Battery replacement system

Abstract

To provide a battery replacement system capable of efficiently replacing batteries.SOLUTION: A battery replacement system comprises a vehicle and a battery replacement device. The vehicle is provided with: a battery storage section which stores a battery and has an opening facing a first direction; and a reflection section located adjacent to the battery storage section in a second direction, which is perpendicular to the first direction. The battery replacement device is provided with: an inserting and removing mechanism which inserts or removes the battery in a third direction with respect to the vehicle and is movable in the third direction and a fourth direction perpendicular to the third direction; a light receiving and emitting unit which is arranged next to the inserting and removing mechanism in the fourth direction, emits a laser beam in the third direction and can detect the laser beam reflected from the reflection section; and a control unit to control an operation of the inserting and removing mechanism. When the vehicle approaches the battery replacement device so that the first direction and the third direction align, the control unit moves the inserting and removing mechanism in the fourth direction until the light receiving and emitting device detects the laser beam reflected from the reflection section.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a battery exchange system. [Background technology]

[0002] Patent Document 1 discloses a battery exchange device for exchanging a battery in an electric vehicle equipped with a detachable battery. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 7215629 Summary of the Invention [Problem to be solved by the invention]

[0004] Depending on the position or orientation of the vehicle, it may not be possible to insert or remove the battery, and it may be necessary to repeatedly realign the vehicle and the battery device, resulting in a problem of poor efficiency in battery replacement.

[0005] The present disclosure has been made to solve the above-mentioned problems, and has an object to provide a battery exchange system that can perform battery exchange efficiently. [Means for solving the problem]

[0006] In order to solve the above problem, a battery exchange system according to the present disclosure includes a vehicle equipped with a battery and movable in a horizontal direction, and a battery exchange device for exchanging the battery of the vehicle, the vehicle including a battery storage section in which the battery is stored and which is open in a first direction among horizontal directions, and a reflecting section provided adjacent to the battery storage section in a second direction perpendicular to the first direction among horizontal directions, the battery exchange device inserts and removes the battery with respect to the vehicle in a third direction among horizontal directions, and has an extractor movable in the third direction and in a fourth direction perpendicular to the third direction among horizontal directions. the control device is configured to move the insertion / removal mechanism in the fourth direction with respect to the vehicle, the control device being ... Effect of the Invention

[0007] According to the battery exchange system of the present disclosure, battery exchange can be performed efficiently. [Brief description of the drawings]

[0008] [Figure 1] FIG. 2 is a side view of a battery exchange system according to an embodiment of the present disclosure. [Diagram 2] 1 is a schematic configuration diagram of a battery exchange system according to an embodiment of the present disclosure, viewed from above. [Diagram 3] FIG. 3 is an enlarged view of part III in FIG. 2. [Figure 4] 13A to 13C are diagrams illustrating the operation of the insertion / removal mechanism according to an embodiment of the present disclosure when removing a battery. [Diagram 5]13A to 13C are diagrams illustrating the operation of the insertion / removal mechanism according to an embodiment of the present disclosure when removing a battery. [Figure 6] 13A to 13C are diagrams illustrating the operation of the insertion / removal mechanism according to an embodiment of the present disclosure when removing a battery. [Figure 7] 11 is a flow diagram illustrating a procedure for aligning an insertion / removal mechanism according to an embodiment of the present disclosure. [Figure 8] 13A to 13C are diagrams illustrating a procedure for aligning an insertion / removal mechanism according to an embodiment of the present disclosure. [Figure 9] 13A to 13C are diagrams illustrating a procedure for aligning an insertion / removal mechanism according to an embodiment of the present disclosure. [Figure 10] 13A to 13C are diagrams illustrating a procedure for aligning an insertion / removal mechanism according to an embodiment of the present disclosure. [Figure 11] 13A to 13C are diagrams illustrating a procedure for aligning an insertion / removal mechanism according to an embodiment of the present disclosure. [Figure 12] 4 is a flow diagram illustrating a procedure for adjusting a vehicle orientation according to an embodiment of the present disclosure. [Figure 13] 11A to 11C are diagrams illustrating a procedure for adjusting the orientation of a vehicle according to an embodiment of the present disclosure. [Figure 14] 4 is a flow diagram illustrating a procedure for adjusting a position of a vehicle according to an embodiment of the present disclosure. [Figure 15] 11A to 11C are diagrams illustrating a procedure for adjusting the position of a vehicle according to an embodiment of the present disclosure. [Figure 16] 11A to 11C are diagrams illustrating a procedure for adjusting the position of a vehicle according to an embodiment of the present disclosure. [Figure 17] 11A to 11C are diagrams illustrating a procedure for adjusting the position of a vehicle according to an embodiment of the present disclosure. [Figure 18] FIG. 2 is a hardware configuration diagram according to an embodiment of the present disclosure. [Figure 19] 13A and 13B are diagrams illustrating a hand according to another embodiment of the present disclosure. [Figure 20] 13A and 13B are diagrams illustrating a hand according to another embodiment of the present disclosure. [Figure 21] 13A and 13B are diagrams illustrating a hand according to another embodiment of the present disclosure. [Figure 22] 13A and 13B are diagrams illustrating a hand according to another embodiment of the present disclosure. [Figure 23] 13A and 13B are diagrams illustrating a sensor unit according to another embodiment of the present disclosure. [Figure 24] 13A and 13B are diagrams illustrating a sensor unit according to another embodiment of the present disclosure. [Diagram 25] FIG. 13 is a diagram illustrating a battery exchange system according to another embodiment of the present disclosure. [Figure 26] FIG. 13 is a diagram illustrating a battery exchange system according to another embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] First Embodiment (Battery exchange system) Hereinafter, a battery exchange system 1 according to an embodiment of the present disclosure will be described with reference to FIGS. As shown in FIGS. 1 and 2, the battery exchange system 1 includes a vehicle 2, a battery exchange device 4, a sensor unit 5, and a server 6.

[0010] (vehicle) The vehicle 2 is equipped with a battery 3. The vehicle 2 is capable of moving horizontally on a floor surface F by using the power of the battery 3. This embodiment will be described by taking as an example a case in which the vehicle 2 is a forklift. In the following, with respect to vehicle 2, the horizontal direction perpendicular to the up-down direction Dv that coincides with the fore-and-aft direction of vehicle 2 is referred to as the first direction D1, and the horizontal direction perpendicular to the first direction D1 that coincides with the width direction of vehicle 2 is referred to as the second direction D2. The vehicle 2 includes a body 20, wheels 25, a mast 26, a loading device 30, and a reflecting portion 40.

