Battery replacing device and matching device

Abstract

The invention relates to a battery replacing device and a matched battery replacing device for a power electric vehicle, the battery replacing device is arranged at a vehicle head or a vehicle tail of the vehicle, the battery replacing technology can enable vehicle owners to replace batteries mutually, the vehicle owners do not need to find a charging pile and queue up, and do not need to charge more than ten hours at home; and battery replacement is completed within several seconds, so that the cruising ability is greatly improved, and a car owner can turn on an air conditioner for heating at will. And even other people can come to help you complete battery replacement and energy supplementation during normal driving on a long-distance high-speed road or a common road, so that the use experience is greatly improved. And meanwhile, a large number of people can live, many people can keep blurred by changing electricity, and the income of residents is increased. The price can be greatly increased and the income level can be increased particularly in scenic areas, high-speed rest areas in festivals and holidays and remote areas. Meanwhile, the space of the headstock and the tailstock is small, and too large batteries cannot be contained. And the smaller battery is beneficial to increasing the frequency of battery replacement, so that the income of residents is increased.

Description

Technical Field

[0001] This invention relates to the field of electric vehicle technology, specifically to a battery swapping device and its components. Background Technology

[0002] With the rapid development of new energy vehicles, electric vehicles have received widespread attention due to their advantages such as environmental protection and energy saving. As the core component of electric vehicles, the battery's range and energy replenishment efficiency have become key factors restricting the industry's development. Battery swapping technology, as an efficient energy replenishment method, can quickly replenish the power of electric vehicles, effectively solving the problem of long charging time. It is of great significance for improving the convenience of using electric vehicles and promoting their application.

[0003] Currently, most existing battery swapping technologies are limited to static battery swapping within fixed battery swapping stations. Furthermore, the adaptability of battery swapping devices is poor, failing to adapt to differences in the height, angle, and position of different vehicles. At the same time, dynamic collaborative battery swapping between vehicles is difficult to achieve during the swapping process, which greatly limits the diversity of battery swapping scenarios and the efficiency of battery swapping, causing many inconveniences to users. Therefore, a battery swapping device and its supporting components are proposed to solve the above problems.

[0004] This battery swapping technology allows car owners to exchange batteries, eliminating the need to find charging stations, wait in line, or charge for hours at home. The swap is completed in seconds, significantly increasing range and allowing drivers to use air conditioning and heating freely. It even allows for battery swapping during long highway journeys or on regular roads, without stopping, greatly improving the user experience. Simultaneously, it can support a large number of people, enabling many to make a living through battery swapping, thus increasing local income. Especially in scenic areas, holiday highway rest areas, and remote regions, battery swapping can significantly increase revenue and income levels. Furthermore, the limited space in the front and rear of vehicles restricts the installation of large batteries. Smaller batteries allow for more frequent swapping, further increasing local income. Summary of the Invention

[0005] To achieve the above objectives, the present invention provides the following technical solution: a battery swapping device for a power electric vehicle, the battery swapping device being disposed at the front or rear of the vehicle, comprising:

[0006] A battery transport mechanism, including a drive mechanism and a guide rail structure for pushing or pulling in batteries;

[0007] A battery locking / releasing mechanism for securing or releasing the battery pack inside a vehicle or during battery swapping;

[0008] An electrical connection device for automatically connecting or disconnecting a new battery from the vehicle's electrical system.

[0009] Furthermore, the battery swapping device is a flexible and movable device, and includes an adapter mechanism, a height adjustment unit, an angle adjustment unit, and a position positioning unit, enabling the battery swapping device to adaptively dock according to the height, angle, and position differences of the other vehicle; it can dock and swap batteries with the battery swapping device of another vehicle from the front or rear of the vehicle through an opening; battery swapping can be achieved through external guide rails of the vehicle, or directly by exchanging batteries through internal rails when the two vehicles are closely docked, supporting switching between two paths inside and outside the vehicle body to adapt to different battery swapping scenarios. The vehicle can swap batteries in a stationary state or at the same driving speed, and there can be two battery swapping devices on the left and right sides of the rear of the vehicle, and two more on the left and right sides of the front of the vehicle, allowing four vehicles to swap batteries for one vehicle simultaneously.

[0010] Furthermore, the battery swapping device can attach the battery to the exterior of the vehicle body, including the front, rear, or sides, and the battery and the vehicle's exterior surface form an integrated appearance design, with the shape consistent with the vehicle body contour, avoiding any exposed edges or gaps, and forming a unified appearance effect.

[0011] Furthermore, the battery swapping device includes a docking coordination mechanism for docking with the battery swapping device of another vehicle traveling at approximately the same speed and completing battery exchange. The docking coordination mechanism includes dynamic matching of speed and direction through vehicle-to-vehicle V2V communication, radar detection, visual recognition, or positioning systems, and exchanging battery swapping parameters, status information, and action commands with the battery swapping device of the other vehicle to coordinate the synchronous battery swapping actions of the two vehicles.

[0012] Furthermore, the battery swapping device supports automatic identification and compatible docking of various battery specifications and installation structures, and can be adapted to power batteries of different specifications, featuring a modular adaptation structure.

[0013] Furthermore, the battery swapping device, which is installed at either the front or rear of the vehicle, can work in tandem with the battery swapping device at the front or rear of another vehicle, such as front to front, front to rear, rear to front, or rear to rear.

[0014] An electric vehicle includes a battery swapping device as described above, and achieves coordinated operation with the vehicle's electronic control system through front / rear structural integration.

[0015] Furthermore, batteries can be replaced for battery swapping devices, such as cabinet-type battery swapping stations.

[0016] Furthermore, for example, a modified truck equipped with multiple batteries and multiple battery swapping devices can provide battery swapping services to passenger vehicles.

[0017] Furthermore, it can be used for car owners to pay each other to have their batteries swapped by nearby drivers, similar to Didi Chuxing (a ride-hailing service). It can provide battery swapping services while stationary or while driving, with different prices.

[0018] A battery, installed inside a battery swapping device, includes:

[0019] The external structural shell is in a regular or guideable shape, adapted to the vehicle opening structure and guide rail system, allowing it to be pushed out or pulled in at the opening at the front or rear of the vehicle.

[0020] At least one set of structural guiding and mating components is located on the side or bottom of the battery module to achieve mechanical mating and positioning with the guide rails inside the vehicle or the external battery swapping device, supporting the movement of the battery between the inside and outside of the vehicle;

[0021] At least one set of fast electrical connection ports, located at the front or rear of the battery module, is adapted to the vehicle power system connection and supports plug-in battery power supply connection.

[0022] A housing positioning latch structure is used in conjunction with a vehicle or battery swapping device to achieve safe locking and rapid release of the battery during the battery swapping process.

[0023] Furthermore, the battery swapping device also includes:

[0024] The vehicle matching and proximity module controls the alignment and approach of the first and second vehicles; the docking mechanism includes a coarse positioning device and a fine positioning device, used for initial docking and high-precision docking locking, respectively; the battery exchange mechanism includes a guide rail assembly and a drive device for pushing out the old battery and introducing the new battery; the battery locking / unlocking mechanism is respectively installed on the two vehicles, used to release and fix the battery pack before and after battery exchange; the multi-degree-of-freedom compensation mechanism is used to compensate for the height difference, angle deviation (including pitch angle and yaw angle), and lateral displacement difference during the docking process of the two vehicles, and the compensation mechanism includes at least one of the following structures: universal joint, telescopic slide rail, hydraulic cylinder, flexible connector or combination thereof; and the high-precision dynamic sensing system includes a system for sensing the relative position of the two vehicles. The system comprises a sensor combination for position, attitude, and velocity differences, including at least LiDAR and millimeter-wave radar, and integrates environmental information from machine vision and ultrasonic sensors; a sensor data fusion and processing module for real-time calculation of docking attitude and compensation commands in a high-speed dynamic environment; a closed-loop motion control module for real-time closed-loop control of the compensation mechanism based on the aforementioned sensing data, employing at least one of the following control algorithms: PID, adaptive control, and model predictive control; a coarse and fine positioning and locking strategy module, including a magnetic guidance mechanism and a mechanical locking device, where magnetic guidance is used for initial approach and mechanical locking uses electromagnetic latches or hydraulic locking pins for final fixation; and a control system for coordinating the execution logic of all the above modules, supporting fault tolerance and abnormal interruption recovery.

