Vehicles and battery replacement systems

Abstract

To provide a vehicle and battery replacement system that allow for easy insertion and removal of the battery. [Solution] The vehicle includes a battery mounted so as to be removable in a first direction by a hand mechanism of a battery replacement device; a battery housing where the battery is housed and the battery is movable between a fixed position where the battery is fixed and a pushed-in position where it is pushed from the fixed position in a first direction by the hand mechanism; a return plunger provided in the battery housing which biases the battery from the pushed-in position toward the fixed position; a battery position sensor capable of detecting the position of the battery in the battery housing; and a transmitting unit capable of transmitting a reverse signal to the battery replacement device to retract the hand mechanism when the battery position sensor detects that the battery has moved to the pushed-in position.

Description

Technical Field

[0003] ,

[0001] The present disclosure relates to a vehicle and a battery swapping system.

Background Art

[0002] Patent Document 1 discloses an automatic swapping and charging device for swapping and charging the battery of a battery-powered vehicle. In this automatic swapping and charging device, a charging station is provided with a pair of charging devices with automatic transfer machines arranged on both sides of a traveling path such as in a mine. When charging is desired, the battery-powered vehicle stops at the charging station, and the battery of the battery-powered vehicle is removed by the arm of the automatic transfer machine of one of the charging devices, charged, and stocked. At the same time, the charged battery is stored and fixed at a predetermined location of the battery-powered vehicle by the arm of the automatic transfer machine of the other charging device.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the swapping device described in Patent Document 1, when inserting and removing the battery, it is necessary to manage the stroke amount of the arm, leaving the problem that the control becomes complicated. <00 enim="0000026">

[0005] The present disclosure has been made to solve the above problems, and an object thereof is to provide a vehicle and a battery swapping system capable of inserting and removing a battery in a simple manner.

Means for Solving the Problems

[0006] To solve the above problems, the vehicle according to the present disclosure includes: a battery mounted so as to be removable in a first direction by a hand mechanism of a battery replacement device; a battery housing portion in which the battery is housed and the battery is movable between a fixed position in which the battery is fixed and a pushed-in position in which the battery is pushed from the fixed position in the first direction by the hand mechanism; a return plunger provided in the battery housing portion for biasing the battery from the pushed-in position toward the fixed position; a battery position sensor capable of detecting the position of the battery in the battery housing portion; and a transmission unit capable of transmitting a retraction signal to the battery replacement device to retract the hand mechanism when the battery position sensor detects that the battery has moved to the pushed-in position.

[0007] The battery replacement system according to this disclosure comprises the above-mentioned vehicle and the battery replacement device, the battery replacement device comprising the hand mechanism, a receiving unit capable of receiving signals from the transmitting unit, and a replacement device control unit that retracts the hand mechanism when the receiving unit receives a retraction signal from the transmitting unit for retracting the hand mechanism. [Effects of the Invention]

[0008] According to the vehicle and battery replacement system of this disclosure, the battery can be inserted and removed in a simple manner. [Brief explanation of the drawing]

[0009] [Figure 1] This is a perspective view of a battery replacement system according to an embodiment of the present disclosure. [Figure 2] This is a schematic diagram of the battery replacement system according to the embodiment of this disclosure, viewed from above. [Figure 3] This is a side view of the battery housing according to the embodiment of this disclosure. [Figure 4] This figure illustrates the function of the battery location sensor according to the present disclosure. [Figure 5]This is a rear view of a fixed plunger according to an embodiment of the present disclosure. [Figure 6] This is a side view of a fixed plunger according to an embodiment of the present disclosure. [Figure 7] This is a functional configuration diagram of a vehicle control unit according to an embodiment of the present disclosure. [Figure 8] This is a functional configuration diagram of the control unit for the exchange device according to the present disclosure. [Figure 9] This flowchart shows the procedure for aligning the hand mechanism according to the embodiment of this disclosure. [Figure 10] This flowchart shows the procedure for inserting and removing the hand mechanism according to the embodiment of this disclosure. [Figure 11] This diagram illustrates the procedure for removing the battery according to the embodiment of this disclosure. [Figure 12] This diagram illustrates the procedure for inserting a battery according to an embodiment of the present disclosure. [Figure 13] This diagram illustrates the operation of each component within the battery housing during the battery removal operation according to the embodiment of this disclosure. [Figure 14] This diagram illustrates the operation of each component within the battery housing during the battery insertion operation according to the embodiment of this disclosure. [Figure 15] This is a diagram of a battery position sensor according to another embodiment of the present disclosure. [Figure 16] This is a diagram of a battery position sensor according to another embodiment of the present disclosure. [Figure 17] This is a diagram of a battery position sensor according to another embodiment of the present disclosure. [Figure 18] This is a diagram of a battery position sensor according to another embodiment of the present disclosure. [Figure 19] This is a diagram of a battery position sensor according to another embodiment of the present disclosure. [Figure 20] This is a functional configuration diagram of a control unit for an exchange device according to another embodiment of the present disclosure. [Figure 21] This is a diagram of a battery position sensor according to another embodiment of the present disclosure. [Figure 22] This is a hardware configuration diagram showing the configuration of a computer according to each embodiment of the present disclosure.