[0011] (Body) The vehicle body 20 has a vehicle body main body 21, a straddle leg 22, and a battery storage section 23.

[0012] (Vehicle body) The vehicle body 21 extends in the vertical direction Dv. A rear surface 21a of the vehicle body 21 is curved in an arc shape so as to protrude rearward when viewed from the vertical direction Dv.

[0013] (Straddle leg) The two straddle legs 22 are provided facing each other in the second direction D2 and forward in the first direction D1 from the vehicle body 21. The straddle legs 22 extend from the front surface of the vehicle body 21 in the first direction D1.

[0014] (Battery storage section) The battery storage section 23 is formed in the lower part of the vehicle body 21. Two battery storage sections 23 are provided in total, one at the rear of each straddle leg 22. That is, two battery storage sections 23 are provided facing each other in the second direction D2. The two battery storage sections 23 are formed symmetrically in the second direction D2. The battery storage section 23 is formed to extend in the first direction D1 and opens from the rear surface 21a of the vehicle body 21 to the rear side in the first direction D1. The battery storage section 23 also opens to the outside in the second direction D2. In the following, unless otherwise specified, the opening of the battery storage section 23 means an opening facing the rear side in the first direction D1. The battery storage section 23 is stored so as to be inserted from the rear side in the first direction D1.

[0015] (wheel) The wheels 25 are attached to the lower part of the vehicle body 20. The wheels 25 come into contact with the floor surface F and support the vehicle body 20 from below. The wheels 25 roll on the floor surface F, allowing the vehicle 2 to move horizontally on the floor surface F. The wheels 25 include rear wheels 25a and front wheels 25b. The rear wheels 25a are attached to the lower part of the vehicle body 21. The front wheels 25b are attached to the front ends of the straddle legs 22, one each.

[0016] (mast) The masts 26 are attached to the front surface of the vehicle body 21. The masts 26 extend in the vertical direction Dv, and two masts 26 are provided facing each other in the second direction D2 between the straddle legs 22. The two masts 26 are movable forward and backward in the first direction D1 along the straddle legs 22.

[0017] (Cargo handling equipment) The loading device 30 is provided in front of the mast 26. The loading device 30 has a lift bracket 31 and a fork 32.

[0018] (Lift bracket) The lift bracket 31 is attached so as to bridge the two masts 26 in the second direction D2. The lift bracket 31 is capable of moving along the masts 26 in the up and down direction Dv.

[0019] (fork) The forks 32 are attached to the front surface of the lift bracket 31. The forks 32 are formed in an L-shape when viewed from the second direction D2, and two forks 32 are provided facing each other in the second direction D2. The forks 32 have a fork base 32a and fork claws 32b. The fork base 32a is fixed to the front surface of the lift bracket 31. The fork claws 32b extend forward in the first direction D1 from the lower end of the fork base 32a.

[0020] When the vehicle 2 transports cargo (not shown), the fork prongs 32b are inserted into holes in the cargo. In this state, when the cargo handling device 30 rises along the mast 26, the cargo is lifted up. By moving in this state, the vehicle 2 can transport the cargo to the destination.

[0021] (Reflector) Two reflecting units 40 are provided facing each other in the second direction D2 on the rear surface 21a of the vehicle body 21. The two reflecting units 40 are attached to the two battery housing units 23 so as to be sandwiched in the second direction D2. The two reflecting units 40 are provided symmetrically in the second direction D2. In the following, an embodiment will be described in which the reflecting portion 40, the battery accommodating portion 23, and the battery 3 accommodated in the battery accommodating portion 23 are assumed to correspond to a virtual central axis that passes through the center of the second direction D2 of the vehicle 2 and extends in the first direction D1. Each reflecting portion 40 is provided adjacent to the corresponding battery housing portion 23 in the second direction D2. As shown in FIG. 3, the reflecting section 40 includes a reflecting plate 41 and a cover 42.

[0022] (reflector) The reflector 41 can reflect the laser light LA1 emitted from the light receiving and emitting device 9 described later. The reflector 41 is formed of, for example, a resin material such as a fluorescent reflector. The material of the reflector 41 can be appropriately selected.

[0023] (cover) The cover 42 covers the reflector 41 from the outside in the first direction D1. A slit 42a penetrating the cover 42 in the first direction D1 is formed in the cover 42. The slit 42a extends in the up-down direction Dv.

[0024] Here, a virtual central axis line that passes through the center in the second direction D2 of the battery 3 accommodated in the battery accommodation section 23 and extends in the first direction D1 is defined as a first central axis line C1. Each reflecting section 40 is disposed at a position where a separation distance L1 in the second direction D2 between the slit 42a and the first central axis line C1 of the battery 3 corresponding to that reflecting section 40 is equal.

[0025] (Battery exchange device) The battery exchange device 4 exchanges the battery 3 of the vehicle 2 parked in front with a charged battery 3. In the following, with regard to the battery exchange device 4, the horizontal direction that intersects the up-down direction Dv and coincides with the front-to-back direction of the battery exchange device 4 will be referred to as the third direction D3, and the horizontal direction that is perpendicular to the third direction D3 and coincides with the width direction of the battery exchange device 4 will be referred to as the fourth direction D4.

[0026] When the battery exchange device 4 exchanges the battery 3 of the vehicle 2, the vehicle 2 approaches the battery exchange device 4 so that the first direction D1 and the third direction D3 are aligned and so that the second direction D2 and the fourth direction D4 are aligned, and is parked with the battery storage unit 23 and the reflecting unit 40 facing the battery exchange device 4. When exchanging the battery 3, it is preferable for the first direction D1 and the third direction D3 to coincide, and the second direction D2 and the fourth direction D4 to coincide, in order to smoothly exchange the battery 3. Note that the first direction D1 may be slightly inclined with respect to the third direction D3, and the second direction D2 may be slightly inclined with respect to the fourth direction D4. The battery exchange device 4 includes a casing 7, a slot 8, an insertion / removal mechanism 50, a light receiving / emitting device 9, and a control device 10.

[0027] (Casing) The casing 7 is placed on the floor surface F. The casing 7 extends in the up-down direction Dv. In this embodiment, the casing 7 is formed in a rectangular parallelepiped shape. The shape of the casing 7 is not limited to a rectangular parallelepiped shape. The shape of the casing 7 can be changed as appropriate. The dimension of the casing 7 in the fourth direction D4 is set to be larger than the dimension of the vehicle 2 in the second direction D2. The casing 7 accommodates a slot 8, an insertion / removal mechanism 50, a light receiving / emitting device 9, a control device 10, and a sensor unit 5, which will be described later. An opening 7a is formed on the front surface of the casing 7. Two openings 7a are formed in the lower part of the casing 7 facing each other in the fourth direction D4. The two openings 7a are formed symmetrically in the fourth direction D4. In the following, the embodiment will be described assuming that the opening 7a, the insertion / removal mechanism 50 described later, the light-receiving device 9, the reflecting section 40, the battery storage section 23, and the battery 3 stored in the battery storage section 23 correspond to a virtual central axis that passes through the center of the fourth direction D4 of the battery exchange device 4 and extends in the third direction D3, and are located on the same side in the fourth direction D4.

