Battery replacement system

Abstract

To provide a battery replacement system capable of efficiently replacing batteries.SOLUTION: In a battery replacement system, a vehicle includes: a battery storage section which stores a battery and has an opening facing a first direction; and a light emitter which is arranged next to the battery storage section in a second direction and emits a laser beam in the first direction. A battery replacement device includes an inserting and removing mechanism which inserts or removes the battery in a third direction, two light receivers arranged next to the inserting and removing mechanism in a fourth direction and juxtaposed in the fourth direction, and a control unit. The control unit includes: a first moving section which moves the inserting and removing mechanism in the fourth direction until one of the light receivers detects the laser beam when the vehicle approaches the battery replacement device so that the first and third directions align, the control unit moves; a second moving section which moves the inserting and removing mechanism in the third direction after movement by the first moving section; and a switching section which switches from movement by the second moving section to movement by the first moving section when the other light receiver detects the laser beam.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 light emitter provided adjacent to the battery storage section in a second direction perpendicular to the first direction among horizontal directions and for emitting laser light in the first direction, the battery exchange device including an insertion / removal mechanism for inserting and removing the battery in a third direction among horizontal directions and movable in the third direction and in a fourth direction perpendicular to the third direction among horizontal directions, and a battery exchange device attached adjacent to the insertion / removal mechanism in the fourth direction and movable integrally with the insertion / removal mechanism, and emitting a laser light from the light emitter. the vehicle approaches the battery exchange device so that the first direction and the third direction are aligned, and the vehicle has the battery storage unit and the light emitter facing the battery exchange device. The control device has a first moving unit that moves the insertion / removal mechanism in the fourth direction until one of the two light receivers detects the laser light from the light emitter, a second moving unit that moves the insertion / removal mechanism in the third direction after the movement in the fourth direction by the first moving unit, and a switching unit that switches from the movement in the third direction by the second moving unit to the movement in the fourth direction by the first moving unit when the other of the two light receivers detects the laser light from the light emitter. 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. 2 is a functional block diagram of a control device according to an embodiment of the present disclosure. [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] 13A to 13C are diagrams illustrating a procedure for aligning an insertion / removal mechanism according to an embodiment of the present disclosure. [Figure 13] 13A to 13C are diagrams illustrating a procedure for aligning an insertion / removal mechanism 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. [Diagram 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 light emitter 40.

[0011] (Body) The vehicle body 20 has a vehicle body main body 21, a straddle leg 22, a battery storage section 23, and a light emitter storage section 24.

[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 3 is stored in the battery storage section 23 so as to be inserted from the rear side in the first direction D1.

[0015] (Light emitter housing) The light emitter housing section 24 is formed in the lower part of the vehicle body 21. Two light emitter housing sections 24 are provided between the two battery housing sections 23, facing each other in the second direction D2. The two light emitter housing sections 24 are formed symmetrically in the second direction D2. The light emitter housing section 24 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 light emitter housing section 24 houses a light emitter 40, which will be described later, so as to be inserted from the rear side in the first direction D1.

[0016] (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.

[0017] (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.

[0018] (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.

[0019] (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.

[0020] (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.

[0021] 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.

[0022] (Light emitter) Two light emitters 40 are provided, one in each of the two light emitter housings 24 that open to the rear side in the first direction D1. These two light emitters 40 are provided symmetrically in the second direction D2. In this embodiment, the two light emitters 40 are attached to the two battery housings 23 so as to be sandwiched between them in the second direction D2. That is, each light emitter 40 is provided adjacent to the corresponding battery housing 23 in the second direction D2. In the following, an embodiment will be described in which the light emitter accommodating section 24, the light emitter 40 accommodated in the light emitter accommodating section 24, the battery accommodating section 23, and the battery 3 accommodated in the battery accommodating section 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, and are located on the same side in the second direction D2. The light emitter 40 is a light source that irradiates the laser light LA1 rearward in the first direction D1. In the following, the trajectory of the laser light LA1 from the light emitter 40 is referred to as an optical axis O. The optical axis O extends in a straight line in the first direction D1.

