the movement of the mounting base 24 in the three directions of vehicle length, vehicle width and vehicle height is controlled separately, that is, the adjustment unit includes structures corresponding to these three directions to control the mounting base 24 respectively. When the mounting base 24 needs to be adjusted to a certain position, the displacement of the mounting base 24 in the above three directions is calculated, and the corresponding structure on the adjustment unit is controlled to move the corresponding displacement in each direction according to the calculation results. In other embodiments, as a replacement means, within the adjustment range, the adjustment unit can drive the mounting base 24 to switch at will in any position, and the adjustment unit can be implemented by an existing mechanical arm. When the mounting base 24 needs to be adjusted to a certain position, a straight line trajectory from the position of the mounting base 24 to the certain position is obtained, and the adjustment unit drives the mounting base 24 to move to the certain position according to the straight line trajectory.

[0096] In this embodiment, the adjustment part includes a guide rail and a slider. The movement of the mounting base 24 in any direction of the vehicle length direction, the vehicle width direction and the vehicle height direction can be realized by the guide rail and the slider. When the adjustment part adopts this method, the moving slider can drive the mounting base 24 to slide on the guide rail to realize the position adjustment of the leveling column. The adjustment part of this embodiment has a simple structure and is easy to use. Among them, the guide rail is installed on the equipment body 23, the slider is movably arranged on the guide rail, the slider and the guide rail are slidably connected, and the mounting base 24 is connected to the slider, so that the guide rail guides the mounting base 24, ensuring the movement accuracy of the mounting base 24. The adjustment part also includes a power element, which is arranged on the equipment body 23 and connected to the slider. The power element can adopt a pneumatic system based on a cylinder or a hydraulic system based on a hydraulic cylinder, or a motor can also be adopted. The power element drives the leveling member 22 to move by driving the slider to move. Driving the slider to move by the power element is conducive to improving the adjustment efficiency and adjustment accuracy.

[0097] In another embodiment, as a replacement means, the adjustment part includes a rotating assembly with a rotating shaft, and the movement of the mounting base 24 in any direction of the vehicle length direction, the vehicle width direction and the vehicle height direction can be realized by the rotating assembly. The rotating shaft and the rotating assembly cooperate to convert the rotational motion into linear motion. The rotating assembly is arranged on the equipment body 23, and the rotating shaft is connected to the mounting base 24. For example, the rotating shaft is a screw, and the rotating assembly also includes a nut. The rotating shaft is installed on the equipment body 23, and the rotating shaft is connected to the mounting base 24 through the nut. Further, the adjustment part of this embodiment also includes a power element, which is arranged on the equipment body 23 and connected to the rotating shaft. The power element adopts a motor, a rotary cylinder or a rotary hydraulic cylinder. The power element drives the rotating shaft to rotate to move the leveling member 22. With the rotating assembly structure, the rotating shaft can drive the mounting base to move to realize the position adjustment of the leveling column. The rotating shaft is driven to rotate by the power element, which is conducive to improving the adjustment efficiency and adjustment accuracy. It can be seen that the adjustment part of this embodiment has a simple structure and is easy to use.

[0098] The battery exchange device 2 is also provided with a positioning pin 211, and a positioning hole for accommodating the positioning pin 211 is provided on the chassis of the vehicle. The positioning pin 211 and the positioning hole cooperate with each other. After the positioning pin 211 is inserted into the positioning hole, the relative position relationship between the vehicle and the battery exchange device 2 can be determined, and the alignment accuracy between the vehicle chassis and the leveling column and between the battery and the disassembly and assembly mechanism 21 can be effectively ensured. In specific applications, after the vehicle is positioned on the vehicle-carrying platform 1, the relative movement of the vehicle and the battery exchange device 2 in the vertical direction is controlled until the positioning pin 211 is inserted into the positioning hole, and then the calibration surface 221 is made to fit the vehicle.

[0099] The battery exchange device 2 is also provided with a lifting mechanism, which is connected to the disassembly and assembly mechanism 21 and the positioning pin 211 respectively. The lifting mechanism can drive the disassembly and assembly mechanism 21 and the positioning pin 211 to rise and fall, so that the disassembly and assembly mechanism 21 is in contact with or separated from the locking member, and the positioning pin 211 is inserted into or removed from the positioning hole. When controlling the positioning pin 211 to be inserted into the positioning hole, the positioning pin 211 can be controlled to move upward by the lifting mechanism until it is inserted into the positioning hole, or it can be controlled by controlling the vehicle to move downward until the positioning pin 211 is inserted into the positioning hole, or by controlling the vehicle to move downward at the same time, and the positioning pin 211 moves upward until the positioning pin 211 is inserted into the positioning hole.