[0025] The multi-degree-of-freedom compensation mechanism employs a combination of electric cylinders and flexible connecting rods to synchronously compensate for height and angle deviations. LiDAR and millimeter-wave radar are deployed in the rear center area of ​​the first and second vehicles, forming an overlapping detection field to improve relative attitude measurement accuracy. The sensor data fusion module uses an algorithm based on a combined extended Kalman filter and machine vision convolutional neural network to enhance robustness and real-time performance in high-speed environments. The closed-loop control module has dynamic parameter adjustment capabilities, automatically adjusting the controller gain based on changes in the relative speed and attitude of the two vehicles to enhance control stability. The coarse-precision positioning strategy module uses an embedded permanent magnet guide rail for its magnetic guidance device, while the mechanical locking employs a hydraulic latch with a self-calibrating structure, providing anti-deviation self-adjustment capabilities. The control system includes a fault detection submodule, which can trigger disconnection, emergency braking, and warning prompts when any mechanism malfunction is detected. The guide rail assembly is bidirectionally retractable, featuring a self-cleaning structure and a dustproof sliding mechanism to adapt to different vehicle chassis heights and terrain undulations. The topology and transmission method of the multi-degree-of-freedom compensation mechanism are as follows: multiple actuators are connected in series or parallel, and the actuators achieve multi-dimensional compensation through flexible connectors and universal joints; the transmission method includes hydraulic transmission, pneumatic transmission, or electric drive, and the control logic supports multi-mode switching and fault tolerance. The sensor combination and arrangement of the dynamic perception system are as follows: lidar is located on the top and sides of the battery swapping unit, millimeter-wave radar is arranged at key docking points, machine vision cameras are installed at the rear of the vehicle and the battery swapping unit, and ultrasonic and infrared sensors are used for close-range detection; the sensors achieve real-time data processing through sensor fusion algorithms, including Kalman filtering, extended Kalman filtering, and deep learning-assisted algorithms. The control logic of the active closed-loop control system includes: calculating the relative position and attitude error between vehicles in real time based on the dynamic perception system data;

[0026] The system employs PID control and adaptive control algorithms to adjust the multi-degree-of-freedom compensation mechanism; it features predictive control capabilities, forecasting vehicle motion trends and adjusting the compensation mechanism's actions in advance; and it includes a fault-tolerant mechanism that automatically switches to a safe mode in case of sensor malfunction or actuator failure. The coarse positioning strategy utilizes an electromagnetic attraction device for initial vehicle docking and positioning; after coarse positioning, the fine positioning mechanism is triggered. The fine positioning locking mechanism includes any or a combination of mechanical latching, electromagnetic locking, or hydraulic locking devices, triggered by control system signals; the triggering logic includes locking sequence, locking timing, and locking force adjustment. The battery swapping device includes a guide rail structure supporting smooth sliding of the battery along the guide rail at the rear of the vehicle; it features a battery unlocking mechanism and a new battery locking mechanism to release the old battery and secure the new battery, respectively. The vehicle separation mechanism includes a mechanical separation device and a safety detection system to ensure the vehicle safely detaches from the swapping device after the battery swap is completed.

[0027] Furthermore, the adapter mechanism is a flexible structural module that enables multi-dimensional attitude compensation between vehicles, such as during stationary, straight-line, and curved driving. It includes: a biomimetic joint assembly composed of universal joints and hydraulic dampers, providing multi-degree-of-freedom buffering and compensation; an active deformation frame employing shape memory alloy or pneumatic tendon actuation structures for dynamically adjusting the spatial position of the docking points; a magnetorheological fluid adaptive damper, integrated within the above structure, for real-time adjustment of the mechanism's stiffness; and a dynamic compensation system with compensation ranges including at least: vertical compensation ±200mm; pitch angle compensation ±15°; and yaw angle compensation ±10°. °; Vibration frequency response range of 0~30Hz; Mode switching mechanism with retractable or foldable guide rail structure, the guide rail unfolds in external mode and retracts to form a docking guide groove in internal mode; Sealed internal docking chamber with IP67 dustproof and waterproof performance; Battery transmission system, in which: in external mode, the battery slides along the Z-shaped guide rail, the guide rail has an anti-derailment structure; in internal mode, a combination of roller belt and electromagnetic push device is used to realize direct battery transmission; The shape memory alloy driven deformation frame can be precisely adjusted by the temperature control module to adapt to different vehicle rear heights and angles. The response time of the magnetorheological fluid damper is less than 10ms, and its damping curve can be adaptively adjusted according to the real-time vibration spectrum. The Z-shaped guide rail includes auxiliary guide wheels and anti-skew limit blocks at the turning points to stabilize the battery sliding path when the vehicle is traveling on curved roads. The floating socket is connected to the main body of the battery swapping device through a six-degree-of-freedom elastic support mechanism, so that it automatically aligns with the connector plug in the state of slight vehicle movement. The control system utilizes data fusion algorithms based on lidar, millimeter-wave radar, inertial measurement unit (IMU), and machine vision to achieve dynamic tracking and predictive control of the vehicle's rear relative attitude. The guide rail mode switching mechanism is equipped with mechanical limit devices and redundant position sensors to ensure redundant safety judgment capabilities when the guide rail is fully extended or retracted. The battery-powered roller transmission structure features a dynamic synchronous feedback system that adjusts the pushing speed in real time to match the vehicle's rear vibrations and slow movements. The biomimetic joint structure achieves three-dimensional angular freedom through multi-axis universal joints, hydraulic dampers provide damping control, and an active deformation frame driven by shape memory alloy or pneumatic tendons actively adjusts structural deformation to adapt to changes in vehicle motion. The magnetorheological fluid adaptive damper controls the viscosity of the magnetorheological fluid through an external electromagnetic field, achieving real-time stiffness adjustment to respond to vibrations and force changes generated during battery swapping. Hydraulic pins are automatically inserted and locked via control system commands, ensuring the rigid transformation of the flexible structure after docking.

[0028] The retractable / foldable guide rails, including mechanical or pneumatic drive structures, can automatically expand or retract according to the battery swapping mode, enabling switching between external and internal swapping modes. The sealed docking compartment, constructed with multiple sealing rings and waterproof materials, meets IP67 dust and water resistance requirements, ensuring a clean and safe internal battery swapping environment. In external swapping mode, the battery slides along the Z-shaped guide rail, which is equipped with anti-derailment baffles to ensure stable battery transfer. In internal swapping mode, the battery achieves precise positioning and transfer through a combination of roller belts and an electromagnetic pushing device. The high-voltage connector's tapered guide pin and floating socket structure ensure safe and reliable automatic docking and high-voltage connection during vehicle battery swapping. The battery swapping device includes a motion compensation algorithm and control system that automatically adjusts the deformation and locking of the flexible docking device based on vehicle dynamic parameters, ensuring battery swapping can be completed even when the vehicle is traveling on a curve.

[0029] Further battery swapping devices may include: a multi-degree-of-freedom battery swapping actuator, including structural components for lifting, rotating, telescopic, and buffering, such as universal joints, multi-link mechanisms, or servo arms; a flexible adaptation mechanism, including an adaptive electric telescopic structure, a multi-joint robotic arm, and a control device based on pressure or height detection signals for flexible dynamic adjustment according to the actual parking posture of the vehicle and ground conditions; a track and guidance system, including telescopic arms, tracks, and universal docking mechanisms for guiding, inserting, removing, and positioning the battery; a drive module, driven by any or a combination of electric motor, hydraulic drive, or pneumatic drive, for driving the multi-degree-of-freedom structure to complete dynamic movements; a battery transfer device, employing at least one of slide rails, rollers, chains, belts, or gear mechanisms, for achieving smooth battery transfer between the vehicle and the battery swapping device; and height and angle adjustment mechanisms, respectively used to adjust the battery swapping mechanism relative to different vehicles. The system includes: an installation height and angle to accommodate structural differences in various vehicle models; a position deviation compensation system to dynamically identify and compensate for vehicle parking position errors, ensuring docking accuracy; flexible connection components, including soft material connectors or biomimetic joint structures, to improve the overall adaptability of the device on uneven ground, slopes, or bumpy conditions; a modular battery swapping structure to allow for the separation and combination of the battery swapping execution structure and the guiding structure to adapt to different front or rear vehicle structures; a universal battery interface module, including a docking structure adaptable to different specifications of power batteries, with adjustable interface size and multiple plug and socket matching logics; an automatic identification system to identify the vehicle model, battery interface type, and size specifications of the vehicle to be swapped; an automatic battery tray adjustment device to automatically adjust the tray size and position based on the identification results; and a shock-resistant structure system to maintain stable and reliable docking and battery transfer processes on uneven roads or when the vehicle experiences slight shaking. The buffer device further includes a hydraulic buffer cylinder or elastic shock absorber to mitigate the docking impact between the battery swapping arm and the rear of the vehicle. The pressure / height sensing module includes infrared, ultrasonic, or laser rangefinders to sense the rear height of the vehicle in real time and coordinate with the telescopic mechanism. The track is a flexible guide rail structure with variable curvature, enabling continuous movement of the battery between different heights and angles. The position deviation compensation system includes: a vehicle recognition and attitude calculation module, compensation algorithms (such as visual positioning + servo feedback control), and an adjusting actuator for adjusting the attitude of the end effector.

[0030] The flexible connection assembly adopts a dual-axis soft connection + spherical hinge design, with an angular deformation tolerance of ≥±15° and a linear deformation tolerance of ≥±50mm. The battery interface module uses a variable plug structure, and the insertion and adjustment are completed through slide rails, electric displacement stage, and adaptive clamps. The automatic identification system includes a combined identification mechanism based on machine vision and battery interface coding, and adjusts the position of the tray and interface through linkage with the control module. The modular structure has a quick-release design, supporting independent replacement and maintenance of the main execution module, track module, and battery interface module. The anti-vibration structure system includes multi-point support, flexible buffer pads, and a posture feedback system, allowing the battery swapping device to complete docking and battery replacement even when the vehicle is slightly moved. The universal joint structure in the buffer device is connected through multi-axis degrees of freedom, and the servo arm adopts closed-loop servo control to ensure multi-dimensional flexible compensation during the battery swapping process. Both the hydraulic drive and pneumatic drive devices in the drive system are equipped with pressure feedback sensors to achieve dynamic adjustment of the driving force. The flexible adaptation mechanism includes height sensors and pressure sensors, combined with the robotic arm motion control algorithm, to achieve dynamic adjustment of the vehicle's height and position. The battery transfer mechanism features anti-derailment baffles on its slide rails, wear-resistant rollers, and a tension-adjustable chain and belt system to ensure stable transmission. The height adjustment mechanism includes an electric screw-driven lifting platform and a height control system. The angle adjustment mechanism uses a motor-driven rotating platform with an angle sensor for angle feedback control. The position deviation compensation mechanism includes a lidar sensing unit and a pose compensation algorithm based on laser point clouds. Flexible connection components utilize multi-layered composite soft materials or multi-degree-of-freedom mechanical joints to ensure the structural integrity and functional stability of the battery swapping device in uneven ground or on sloping terrain. The modular design includes detachable track, transfer, and control modules for rapid maintenance and vehicle model adaptation. The automatic identification module integrates lidar and machine vision algorithms to improve the accuracy and reliability of vehicle and battery model identification. The automatic battery tray size adjustment device includes an electric push rod and position sensors to dynamically adjust the tray size according to different battery dimensions. The vibration-resistant structure uses multi-point elastic supports and damping materials, combined with optimized structural mechanics design, to meet vibration resistance requirements during battery swapping.