[0023] 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 light emitter 40 is disposed at a position where the distance L1 in the second direction D2 between the optical axis O and the first central axis line C1 of the battery 3 corresponding to that light emitter 40 is equal.

[0024] (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.

[0025] 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 light emitter 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 receiver 9, and a control device 10.

[0026] (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 receiver 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 receiver 9, the light emitter accommodating section 24, the light emitter 40 accommodated in the light emitter accommodating section 24, the battery accommodating section 23, and the battery 3 accommodated in the battery accommodating 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.

[0027] (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.

[0028] (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 is provided so as to be capable of being inserted and removed in the third direction D3 from the opening 7a of the casing 7. The insertion / removal mechanism 50 includes a rail 51, a hand 52, a pad 53, and an attachment portion 54.

[0029] (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.

[0030] (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.

[0031] 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.

[0032] (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.

[0033] (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.

[0034] (Receiver) The light receiver 9 is attached to the mounting portion 54 of each insertion / removal mechanism 50. Therefore, the light receiver 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. The light receiver 9 is capable of detecting the laser light LA1 from the light emitter 40.

[0035] Two light receivers 9 are provided side by side in the fourth direction D4 for one insertion / removal mechanism 50. The two light receivers 9 are arranged at a predetermined interval in the fourth direction D4. The interval between the two light receivers 9 can be changed as appropriate depending on the situation, but it is desirable that the two light receivers 9 are arranged close to each other. For example, it is desirable that the interval between the two light receivers 9 in the fourth direction D4 is equal to or smaller than the width of the light receiver 9 in the fourth direction D4.

[0036] In the following description, a set of two light receivers 9 arranged side by side in the fourth direction D4 for one insertion / removal mechanism 50 will be simply referred to as a "set of light receivers 9." Two sets of light receivers 9 are provided facing each other in the fourth direction D4. Each set of light receivers 9 is disposed on the inside in the fourth direction D4 with respect to the corresponding insertion / removal mechanism 50.

[0037] Here, the imaginary central axis line passing through the center of the fourth direction D4 of the hand 52 and extending in the third direction D3 is defined as the second central axis line C2. Also, the imaginary central axis line passing through the center of the fourth direction D4 of the area between the two light receivers 9 constituting the pair of light receivers 9 and extending in the third direction D3 is defined as the third central axis line C3. Each pair of light receivers 9 is disposed at a position where the separation distance L2 between the third central axis line C3 and the second central axis line C2 of the hand 52 corresponding to the pair of light receivers 9 in the fourth direction D4 is equal. Furthermore, the separation distance L2 between the third central axis line C3 and the second central axis line C2 in the fourth direction D4 is set to be approximately the same as the separation distance L1 between the optical axis O of the light emitter 40 and the first central axis line C1 in the second direction D2.

[0038] (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 receiver 9. As shown in FIG. 3, the control device 10 has various functional units such as a first movement unit 15, a second movement unit 16, a switching unit 17, and the like.

[0039] The first moving section 15 moves the insertion / removal mechanism 50 in the fourth direction D4 relative to the vehicle 2 until one of the two light receivers 9 detects the laser light LA1 from the light emitter 40. After the first moving unit 15 moves in the fourth direction D4, the second moving unit 16 moves the insertion / removal mechanism 50 in the third direction D3 while one of the two light receivers 9 detects the laser light LA1 from the light emitter 40. When the other of the two light receivers 9 detects the laser light LA1 from the light emitter 40, the switching unit 17 switches from movement in the third direction D3 by the second moving unit 16 to movement in the fourth direction D4 by the first moving unit 15.

[0040] (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.

[0041] (server) The server 6 is mounted outside the casing 7. The server 6 is provided so as to be able to communicate with the vehicle 2 and the battery exchange device 4, and is capable of controlling the position and orientation of the vehicle 2. The server 6 can control the switching of the light emitter 40 between ON and OFF.