[0100] When the lifting mechanism is in the lifting state, the top of the positioning pin 211 is higher than the calibration surface 221 of the leveling member 22, so that the positioning pin 211 can be controlled to be inserted into the positioning hole 211 to roughly position the vehicle, effectively ensuring the alignment accuracy between the vehicle chassis and the leveling column and the battery and the disassembly and assembly mechanism 21, and then the leveling column is used to correct the position of the vehicle to achieve precise positioning, thereby ensuring the accuracy of the positional relationship between the battery pack and the disassembly and assembly mechanism 21; it also avoids the risk of interference between the leveling column and the vehicle due to the positioning pin 211 being lower than the leveling column, causing the positioning pin 211 to be unable to be inserted into the positioning hole.

[0101] The battery exchange device 2 is also provided with a detection element, which is used to detect whether the calibration surface 221 is in contact with the vehicle. The detection result of the detection element is used to determine whether the vehicle has reached a preset state, and the calibration accuracy is high. In this embodiment, when the detection result shows that the vehicle has not yet contacted the calibration surface 221, the vehicle correction system continues to correct the position of the vehicle until the detection shows that the vehicle is in contact with the calibration surface 221, thereby ensuring the accuracy of the positional relationship between the vehicle and the disassembly and assembly mechanism 21.

[0102] In this embodiment, the detection element is a pressure sensor, and each calibration surface 221 is provided with a detection element, and each detection element is respectively communicatively connected with the control system of the battery swap station.

[0103] Please combine Figure 3 The embodiment of the present invention further provides a battery replacement method based on the above vehicle correction system, comprising the following steps:

[0104] S10, obtaining the vehicle model, and adjusting the relative position of the leveling column with respect to the equipment body 23 in the horizontal direction and / or vertical direction according to the vehicle model information.

[0105] S20, control the battery swap device 2 to drive in and position under the vehicle on the vehicle loading platform 1, so that the battery swap device 2 is aligned with the battery position on the vehicle, and the vehicle and the battery swap device 2 are roughly positioned;

[0106] S30, adjusting the relative position between the vehicle-carrying platform 1 and the battery-swapping device 2 in the vertical direction so that the leveling member 22 supports the vehicle, thereby placing the vehicle in a preset state and achieving precise positioning between the vehicle and the battery-swapping device 2;

[0107] S40, detecting whether the front lifting mechanism 11 and the rear lifting mechanism 12 are both in contact with the vehicle, if not, controlling the corresponding front lifting mechanism 11 or the rear lifting mechanism 12 to rise to contact with the vehicle, so that the front lifting mechanism 11 and the rear lifting mechanism 12 and the leveling member 22 jointly lift the vehicle.

[0108] S50, controlling the disassembly and assembly mechanism 21 to disassemble the battery on the vehicle or to install the battery to be installed on the vehicle.

[0109] In this embodiment, the leveling member 22 is used to support the vehicle so that the vehicle reaches a preset state, thereby achieving precise positioning of the locking member and the disassembly and assembly mechanism 21, and then the disassembly and assembly mechanism 21 is used to remove and install the battery, thereby improving the battery replacement progress and reducing the risk of mechanical wear between the battery replacement equipment 2, the vehicle and the battery due to low positioning accuracy. It can also effectively avoid jamming between the battery replacement equipment 2 and the battery during the battery replacement process, thereby helping to improve the battery replacement efficiency.

[0110] In step S10:

[0111] The time to obtain the vehicle model can be before the vehicle enters the vehicle loading platform 1, or before the vehicle enters the vehicle loading platform 1 and the battery swap device 2 enters directly under the vehicle. The method of obtaining the vehicle model can be based on the existing visual recognition system, taking a picture of the vehicle's appearance and comparing it with the information in the database of the battery swap station. By adjusting the position of the leveling column according to the vehicle model information, the best support point can be selected according to the vehicle model, which can not only level vehicles of different models, but also maximize the protection of the vehicle, thereby improving the universality of the battery swap equipment for various types of electric vehicles.