[0028] (slot) Two slots 8 are provided in the casing 7 facing each other in the fourth direction D4. The two slots 8 are provided symmetrically in the fourth direction D4. Each slot 8 extends in the up-down direction Dv. The slots 8 are designed to be capable of accommodating a plurality of batteries 3. The batteries 3 can be charged in the slots 8.

[0029] (Insertion / Removal Mechanism) The insertion / removal mechanism 50 inserts and removes the battery 3 in the third direction D3 with respect to the vehicle 2 parked in front of the battery exchange device 4 in the third direction D3. The insertion / removal mechanism 50 is movable in the third direction D3 and the fourth direction D4. The insertion / removal mechanism 50 includes a rail 51, a hand 52, a pad 53, and an attachment portion 54.

[0030] (rail) The rail 51 is movable in the third direction D3 and the fourth direction D4 upon receiving a command from the control device 10 described below. The rail 51 has a first rail portion 51a and a second rail portion 51b. The first rail portion 51a extends in the third direction D3. The second rail portion 51b extends from a front end of the first rail portion 51a to the front side in the third direction D3. The second rail portion 51b is provided so as to be movable in and out of the first rail portion 51a in the third direction D3.

[0031] (hand) The hand 52 is placed on a rail 51. The hand 52 can move on the rail 51 in a third direction D3 upon receiving a command from a control device 10 described later. The hand 52 grips the battery 3. The hand 52 has a hand base 52a, a magnetic catch 52b, and a flexible joint 52c.

[0032] The hand base 52a is attached so as to be movable on the rail 51 in the third direction D3. The magnetic catch 52b is provided at the front end of the hand base 52a. The magnetic catch 52b attracts a metal part of the battery 3 by magnetic force. In this embodiment, the battery 3 has, for example, an iron plate 11 at its rear end. The magnetic catch 52b grips the battery 3 by magnetically attracting the iron plate 11. The flexible joint 52c connects the hand base 52a and the magnetic catch 52b. The flexible joint 52c is a member that is easily deformed in the vertical direction Dv, the third direction D3, and the fourth direction D4. Even if the battery 3 is slightly tilted with respect to the hand base 52a, the flexible joint 52c can deform to bring the magnetic catch 52b into contact with the rear surface of the battery 3 from the front in the first direction D1. This allows the magnetic catch 52b to grip the battery 3 regardless of the tilt of the battery 3.

[0033] (pad) The pad 53 is provided at the front end of the first rail portion 51a. The pad 53 is made of a material that is lower in hardness than the vehicle body 20, and prevents the vehicle body 20 from being damaged when the pad 53 comes into contact with the vehicle body 20. In addition, a protrusion 53a that protrudes rearward is provided on the rear surface 21a of the pad 53.

[0034] (Mounting part) The attachment portion 54 is provided on the second rail portion 51b. The attachment portion 54 protrudes in the fourth direction D4 from a side surface of the second rail portion 51b on the inner side in the fourth direction D4.

[0035] (Light receiving device) The light receiver / transmitter 9 is attached to the mounting portion 54 of each insertion / removal mechanism 50. Therefore, the light receiver / transmitter 9 is attached to the insertion / removal mechanism 50 so as to be adjacent to the insertion / removal mechanism 50 in the fourth direction D4 and to be movable integrally with the insertion / removal mechanism 50. Two light receiver / transmitter 9 are provided facing each other in the fourth direction D4. The two light receiver / transmitter 9 are provided symmetrically in the fourth direction D4. The light receiver / transmitter 9 irradiates the laser light LA1 in the third direction D3 and is capable of detecting the laser light LA1 reflected by the reflecting portion 40. In the following, the trajectory of the laser light LA1 of the light receiver / transmitter 9 is referred to as the optical axis O. The optical axis O extends in a straight line in the third direction D3.

[0036] Here, a virtual central axis line that passes through the center of the hand 52 in the fourth direction D4 and extends in the third direction D3 is defined as a second central axis line C2. Each light receiving / emitting device 9 is disposed at a position where a separation distance L2 in the fourth direction D4 between the optical axis O and the second central axis line C2 of the hand 52 corresponding to that light receiving / emitting device 9 is equal. Furthermore, the separation distance L2 in the fourth direction D4 between the optical axis O and the second central axis line C2 is set to be approximately the same as the separation distance L1 in the second direction D2 between the slit 42a and the first central axis line C1.

[0037] (Control device) The control device 10 is provided inside the casing 7. The control device 10 controls the operations of various devices constituting the battery exchange device 4, such as the insertion / removal mechanism 50 and the light receiving / emitting device 9. The control device 10 moves the insertion / removal mechanism 50 in the fourth direction D4 until the light receiving / emitting device 9 detects the laser light LA1 reflected by the reflecting portion 40.

[0038] (Sensor section) The sensor unit 5 is attached to the front end of the second rail portion 51b. The sensor unit 5 detects the completion of alignment of the insertion / removal mechanism 50. The sensor unit 5 of this embodiment is a proximity sensor that irradiates the protrusion 53a of the pad 53 with laser light LA2 to detect the approach or contact between the pad 53 and the first rail portion 51a.

[0039] (server) The server 6 is placed outside the casing 7. The server 6 is provided so as to be able to communicate with the vehicle 2 and the battery exchange apparatus 4, and is capable of controlling the position and orientation of the vehicle 2.

[0040] For example, when the light emitter / receiver 9 detects laser light LA1 reflected by the reflector 40, the server 6 calculates the angle θ between the second direction D2 and the fourth direction D4 based on the separation distance L4 between the two light emitters / receivers 9 in the fourth direction D4 relative to the separation distance L3 between the two reflectors 40 in the second direction D2 (see Figure 13). In addition, when the control device 10 moves the insertion / removal mechanism 50 in the fourth direction D4, if the light receiver / transmitter 9 does not detect the laser light LA1 reflected by the reflecting unit 40, the server 6 returns the vehicle 2 to a position where the light receiver / transmitter 9 can detect the laser light LA1 reflected by the reflecting unit 40.