[0042] For example, when the first moving part 15 moves the insertion / removal mechanism 50 in the fourth direction D4, if the receiver 9 does not detect the laser light LA1 from the light emitter 40, the server 6 returns the vehicle 2 to a position where the receiver 9 can detect the laser light LA1 from the light emitter 40.

[0043] (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.

[0044] 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.

[0045] (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 relative to the battery exchange device 4 and the first direction D1 is slightly tilted to the right in the fourth direction 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. 8 to 13 show each state of the battery exchange system 1 in the procedure for aligning the insertion / removal mechanism 50. In order to easily explain each state, Fig. 8 to Fig. 13 show the main parts of the battery exchange system 1 more simply and typically by omitting the casing 7, for example.

[0046] 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 emitter 40 is operated to irradiate the laser light LA1 rearward in the third direction D3. After step S11, as shown in FIG. 9, the first moving unit 15 moves the insertion / removal mechanism 50 inward in the fourth direction D4 until one of the light receivers 9 (in the illustrated example, the light receiver 9 on the left side in the fourth direction D4) detects the laser light LA1 irradiated from the light emitter 40 (step S12). When the light receiver 9 detects the laser light LA1, the insertion / removal mechanism 50 stops moving in the fourth direction D4. In addition, here, the two light receivers 9 constituting a pair of light receivers 9 will be described separately as one light receiver 9 on the left side in the fourth direction D4 and the other light receiver 9 on the right side in the fourth direction D4.

[0047] After step S12, while one of the light receivers 9 detects the laser light LA1, the second moving unit 16 moves the insertion / removal mechanism 50 forward in the third direction D3 (step S13). At this time, since the vehicle body 20 is parked at a slight incline relative to the battery exchange device 4, as the insertion / removal mechanism 50 approaches the vehicle body 20, the other light receiver 9 (in the illustrated example, the light receiver 9 on the right side in the fourth direction D4) gradually approaches the laser light LA1 from the fourth direction D4. If, during step S13, the vehicle 2 moves or the like and the relative position of the light emitter 40 with respect to the light receiver 9 changes, causing the light receiver 9 to no longer detect the laser light LA1, step S12 may be repeated. During execution of step S13, the control device 10 determines whether or not the other light receiver 9 has detected the laser beam LA1 (step S14).

[0048] 10, when the other light receiver 9 detects the laser light LA1 (step S14; YES), the switching unit 17 switches from the movement in the third direction D3 by the second moving unit 16 to the movement in the fourth direction D4 by the first moving unit 15 (step S15). That is, after step S15, step S12 is executed again.

[0049] In the second step S12, both of the two insertion / removal mechanisms 50 move to the same side in the fourth direction D4 (to the right in the fourth direction D4 in the illustrated example). Then, one of the light receivers 9 gradually approaches the laser light LA1 from the fourth direction D4, and eventually, as shown in FIG. 11, one of the light receivers 9 detects the laser light LA1 again. After step S12, the second step S13 is executed. In the second step S13, the second moving unit 16 moves the insertion / removal mechanism 50 forward in the third direction D3, as in the first step S13. Thereafter, the other light receiver 9 gradually approaches the laser light LA1 from the fourth direction D4, and when the other light receiver 9 detects the laser light LA1 as shown in FIG. 12 (step S14; YES), step S15 is executed again, and the process proceeds to the third step S12 and step S13.

[0050] If the other light receiver 9 detects the laser light LA1 in the third step S13 (step S14; YES), step S15 is executed again, and the process proceeds to step S12 and step S13 for the fourth time. In this manner, steps S12 to S13 are repeatedly executed. In steps S12 to S13 from the third time onwards, the insertion / removal mechanism 50 operates in the same manner as in steps S12 to S13 for the second time.