[0031] Furthermore, the battery swapping device may also include: an identification and protection module, including lidar or vision sensors, for detecting the position and status of the battery interface to be docked and the vehicle structure to prevent accidental contact or injury during the battery swapping process; a safety detection and control module, for implementing the following safety strategies during the battery swapping process: real-time monitoring of the battery and vehicle connection status and identification of incomplete docking; misoperation judgment to prevent pinching, collision, misalignment, and leakage; control to keep power off or allow only pre-charging before docking is completed; a locking status monitoring unit, which issues an audible and visual alarm and automatically stops the battery swapping action when the battery is not locked or not reliably connected; an electrical protection system, including: an ignition suppression circuit for suppressing arcs and sparks during electrical contact; a short circuit detection and power-off protection mechanism; a slide rail protection and retraction mechanism, including: a battery transfer slide rail structure, in conjunction with a limit device and an anti-fall structure; a battery swapping failure detection mechanism and an automatic retraction program; and a status self-checking system for detecting abnormal states during the battery swapping process and automatically stopping the operation. The identification and protection module integrates LiDAR and image recognition to construct a 3D point cloud model for dynamic target tracking and docking risk assessment. The safety detection and control module includes a redundant detection mechanism, detecting battery position and clamping status through at least two independent channels and performing cross-verification. Power-on control during incomplete docking includes: automatically identifying the docking status and determining pre-charging permission based on contact resistance and displacement; setting a maximum current limit during pre-charging and implementing a time window control strategy. The battery rail is equipped with multi-level buffer mechanisms and anti-fall limiters, with flexible end-point buffer devices at both ends to prevent structural damage due to battery jamming or slippage. The automatic rollback mechanism for failed battery swapping includes: failure type identification logic to distinguish between docking errors, clamping failures, and limiter anomalies; automatic rollback path planning and real-time trajectory reconstruction algorithms. The ignition suppression design employs at least one of the following measures: an arc detection module combined with a high-speed power-off mechanism; an arc-extinguishing coating material at the contact end; and applying negative pressure or insulating gas to the joint area to prevent arc formation. During the battery swapping process, the following state variables are continuously monitored: slide rail displacement, battery contact resistance, docking angle, current stability, and battery temperature. A fuzzy logic algorithm is used to determine whether to terminate the operation. The locking status monitoring unit employs a dual-channel confirmation mechanism of reed switch + encoder to ensure the battery is fully in place before allowing further operation. The system has a programmable protection strategy that can automatically set protection parameters based on battery model and vehicle type. LiDAR and vision sensors achieve high-precision environmental and position recognition through data fusion algorithms. The logic employs a multi-redundancy decision mechanism based on sensor signals, including collision warning, emergency stop, and safety gap control. The identification algorithm determines the battery charge and health status based on battery identification information and real-time voltage and current data. The pre-charging logic dynamically adjusts the battery's energization state based on the battery swapping progress and electrical safety status. Alarm signals include audible and visual alarms and remote communication alarms, and the device automatically cuts off power to the battery swapping unit if locking fails.The fall protection mechanism includes mechanical limit devices and electronic monitoring sensors. The anti-jamming structure uses wear-resistant materials and a lubrication design. The mechanism includes abnormal detection of battery swapping operation, fault diagnosis, and execution of reverse drive to return the battery to a safe position. The unit collects data from various sensors and uses a state machine model to realize the determination and abnormal handling of the battery swapping stage. The spark suppression device includes capacitor filtering and soft-start control, and the short-circuit protection design uses fuses and electronic overcurrent protection circuits.

[0032] Furthermore, the control system includes: a vehicle-to-vehicle communication module, used for bidirectional exchange of vehicle position, speed, battery information, locking status, fault information, etc., based on V2V communication protocols (including DSRC or C-V2X), and ensuring communication security through encryption authentication; a position and speed coordinated control module, used for trajectory prediction and matching of target vehicles based on real-time perception data between vehicles (including but not limited to GNSS, inertial navigation, lidar, millimeter-wave radar, or vision systems), automatically controlling vehicles to maintain a set relative speed and relative position to meet the battery swapping conditions; a central status monitoring and decision-making module, used for real-time collection of information including but not limited to the docking mechanism status, battery locking status, mechanism position, electrical connection status, and transmission device working status, determining whether the battery swapping conditions are met, and issuing control commands such as start battery swapping, pause, terminate, and revert; and a fault diagnosis and safety handling module, used to identify abnormal states including but not limited to docking failure, battery jamming, communication loss, excessive error, and battery not locked, and triggering safety response mechanisms such as stopping battery swapping, emergency separation, alarm, and maintaining the current lock. The vehicle-to-vehicle communication module also includes: a time-synchronized message scheduling mechanism to prevent critical control commands from being interfered with, delayed, or repeatedly executed when the vehicle is traveling at high speed; and redundant communication links, including cellular communication, WiFi-Direct, UWB, or Bluetooth Mesh, to maintain low-bandwidth synchronization when V2V fails. The speed and position coordination control module includes: a master-slave role definition mechanism, where the master vehicle initiates the battery swap command and controls the relative position, the slave vehicle follows and completes attitude adjustments, and roles can be dynamically switched; it also includes a curve tracking + prediction compensation algorithm to correct following errors caused by road curves or acceleration. The central status monitoring and decision-making module uses a multi-sensor data fusion method (IMU + vision + radar + odometer) to determine whether the battery swap is complete and to determine the following logical states: whether the battery has slid into place, whether it is locked, and whether it is powered on; whether the docking mechanism is closed and aligned; and whether the overall structure is within the allowable spatial deviation tolerance. The fault diagnosis and safety handling module includes: an adaptive torque-speed curve model for detecting rail jamming; a state machine-based battery swapping process rollback strategy, including phased execution after fault detection: pause → alarm → reverse movement → release lock → communication broadcast status. It also includes: a battery swapping process log module for uploading key process information to a remote server or edge computing node in real time for analysis, comparison, and fault warning; and a secure authorization and identity recognition mechanism to ensure that battery swapping only occurs between legally authorized vehicles. Battery information includes voltage, current, temperature, remaining charge, state of health (SOH), and cycle count, and information integrity and uniqueness are ensured during communication using hash signatures. When an incomplete battery lock, poor electrical connection, abnormal voltage, or misoperation is detected, power will be prohibited, or a pre-charge voltage mode will be triggered, and a visual or audible alarm signal will be broadcast via communication.The inter-vehicle communication module employs an encryption and authentication mechanism to ensure communication security, and a dedicated communication protocol includes message format specifications and interaction process definitions. The speed and position coordination control module, based on real-time exchanged positioning and speed data between the two vehicles, uses predictive control algorithms to achieve speed synchronization and dynamic compensation for relative position errors. The status monitoring and decision-making unit, located within a vehicle or on a cloud server, achieves full-process monitoring and intelligent decision-making for the battery swapping process by fusing multi-source sensor data. The fault diagnosis module uses a multi-dimensional data fusion algorithm, combined with status monitoring and communication link detection, to achieve rapid identification and classification of battery swapping anomalies. Safety handling strategies include: automatic termination command issuance in case of battery swapping anomalies, emergency separation control between the two vehicles, and maintaining or releasing the locked state of the battery swapping device.

[0033] Further battery swapping equipment also includes:

[0034] The system comprises the following modules: a communication module for establishing data connections between the two vehicles via Bluetooth, NFC, ultrasound, Wi-Fi, CAN bus, or V2X, and for executing battery swapping command communication; a battery swapping docking module for controlling the battery swapping arm to align and complete battery exchange based on the relative position information obtained from the communication module; a positioning and identification system, including infrared, laser ranging, visual recognition devices, and inertial sensors, for achieving precise positioning and attitude alignment between the two vehicles; a multi-sensor fusion module for fusing data from lidar, millimeter-wave radar, cameras, and accelerometers for position deviation correction; a control signal encoding and decoding module for standardizing the encoding and decoding of various status information and control commands during the battery swapping process, achieving multi-protocol compatibility and real-time synchronization; an adaptive battery swapping control module for automatically identifying the current battery swapping stage, position error, and attitude deviation, and performing trajectory planning and flexible control; a battery swapping mechanism control unit for controlling the battery swapping mechanism to perform battery swapping actions, including battery unlocking, battery ejection, battery insertion, battery locking, and power detection; and a battery matching and authorization verification module for determining the identity, compatibility, power level, and authorization status of the target battery to ensure its legality and compliance.