Mode for Carrying Out the Invention

[0010] Hereinafter, the battery replacement system 1 according to the embodiments of the present disclosure will be described with reference to FIGS. 1 to 14.

[0011] (Battery replacement system) As shown in FIGS. 1 and 2, the battery replacement system 1 includes a vehicle 2 and a battery replacement device 3. The battery replacement system 1 is a system for replacing the battery 4 of the vehicle 2 that performs cargo handling work.

[0012] (Vehicle) Examples of the vehicle 2 include a logistics vehicle, an industrial vehicle, and an electric vehicle. The vehicle 2 in the present embodiment is an automated guided forklift that performs cargo handling work in a warehouse. The vehicle 2 is configured to be able to move forward and backward at least in the front-rear direction and to be able to turn left and right.

[0013] Hereinafter, one horizontal direction will be referred to as the "first direction D1", and the direction intersecting the first direction D1 among the horizontal directions will be referred to as the "second direction D2". Also, the direction intersecting the first direction D1 and the second direction D2 is defined as the third direction D3. Hereinafter, the embodiments will be described by taking the case where the first direction D1, the second direction D2, and the third direction D3 are orthogonal to each other as an example. Also, in the present embodiment, unless otherwise specified, it is assumed that the first direction D1 is the front-rear direction of the vehicle 2, the second direction D2 is the width direction of the vehicle 2, and the third direction D3 is the vertical direction. Also, the rear side of the first direction D1 may be referred to as the first side of the first direction D1, and the front side of the first direction D1 may be referred to as the second side of the first direction D1. Also, the inner side of the second direction D2 may be referred to as the first side of the second direction D2, and the outer side of the second direction D2 may be referred to as the second side of the second direction D2. The vehicle 2 includes a vehicle body 10, a cargo handling device 20, a battery 4, a battery housing portion 30, a return plunger 40 (see FIG. 3), a battery position sensor 41, a transmitter 42, a fixed plunger 50 (see FIG. 3), and a vehicle control unit 60.

[0014] (Vehicle body) The vehicle body 10 is the main body of the vehicle 2. The vehicle body 10 comprises a body 11, straddle legs 12, and a running mechanism 13.

[0015] (Vehicle body) The vehicle body 11 comprises a mast 14, a vehicle body frame 15, and a bracket 19. The mast 14 has an outer mast 17 and an inner mast 18. The outer masts 17 are provided in pairs, spaced apart in a second direction D2. The outer masts 17 extend in a third direction D3. One inner mast 18 is provided inside each outer mast 17 in the second direction D2. The inner masts 18 are provided in pairs, spaced apart in the second direction D2. The inner masts 18 are provided so as to be able to move up and down relative to the outer masts 17 in the third direction D3. Furthermore, the inner masts 18 can be tilted by a tilt mechanism (not shown) to a state in which they extend vertically along vertical vertical lines relative to the horizontal plane, and a state inclined relative to vertical vertical lines. The vehicle body frame 15 is provided in pairs, spaced apart in the second direction D2. The vehicle body frame 15 extends in a third direction D3. The bracket 19 is a plate-shaped member that connects a pair of vehicle body frames 15 in a second direction D2. Multiple brackets 19 are provided spaced apart in the third direction D3. The rear edge of the bracket 19 is formed in a U-shape that protrudes to the rear side in the first direction D1 when viewed from the third direction D3.

[0016] (Straddle legs) The straddle legs 12 are located at the lower end of each hull frame 15. The straddle legs 12 are arranged in pairs, spaced apart in a second direction D2. The straddle legs 12 extend forward from the lower end of the hull frame 15. The rear surface of each straddle leg 12 is curved so as it moves inward in the second direction D2 along the bracket 19, it gradually moves backward. An outer mast 17 is attached to each straddle leg 12 so as to be able to move relative to it in a first direction D1.