[0051] On the other hand, if the other light receiver 9 does not detect the laser light LA1 (step S14; NO), the second moving unit 16 continues to move the insertion / removal mechanism 50 forward in the third direction D3 (step S16), similar to step S13. Then, the control device 10 determines whether the sensor unit 5 has detected the completion of alignment of the insertion / removal mechanism 50 (step S17). As shown in FIG. 13, if the sensor unit 5 has detected the completion of alignment of the insertion / removal mechanism 50 (step S17; YES), the flow ends. Moreover, when the sensor unit 5 does not detect the completion of the alignment of the insertion / removal mechanism 50 (step S17; NO), the process returns to step S13, and the second moving unit 16 continues to move the insertion / removal mechanism 50 forward in the third direction D3.

[0052] Steps S12 to S17 are repeatedly executed until the sensor unit 5 detects the completion of the alignment of the insertion / removal mechanism 50 (step S17; YES). By repeatedly executing steps S12 and S13, the insertion / removal mechanism 50 moves in a zigzag pattern by alternately moving in the fourth direction D4 and the third direction D3, and is ultimately disposed at a position facing the battery 3 in the third direction. Through the above steps, the alignment of the insertion / removal mechanism 50 is completed.

[0053] Here, the alignment of the insertion / removal mechanism 50 has been described with reference to the case where the first direction D1 of the vehicle 2 is slightly tilted to the right with respect to the third direction D3 of the battery exchange device 4, but the present invention is not limited to this. Even if the first direction D1 of the vehicle 2 is slightly tilted to the left with respect to the third direction D3, the alignment of the insertion / removal mechanism 50 can be performed. In this case, the direction of movement in the fourth direction D4 by the second moving unit 16 from the second time onwards (the direction of movement in the fourth direction D4 in step S12 from the second time onwards) is opposite to that in the above-mentioned case. Also, which of the two light receivers 9 is the one light receiver 9 that serves as the criterion for determining whether or not to continue the movement in the third direction D3 by the first moving unit 15, and which is the other light receiver 9 that serves as the criterion for determining whether or not to switch from the movement in the third direction D3 by the second moving unit 16 to the movement in the fourth direction D4 by the first moving unit 15, is opposite to that in the above-mentioned case. That is, in this case, the light receiver 9 on the right side in the fourth direction D4 becomes the one light receiver 9, and the light receiver 9 on the left side in the fourth direction D4 becomes the other light receiver 9.

[0054] Moreover, 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. In this case, after step S12, each step from step S13 to step S17 is repeated without executing step S15, and the insertion / removal mechanism 50 moves in a straight line in the third direction D3 until the sensor unit 5 detects the completion of the alignment of the insertion / removal mechanism 50. That is, the insertion / removal mechanism 50 moves in a straight line in the third direction D3 until the sensor unit 5 detects the completion of the alignment of the insertion / removal mechanism 50 without the other light receiver 9 detecting the laser light LA1. In this case, the one light receiver 9 that detects the laser light LA1 in step S12 may be the left light receiver 9 or the right light receiver 9.

[0055] After the insertion / removal mechanism 50 is aligned, the battery exchange operation described above is carried out. However, depending on the position where the vehicle body 20 is stopped, 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 executing the position adjustment of the vehicle 2 before aligning the insertion / removal mechanism 50. The procedure for adjusting the position of the vehicle 2 will now be described.

[0056] (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 light emitter 40 (the light emitter 40 on the right side of the paper in the illustrated example) is located inside the opening 7a of the casing 7 in the fourth direction D4, the light receiver 9 cannot be aligned with the optical axis O of the light emitter 40 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.

[0057] 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 emitter 40 is operated to irradiate the laser light LA1 rearward in the third direction D3.