[0035] A battery swapping data management system connects to a cloud platform to upload battery swapping records, operation logs, fault information, and authorization verification results. The communication module, based on the TSN protocol and end-to-end encryption mechanism, ensures real-time synchronization and secure transmission of key data such as battery swapping status, location, and speed. The control signal encoding and decoding module includes preset command formats and status code protocols for exchanging battery status, battery number, locking status, contact status, and fault codes. The multi-sensor fusion module uses an extended Kalman filter to fuse data from different sensors and dynamically adjust weights to optimize positioning accuracy. The adaptive battery swapping control module, based on a deep reinforcement learning model, combines real-time point clouds and visual images to autonomously plan the docking trajectory and dynamically adjust speed, attitude, and robotic arm compensation path. The battery swapping docking module includes flexible guide rails, an active locking structure, and an anti-misalignment buffer device, and features an automatic termination and separation mechanism for abnormal triggering. The battery matching and authorization verification module supports a remote cloud-based identity authentication mechanism, including battery identity code matching, battery level matching, battery compatibility model identification, and authorization verification strategies. The battery swapping data management system uploads log data, control commands, and anomaly records throughout the entire battery swapping process to the cloud via 5G, in-vehicle WiFi, or other high-speed communication methods for subsequent traceability and strategy optimization. It also includes a method for coordinated automatic battery swapping between the rear ends of two vehicles, characterized by the following steps: S1: The master vehicle and the slave vehicle establish a short-range data connection via a communication module, exchanging identity authentication information; S2: The relative position and attitude of the two vehicles are calculated using a positioning and recognition system and a multi-sensor fusion module; S3: If the deviation exceeds a threshold, the control module executes an adaptive adjustment strategy to correct the docking trajectory; S4: A battery swapping request is initiated, and control signals are encoded and transmitted to confirm battery status and charge matching; S5: The battery swapping devices of both vehicles are automatically activated, performing operations such as battery insertion, ejection, and locking; S6: The battery swapping is completed after the authorization verification module confirms the battery's legitimacy; S7: The entire battery swapping process data is uploaded to the battery swapping data management system, and a successful status is recorded. If the sensors detect anomalies during the docking process, such as collision risk, battery clamping, or poor contact, the control module immediately issues a termination command and activates the hydraulic buffer device or flexible separation mechanism to stop the operation within 100ms. The battery swapping command communication module supports dynamic switching of communication technology to adapt to different battery swapping scenarios and environments. The communication protocol design includes message format, transmission process, and secure encryption and authentication mechanisms. The control signal encoding and decoding process adopts error detection and correction technology to improve the reliability of data transmission. Infrared, laser, and visual recognition technologies achieve high-precision positioning and alignment of the battery swapping device through multi-sensor data fusion. The position deviation correction algorithm is based on real-time environmental perception data and adaptively adjusts in conjunction with vehicle dynamic information. The battery swapping mechanism, battery management system, and vehicle control system achieve data sharing and command coordination through a unified communication bus. The integration of the battery swapping device and vehicle control system adopts a modular design, supporting rapid installation and upgrades.The two-vehicle collaborative battery swapping system architecture supports an operating mode that combines distributed control and centralized monitoring. The battery swapping data management system enables real-time monitoring, data statistics, and remote management of battery swapping operations. The battery matching and authorization verification system ensures the legitimacy and security of the swapped battery's identity through multi-factor authentication.

[0036] Furthermore, the battery swapping system also includes an electrical connection device (3) for automatically connecting or disconnecting the new battery from the vehicle's electrical system. The battery swapping device is a flexible and movable battery swapping device, and includes an adapter mechanism (4), a height adjustment unit (41), an angle adjustment unit (42), and a position positioning unit (43), enabling the battery swapping device to adaptively dock according to the height, angle, and position differences of the other vehicle; it can dock and swap batteries with the battery swapping device of another vehicle from the front or rear of the vehicle through an opening; it can swap batteries through the external guide rail of the vehicle, or directly exchange batteries through the internal rail when the two vehicles are closely docked, supporting switching between two paths inside and outside the vehicle body to adapt to different battery swapping scenarios. The vehicle can swap batteries in a stationary state or at the same driving speed, and there can be two battery swapping devices on the left and right sides at the rear of the vehicle and two on the left and right sides at the front of the vehicle, allowing four vehicles to swap batteries with one vehicle at the same time.

[0037] The battery swapping device can attach the battery to the exterior of the vehicle, including the front, rear, or side, and the battery and the vehicle's exterior surface are integrated into the appearance design, and the shape is consistent with the body outline, avoiding any exposed edges or gaps, and forming a unified appearance effect.

[0038] The battery swapping device includes a docking coordination mechanism (5) for docking with the battery swapping device of another vehicle traveling at approximately the same speed and completing battery swapping. The docking coordination mechanism (5) includes dynamic matching of speed and direction through vehicle-to-vehicle V2V communication (51), radar detection (52), visual recognition or positioning system (53), and exchanging battery swapping parameters, status information and action commands with the battery swapping device of the other vehicle to coordinate the battery swapping actions of the two vehicles to proceed synchronously.

[0039] The battery swapping device supports automatic identification and compatible docking of various battery specifications and installation structures, and can be adapted to power batteries of different specifications, with a modular adaptation structure.

[0040] A battery swapping device located at either the front or rear of a vehicle can coordinate with a battery swapping device at the front or rear of another vehicle, such as front-to-front, front-to-rear, rear-to-front, or rear-to-rear. Furthermore, it achieves coordinated operation with the vehicle's electronic control system through front / rear structural integration.

[0041] Furthermore, the robotic arm-type battery swapping device has the following features: a first vehicle and a second vehicle, both equipped with battery compartments located at the rear of the vehicle; at least one set of retractable robotic arms, located at the rear of the first vehicle or the second vehicle, or between the two, and the robotic arms can move between the two vehicles; a battery gripping mechanism, located at the end of the robotic arm, for gripping the battery to be replaced; a control system for controlling the movement trajectory of the robotic arm, gripping operations, and the battery swapping process; a docking and calibration module, including sensor components and a vision recognition device, for detecting the relative position of the two vehicles and automatically docking and calibrating; and a communication module for synchronizing the status and exchanging signals between the two vehicles during the battery swapping process. Under the control of the control system, the robotic arm completes the following battery swapping process: locating the target vehicle → opening the battery compartment → gripping the battery → moving → inserting into the battery compartment of the other vehicle → locking → verification completed. The robotic arm has a six-degree-of-freedom structure, supporting precise spatial position adjustment and adaptive path planning. The battery gripping mechanism includes an electromagnetic adsorption component or an adjustable clamping component for adapting to different models or specifications of battery packs. The sensor components include a laser rangefinder, ultrasonic sensors, an IMU (Inertial Measurement Unit), and vision sensors to acquire the relative position and attitude between the two vehicles. The control system includes a path planning module, a collision detection module, and a fault handling module to ensure the safety and stability of the robotic arm during operation. The communication module uses short-range wireless protocols between vehicles, including but not limited to Bluetooth, Wi-Fi Direct, CAN bus, V2X, or NFC, to achieve battery swapping command synchronization and fault linkage. The battery swapping process includes identification and battery status verification steps, including battery type identification, power detection, battery compatibility determination, and authorization verification. The robotic arm has a flexible end effector that adapts to batteries with different housing structures or plug-in interfaces.

[0042] Furthermore, the roller / track-type battery swapping device has the following features: at least two battery swapping interface modules respectively installed at the rear of adjacent vehicles, each battery swapping interface module including an opening and closing mechanism for opening the rear shell and forming a battery swapping channel during the battery swapping process; a roller / track-type battery conveying mechanism, located inside or at the connection point of the battery swapping interface modules, including multiple active rollers or electric track assemblies arranged along a preset trajectory for driving the battery pack to slide in or out from the first vehicle to the second vehicle; a battery positioning and locking mechanism for automatically aligning, locking, and connecting the power interface of the battery pack after battery delivery, ensuring the battery pack's stability and reliability during vehicle operation; and a battery swapping control unit, communicatively connected to both vehicles, for synchronously controlling the battery swapping process of both vehicles, monitoring the status of the conveying path, and the connection status of the battery pack. The roller / track-type conveying mechanism is equipped with a pressure feedback device and a speed control module for dynamic adjustment based on the weight and movement status of the battery pack, achieving flexible conveying. The rollers or tracks in the roller / track-type battery transport mechanism are modular, facilitating replacement and maintenance, and are extendable to accommodate the rear structure dimensions of different vehicle models. The opening and closing mechanism in the battery swapping interface module includes an electric push rod or servo actuator, which automatically opens when there are no obstructions detected behind the vehicle and automatically closes after the battery swap is complete. The battery positioning and locking mechanism includes a guide structure and an electromagnetic lock. The guide structure guides the battery pack for accurate alignment, and the electromagnetic lock secures it.

[0043] Furthermore, the shuttle-type battery swapping device has the following features: two docking battery swapping hatches respectively located at the rear of the first and second vehicles, each hatch including an automatic opening / closing mechanism and an anti-slip positioning device; a battery shuttle module, which is a closed or semi-closed structure for accommodating the battery pack, with a drive mechanism for moving between the two vehicles along the docking axis; a docking locking mechanism located in the connection area of ​​the hatches of the two vehicles for precisely locking the rear ends of the two vehicles during the battery swapping process and maintaining the continuity of the shuttle's transport channel; an automatic battery insertion / removal and locking mechanism located within or linked to the shuttle module for automatically unlocking, pushing out, inserting, and relocking the battery pack; and a battery swapping control system communicating with the control units of the two vehicles for coordinating the sequential control and anomaly detection of processes such as shuttle movement, hatch opening and closing, docking positioning, and battery insertion / removal. The shuttle module includes an embedded roller track system and a flexible guide structure to guide the battery pack to move smoothly within the shuttle and adapt to the height differences at the rear ends of different vehicle models. The shuttle module is equipped with a sensor module to detect the position, charge, and temperature of the battery pack within the module. The drive mechanism includes an electric lead screw, slide rail, or tracked propulsion assembly to propel the shuttle module stably between the two vehicles. The docking and locking mechanism includes a pneumatic latch or electromagnetic coupling device, with redundant locking mechanisms to ensure docking reliability. The automatic insertion / removal and locking mechanism includes an electrically driven robotic arm or lever-push mechanism, enabling automatic alignment and connection of battery packs of different sizes. The battery swapping control system has a fault monitoring and emergency stop protection mechanism; if any control step is abnormal or the vehicle's attitude is unstable, the battery swapping process is automatically stopped and an alarm is issued. The shuttle module is made of high-strength, lightweight composite materials and has a sealed, waterproof structure to adapt to various weather and road conditions. The anti-slip positioning device includes a laser alignment calibrator, spring-loaded limiters, and a locking hook structure to ensure positional accuracy and continuous movement during shuttle docking.