[0112] The relative position relationship between the leveling column and the device body 23 (or the disassembly and assembly mechanism 21) corresponding to different vehicle models is pre-stored in the database. The relative position relationship between the leveling column and the device body 23 is obtained according to the vehicle model information, and the leveling column and the device body 23 are placed in the relative position relationship: if the leveling column and the device body 23 are already in the relative position relationship, the adjustment unit does not act; if the leveling column and the device body 23 are not in the relative position relationship, the adjustment unit is controlled to act so that the leveling column and the device body 23 are in the relative position relationship. At this time, when the adjustment unit is in action, the adjustment unit can adjust the position relationship between the leveling column and the device body 23 in any direction.

[0113] In step S20:

[0114] The vehicle-carrying platform 1 performs preliminary positioning of the vehicle, and after detecting that the vehicle has been positioned on the vehicle-carrying platform 1, controls the height of the vehicle-carrying platform 1 carrying the vehicle to be not lower than the first lifting height, controls the battery-swapping device 2 to drive under the vehicle, and controls the relative movement of the vehicle-carrying platform 1 and the battery-swapping device 2 for alignment. When the positioning pin 211 on the battery-swapping device 2 is inserted into the positioning hole on the vehicle chassis, the battery position of the battery-swapping device 2 is aligned with that of the vehicle. In this embodiment, when the relative displacement of the vehicle-carrying platform 1 and the battery-swapping device 2 in the vertical direction reaches a first preset value, it is considered that the positioning pin 211 on the battery-swapping device 2 is inserted into the positioning hole on the vehicle chassis. The first preset value is data pre-stored in the database of the battery-swapping station, which is set in the design stage in combination with the relevant parameters of the vehicle and the battery-swapping station.

[0115] Among them, controlling the relative displacement of the vehicle-carrying platform 1 and the battery-exchanging device 2 in the vertical direction to reach a first preset value can be achieved by any of the following methods: (1) controlling the vehicle-carrying platform 1 to move downward, and the battery-exchanging device 2 to remain stationary; (2) controlling the battery-exchanging device 2 to move upward, and the vehicle-carrying platform 1 to remain stationary; (3) controlling the vehicle-carrying platform 1 to move downward, and controlling the battery-exchanging device 2 to move upward.

[0116] For step S30:

[0117] The method adopted in step S30 of this embodiment is: control the relative movement of the vehicle-carrying platform 1 and the leveling member 22, and at the same time, detect in real time whether each calibration surface 221 is in contact with the vehicle. When it is detected that each calibration surface 221 is in contact with the vehicle, control the vehicle-carrying platform 1 and the leveling member 22 to stop relative movement, and the leveling member 22 supports the vehicle at this time. Otherwise, continue to control the relative movement of the vehicle-carrying platform 1 and the leveling member 22. During the relative movement of the vehicle-carrying platform 1 and the leveling member 22, the movement of the vehicle-carrying platform 1 and the leveling member 22 is controlled by implementing detection to ensure that each calibration surface 221 is in contact with the vehicle, and the calibration accuracy is high.

[0118] In another embodiment, as an alternative means, step S30 is implemented as follows: after controlling the relative displacement between the vehicle-carrying platform 1 and the calibration surface 221 to reach a second preset value, detecting whether each calibration surface 221 is in contact with the vehicle, and if so, proceeding to step S40 or step S50; otherwise, controlling further relative movement between the vehicle-carrying platform 1 and the calibration surface 221 until detecting that each calibration surface 221 is in contact with the vehicle.

[0119] The "control of the relative movement between the vehicle-carrying platform 1 and the leveling member 22" involved in the two methods of the above-mentioned step S30 can be implemented by any of the following methods: (1) controlling the vehicle-carrying platform 1 to move downward, while the calibration surface 221 remains stationary; (2) controlling the adjustment part to move, so that the calibration surface 221 moves upward, while the vehicle-carrying platform 1 remains stationary; (3) controlling the vehicle-carrying platform 1 to move downward, while the adjustment part moves, so that the calibration surface 221 moves upward.

[0120] In step S40,

[0121] After detecting that all calibration planes are in contact with the vehicle, it is detected whether the front lifting mechanism 11 and the rear lifting mechanism 12 are in contact with the vehicle. If not, the corresponding front lifting mechanism 11 or the rear lifting mechanism 12 is controlled to rise and contact with the vehicle, so that the front lifting mechanism 11 and the rear lifting mechanism 12 and the leveling member 22 jointly lift the vehicle.

[0122] The basic principle of the battery swap method is explained above. Next, starting from the vehicle entering the station, the entire process of the battery swap method is briefly described:

[0123] (a) The vehicle enters the battery swap station.