[0017] (Traction mechanism) The running mechanism 13 is located at the bottom of the vehicle body 11. The running mechanism 13 comprises a first drive wheel 13a and a second drive wheel 13b. The first drive wheel 13a is located on the lowest bracket 19 of the multiple brackets 19. The second drive wheel 13b is located at the front end of each straddle leg 12. Each second drive wheel 13b is rotatable around a central axis extending in the second direction D2. The running mechanism 13 moves the vehicle body 11 by rotating the first drive wheel 13a.

[0018] (Cargo handling equipment) The cargo handling device 20 is attached to the inner mast 18. The cargo handling device 20 is a device that holds the cargo to be transported and performs loading and unloading operations. The cargo handling device 20 comprises a lift bracket 21 and a fork 22. The lift bracket 21 is provided to span across a pair of inner masts 18. The lift bracket 21 is movable up and down in a third direction D3 relative to the inner mast 18 by a lifting mechanism (not shown). The lift bracket 21 is also movable in a first direction D1 by a forward / backward mechanism (not shown). The lift bracket 21 extends in the third direction D3 and the second direction D2, and is formed in a grid shape when viewed from the first direction D1. The fork 22 is attached to the lift bracket 21. The fork 22 is movable up and down in the third direction D3 integrally with the lift bracket 21 and is also movable in the first direction D1. The fork 22 is formed in an L shape when viewed from the second direction D2. The front end of the fork 22 is inserted into a pallet (not shown) on which the cargo to be transported is placed.

[0019] (Battery) Battery 4 supplies power to various devices of vehicle 2 (such as the driving mechanism 13, cargo handling device 20, and vehicle control unit 60). Because battery 4 is designed to be smaller and lighter than conventional batteries 4, its operating time is short, and it needs to be replaced frequently. For this reason, battery 4 is mounted so that it can be inserted and removed in the first direction D1 by the hand mechanism 72 of the battery replacement device 3, which will be described later. When the battery charge of vehicle 2 is low, it is parked in the parking area P located in front of the battery replacement device 3, which will be described later. In addition, a fixed plunger 50, which will be described later, is provided on the rear surface 4b (first surface) of battery 4. In addition, a projection 4c, which is detected by a battery position sensor 41, will be described later, is provided on the front surface 4a (second surface) of battery 4. The projection 4c extends from the front surface 4a of battery 4 in the first direction D1.

[0020] (Battery housing) The battery housing 30 is provided at the rear end of each straddle leg 12. The battery housing 30 extends in a first direction D1. The battery housing 30 opens to the rear in the first direction D1 and also opens to the outside in the second direction D2. As shown in Figure 3, the battery 4 is housed in the battery housing 30. The battery 4 housed in the battery housing 30 is movable between a fixed position A1 in which the battery 4 is fixed and a pushed-in position A2 in which it is pushed from the fixed position A1 to the front in the first direction D1 by a hand mechanism 72 described later (see Figures 13, 14, etc.). In addition, a terminal 31 is provided at the front end of the battery housing 30 in the first direction D1 that is electrically connected to the battery 4. The battery 4 is connected to the terminal 31 in the fixed position A1. The terminal 31 is also provided so as to be extendable and retractable in the first direction D1. Furthermore, a fixing hole 33 is formed on the inner side surface 32a of the battery housing 30, on the side facing the second direction D2, into which the pin 52 of the fixing plunger 50 (described later) is inserted. The fixing holes 33 are formed in pairs at the rear end of the battery housing 30 in the first direction D1, spaced apart in the third direction D3. The fixing holes 33 are recessed in a direction intersecting the first direction D1 (the second direction D2 in this embodiment). The fixing holes 33 are also formed in an elongated (elliptical) shape extending in the first direction D1.

[0021] (Return plunger) The return plunger 40 is provided at the front end of the battery housing 30. In the illustrated example, a pair of return plungers 40 are provided spaced apart in the third direction D3. The return plunger 40 extends in the first direction D1. The return plunger 40 is provided so as to be extendable and retractable in the first direction D1. The return plunger 40 biases the battery 4 in the first direction D1 from the pushed-in position A2 toward the fixed position A1.

[0022] (Battery location sensor) The battery position sensor 41 is a sensor capable of detecting the position of the battery 4 in the battery housing 30. The battery position sensor 41 detects when the battery 4 moves from a fixed position A1 to a pushed-in position A2. As shown in Figure 4, the battery position sensor 41 in this embodiment is positioned between a pair of return plungers 40 in a third direction D3. The battery position sensor 41 is also facing the battery 4 in the first direction D1. The battery position sensor 41 is a U-shaped photoelectric sensor that opens to the rear side in the first direction D1 when viewed in the second direction D2. The battery position sensor 41 has a light-emitting unit 43 and a light-receiving unit 44. The light-emitting unit 43 and the light-receiving unit 44 are provided integrally. Inside the battery position sensor 41, a detection ray L1 extends in the third direction D3 from the light-emitting unit 43 to the light-receiving unit 44. When the battery 4 is pushed into the push-in position A2, the protrusion 4c of the battery 4 is inserted into the battery position sensor 41 from the rear side in the first direction D1. When the protrusion 4c is inserted into the battery position sensor 41, the light ray L1 inside the battery position sensor 41 is blocked by the protrusion 4c. The blocking of the light ray L1 inside the battery position sensor 41 indicates that the battery 4 has been pushed into the push-in position A2.