[0044] Furthermore, the external cantilever transmission battery swapping device has the following features: two battery swapping connection units located at the rear of the first and second vehicles to form opposing battery swapping operation spaces; a cantilever transmission assembly, one end of which is installed on the rear structure of the first vehicle and the other end of which can extend to the rear area of ​​the second vehicle; the cantilever transmission assembly includes: a cantilever main beam for establishing a transport path between the vehicles; a battery hanging / lifting mechanism installed above or below the main beam for suspending or lifting the battery pack below the beam and moving it linearly along the main beam; a drive assembly for controlling the movement of the battery hanging / lifting mechanism along the main beam; a battery positioning and insertion / removal device located at the end of the cantilever and connected to the battery compartment at the rear of the second vehicle for docking the battery pack with the vehicle's power supply interface and enabling the insertion or removal of the battery pack; and a battery swapping control unit for coordinating the battery swapping process, including cantilever transmission, vehicle position calibration, and insertion / removal control, and for communicating and coordinating with the two vehicles. The cantilever main beam is connected to the rear structure of the first vehicle via a telescopic mechanism and features a multi-degree-of-freedom buffer structure to adapt to battery swapping operations under varying height, angle, and dynamic vibration conditions. The battery hanging / lifting mechanism is switchable, allowing the battery pack to be suspended via a hook assembly or towed by supporting the bottom of the battery with a base bracket. The cantilever main beam is a hollow aluminum alloy or carbon fiber structure with pre-embedded control cables and sensor channels for lightweight and intelligent transport. The main beam telescopic mechanism includes an electric slide rail, linear module, or hydraulic cylinder system, automatically extending from the first vehicle to the battery swapping position at the rear of the second vehicle at the start of swapping and automatically retracting after swapping. The battery positioning and insertion / removal device features an automatic guidance and calibration component, including a visual recognition module and slot guide cones, to improve insertion / removal accuracy and prevent damage to the interface due to misalignment. The battery swapping control unit has path monitoring, a torque sensing module, and a dynamic obstacle avoidance mechanism, automatically identifying interference or resistance during cantilever movement and stopping the operation promptly.

[0045] Furthermore, the rear-to-rear plug-in battery swapping device has the following features: a battery swapping interface module located at the rear of the first and second vehicles, the interface module being open to the rear and forming a docking channel when the two vehicles are parked with their rear ends aligned; two battery compartment structures, respectively installed at the rear of the two vehicles, each containing a pluggable battery pack with a symmetrically designed plug-in interface; at least one battery push-pull plug-in mechanism located in the battery compartment of one vehicle, used to push out the battery pack of this vehicle while simultaneously pulling the battery pack of the other vehicle into the battery compartment of this vehicle; a position guidance and mechanical docking structure, including multi-point limiting grooves, a conical guide structure, and buffer compression pads, used to ensure alignment accuracy and shock absorption to prevent misalignment during rear-end docking of the two vehicles; and a battery swapping control unit, which is communicatively connected to both vehicles and controls the battery plug-in / plug-out action, docking status judgment, and identification and switching operations of battery power and health status. The plug-in / plug-out mechanism can realize bidirectional push-pull action and can automatically lock the battery position and connect to the power system after the battery exchange is completed. The battery pack features a standard modular structure with symmetrical insertion ports at both ends, allowing insertion in any direction. The battery push-pull insertion / removal mechanism includes an electric lead screw assembly, a push rod guide mechanism, or an electrically driven telescopic arm, capable of performing precise displacement operations based on control signals. The battery compartment structure is equipped with a locking mechanism and guide rail slots to guide the battery pack insertion and mechanically secure it. The battery swapping control unit includes a vehicle alignment detection module, an insertion / removal progress monitoring module, and an abnormal termination and alarm module to ensure battery swapping safety and system stability.

[0046] Furthermore, the rotary battery swapping device has the following features: two docking battery swapping compartments respectively installed at the rear of the first and second vehicles, each compartment including an openable and closable rear door and a guide docking assembly, used to form a battery swapping channel when the rear ends of the two vehicles are aligned; a rotary turntable mechanism, located in the battery swapping compartment of one of the vehicles or on the chassis connected to it, the rotary turntable mechanism including: a battery rotating platform, the axis of rotation of which is substantially perpendicular to the vehicle's driving direction; multiple battery carrying slots, equidistantly arranged along the circumference of the rotating platform, used to carry battery packs to be replaced or already used; a rotation drive assembly, used to control the directional rotation of the rotating platform, rotating the selected battery slot to the docking position; a battery insertion and removal assembly, located at the edge of the rotating platform, used to realize the insertion and removal of the battery pack between the two vehicles; and a battery swapping control unit, communicatively connected to the two vehicles, used to coordinate the turntable rotation, rear docking, battery insertion and removal, and status recognition processes. During the battery swapping process, the rotating platform sequentially completes the bidirectional battery swapping actions of "removing the battery from this vehicle" and "inserting the battery from the other vehicle". The battery carrier slot features a flexible positioning structure with automatic centering and anti-dislodgement design to ensure the battery pack is securely fixed during rotation. The rotation drive assembly includes a servo motor and an encoder feedback system, enabling precise alignment of the battery slot and preventing over-rotation.

[0047] Furthermore, the push-pull drawer-type battery swapping device has the following features: a battery compartment assembly installed at the rear of the first vehicle and the second vehicle, each battery compartment assembly including: a pull-out battery tray for carrying the battery pack and being pushed or pulled out in the pulling direction; a guide rail assembly installed within the battery compartment structure for limiting the sliding of the battery tray in a straight line; an alignment connection structure including an alignment cone, a limiting groove, and a buffer structure located between the rear of the two vehicles for ensuring the alignment of the battery trays when the rear of the two vehicles dock; at least one set of electric drive mechanisms connected to the battery trays for pushing the battery trays out and insert between the first vehicle and the second vehicle; and a battery swapping control unit connected to the control systems of the two vehicles respectively, and used for coordinating the control of battery pulling action, docking status judgment, battery identification, locking, and release.

[0048] Furthermore, the magnetic track sliding battery swapping device has the following features: two electric vehicles capable of performing battery swapping operations, each with a relatively opposite rear battery swapping interface area; a battery pack located in the battery slot at the rear end of the first vehicle; a track mechanism including a magnetic guide track located in the docking area between the two vehicles for precise positioning and guided transfer of the battery pack along the sliding path between the two vehicles; a sliding transfer mechanism located in the first vehicle and / or the second vehicle for driving the battery pack to slide on the magnetic guide track into the battery slot of the second vehicle, the sliding transfer mechanism employing a combination of motor, belt / chain / roller, etc.; and a magnetic positioning and locking device located at multiple positions in the track mechanism for providing temporary adsorption and alignment during the sliding of the battery pack, completing precise alignment, buffer braking, and final insertion of the battery pack. The track mechanism and magnetic components work together to form an intelligent battery swapping path that can automatically recognize the relative posture between vehicle bodies and adjust the magnetic field strength. Furthermore, the track ends are equipped with electrical contacts and locking clips to ensure a safe and reliable physical and electrical connection after battery insertion. The magnetic track is a flexible guide rail structure with a certain degree of flexibility and an adjustable magnetic pole array to accommodate tail-end docking deviations and pitch errors between different vehicle models. The sliding transmission mechanism includes an encoder feedback system and position sensors to monitor the battery's sliding position, speed, and magnetic attraction status in real time, and dynamically adjusts motion parameters through a controller.

[0049] Furthermore, the single-battery transfer-type battery swapping system has the following features: a first vehicle, a second vehicle, and a battery transfer device positioned between the two vehicles. The transfer device includes: a transfer track assembly for forming a through-path for battery movement between the first and second vehicles; a transfer drive assembly for pushing the battery from the battery slot of the first vehicle to the battery slot of the second vehicle along the transfer track; and a transfer tray or transfer compartment for temporarily storing the battery after it is removed from the first vehicle and ensuring alignment before transferring it into the second vehicle. The transfer device is located in the docking area at the rear of the vehicles and is equipped with a docking locking mechanism and a position calibration assembly to ensure precise matching of the rear positions of the two vehicles during the battery swapping process, guaranteeing smooth battery transfer. The system completes the battery swapping process through unidirectional transfer of a single battery along the transfer path, avoiding bidirectional parallel insertion and removal actions, thus achieving a simple and highly safe battery swapping process. The transfer track assembly is an integrated rigid guide rail structure connected between the battery slots at the rear of the two vehicles, featuring automatically aligned guide protrusions and limiting grooves. The transfer drive assembly is an electric pusher with a linear motor or ball screw drive mechanism, driving the battery to move at a constant speed along the track. The transfer tray includes a rotation adjustment mechanism to adjust the battery angle to fit the battery slot orientation of different vehicles. The docking locking mechanism is an automatic magnetic locking structure that can automatically attract and limit positioning when docking at the rear of the vehicle. The battery is equipped with an intelligent identification interface that matches the transfer tray or track assembly, enabling automatic identification and authorized communication between the battery and the vehicle. The transfer track or transfer tray has multiple limiting and error-proof guiding structures to prevent reverse installation or misinsertion of the battery.