[0124] (b) Using a visual recognition system to obtain vehicle model information; obtaining positional relationship information between the leveling column and the device body 23 (or the disassembly and assembly mechanism 21) corresponding to the vehicle model information; detecting whether the actual positions of the leveling column and the device body 23 (or the disassembly and assembly mechanism 21) conform to the positional relationship information; if not, calculating the displacement of the leveling column in the vehicle length direction, the vehicle width direction and the vehicle height direction, and controlling the corresponding structure on the adjustment part to complete the corresponding displacement in each direction according to the calculation results.

[0125] (c) The vehicle is positioned on the vehicle carrying platform 1, and the vehicle's displacement freedom in the horizontal direction is constrained; the height of the lifting platform is controlled to be no less than the first lifting height.

[0126] Among them, (b) and (c) are not prioritized.

[0127] (d) Control the battery exchange device 2 to move directly under the vehicle.

[0128] (e) Control the front lifting mechanism 11, the rear lifting mechanism 12 and the lifting mechanism on the battery exchange device to move relative to each other in the vertical direction until the positioning pin 211 is inserted into the positioning hole. At this time, the top surface of the positioning pin 211 is higher than the calibration surface 221 of the leveling member 22.

[0129] (f) The front lifting mechanism 11, the rear lifting mechanism 12 and the leveling member 22 are controlled to move relative to each other in the vertical direction. At the same time, the detection element detects in real time whether each calibration surface 221 is in contact with the vehicle. When it is detected that each calibration surface 221 is in contact with the vehicle, the vehicle loading platform 1 and the leveling member 22 are controlled to stop relative movement.

[0130] (g) Detecting whether the front lifting mechanism 11 and the rear lifting mechanism 12 are both in contact with the vehicle. If not, the corresponding front lifting mechanism 11 or the rear lifting mechanism 12 is raised until both the front lifting mechanism 11 and the rear lifting mechanism 12 are in contact with the vehicle.

[0131] (h) Control the disassembly and assembly mechanism 21 to remove the battery from the vehicle. After the battery is removed, control the vehicle platform 1 to be not lower than the first lifting height, and use the battery exchange device 2 to transport the removed battery back to the palletizer in the battery exchange station. The palletizer removes the battery from the battery exchange device 2 and places it on the battery storage rack;

[0132] (i) After the palletizer places the fully charged batteries stored in the battery swap station on the battery swap device 2, steps (d) to (g) are repeated.

[0133] (j) Control the mounting and dismounting mechanism 21 to mount the fully charged battery on the vehicle.

[0134] (k) Control the vehicle-carrying platform 1 to not be lower than the first lifting height so that the battery-exchanging device 2 can be driven out from directly under the vehicle. Then, reset the vehicle-carrying platform 1 to its initial state and lay the movable plate between the front lifting mechanism 11 and the rear lifting mechanism 12.

[0135] (m) The vehicle drives out of the vehicle loading platform 1.

[0136] Although the specific embodiments of the present invention are described above, those skilled in the art should understand that this is only an example, and the protection scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. A vehicle calibration system, characterized in that: include: The vehicle-carrying platform is used to drive the electric vehicle carried thereon to perform lifting motion; A battery replacement device, used for replacing the battery of the vehicle on the vehicle loading platform, wherein the battery replacement device is provided with a disassembly and assembly mechanism and a leveling member, wherein the disassembly and assembly mechanism is used for unlocking or locking a locking member on the vehicle for locking the battery, and during the process of the disassembly and assembly mechanism unlocking or locking the locking member, the leveling member supports the vehicle; The battery exchange device includes a device body and a mounting base, and the battery exchange device also includes an adjustment part, which is respectively connected to the device body and the mounting base, and the adjustment part is configured to drive the mounting base to move horizontally and / or vertically relative to the device body.

2. The vehicle correction system according to claim 1, characterized in that: The leveling member has a plurality of calibration surfaces for contacting the vehicle, and each of the calibration surfaces is located in the same plane; Preferably, the plane where each calibration surface is located is parallel to the plane where the disassembly and assembly mechanism is located; And / or, the leveling member comprises a plurality of leveling columns, the plurality of leveling columns have the same height, and the top surfaces of the leveling columns form the calibration surface.

3. The vehicle correction system according to claim 1, characterized in that: The disassembly and assembly mechanism is arranged on the equipment body, the mounting base is mounted on the equipment body at the outer edges of the equipment body, the mounting base is arranged outside the disassembly and assembly mechanism, and the leveling member is arranged on the mounting base.