[0041] (Battery replacement procedure) Next, the procedure for battery replacement will be described. During battery replacement, each insertion / removal mechanism 50 operates independently. First, the insertion / removal mechanism 50 is moved to a position facing the opening 7a of the casing 7 in the third direction D3, and the rail 51 is pushed forward in the third direction D3 from the opening 7a. Then, when the pad 53 contacts the rear surface 21a of the vehicle 2, the second rail portion 51b is gradually accommodated in the first rail portion 51a and shortened, and as shown in FIG. 4, the first rail portion 51a approaches the pad 53. Next, as shown in FIG. 5, the hand 52 moves forward in the third direction D3 and grips the rear portion of the battery 3 with the magnetic catch 52b. Then, as shown in FIG. 6, the hand 52 pulls out the battery 3 rearward in the third direction D3. After that, the insertion / removal mechanism 50 returns to the inside of the casing 7, and the pulled-out battery 3 is accommodated in the slot 8. Charging of the battery 3 accommodated in the slot 8 begins.

[0042] Thereafter, the charged battery 3 accommodated in the slot 8 is attached to the magnetic catch 52b. Then, the charged battery 3 is inserted into the battery accommodation portion 23 in the reverse order to the removal of the battery 3 described above. The battery replacement is carried out in the above-described manner.

[0043] (Alignment procedure) In order to perform the above-mentioned battery replacement smoothly and efficiently, it is necessary to align the insertion / removal mechanism 50 with the battery receptacle 23. The procedure for aligning the insertion / removal mechanism 50 will be described below with reference to the flow in Fig. 7. In the following, the procedure for aligning the insertion / removal mechanism 50 will be described with reference to an example in which the vehicle body 20 is parked tilted with respect to the battery exchange device 4 and the first direction D1 is slightly tilted with respect to the third direction D3 as shown in Fig. 8. In aligning the insertion / removal mechanisms 50, each insertion / removal mechanism 50 operates independently.

[0044] First, as shown in FIG. 8, the control device 10 places the insertion / removal mechanism 50 in an initial position (step S11). In the initial position, the second central axis C2 of the insertion / removal mechanism 50 is positioned outside the first central axis C1 of the corresponding battery 3 in the fourth direction D4. Then, the light receiving / emitting device 9 is operated to irradiate the laser light LA1 forward in the third direction D3. After step S11, as shown in FIG. 9, the control device 10 moves the insertion / removal mechanism 50 inward in the fourth direction D4 until the light receiving / emitting device 9 detects the laser light LA1 reflected by the reflecting portion 40 (step S12). When the insertion / removal mechanism 50 is moved in the fourth direction D4, the optical axis O of the light receiving / emitting device 9 also moves in the fourth direction D4. When the optical axis O overlaps with the slit 42a, the laser light LA1 irradiated from the light receiving / emitting device 9 is reflected by the reflector 41 toward the light receiving / emitting device 9. When the light receiving / emitting device 9 detects the laser light LA1 reflected by the reflecting portion 40, the control device 10 stops the movement of the insertion / removal mechanism 50 in the fourth direction D4.

[0045] Thereafter, the control device 10 moves the insertion / removal mechanism 50 forward in the third direction D3 (step S13). In step S13, as shown in FIG. 10, the pad 53 comes into contact with the vehicle body 20, and the second rail portion 51b is accommodated in the first rail portion 51a and shortened. Then, the pad 53 gradually approaches the sensor portion 5.

[0046] If, during step S13, the vehicle 2 moves or the like and the relative position of the reflector 40 with respect to the light receiving and emitting device 9 changes, causing the light receiving and emitting device 9 to no longer detect the laser light LA1, step S12 may be repeated.

[0047] Thereafter, as shown in FIG. 11, the sensor unit 5 detects the approach or contact of the pad 53, thereby detecting the completion of the alignment of the insertion / removal mechanism 50 (step S14). The above procedure completes the alignment of the insertion / extraction mechanism 50. After the alignment of the insertion / extraction mechanism 50, the battery exchange operation described above is carried out.

[0048] However, depending on the orientation of the vehicle body 20 and the parking position, it may not be possible to replace the battery or align the insertion / removal mechanism 50. As a countermeasure against this, the server 6 is provided with a function for adjusting the direction and position of the vehicle 2 before aligning the insertion / removal mechanism 50. The procedure for adjusting the orientation and position of the vehicle 2 will be described below.

[0049] (Vehicle orientation adjustment) First, the procedure for adjusting the orientation of the vehicle 2 will be described with reference to the flow of FIG. When the slit 42a and the optical axis O coincide with each other, the control device 10 calculates the separation distance L4 between the two light receiving and emitting devices 9 in the fourth direction D4 (see FIG. 13) (step S21). After step S21, the server 6 calculates the angle θ between the second direction D2 and the fourth direction D4 based on the separation distance L3 between the two slits 42a in the second direction D2 and the separation distance L4 between the two light receiving and transmitting devices 9 calculated in step S21 (step S22). The separation distance L3 between the two slits 42a in the second direction D2 to be used in step S22 is input in advance to the server 6 or the vehicle 2. The angle calculated in step S22 coincides with the angle θ between the first direction D1 and the third direction D3, that is, the inclination angle of the vehicle 2 with respect to the battery exchange apparatus 4 (yaw angle).

[0050] Next, the server 6 rotates the vehicle 2 around the imaginary central axis extending in the vertical direction Dv by the angle calculated in step S22, and adjusts the orientation of the vehicle 2 so that the second direction D2 and the fourth direction D4 coincide with each other (step S23). By step S23, the first direction D1 and the third direction D3 coincide with each other. This allows the first central axis C1 of the battery 3 to coincide with the second central axis C2 of the hand 52 during battery replacement, making it possible to smoothly insert and remove the battery 3. Through the above steps, the orientation adjustment of the vehicle 2 is completed.

[0051] (Vehicle position adjustment) Next, the procedure for adjusting the position of the vehicle 2 will be described with reference to the flow of FIG. 15, when one slit 42a (the slit 42a on the right side of the page in the illustrated example) is located inside the opening 7a of the casing 7 in the fourth direction D4, the optical axis O of the light receiving / emitting device 9 cannot be aligned with the slit 42a even if the insertion / removal mechanism 50 is moved inside in the fourth direction D4. In this case, it is necessary to adjust the position of the vehicle 2 in the fourth direction D4 and return the vehicle 2 to a position where the battery can be replaced. The procedure for adjusting the position of the vehicle 2 to return the vehicle 2 to a position where the battery can be replaced will be described below. In adjusting the position of the vehicle 2, each insertion / removal mechanism 50 operates independently.