[0050] Furthermore, the segmented modular battery swapping system has the following features: a first vehicle, a second vehicle, and a segmented battery swapping device located between the rear ends of the two vehicles. The swapping device includes: multiple battery segment modules, each an independently packaged energy sub-unit with standard interfaces and structural assembly points; a module assembly assembly for sequentially assembling multiple battery segment modules into a complete integrated battery pack; a module transfer mechanism located between the rear ends of the two vehicles for removing the battery segment modules one by one from the first vehicle and transferring them to the second vehicle; a segmented detection and calibration system for identifying the position, sequence, and status of the battery modules and ensuring that each module is assembled in a set order and direction; and a vehicle docking and positioning mechanism to ensure the docking accuracy of the rear ends of the two vehicles, forming a continuous battery module assembly channel. The battery replacement process is completed through the sequential disassembly and assembly of segment modules, exhibiting high adaptability, flexibility, and redundancy, avoiding the structural incompatibility problems caused by traditional whole-unit battery swapping. The battery segment modules are standardized structural units with uniform dimensions, electrical interfaces, and mechanical connectors, supporting lateral sliding rails or longitudinal plug-in splicing. The modular assembly components include magnetic or mechanical snap-fit ​​connectors. Each module is attached to the previous module via magnetic or mechanical positioning to form a stable electrical link. The module transfer mechanism includes an electric track pushing mechanism, a robotic arm gripping device, or a tracked transfer platform for transporting battery modules one by one. The segmented detection and calibration system includes a visual recognition camera, an RFID identification module, or a position coding sensor to identify the position, orientation, and sequence of the battery modules.

[0051] Furthermore, the magnetic levitation battery swapping system has the following features: a battery swapping device located between the rear ends of two vehicles. This device is used to unload the battery from the first vehicle and transfer it to the second vehicle via magnetic levitation. The device includes: a magnetic levitation guide rail platform connecting the rear ends of the first and second vehicles, which carries the battery and forms a levitation channel; a magnetic levitation drive unit, including a levitation electromagnet, a propulsion electromagnetic coil array, or a magnetic drive module, which provides non-contact levitation and driving thrust to the battery module; a battery-carrying slide, with permanent magnet material or magnetically conductive structural components at its bottom, which can achieve electromagnetic levitation under the action of a magnetic field and move along the guide rail platform; an alignment and calibration mechanism located at the docking area between the rear ends of the two vehicles and the guide rail, which automatically identifies the relative position of the vehicle rear ends and calibrates the level and angle of the guide rail; and an intelligent battery swapping control system, which controls battery levitation, movement path, electromagnetic parameter adjustment, displacement speed, and battery swapping safety strategies. During the entire battery swapping process, the battery is in a magnetically levitation state, transferring from one vehicle to another via the guide rail platform in a non-contact manner, avoiding mechanical friction and structural interference, and improving battery swapping efficiency and stability.

[0052] Furthermore, the roller-transfer type rear-end battery swapping device has the following features: This device enables battery swapping between two new energy vehicles via rear-end docking. The device includes: a pair of battery swapping interface modules installed at the rear of the first and second vehicles, each interface module including a docking platform for connecting the battery module; a roller transfer mechanism positioned between the two interface modules for horizontally transferring the battery module between the first and second vehicles; the roller transfer mechanism includes: multiple power rollers distributed on the bottom of the battery module or on a support rail, a limiting guide rail, and a position sensor. The power rollers drive the battery module to slide along the roller path, the limiting guide rail constrains the battery's movement trajectory, and the position sensor detects the current position information of the battery module. The roller transfer mechanism can form a closed battery swapping path after vehicle docking, allowing the battery module to be moved from the first vehicle and pushed to the second vehicle, or transferred in the reverse direction. The roller transfer mechanism includes a bidirectional motor system that can control the rollers to rotate forward or backward according to control signals, achieving bidirectional flow of the battery module. The limiting guide rail has a telescopic structure that can automatically unfold to connect with the battery rail after the vehicle docking is completed, and automatically retract after the battery swap is completed to ensure the safety and structural integrity of the rear of the vehicle.

[0053] Furthermore, the railcar / trolley-type battery swapping device has the following features: the device is used to replace the battery module of the first vehicle with the spare battery module carried by the second vehicle after the rear of the first vehicle and the rear of the second vehicle are docked. It includes: a rear docking mechanism, located at the rear of the two vehicles, including a mechanical guiding component and a positioning and locking component, for achieving precise docking and stable fixation when the rear of the vehicles are relatively close; a track system, including retractable track sections respectively arranged at the rear of the two vehicles, forming a through channel after docking; a battery transport trolley, located in the track system, including: a carrying platform capable of carrying the battery module; a trolley drive component for driving the transport trolley to move along the track; a battery locking and releasing mechanism for automatically loading, unloading, and fixing the battery module; and an automatic control system, including: a trolley operation control module; a battery identification and status detection module; and a vehicle-to-vehicle collaborative communication module for coordinating the battery swapping process between the two vehicles. The battery swapping process includes: vehicle rear docking → track deployment → transport trolley removing the battery from the first vehicle → transporting it to the second vehicle → replacing the spare battery and inserting it into the first vehicle → trolley returning → track retraction. The track system includes magnetic positioning components and a mechanical telescopic structure, capable of automatically leveling track connection sections to ensure the smooth passage of the transport trolley. The transport trolley is equipped with an electric wheel set and a multi-axis steering structure to adapt to slight docking errors and track curve variations, improving stability. The battery locking and release mechanism includes electrically controlled insertion / removal grippers, elastic buffer blocks, and positioning guides, used for automatic adsorption and positioning during docking, connector buffer protection, and anti-shaking constraints. The automatic control system incorporates anti-bypass logic, including: a battery identification device to identify whether it is an original factory-matched battery; a battery status detection module to compare voltage, current, temperature, and lifespan parameters to prevent the use of abnormal batteries; and an operation authorization system, preventing the trolley from initiating the battery swapping procedure without authorization. Throughout the battery swapping process, the control system generates encrypted operation logs and uploads them to the vehicle / cloud server for full-process traceability, preventing malicious skipping of standard procedures. The battery interface uses a multi-point high-strength insertion / removal connector with a mechanical error-proof structure and a forced insertion protection module to prevent accidental battery insertion or replacement of incorrect batteries in non-docked states.

[0054] Furthermore, the robotic collaborative battery swapping device possesses the following characteristics. Installed on a battery swapping station or service vehicle, it is suitable for automatically swapping battery modules at the rear of cars. The device includes: a target vehicle identification module for identifying the position, posture, and vehicle model parameters of the car to be swapped; a collaborative robot system comprising at least two collaborative robot units, each including at least a multi-degree-of-freedom robotic arm; an industrial vision recognition module; an end effector (gripper); a battery compartment opening / closing and locking mechanism control module for controlling the opening, closing, and locking / releasing of the rear battery compartment door; a battery handling and replacement module, including a battery extraction and insertion execution mechanism; an electrical connection docking module; a battery tray lifting system; and a central control system, including a battery swapping task allocation unit; a multi-robot collaborative motion planning algorithm; and a state perception and fault warning module. The battery swapping process includes: target vehicle identification → rear-end positioning and locking / releasing → first robot grasping the old battery → second robot transporting the spare battery → battery insertion and connection completion → compartment door closing. The multi-degree-of-freedom robotic arm has rotational capabilities of more than 6 axes, possesses obstacle avoidance path planning and flexible trajectory control capabilities, and can adapt to the rear structure of different vehicle models. The industrial vision recognition module includes a depth camera, a 3D reconstruction algorithm, and a rear-end feature database to identify the precise position and orientation of the rear battery compartment. The end effector features an adjustable clamping structure that automatically adapts to different battery module specifications, with controlled clamping force and an electrically insulating protective layer. An encrypted communication link is established between the central control system and the vehicle control unit, and includes: a battery identity verification mechanism; a battery history status tracking mechanism; and a battery swapping operation authorization module to prevent unauthorized battery replacement or the use of non-compliant batteries. If any collaborative robot fails or encounters an obstacle while performing a critical task, the central control system can automatically switch to an alternative path or call upon other robot units to take over the task, ensuring uninterrupted battery swapping. The electrical connection docking module features a mechanical anti-misinsertion structure and a status feedback device to prevent power supply when the battery is not fully inserted or the connection is abnormal, ensuring the safety of personnel and the vehicle. The entire battery swapping process generates encrypted operation records, which are uploaded to the onboard system and cloud management platform, and bound to the battery serial number and operation log, achieving full traceability and responsibility confirmation, preventing bypassing of the operation process.