[0058] At this time, the control device 10 judges whether all the pairs of the light receivers 9 detect the laser light LA1 (step S34). If all the pairs of the light receivers 9 detect the laser light LA1 (step S34; YES), there is no need to perform the return operation of the vehicle 2, so 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 for one pair of the light receivers 9 (on the right side of the drawing) and the pair of the light receivers 9 does 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 pair of the light receivers 9 can detect the laser light LA1 from the light emitter 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 pair of the light receivers 9 on the right side of the drawing detects the laser light LA1 from the light emitter 40. As a result, as shown in FIG. 17, all of the light emitters 40 move to the front of the opening 7a of the casing 7, and all of the sets of light receivers 9 become able to detect the laser light LA1 emitted from the light emitters 40. Through the above procedures, the position adjustment of the vehicle 2 is completed. Even if the vehicle 2 is parked significantly out of position with respect to the battery exchange device 4, by adjusting the position of the vehicle 2, it is possible to move on to aligning the insertion / removal mechanism 50.

[0059] 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.

[0060] (Action and effect) According to this embodiment, the following advantageous effects can be obtained.

[0061] 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 opens in a first direction D1 in the horizontal direction, and a light emitter 40 that is provided adjacent to the battery storage section 23 in a second direction D2 that is perpendicular to the first direction D1 in the horizontal direction and emits laser light LA1 in the first direction D1. The battery exchange device 4 includes an insertion / removal mechanism 50 that inserts and removes the battery 3 in a third direction D3 in the horizontal direction with respect to the vehicle 2 and is movable in the third direction D3 and a fourth direction D4 that is perpendicular to the third direction D3 in the horizontal direction, two light receivers 9 that are attached to the insertion / removal mechanism 50 adjacent to the fourth direction D4 and are attached so as to be movable integrally with the insertion / removal mechanism 50, and are arranged in the fourth direction D4 that can detect the laser light LA1 from the light emitter 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 along the first direction D1 and the third direction D3, and has a first moving unit 15 that moves the insertion / removal mechanism 50 in the fourth direction D4 until one of the two light receivers 9 detects the laser light LA1 from the light emitter 40, with respect to the vehicle 2 facing the battery exchange device 4 with its battery storage section 23 and light emitter 40 aligned, a second moving unit 16 that moves the insertion / removal mechanism 50 in the third direction D3 after the movement in the fourth direction D4 by the first moving unit 15, and a switching unit 17 that switches from movement in the third direction D3 by the second moving unit 16 to movement in the fourth direction D4 by the first moving unit 15 when the other of the two light receivers 9 detects the laser light LA1 from the light emitter 40.

[0062] According to this embodiment, the first moving unit 15 moves the insertion / removal mechanism 50 in the fourth direction D4 until one of the two light receivers 9 detects the laser light LA1 from the light emitter 40. After that, while the one light receiver 9 detects the laser light LA1, the second moving unit 16 moves the insertion / removal mechanism 50 in the third direction D3 to approach the vehicle 2. Normally, the vehicle 2 is stopped at a slight incline with respect to the battery exchange device 4, so that the laser light LA1 is irradiated at a slight incline in the third direction D3. Therefore, as the insertion / removal mechanism 50 approaches the battery exchange device 4, the other of the two light receivers 9 approaches the laser light LA1 from the fourth direction D4. After that, when the other light receiver 9 detects the laser light LA1 from the light emitter 40, the switching unit 17 switches the movement of the insertion / removal mechanism 50 from the movement in the third direction D3 to the movement in the fourth direction D4. At this time, by moving the insertion / removal mechanism 50 in a direction from the other light receiver 9 toward the one light receiver 9, the one light receiver 9 can again detect the laser light LA1. Thereafter, the second moving unit 16 again moves the insertion / removal mechanism 50 in the third direction D3 to bring it closer to the vehicle 2. Then, when the other light receiver 9 detects the laser light LA1, the insertion / removal mechanism 50 moves in the fourth direction D4 and returns to the fourth direction D4 position where the one light receiver 9 detects the laser light LA1. In this way, the insertion / removal mechanism 50 approaches the battery housing 23 of the vehicle 2 while alternately repeating movement in the third direction D3 and movement in the fourth direction D4, and stops moving by contacting the vehicle 2 at a position where the battery housing 23 overlaps with the third direction D3. Therefore, the insertion / removal mechanism 50 can be positioned at a position where the battery can be easily replaced, so that the battery replacement can be performed efficiently. Furthermore, since the light receiver 9 directly detects the laser light LA1 emitted from the light emitter 40, the amount of attenuation of the laser light LA1 can be reduced. This makes it possible to increase the distance between the vehicle 2 and the battery exchange apparatus 4, at which the battery exchange apparatus 4 can exchange the battery 3 of the vehicle 2. In other words, even if the vehicle is parked at a position away from the vehicle 2 in the third direction D3, battery exchange can be performed.