[0052] First, as shown in Fig. 15, the server 6 acquires a signal that the vehicle 2 has stopped in front of the battery exchange device 4 (step S31). After step S31, similar to the alignment of the insertion / removal mechanism 50, the control device 10 places the insertion / removal mechanism 50 in an initial position (step S32). Next, the control device 10 moves the insertion / removal mechanism 50 to the inside in the fourth direction D4 (step S33). In step S33, the light receiving / emitting device 9 is operated to irradiate the laser light LA1 forward in the third direction D3.

[0053] At this time, the control device 10 judges whether all the light receivers and emitters 9 detect the laser light LA1 (step S34). If all the light receivers and emitters 9 detect the laser light LA1 (step S34; YES), there is no need to perform the return operation of the vehicle 2, and the position adjustment of the vehicle 2 is terminated. On the other hand, for example, as shown in FIG. 16, if the laser light LA1 is blocked by the casing 7 from one (right side of the drawing) light receiver and emitter 9 and all the light receivers and emitters 9 do not detect the laser (step S34; NO), the server 6 sends a command to the vehicle 2 to return the vehicle 2 to a position where the light receiver and emitter 9 can detect the laser light LA1 reflected by the reflector 40 (step S35). In step S35, for example, as shown in FIG. 16, in a state where each insertion / removal mechanism 50 is stopped, the server 6 moves the vehicle 2 to the right side of the drawing in the fourth direction D4 until the light receiver and emitter 9 on the right side of the drawing detects the laser light LA1 reflected by the reflector 40. As a result, all of the slits 42a move to the front of the opening 7a of the casing 7, as shown in FIG. 17, and all of the light receivers and emitters 9 become able to detect the laser light LA1 reflected by the reflector 40. Through the above procedures, the position adjustment of the vehicle 2 is completed. Even if the vehicle 2 is parked significantly shifted from the battery exchange device 4, by adjusting the position of the vehicle 2, it is possible to move on to the position adjustment of the insertion / removal mechanism 50.

[0054] If necessary, the orientation adjustment and the position adjustment of the vehicle 2 described above are performed, and then the alignment of the insertion / removal mechanism 50 is performed. By adjusting the orientation of the vehicle 2 and adjusting the position of the vehicle body 20 in advance, the alignment of the insertion / removal mechanism 50 and the battery replacement can be performed smoothly.

[0055] (Action and effect) According to this embodiment, the following advantageous effects can be obtained.

[0056] The battery exchange system 1 of the present embodiment includes a vehicle 2 and a battery exchange device 4. The vehicle 2 includes a battery storage section 23 that stores a battery 3 and is open in a first direction D1, and a reflecting section 40 that is provided adjacent to the battery storage section 23 in a second direction D2. The battery exchange device 4 includes an insertion / removal mechanism 50 that inserts and removes the battery 3 in a third direction D3 with respect to the vehicle 2 and is movable in the third direction D3 and a fourth direction D4, a light receiving / emitting device 9 that is attached adjacent to the insertion / removal mechanism 50 in the fourth direction D4 and is attached to be movable integrally with the insertion / removal mechanism 50, the light receiving / emitting device 9 that irradiates a laser light LA1 in the third direction D3 and is capable of detecting the laser light LA1 reflected by the reflecting section 40, and a control device 10 that controls the operation of the insertion / removal mechanism 50. The control device 10 approaches the battery exchange device 4 so as to be aligned with the first direction D1 and the third direction D3, and moves the insertion / removal mechanism 50 in the fourth direction D4 toward the vehicle 2 with the battery storage section 23 and the reflecting section 40 facing the battery exchange device 4 until the light receiver / transmitter 9 detects the laser light LA1 reflected by the reflecting section 40.

[0057] As a result, when the light receiving / emitting device 9 detects the laser light LA1 reflected by the reflecting portion 40, the insertion / removal mechanism 50 and the battery 3 are aligned in the third direction D3. In this state, simply by moving the insertion / removal mechanism 50 in the third direction D3, the insertion / removal mechanism 50 can be positioned to facilitate battery replacement. Therefore, battery replacement can be performed efficiently. Furthermore, the battery exchange system 1 can be equipped with a mechanism for aligning the insertion / removal mechanism 50 with a simple configuration that only includes the reflector 40 and the light receiving / emitting device 9. Therefore, the number of devices mounted on the battery exchange system 1 can be reduced.

[0058] In this embodiment, the reflecting unit 40 has a reflecting plate 41 capable of reflecting laser light LA1, and a cover 42 that covers the reflecting plate 41 from the outside in the first direction D1 and has a slit 42a formed therein that penetrates in the first direction D1.

[0059] This allows the reflecting portion 40 to be manufactured with a simple configuration of simply covering the reflecting plate 41 from the outside with the cover 42 and forming the slits 42a in the cover 42. By simply forming the slits 42a, it is possible to provide the reflecting portion 40 with the directivity of reflecting the laser light LA1 only in the incident direction.

[0060] In this embodiment, the battery exchange system 1 further includes a server 6 capable of controlling the position and orientation of the vehicle 2.

[0061] This makes it possible to control the position and orientation of the vehicle 2 and adjust it to a state that facilitates battery replacement, thereby making it possible to more efficiently perform battery replacement.

[0062] In this embodiment, two battery storage sections 23 are provided facing each other in the second direction D2. Two reflectors 40 are provided facing each other in the second direction D2. Two insertion / removal mechanisms 50 are provided facing each other in the fourth direction D4. Two light receivers / emitters 9 are provided facing each other in the fourth direction D4. When the light receivers / emitters 9 detect the laser light LA1 reflected by the reflector 40, the server 6 calculates the angle θ between the second direction D2 and the fourth direction D4 based on the separation distance L4 between the two light receivers / emitters 9 in the fourth direction D4 relative to the separation distance L3 between the two reflectors 40 in the second direction D2.

[0063] For example, when the vehicle 2 is parked at a large inclination relative to the battery exchange apparatus 4, the second direction is inclined relative to the fourth direction. In this embodiment, the inclination angle (yaw angle) of the vehicle relative to the battery exchange apparatus 4 can be detected by calculating the angle θ between the second direction D2 and the fourth direction D4. By rotating the vehicle 2 by the detected inclination angle of the vehicle 2 to match the second direction D2 and the fourth direction D4, the orientation of the vehicle 2 can be adjusted to an orientation that facilitates battery replacement.

[0064] In this embodiment, when the control device 10 moves the insertion / removal mechanism 50 in the fourth direction D4, if the light receiver / transmitter 9 does not detect the laser light LA1 reflected by the reflecting unit 40, the server 6 returns the vehicle 2 to a position where the light receiver / transmitter 9 can detect the laser light LA1 reflected by the reflecting unit 40.