[0055] Furthermore, the hydraulic / pneumatic push-pull battery swapping system has the following characteristics: The system is applied to battery swapping operations between two new energy vehicles, and includes at least: a battery swapping docking structure at the rear of each vehicle, comprising an alignment connection component and a sealing protection component, used to form a stable connection channel when the rear ends of the two vehicles are physically docked; a battery sliding component, installed at the rear of at least one vehicle, used to push or pull out the battery module, including: a hydraulic / pneumatic drive module for providing linear push / pull-back power; a guide rail system or chute structure for the battery to slide along a predetermined path; a battery locking / unlocking mechanism for locking or unlocking the battery within the vehicle, including a set of electrically controlled locking hooks and a position sensor; an electrical connection and power-off control module, including an electrical connection port with anti-misinsertion design and control circuitry, used to complete the electrical connection after the battery is fully docked; and a battery swapping control system, located inside the vehicle or in a mobile terminal, for controlling the battery swapping process and performing identity verification, security monitoring, and recording. The battery swapping method includes the following steps: docking → unlocking → hydraulic / pneumatic ejection of the old battery → the other vehicle receiving the battery → inserting the spare battery → completing the connection → locking → disengaging. The hydraulic / pneumatic drive module features a telescopic cylinder structure, equipped with a speed control valve and pressure feedback device, and has a soft start / stop function to adapt to differences in battery weight and vehicle model. The guide rail system is an embedded roller track with a limit mechanism and damping components to ensure stable linear sliding of the battery along the axial direction, preventing tilting or jamming. The docking structure has an automatic alignment device, including a visual auxiliary sensor, a laser calibration module, or a mechanically guided conical surface structure, to ensure precise docking at the rear of the vehicle. The battery swapping control system includes a dual-vehicle mutual authentication protocol, GPS location verification, and an onboard communication encryption module to ensure traceability of both parties' identities, a safe and controllable process, and to prevent third-party devices from forcibly intervening or bypassing the original system. The battery locking / releasing mechanism only allows unlocking after the control system has completed multiple identity verifications and location confirmations. If either control system is unauthorized or malfunctions, the battery swapping operation is prohibited.

[0056] Furthermore, the spiral propulsion battery swapping system has the following characteristics: the system includes at least: a pair of battery swapping interface assemblies installed at the rear of two electric vehicles, the battery swapping interface assemblies having a docking connection structure; a battery module, which is located in the battery compartment at the rear of the first vehicle and has a sliding rail support structure; a spiral propulsion mechanism, including a rotary drive motor, a spiral rod, and a nut structure, the nut structure being connected to the battery module, and one end of the spiral rod being connected to the rotary drive motor; the spiral propulsion mechanism is used to push the battery module out from the rear of the first vehicle and transfer it along the docking path to the rear of the second vehicle; the rear of the second vehicle is equipped with a synchronous receiving guide rail and a limit locking device for receiving and fixing the transferred battery module; the system further includes a battery swapping control unit for controlling the entire process, including propulsion, position detection, locking and unlocking, and electrical connection. The spiral propulsion mechanism is enclosed in a battery swapping device compartment with a protective cover, possessing a dustproof, waterproof, and impact-resistant structure. The battery swapping control unit also includes a battery identification module and a position sensing module; the battery identification module is used to identify the model, remaining charge, and compatibility of the battery to be swapped, and the position sensing module is used to monitor the battery propulsion stroke position and prevent erroneous insertion. The battery swapping interface assembly is a flexible docking interface with self-calibration capabilities, including an electromagnetically assisted adsorption device and a guide flange structure, to achieve a reliable connection even with minor deviations at the rear ends of the two vehicles. The spiral propulsion mechanism is connected to the battery module via a slider and is equipped with an anti-reverse insertion guide rail device to ensure unique insertion and removal directions and prevent mis-insertion. When the battery module is pushed out from the first vehicle, at least part of the guide rail is located on the transfer platform structure between the first and second vehicles, serving to support the battery propulsion path. The battery swapping control unit has wireless communication capabilities for interaction with a cloud server or scheduling system, enabling automatic authentication, battery matching, and security verification.

[0057] Compared with the prior art, the technical solution of this application has the following beneficial effects:

[0058] 1. This battery swapping device and its supporting coordination mechanism utilize V2V communication, radar detection, visual recognition, or positioning systems to enable battery swapping of vehicles while they are in motion, breaking the limitations of stationary battery swapping at fixed battery swapping stations; the battery swapping devices located at the rear and left and right sides of the vehicle support four vehicles swapping batteries for one vehicle simultaneously, greatly improving battery swapping efficiency and enriching battery swapping scenarios.

[0059] 2. The battery swapping device and its supporting components, including the height adjustment unit, angle adjustment unit, and position positioning unit of the adapter mechanism, can adaptively dock according to the differences in the height, angle, and position of the other vehicle. The battery swapping device supports automatic identification and compatible docking of multiple battery specifications, has a modular adapter structure, can adapt to different power batteries, and improves compatibility. Attached Figure Description

[0060] Figure 1 This is a modular schematic diagram of the battery swapping device of the present invention;

[0061] Figure 2 This is a schematic diagram showing the relationship between the vehicle and the external battery swapping device of the present invention.

[0062] In the diagram: 1. Battery transport mechanism; 11. Drive unit; 12. Guide rail structure; 2. Battery locking / releasing mechanism; 3. Electrical connection device; 4. Adaptor mechanism; 41. Height adjustment unit; 42. Angle adjustment unit; 43. Positioning unit; 5. Docking coordination mechanism; 51. V2V communication; 52. Radar detection; 53. Visual recognition or positioning system. Detailed Implementation

[0063] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0064] Please see Figures 1-2 This embodiment provides a battery swapping device for an electric vehicle, located at the front or rear of the vehicle, comprising:

[0065] A battery transport mechanism 1 includes a drive device 11 for pushing out or pulling in a battery and a guide rail structure 12.

[0066] A battery locking / releasing mechanism 2 is used to secure or release the battery pack inside the vehicle or during battery swapping.

[0067] An electrical connection device 3 is used to automatically connect or disconnect the new battery from the vehicle's electrical system.

[0068] The drive unit 11 in the battery transport mechanism 1 provides powerful force to push the battery out of the vehicle or pull it in from the outside, while the guide rail structure 12 provides a stable path for the movement of the battery, ensuring that the battery will not shift or shake during transport. When swapping batteries, the drive unit 11 is activated, and the old battery is precisely pushed out along the guide rail structure 12, while the new battery is smoothly pulled into the vehicle, ensuring the efficiency and accuracy of battery transport.

[0069] The battery locking / releasing mechanism 2 can firmly secure the battery pack during vehicle operation, preventing the battery from shifting or falling off due to vehicle bumps, turns, or other factors, thus ensuring the safe operation of the vehicle. During the battery swapping process, the mechanism can accurately release the old battery so that the battery transport mechanism 1 can push it out. Once the new battery is pulled into the vehicle, it is then secured in time to ensure the smooth progress of the battery swapping process and the stability of the new battery inside the vehicle.

[0070] The electrical connection device 3 is key to enabling the rapid connection and disconnection of the battery and the vehicle's electrical system. When the new battery is pulled into the vehicle and secured by the battery locking / releasing mechanism 2, the electrical connection device 3 can automatically connect the new battery to the vehicle's electrical system, allowing the new battery to quickly power the vehicle. When the battery needs to be replaced, the device can automatically disconnect the old battery from the vehicle's electrical system, preventing safety issues such as power leakage during the battery swapping process.

[0071] The height adjustment unit 41 in the adapter mechanism 4 can be adjusted according to the height difference of the other vehicle to ensure that the battery swapping device of this vehicle is consistent with the battery swapping device of the other vehicle in terms of height, thus ensuring the accuracy of docking. The angle adjustment unit 42 can cope with the angle deviation of the other vehicle and achieve precise docking with the battery swapping device of the other vehicle by adjusting the angle of the battery swapping device. The position positioning unit 43 can accurately determine the position of the other vehicle to ensure that the battery swapping device matches the position of the other vehicle's battery swapping device. These three units work together to enable the battery swapping device to adaptively dock according to the differences of different vehicles, thereby supporting the switching between two paths inside and outside the vehicle body, adapting to different battery swapping scenarios, and solving the problem of poor adaptability of existing battery swapping devices.

[0072] The docking coordination mechanism 5 enables information exchange between the two vehicles through vehicle-to-vehicle V2V communication 51, including battery swapping parameters, status information, and action commands. Radar detection 52 can monitor the distance and relative position changes between the two vehicles in real time, providing data support for dynamic matching. The visual recognition or positioning system 53 can more accurately identify the position and attitude of the other vehicle. Through the coordinated work of these components, the docking coordination mechanism 5 enables the two vehicles to complete dynamic matching of speed and direction at basically the same driving speed, coordinating the battery swapping actions of the two vehicles to be carried out synchronously, realizing battery swapping during vehicle operation, and greatly expanding the battery swapping scenarios.

[0073] In summary, this battery swapping device and its supporting docking and coordination mechanism 5, with the help of V2V communication 51, radar detection 52, and visual recognition or positioning system 53, enable vehicle battery swapping while in motion, breaking the limitation of stationary battery swapping at fixed battery swapping stations; the battery swapping devices set at the rear and left and right sides of the vehicle support four vehicles swapping batteries for one vehicle at the same time, greatly improving battery swapping efficiency and enriching battery swapping scenarios.

[0074] Furthermore, the height adjustment unit 41, angle adjustment unit 42, and position positioning unit 43 of the adapter mechanism 4 can adaptively dock according to the differences in height, angle, and position of the other vehicle; the battery swapping device supports automatic identification and compatible docking of multiple battery specifications, has a modular adapter structure, can adapt to different power batteries, and improves compatibility.