[0063] In this embodiment, the battery exchange system 1 further includes a server 6 capable of controlling the position and orientation of the vehicle 2.

[0064] 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.

[0065] In this embodiment, when the first moving part 15 moves the insertion / removal mechanism 50 in the fourth direction D4, if the receiver 9 does not detect the laser light LA1 from the light emitter 40, the server 6 returns the vehicle 2 to a position where the receiver 9 can detect the laser light LA1 from the light emitter 40.

[0066] 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 receiver 9 cannot detect 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 receiver 9 can detect the laser light LA1.

[0067] 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.

[0068] 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.

[0069] (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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] (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.

[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 grips 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 way, 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 a horizontal direction, and a light emitter 40 that is provided adjacent to the battery storage section 23 in a second direction D2 that is perpendicular to the first direction D1 in the horizontal direction and emits laser light LA1 in the first direction D1. The battery exchange device 4 includes an insertion / removal mechanism 50 that inserts and removes the battery 3 in a third direction D3 in the horizontal direction and is movable in the third direction D3 and a fourth direction D4 that is perpendicular to the third direction D3 in the horizontal direction with respect to the vehicle 2, and a light emitter 40 that is attached to the insertion / removal mechanism 50 adjacent to the fourth direction D4 and is attached to the insertion / removal mechanism 50 so as to be movable integrally with the insertion / removal mechanism 50, and is capable of detecting the laser light LA1 from the light emitter 40. The vehicle 2 is provided with two light receivers 9 arranged in the fourth direction D4, and a control device 10 that controls the operation of the insertion / removal mechanism 50. The control device 10 approaches the battery exchange machine 4 so as to be aligned with the first direction D1 and the third direction D3, and controls the vehicle 2 to face the battery storage unit 23 and the light emitter 40 toward the battery exchange machine 4, and controls the vehicle 2 to detect the laser light LA1 from the light emitter 40 until one of the two light receivers 9 detects the laser light LA1 from the light emitter 40. The laser beam ejection mechanism includes a first moving unit 15 which moves the insertion mechanism 50 in the fourth direction D4, a second moving unit 16 which moves the insertion / removal mechanism 50 in the third direction D3 after the first moving unit 15 moves in the fourth direction D4, and a switching unit 17 which switches from the movement in the third direction D3 by the second moving unit 16 to the movement in the fourth direction D4 by the first moving unit 15 when the other of the two light receivers 9 detects laser light LA1 from the light emitter 40.

[0089] According to this embodiment, the first moving unit 15 moves the insertion / removal mechanism 50 in the fourth direction D4 until one of the two light receivers 9 detects the laser light LA1 from the light emitter 40. After that, while the one light receiver 9 detects the laser light LA1, the second moving unit 16 moves the insertion / removal mechanism 50 in the third direction D3 to approach the vehicle 2. Normally, the vehicle 2 is stopped at a slight incline with respect to the battery exchange device 4, so that the laser light LA1 is irradiated at a slight incline in the third direction D3. Therefore, as the insertion / removal mechanism 50 approaches the battery exchange device 4, the other of the two light receivers 9 approaches the laser light LA1 from the fourth direction D4. After that, when the other light receiver 9 detects the laser light LA1 from the light emitter 40, the switching unit 17 switches the movement of the insertion / removal mechanism 50 from the movement in the third direction D3 to the movement in the fourth direction D4. At this time, by moving the insertion / removal mechanism 50 in a direction from the other light receiver 9 toward the one light receiver 9, the one light receiver 9 can again detect the laser light LA1. Thereafter, the second moving unit 16 again moves the insertion / removal mechanism 50 in the third direction D3 to bring it closer to the vehicle 2. Then, when the other light receiver 9 detects the laser light LA1, the insertion / removal mechanism 50 moves in the fourth direction D4 and returns to the fourth direction D4 position where the one light receiver 9 detects the laser light LA1. In this way, the insertion / removal mechanism 50 approaches the battery housing 23 of the vehicle 2 while alternately repeating movement in the third direction D3 and movement in the fourth direction D4, and stops moving by contacting the vehicle 2 at a position where the battery housing 23 overlaps with the third direction D3. Therefore, the insertion / removal mechanism 50 can be positioned at a position where battery replacement is easy.