[0065] As a result, for example, when the vehicle 2 stops at a position significantly shifted in the fourth direction D4 with respect to the battery exchange machine 4 and the reflecting unit 40 is unable to reflect the laser light LA1, the server 6 can detect the state. Then, the server 6 can return the vehicle 2 to a position where the reflecting unit 40 can reflect the laser light LA1.

[0066] In this embodiment, the insertion / removal mechanism 50 has a hand 52 that grips the battery 3. The hand 52 has a magnetic catch 52b that attracts the battery 3 by magnetic force.

[0067] The hand 52 magnetically attracts and grips the iron plate 11 of the battery 3. This allows the hand 52 to strongly grip the battery 3. Therefore, the insertion / extraction mechanism 50 can stably perform battery replacement.

[0068] (Hardware configuration) The control device 10 and the server 6 of the above-mentioned embodiments are implemented in a computer 1100 as shown in Fig. 18. Fig. 18 is an example of a schematic block diagram showing the configuration of the computer 1100 in which the control device 10 and the server 6 according to each embodiment are implemented. The computer 1100 includes a processor 1110, a main memory 1120, a storage 1130, and an interface 1140.

[0069] The operation of each functional unit of the control device 10 and the server 6 is stored in the form of a program in the storage 1130. The processor 1110 reads the program from the storage 1130, loads it in the main memory 1120, and executes the above-mentioned processing in accordance with the program. The processor 1110 also secures a storage area in the main memory 1120 in accordance with the program.

[0070] The program may be for realizing a part of the functions to be performed by the computer 1100. For example, the program may be for realizing the functions by combining with other programs already stored in the storage 1130 or by combining with other programs implemented in other devices. The computer 1100 may also include a custom LSI (Large Scale Integrated Circuit) such as a PLD (Programmable Logic Device) in addition to or instead of the above configuration. Examples of PLDs include PAL (Programmable Array Logic), GAL (Generic Array Logic), CPLD (Complex Programmable Logic Device), and FPGA (Field Programmable Gate Array). In this case, some or all of the functions to be realized by the processor 1110 may be realized by the integrated circuit.

[0071] Examples of storage 1130 include a magnetic disk, a magneto-optical disk, and a semiconductor memory. Storage 1130 may be an internal medium directly connected to the bus of computer 1100, or an external medium connected to computer 1100 via interface 1140 or a communication line. In addition, when this program is distributed to computer 1100 via a communication line, computer 1100 that receives the program may load the program in main memory 1120 and execute the above-mentioned processing. Storage 1130 may be a non-transitory tangible storage medium.

[0072] The program may be for realizing part of the above-mentioned functions. Furthermore, the program may be a so-called difference file (difference program) that realizes the above-mentioned functions in combination with other programs already stored in the storage 1130.

[0073] (Other embodiments) Although the embodiments of the present disclosure have been described in detail above with reference to the drawings, the specific configuration is not limited to this embodiment, and design changes and the like that do not depart from the gist of the present disclosure are also included. In the above embodiment, the vehicle 2 is a forklift, but the present invention is not limited to this. For example, the vehicle 2 may be an electric cart.

[0074] In the above embodiment, the alignment of the insertion / removal mechanism 50 has been described taking as an example a case where the first direction D1 of the vehicle 2 is slightly inclined with respect to the third direction D3 of the battery exchange device 4, but this is not limiting. Even if the first direction D1 of the vehicle body 20 completely coincides with the third direction D3 of the battery exchange device 4, the alignment of the insertion / removal mechanism 50 can be performed.

[0075] Also, as shown in FIG. 19, the hand 60 may grip the battery 3 by air pressure. The hand 60 has a suction cup 61 instead of the magnet catch 52b of the hand 52 described above. The suction cup 61 is connected to the hand base 52a by a flexible joint 52c. The suction cup 61 is formed in a bottomed cylindrical (bowl-shaped) shape that opens toward the front side in the third direction D3. The hand 60 sucks the battery 3 by air pressure by creating a negative pressure inside the suction cup 61 in a state in which the opening of the suction cup 61 is in close contact with the battery 3 from the rear side in the third direction D3. In addition, an acrylic plate 11A is provided at the end of the battery 3 on the rear side in the third direction D3. The acrylic plate 11A is formed in a flat plate shape. This acrylic plate 11A allows the suction cup 61 to be in close contact with the battery 3 without any gaps.

[0076] In this manner, in this embodiment, the hand 60 grips the battery 3 by air pressure. Therefore, the hand 60 can grip the battery 3 regardless of the material of the exterior of the battery 3.

[0077] Furthermore, as shown in FIGS. 20 to 22, the hand 70 may grip the battery 3 by using a hook structure that engages with the battery 3.

[0078] In this embodiment, the battery 3 has, for example, an engagement portion 11B at its rear end. The engagement portion 11B has an engagement base 12 and a protrusion 13. The engagement base 12 is provided at the end of the battery 3 on the rear side in the third direction D3. The protrusion 13 protrudes from the engagement base 12 to the rear side in the first direction D1. The protrusion 13 has an engagement groove 14 formed therein, which penetrates the protrusion 13 in the up-down direction Dv.

[0079] The hand 70 has a hand base 52a, an actuator 71, and a hook 72. The hook 72 is a member that can engage with the engagement groove 14 of the battery 3. The actuator 71 changes the hook 72 between a state in which it engages with the engagement groove 14 of the battery 3 and a state in which it is disengaged from the engagement groove 14. The configuration of the hand 70 will be described in detail below.

[0080] The actuator 71 is placed on the hand base 52a. The actuator 71 has an actuator base 73 and an expandable portion 74. The actuator base 73 is fixed to the hand base 52a. The expandable portion 74 extends from the actuator base 73 to the front side in the third direction D3. The expandable portion 74 is provided so as to be expandable and contractible in the third direction D3.

[0081] The hook 72 is formed in a V-shape protruding upward when viewed from the fourth direction D4. The rear end of the hook 72 is attached to the front end of the hand base 52a via a shaft 75. The shaft 75 extends in the fourth direction D4. The hook 72 is provided so as to be rotatable about the shaft 75. The bent portion 72a of the hook 72 is attached to the front end of the expandable portion 74 of the actuator 71.

[0082] When the hand 70 grasps the battery 3, first, as shown in Fig. 21, before the pad 53 comes into contact with the vehicle body 20, the expandable portion 74 of the actuator 71 contracts to pull the hook 72 rearward in the third direction D3. Then, the rail 51 is moved forward in the third direction D3, and after the pad 53 comes into contact with the vehicle body 20, as shown in Fig. 22, the expandable portion 74 of the actuator 71 extends and the hook 72 is inserted from above into the engagement groove 14 of the battery 3. In this manner, the hand 70 engages with the battery 3. In this state, the hand 70 can be moved rearward in the third direction D3 to pull the battery 3 out of the battery housing portion 23.