[0075] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0076] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A battery swapping device, characterized in that, The battery swapping device is located at the front or rear of the vehicle and connected to it, including: A battery delivery mechanism (1) includes a drive device (11) for pushing out or pulling in a battery; A battery locking / releasing mechanism (2) is used to secure or release the battery pack in the vehicle or during battery swapping. An adapter mechanism with multi-degree-of-freedom compensation functions: height, angle (pitch, yaw), and lateral position compensation. High-precision dynamic perception: real-time detection of the relative position, attitude, and speed difference between the two vehicles. Achieves efficient and reliable final locking in stages. Suitable for battery swapping in situations where the vehicles are stationary, on straight lines, curves, on bumpy roads, or when the battery swapping devices are not aligned. A control system is used to acquire vehicle information, establish data connections between the vehicle and other vehicles or other supporting equipment, determine whether the conditions for battery swapping are met, and control and coordinate the aforementioned mechanisms to perform the battery swapping operation.

2. The battery swapping device according to claim 1, characterized in that, The adapter mechanism can control the first vehicle and the second vehicle to align and approach; it includes a coarse positioning device and a fine positioning device, used for initial docking and high-precision docking locking, respectively; it can compensate for height differences, angle deviations (including pitch and yaw angles), and lateral displacement differences during the docking process of the two vehicles. The compensation mechanism includes at least one of the following structures: universal joint, telescopic slide rail, hydraulic cylinder, pneumatic cylinder, electric cylinder, flexible connector, or a combination thereof; a sensor combination for sensing the relative position, attitude, and speed difference of the two vehicles, including at least lidar and millimeter-wave radar, machine vision, ultrasonic sensors, infrared sensors, and mechanical probes. It can calculate the docking attitude and compensation commands in real time under high-speed dynamic environment; based on the above-mentioned sensing data, it performs real-time closed-loop control of the compensation mechanism, using at least one of the following control algorithms: PID, adaptive control, and model predictive control; it also has a magnetic guidance mechanism and a mechanical locking device, with magnetic guidance for initial approach and mechanical locking using electromagnetic latches or hydraulic locking pins for final fixation.

3. The battery swapping device according to claim 1, characterized in that, The adapter mechanism is a flexible structural module capable of multi-dimensional attitude compensation between vehicles, such as during stationary, straight-line, and curved driving. It includes: a biomimetic joint assembly composed of universal joints and hydraulic dampers, providing multi-degree-of-freedom buffering and compensation; an active deformation frame employing shape memory alloy or pneumatic tendon actuation for dynamically adjusting the spatial position of the docking points; a magnetorheological fluid adaptive damper, integrated within the above structure, for real-time adjustment of the mechanism's stiffness; and a dynamic compensation system with compensation ranges including at least: vertical compensation ±200mm; pitch angle compensation ±15°; yaw angle compensation ±10°; and vibration frequency response. The operating frequency range is 0–30Hz; the mode switching mechanism has a retractable or foldable guide rail structure, which unfolds in external mode and retracts in internal mode to form a docking guide groove; the sealed internal docking compartment has IP67 dustproof and waterproof performance; the battery transmission system, wherein: in external mode, the battery slides along the Z-shaped guide rail, which has an anti-derailment structure; in internal mode, a combination of roller belt and electromagnetic push device is used to realize direct battery transmission; the energy exchange interface is set at the connection end between the battery swapping device and the vehicle battery, including a high-voltage connector automatic alignment component, which is composed of a tapered guide pin and a floating socket.

4. The battery swapping device according to claim 1, characterized in that, The adapter mechanism also includes structural components for lifting, rotating, extending, and buffering. These components include universal joints, multi-link mechanisms, or servo arms; an adaptive electric telescopic structure, a multi-joint robotic arm, and a control device based on pressure or height detection signals for flexible dynamic adjustment according to the vehicle's actual parking posture and ground conditions; adjusting the installation height and posture angle of the battery swapping mechanism relative to different vehicles to adapt to structural differences in different vehicle models; and dynamically identifying and compensating for vehicle parking position errors to ensure docking accuracy. It includes flexible material connectors or biomimetic joint structures to improve the overall adaptability of the device under uneven ground, slope or bumpy conditions; it can realize the separation and combination configuration of the battery swapping execution structure and the guiding structure to adapt to different structures of the front or rear of the vehicle; it can adapt to the docking structure of power batteries of different specifications, and the interface has size adjustment capability and multiple plug and socket matching logic. It can identify the vehicle model, battery interface type, and size specifications of the vehicle to be swapped; automatically adjust the tray size and position based on the identification results; and maintain stable and reliable device docking and battery transfer process when the road surface is uneven or the vehicle is slightly shaking.

5. The battery swapping device according to claim 1, characterized in that, The adapter mechanism includes a lidar or vision sensor to detect the position and status of the battery interface to be docked with the vehicle structure, preventing accidental contact or injury during the battery swapping process. During the battery swapping process, the following safety strategies are implemented: real-time monitoring of the battery-vehicle connection status to identify incomplete docking; misoperation detection to prevent pinching, collisions, misalignment, and leakage; maintaining power off or allowing only pre-charging until docking is complete; issuing audible and visual alarms and automatically stopping the battery swapping operation when the battery is not locked or reliably connected; suppressing electric arcs and sparks during electrical contact; possessing short-circuit detection and power-off protection mechanisms; featuring a fall-prevention structure, a battery swapping failure detection mechanism, and an automatic rollback procedure; detecting abnormal states during the battery swapping process and automatically stopping the operation.

6. The battery swapping device according to claim 1, characterized in that, The control system can perform bidirectional exchange of vehicle position, speed, battery information, lock status, and fault information based on V2V communication protocols (including DSRC or C-V2X), and ensure communication security through encryption authentication, including identity verification and encryption authentication. Based on real-time perception data between vehicles (including but not limited to GNSS, inertial navigation, lidar, millimeter-wave radar, or vision systems), it predicts and matches the trajectory of the target vehicle, automatically controlling the vehicle to maintain a set relative speed and position to meet battery swapping conditions. It collects information in real-time, including but not limited to the docking mechanism status, battery lock status, mechanism position, electrical connection status, and transmission device operating status, determines whether battery swapping conditions are met, and issues control commands such as start swapping, pause, terminate, and revert. It identifies abnormal states, including but not limited to docking failure, battery jamming, communication loss, excessive error, and unlocked battery, and triggers safety response mechanisms such as stopping battery swapping, emergency separation, alarm, and maintaining the current lock.

7. The battery swapping device according to claim 1, characterized in that, The control module can achieve synchronous communication of speed and position between the two vehicles based on the Time-Sensitive Networking (TSN) protocol, dynamically adjust the relative safety distance during the swap; acquire the relative pose information of the two vehicles; based on the sensor fusion results, prevent the battery swapping operation when the relative position deviation is >0.3 meters or the speed difference is >2 km / h, and adjust the speed of both vehicles to ≤0.5 km / h through V2X communication; after establishing the docking connection, compensate for position and angle deviations based on real-time point cloud data; automatically open the battery swapping compartment door after successful docking; push out the depleted battery of the first vehicle and pull in the fully charged battery of the second vehicle; The new battery is secured within 200 milliseconds; if the sensor detects a collision risk, the flexible docking device is initiated to separate within 100 milliseconds. Based on the information acquired by the dynamic sensing system, at least one of PID control, adaptive control, and predictive control algorithms is used to adjust the motion of the multi-degree-of-freedom compensation mechanism in real time to achieve precise docking and locking. Active compensation is performed based on vehicle position, speed difference, and radius of curvature information, enabling the device to complete the battery swapping task even when the vehicle is in a curved state.

8. The battery swapping device according to claim 1, characterized in that, The control system establishes a data connection between the two workshops via communication methods such as Bluetooth, NFC, ultrasound, Wi-Fi, CAN bus, or V2X, and executes battery swapping command communication. Based on the relative position information obtained from the communication module, it controls the battery swapping arm to align and complete the battery exchange. Practical components include infrared, laser ranging, visual recognition devices, and inertial sensors for precise positioning and attitude alignment between the two vehicles. Data from lidar, millimeter-wave radar, cameras, and accelerometers are fused for position deviation correction. Various status information and control commands during the battery swapping process are standardized and encoded / decoded to achieve multi-protocol compatibility and real-time synchronization. The system automatically identifies the current battery swapping stage, position error, and attitude deviation, and performs trajectory planning and flexible control. It controls the battery swapping mechanism to perform swapping actions, including battery unlocking, battery ejection, battery insertion, battery locking, and power detection. It determines the target battery's identity, compatibility, power level, and authorization status to ensure the battery's legality and compliance. Upload battery swapping records, operation logs, fault information, and authorization verification results.

9. The battery swapping device according to claim 1, characterized in that, The battery swapping methods described include, but are not limited to: robotic arm type, roller / track type, battery "shuttle" type, external cantilever transmission type, back-to-back plug-in type, rotary turntable type, magnetic track sliding type, single battery transfer type (first take-up, then release), segmented modular assembly battery swapping, roller transmission type battery swapping, railcar / trolley transport type battery swapping, robot collaborative battery swapping, hydraulic / pneumatic push-pull type battery swapping, and spiral propulsion type battery swapping. Optionally, it may also include: magnetic levitation type battery swapping, push-pull drawer type, and guide rail type.

10. A car, characterized in that, The battery swapping device includes any one of claims 1 to 9. Optional accessories include the following: a. A mobile battery swapping service platform, such as a modified truck equipped with multiple batteries and multiple battery swapping devices, to provide battery swapping services to passenger vehicles. b. An external battery swapping device, such as a cabinet-type battery swapping station, can replace the battery of the vehicle battery swapping device. c. A battery installed inside the battery swapping device or integrated into a part of the vehicle's external cover.

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