4. The vehicle correction system according to claim 1, characterized in that: The adjusting part comprises a guide rail and a slider, wherein the guide rail is mounted on the equipment body, the slider is movably arranged on the guide rail, and the mounting base is connected to the slider; or, The adjusting part comprises a rotating assembly having a rotating shaft, wherein the rotating assembly is arranged on the device body, the rotating shaft is connected to the mounting base, and the rotating assembly is used to convert the rotational motion of the rotating shaft into the linear motion of the mounting base; Preferably, the adjusting part further includes a power element, the power element is arranged on the equipment body, and the power element is connected to the slider or the rotating shaft.

5. The vehicle correction system according to claim 1, characterized in that: The battery exchange device is also provided with a positioning pin, and the chassis of the vehicle is provided with a positioning hole for accommodating the positioning pin; Preferably, the battery exchange device is further provided with a lifting mechanism, and the lifting mechanism is respectively connected to the disassembly and assembly mechanism and the positioning pin; Preferably, when the lifting mechanism is in a lifting state, the top of the positioning pin is higher than the calibration surface of the leveling member.

6. The vehicle correction system according to any one of claims 1 to 5, characterized in that: The battery exchange device is also provided with a detection element, and the detection element is used to detect whether the calibration surface is in contact with the vehicle; And / or, the vehicle-carrying platform includes a front lifting mechanism corresponding to the front wheels of the vehicle and a rear lifting mechanism corresponding to the rear wheels of the vehicle, and the battery-swapping device performs battery swapping for the vehicle between the front lifting mechanism and the rear lifting mechanism; And / or, the vehicle carrying platform and the leveling member jointly lift the vehicle during the process in which the disassembly and assembly mechanism unlocks or locks the locking member; And / or, the vehicle carrying platform has a first lifting height and a second lifting height, when the vehicle carrying platform is at the first lifting height, the vehicle carried on the vehicle carrying platform is higher than the leveling member; when the vehicle carrying platform is at the second lifting height, the vehicle carrying platform is not higher than the leveling member.

7. A battery swap station, characterized in that: Comprising a vehicle correction system as claimed in any one of claims 1 to 6.

8. A battery replacement method based on the vehicle correction system according to any one of claims 1 to 6, characterized in that: The steps include: Control the battery swap device to drive in and position it under the vehicle on the vehicle loading platform so that the battery swap device is aligned with the battery position on the vehicle; Adjusting the relative position between the vehicle-carrying platform and the battery-changing device in the vertical direction so that the leveling member supports the vehicle; The disassembly and assembly mechanism is controlled to disassemble the battery on the vehicle or to install the battery to be installed on the vehicle.

9. The battery replacement method according to claim 8, characterized in that: The step of adjusting the relative position between the vehicle-carrying platform and the battery-exchanging device in the vertical direction so that the leveling member supports the vehicle comprises: Control the relative movement of the vehicle-carrying platform and the leveling member, and detect in real time whether each calibration surface is in contact with the vehicle. If each calibration surface is in contact with the vehicle, the relative movement of the vehicle-carrying platform and the leveling member stops, and the leveling member supports the vehicle; Preferably, after the step of the leveling member supporting the vehicle, and before the step of controlling the disassembly and assembly mechanism to disassemble the battery on the vehicle or to install the battery to be installed on the vehicle, the method further includes the following steps: Detect whether the front lifting mechanism of the vehicle loading platform and the rear lifting mechanism of the vehicle loading platform are both in contact with the vehicle. If not, control the corresponding front lifting mechanism or the rear lifting mechanism to rise until it is in contact with the vehicle, so that the front lifting mechanism and the rear lifting mechanism and the leveling member jointly lift the vehicle.

10. The battery replacement method according to claim 8, characterized in that: The step of controlling the battery swapping device to drive into and position under the vehicle on the vehicle loading platform so that the battery swapping device is aligned with the battery position on the vehicle comprises: After the battery-swapping device drives under the vehicle on the vehicle-carrying platform, the vehicle-carrying platform and the battery-swapping device are controlled to move relative to each other, and when the positioning pin on the battery-swapping device is inserted into the positioning hole on the vehicle chassis, the battery position of the battery-swapping device is aligned with that of the vehicle; And / or, the step of controlling the battery swapping device to drive into and position under the vehicle on the vehicle-carrying platform so that the battery swapping device is aligned with the battery position on the vehicle also includes the following steps: The vehicle model is obtained, and the relative position of the leveling column with respect to the device body is adjusted in the horizontal direction and / or the vertical direction according to the vehicle model information.

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