[0023] (Transmitter) The transmitting unit 42 transmits a retraction signal to the battery replacement device 3, described later, to indicate that the battery 4 has been pushed in (information that the battery 4 has been removed and grasped, or information that the battery 4 has been inserted), causing the hand mechanism 72 for inserting and removing the battery 4 to retract. During the removal operation in which the battery 4 is removed from the battery housing 30, or the insertion operation in which the battery 4 is inserted into the battery housing 30, if the battery position sensor 41 detects that the battery 4 has moved to the pushed-in position A2, the transmitting unit 42 is capable of transmitting a retraction signal to the receiving unit 9 of the battery replacement device 3, described later, to retract the hand mechanism 72. In this embodiment, the transmitting unit 42 is a light emitter 25 of a photoelectric sensor for alignment that aligns the hand mechanism 72 in the second direction D2 with respect to the battery housing 30. The transmitting unit 42 emits a light ray L2 toward the rear in the first direction D1, which is received by the receiving unit 9 of the battery replacement device 3 (in this embodiment, the light receiver 26 of the photoelectric sensor for alignment). When the battery position sensor 41 detects that the battery 4 has moved to the pushed-in position A2, the transmitter 42 stops emitting light to the receiver 9 and transmits a retraction signal to the battery replacement device 3 that causes the hand mechanism 72 to retract.

[0024] (Fixed plunger) As shown in Figures 5 and 6, the fixing plunger 50 is provided on the rear surface 4b of the battery 4. The fixing plunger 50 is located on the rear surface 4b, closer to the inside in the second direction D2. In addition, a pair of fixing plungers 50 are provided on both the upper and lower sides of the rear surface 4b. In the insertion operation in which the battery 4 is inserted into the battery housing 30, when the battery 4 moves from outside the battery housing 30 to the fixed position A1, the fixing plunger 50 is inserted into the fixing hole 33 in the inner wall surface 32 of the battery housing 30. Furthermore, the battery 4 is biased to the rear in the first direction D1 by the return plunger 40, thereby fixing the battery 4 to the fixed position A1. The fixing plunger 50 has a mounting portion 51, a pin 52, a biasing portion 53, and a tab 54. The mounting portion 51 is fixed to the rear surface 4b of the battery 4. The pin 52 is inserted through the mounting portion 51 in the second direction D2. The pin 52 is provided so as to be movable relative to the mounting portion 51 in the second direction D2. A screw groove is formed on the outer surface of the pin 52. The tip 52a of the pin 52 on the inside of the second direction D2 (first side of the second direction D2) is inserted into the fixing hole 33, thereby restricting the movement of the battery 4 in the first direction D1. The tip 52a of the pin 52 is also formed in a spherical shape. The biasing portion 53 biases the pin 52 inward in the second direction D2. An example of the biasing portion 53 is a spring. The tab 54 is provided on the outside of the pin 52 in the second direction D2 (second side of the second direction D2). The tab 54 extends from the pin 52 toward the rear side of the first direction D1 (first side of the first direction D1). The further the tab 54 is located toward the rear side of the first direction D1, the more it is inclined to approach the tab 54 of the other fixing plunger 50 toward the tab 54 of the other fixing plunger 50 toward the tab 54 of the third direction D3.

[0025] When the battery 4 is in the fixed position A1, the biasing part 53 biases the pin 52 inward in the second direction D2, thereby maintaining the pin 52 inserted into the fixing hole 33. This fixes the position of the battery 4 in the first direction D1. To release the battery 4, the lock release part 76 of the hand mechanism 72 (described later) pushes the tab 54 forward in the first direction D1 (second side of the first direction D1), causing the pin 52 to rotate and move outward in the second direction D2. This pulls the pin 52 out of the fixing hole 33, releasing the lock on the battery 4 in the first direction D1.

[0026] (Vehicle Control Unit) The vehicle control unit 60 controls various devices of the vehicle 2 (such as the driving mechanism 13, cargo handling device 20, battery position sensor 41, and transmission unit 42). The vehicle control unit 60 is installed, for example, in the bracket 19 in the middle of the third direction D3 among the multiple brackets 19. As shown in Figure 7, the vehicle control unit 60 has the functional units of a battery position information acquisition unit 61 and a transmission command unit 62.