[0083] Thus, in this embodiment, the hand 70 can grip the battery 3 by engaging the hook with the engagement groove 14 of the battery 3. This allows the hand 70 to grip the battery 3 with a simple configuration, regardless of the material of the exterior of the battery 3.

[0084] 23, the sensor unit 5A may be a contact sensor having a plunger 5a. When the rail 51 approaches the vehicle body 20, the second rail portion 51b contracts in the third direction D3, and the tip of the first rail portion 51a approaches the pad 53. When the plunger 5a is pushed from the front side in the third direction D3 by the protrusion 53a of the pad 53, the sensor unit 5A detects the completion of the alignment of the insertion / removal mechanism 50. As shown in FIG. 24, the sensor unit 5B may be a proximity sensor attached to the vehicle body 20.

[0085] Furthermore, the number of insertion / removal mechanisms 50 mounted on the battery exchange device 4 can be changed as appropriate. For example, as shown in Fig. 25, a total of four insertion / removal mechanisms 50 may be provided lined up in the fourth direction D4. In the example of Fig. 25, two batteries 3 are accommodated in each battery storage section 23 lined up in the second direction D2. Two sets of two insertion / removal mechanisms 50 are provided adjacent to each other in the fourth direction D4 corresponding to the batteries 3. The two insertion / removal mechanisms 50 adjacent to each other forming one set operate together. By providing four insertion / removal mechanisms 50, the battery exchange device 4 can exchange four batteries 3 at once.

[0086] 26, only one insertion / removal mechanism 50 may be provided. In the example of FIG. 26, only one battery housing section 23 is provided in the vehicle 2, and only one battery 3 is housed in the battery housing section 23.

[0087] <Additional Notes> The battery exchange system 1 described in each embodiment can be understood, for example, as follows.

[0088] (1) A battery exchange system 1 according to a first aspect includes a vehicle 2 having a battery 3 mounted thereon and movable in a horizontal direction, and a battery exchange device 4 for exchanging the battery 3 of the vehicle 2. The vehicle 2 includes a battery storage section 23 in which the battery 3 is stored and which opens in a first direction D1 in the horizontal direction, and a reflecting section 40 provided adjacent to the battery storage section 23 in a second direction D2 perpendicular to the first direction D1 in the horizontal direction. The battery exchange device 4 includes an insertion / removal mechanism 50 for inserting and removing the battery 3 in a third direction D3 in the horizontal direction with respect to the vehicle 2 and movable in the third direction D3 and a fourth direction D4 perpendicular to the third direction D3 in the horizontal direction, and The device is equipped with a light-receiving device 9 that is attached to the insertion / removal mechanism 50 adjacent to the fourth direction D4 and capable of moving integrally with the insertion / removal mechanism 50, irradiates laser light LA1 in the third direction D3 and can detect the laser light LA1 reflected by the reflecting section 40, and a control device 10 that controls the operation of the insertion / removal mechanism 50, and the control device 10 approaches the battery exchange device 4 so that the first direction D1 and the third direction D3 are aligned, and moves the insertion / removal mechanism 50 in the fourth direction D4 toward the vehicle 2 with the battery storage section 23 and the reflecting section 40 facing the battery exchange device 4 until the light-receiving device 9 detects the laser light LA1 reflected by the reflecting section 40.

[0089] As a result, when the light receiving / emitting device 9 detects the laser light LA1 reflected by the reflecting portion 40, the insertion / removal mechanism 50 and the battery 3 are aligned in the third direction D3. In this state, by simply moving the insertion / removal mechanism 50 in the third direction D3, the insertion / removal mechanism 50 can be aligned to a position that facilitates battery replacement.

[0090] (2) A second aspect of the battery exchange system 1 is a battery exchange system 1 of the first aspect, and the reflecting unit 40 may have a reflector 41 capable of reflecting laser light LA1, and a cover 42 covering the reflector 41 from the outside of the first direction D1 and having a slit 42a formed therein that penetrates in the first direction D1.

[0091] This allows the reflector 41 to be manufactured with a simple structure in which the reflector 41 is covered from the outside with the cover 42 and the slits 42a are formed in the cover 42.

[0092] (3) The battery exchange system 1 of a third aspect may be the battery exchange system 1 of the first or second aspect, further including a server 6 capable of controlling the position and orientation of the vehicle 2.

[0093] This makes it possible to control the position and orientation of the vehicle 2 and adjust it to a state that makes battery replacement easy.

[0094] (4) A fourth aspect of the battery exchange system 1 is the battery exchange system 1 of the third aspect, wherein the battery storage sections 23 are provided in two positions facing the second direction D2, the reflecting sections 40 are provided in two positions facing the second direction D2, the inserting / removing mechanisms 50 are provided in two positions facing the fourth direction D4, and the two light receivers / transmitters 9 are provided in two positions facing the fourth direction D4, and when the light receivers / transmitters 9 detect the laser light LA1 reflected by the reflecting section 40, the server 6 may calculate the angle θ between the second direction D2 and the fourth direction D4 based on the separation distance L4 between the two light receivers / transmitters 9 in the fourth direction D4 relative to the separation distance L3 between the two reflecting sections 40 in the second direction D2.

[0095] For example, when the vehicle 2 is parked at a large inclination relative to the battery exchange apparatus 4, the second direction is inclined relative to the fourth direction. In this embodiment, the inclination angle (yaw angle) of the vehicle relative to the battery exchange apparatus 4 can be detected by calculating the angle θ between the second direction D2 and the fourth direction D4. By rotating the vehicle 2 by the detected inclination angle of the vehicle 2 to match the second direction D2 and the fourth direction D4, the orientation of the vehicle 2 can be adjusted to an orientation that facilitates battery replacement.

[0096] (5) A fifth aspect of the battery exchange system 1 is a battery exchange system 1 of the third or fourth aspect, and when the control device 10 moves the insertion / removal mechanism 50 in the fourth direction D4, if the light receiver / transmitter 9 does not detect the laser light LA1 reflected by the reflecting unit 40, the server 6 may return the vehicle 2 to a position where the light receiver / transmitter 9 can detect the laser light LA1 reflected by the reflecting unit 40.

[0097] As a result, for example, when the vehicle 2 stops at a position significantly shifted in the fourth direction D4 with respect to the battery exchange machine 4 and the reflecting unit 40 is unable to reflect the laser light LA1, the server 6 can detect the state. Then, the server 6 can return the vehicle 2 to a position where the reflecting unit 40 can reflect the laser light LA1.