[0090] (2) The battery exchange system 1 of the second 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.

[0091] 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.

[0092] (3) A third aspect of the battery exchange system 1 is a battery exchange system 1 of the first or second aspect, and when the first moving unit 15 moves the insertion / removal mechanism 50 in the fourth direction D4, if the receiver 9 does not detect the laser light LA1 from the light emitter 40, the server 6 may return the vehicle 2 to a position where the receiver 9 can detect the laser light LA1 from the light emitter 40.

[0093] 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 receiver 9 cannot detect 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 receiver 9 can detect the laser light LA1.

[0094] (4) A fourth aspect of the battery exchange system 1 is a battery exchange system 1 of any one of the first to third 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.

[0095] 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.

[0096] (5) A fifth aspect of the battery exchange system 1 is a battery exchange system 1 of any one of the first to third 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.

[0097] 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.

[0098] (6) A sixth aspect of the battery exchange system 1 is a battery exchange system 1 of any one of the first to third 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.

[0099] 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]

[0100] 1...battery exchange system 2...vehicle 3...battery 4...battery exchange device 5...sensor section 6...server 7...casing 7a...opening 8...slot 9...receiver 10...control device 11...iron plate 15...first moving section 16...second moving section 17...switching section 20...vehicle body 21...vehicle body main body 21a...rear 22...straddle leg 23...battery storage section 24...light emitter 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...light emitter 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...projection 54...mounting part C1...first central axis C2...second central axis C3...third 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 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 opens in a first direction among horizontal directions; a light emitter that is provided adjacent to the battery housing in a second direction perpendicular to the first direction among horizontal directions and that emits a laser beam in the first 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; two light receivers arranged in the fourth direction, the two light receivers being attached to the insertion / removal mechanism so as to be adjacent to each other in the fourth direction and movable integrally with the insertion / removal mechanism, and capable of detecting laser light from the light emitter; A control device for controlling the operation of the insertion / removal mechanism; Equipped with The control device includes: a first moving unit that moves the insertion / removal mechanism in the fourth direction with respect to the vehicle approaching the battery exchange device so that the first direction and the third direction are aligned and with the battery storage unit and the light emitter facing the battery exchange device until one of the two light receivers detects the laser light from the light emitter; a second moving unit that moves the insertion / removal mechanism in the third direction after the first moving unit moves the insertion / removal mechanism in the fourth direction; a switching unit that switches from the movement in the third direction by the second moving unit to the movement in the fourth direction by the first moving unit when the other of the two light receivers detects the laser light from the light emitter; A battery exchange system having

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

3. The battery exchange system of claim 2, wherein when the first moving unit moves the insertion / removal mechanism in the fourth direction, if the receiver does not detect laser light from the light emitter, the server returns the vehicle to a position where the receiver can detect laser light from the light emitter.

4. the insertion / removal mechanism has a hand that holds the battery, 4. The battery exchange system according to claim 1, wherein the hand has a magnetic catch that attracts the battery by magnetic force.

5. the insertion / removal mechanism has a hand that holds the battery, The battery exchange system described in any one of claims 1 to 3, 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.

6. the insertion / removal mechanism has a hand that holds 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; The battery exchange system according to claim 1 , further comprising:

Images