[0098] (6) A sixth aspect of the battery exchange system 1 is a battery exchange system 1 of any one of the first to fifth aspects, wherein the insertion / removal mechanism 50 has a hand 52 that holds the battery 3, and the hand 52 may have a magnetic catch 52b that attracts the battery 3 by magnetic force.

[0099] In this embodiment, the hand 52 uses a magnetic force to grip the battery 3. Therefore, for example, if the exterior of the battery 3 is made of metal, the hand 52 can grip the battery 3 strongly.

[0100] (7) A seventh aspect of the battery exchange system 1 is a battery exchange system 1 of any one of the first to fifth aspects, wherein the insertion / removal mechanism 50 has a hand 60 for holding the battery 3, and the hand 60 may have a suction cup 61 that opens to the front side in the third direction D3 and creates negative pressure inside while in close contact with the battery 3 to adsorb the battery 3 by air pressure.

[0101] In this embodiment, the hand 60 grips the battery 3 by air pressure. Therefore, the hand 60 can grip the battery 3 regardless of the material of the exterior of the battery 3.

[0102] (8) An eighth aspect of the battery exchange system 1 is a battery exchange system 1 of any one of the first to fifth aspects, wherein the insertion / removal mechanism 50 has a hand 70 for holding the battery 3, the battery 3 has an engagement groove 14 formed on the rear side in the first direction D1, and the hand 70 has a hook 72 that can engage with the engagement groove 14 of the battery 3, and an actuator 71 that changes the hook 72 between a state in which it engages with the engagement groove 14 and a state in which it is disengaged from the engagement groove 14.

[0103] In this embodiment, the hand 70 can grasp the battery 3 by engaging the hook with the engagement groove 14 of the battery 3. This allows the hand 70 to grasp the battery 3 with a simple configuration, regardless of the material of the exterior of the battery 3. [Explanation of symbols]

[0104] 1...battery exchange system 2...vehicle 3...battery 4...battery exchange device 5...sensor section 6...server 7...casing 7a...opening 8...slot 9...transmitter / receiver 10...control device 11...iron plate 20...vehicle body 21...vehicle body main body 21a...rear surface 22...straddle leg 23...battery storage section 25...wheel 25a...rear wheel 25b...front wheel 26...mast 30...loading device 31...lift bracket 32...fork 32a...fork base 32b...fork claw section 40...reflecting section 41...reflecting plate 42...cover 42a...slit 50...insertion / removal mechanism 51...rail 51a...first rail section 51b...second rail section 52...hand 52a...hand base 52b...magnetic catch 52c...flexible joint 53...pad 53a...Protrusion 54...Mounting part C1...First central axis C2...Second central axis D1...First direction D2...Second direction D3...Third direction D4...Fourth direction Dv...Vertical direction F...Floor surface L1...Separation distance L2...Separation distance L3...Separation distance L4...Separation distance LA1...Laser light LA2...Laser light O...Optical axis θ...Angle 1100... computer 1110... processor 1120... main memory 1130... storage 1140... interface 11A...Acrylic plate 60...Hand 61...Suction cup 11B: engagement portion; 12: engagement base portion; 13: protrusion portion; 14: engagement groove; 70: hand; 71: actuator; 72: hook; 72a: bending portion; 73: actuator base portion; 74: expandable portion; 75: shaft portion 5A: Sensor section 5a: Plunger 5B…Sensor section

Claims

1. A vehicle equipped with a battery and capable of moving horizontally; a battery exchange device for exchanging the battery of the vehicle; Equipped with The vehicle is a battery storage section in which the battery is stored and which is open in a first direction among horizontal directions; A reflecting portion is provided adjacent to the battery storage portion in a second direction perpendicular to the first direction in a horizontal direction; Equipped with The battery exchange device includes: an insertion / removal mechanism that inserts and removes the battery in a third direction among horizontal directions with respect to the vehicle and is movable in the third direction and a fourth direction perpendicular to the third direction among the horizontal directions; a light-receiving device attached to the insertion / removal mechanism so as to be adjacent to the insertion / removal mechanism in the fourth direction and movable integrally with the insertion / removal mechanism, the light-receiving device irradiating a laser beam in the third direction and capable of detecting the laser beam reflected by the reflecting portion; A control device for controlling the operation of the insertion / removal mechanism; Equipped with The control device approaches the battery exchange device so that the first direction and the third direction are aligned, and moves the insertion / removal mechanism in the fourth direction with respect to the vehicle with the battery storage section and the reflecting section facing the battery exchange device until the light emitter / receiver detects the laser light reflected by the reflecting section.

2. The reflecting portion is A reflector capable of reflecting laser light; a cover that covers the reflector from an outside in the first direction and has a slit penetrating therethrough in the first direction; The battery exchange system of claim 1 .

3. The battery exchange system according to claim 1 or 2, further comprising a server capable of controlling the position and orientation of the vehicle.

4. The battery storage section includes two battery storage sections provided opposite to each other in the second direction, The reflecting portion is provided in two portions facing each other in the second direction, The insertion / removal mechanisms are provided in two opposed positions in the fourth direction, The light-receiving device includes two light-receiving devices provided opposite each other in the fourth direction, The server, The battery exchange system of claim 3, wherein when the light emitter / receiver detects the laser light reflected by the reflector, the angle between the second direction and the fourth direction is calculated based on the distance between the two light emitters / receivers in the fourth direction relative to the distance between the two reflectors in the second direction.

5. The battery exchange system of claim 3, wherein when the control device moves the insertion / removal mechanism in the fourth direction, if the light emitter / receiver does not detect the laser light reflected by the reflecting portion, the server returns the vehicle to a position where the light emitter / receiver can detect the laser light reflected by the reflecting portion.

6. the insertion / removal mechanism has a hand that grips the battery, 3. The battery exchange system according to claim 1, wherein the hand has a magnetic catch that attracts the battery by magnetic force.

7. the insertion / removal mechanism has a hand that grips the battery, The battery exchange system according to claim 1 or 2, wherein the hand has a suction cup that opens to the front side in the third direction and that adsorbs the battery by air pressure by creating negative pressure inside the hand while in close contact with the battery.

8. the insertion / removal mechanism has a hand that grips the battery, the battery has an engagement groove formed on a rear side in the first direction, The hand is a hook engageable with the engagement groove of the battery; an actuator that changes the hook between a state in which the hook is engaged with the engagement groove and a state in which the hook is disengaged from the engagement groove; 3. The battery exchange system according to claim 1, further comprising:

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