[0027] (Battery location information acquisition unit) The battery location information acquisition unit acquires the location information of the battery 4 in the first direction D1 within the battery housing 30, which is detected by the battery location sensor 41.

[0028] (Transmission Command Unit) The transmission command unit 62 sends a command to the transmission unit 42 to transmit a signal, based on the location information of the battery 4 acquired by the battery location information acquisition unit 61.

[0029] (Battery replacement device) The battery replacement device 3 is a device for replacing the battery 4 of the vehicle 2. As shown in Figures 1 and 2, the battery replacement device 3 comprises a casing 5, a vehicle position sensor 6, a charger 7, an internal hand 8, an insertion / removal mechanism 70, a receiving unit 9, and a replacement device control unit 80.

[0030] (Casing) The casing 5 is positioned behind the parking area P. The casing 5 is a box-shaped container extending, for example, in a third direction D3. The casing 5 is formed in a rectangular parallelepiped shape. An opening 5a that opens forward is formed on the front of the lower end of the casing 5. A pair of openings 5a are formed on both sides of the casing 5 in a second direction D2. The openings 5a are used for inserting and removing the battery 4. The casing 5 houses a vehicle position sensor 6, a charger 7, an internal hand 8, an insertion / removal mechanism 70, a receiving unit 9, and a battery exchange control unit 80.

[0031] (Vehicle position sensor) The vehicle position sensor 6 detects the vehicle 2 parked in the parking area P.

[0032] (charger) The charger 7 charges the depleted battery 4. The charger 7 is designed to accommodate multiple batteries 4.

[0033] (Internal hand) The internal hand 8 is a mechanism that swaps a charged battery 4 with an empty battery 4 between the hand mechanism 72 (described later) and the charger 7. For example, the internal hand 8 can attach a charged battery 4 from the charger 7 to the hand mechanism 72. Alternatively, the internal hand 8 can store an empty battery 4 removed from the vehicle 2 by the hand mechanism 72 into the charger 7.

[0034] (Insertion / removal mechanism) The insertion / removal mechanism 70 is a mechanism for inserting and removing the battery 4 of the vehicle 2. The insertion / removal mechanism 70 is housed inside the casing 5. A pair of insertion / removal mechanisms 70 are provided facing the second direction D2. The operation of the insertion / removal mechanism 70 is controlled by the replacement device control unit 80, which will be described later. The insertion / removal mechanism 70 is inserted and removed from the opening 5a of the casing 5 in the first direction D1. The insertion / removal mechanism 70 includes a rail 71 and a hand mechanism 72.

[0035] (rail) The rail 71 extends in a first direction D1. The rail 71 is movably mounted in the first direction D1 and the second direction D2. When the battery 4 is inserted or removed, the leading edge 71a of the rail 71 contacts the rear surface of the vehicle 2. The leading edge 71a of the rail 71 is formed in a curved shape to match the curved shape of the rear surface of the vehicle 2.

[0036] (Hand mechanism) The hand mechanism 72 extends in a first direction D1. The hand mechanism 72 is movably mounted in a first direction D1 and a second direction D2. The hand mechanism 72 is mounted on a rail 71. When the rail 71 moves in the first direction D1, the hand mechanism 72 also moves in the first direction D1 together with the rail 71. Furthermore, the hand mechanism 72 is movably mounted on the rail 71 in the first direction D1. Also, when the rail 71 moves in the second direction D2, the hand mechanism 72 also moves in the second direction D2 together with the rail 71. The rail 71 and the hand mechanism 72 are moved in and out of the opening 5a of the casing 5 in the first direction D1. The hand mechanism 72 can be inserted into the battery housing 30 by moving the hand mechanism 72 forward in the first direction D1 while the rail 71 is close to the vehicle 2 and the leading edge 71a of the rail 71 is in contact with the rear surface of the vehicle 2.

[0037] The hand mechanism 72 includes a base 73, an arm 74, a gripping part 75, and a lock release part 76. The base 73 is mounted on a rail 71. The base 73 is provided so as to be movable relative to the rail 71 in a first direction D1 by, for example, a ball screw (not shown). The arm 74 extends forward from the base 73 in the first direction D1. The arm 74 may have, for example, a magnetic joint 74a at its front end that can tilt in a second direction D2 and a third direction D3. The gripping part 75 is provided at the front end of the arm 74. The gripping part 75 is, for example, a magnetic hand and holds the battery 4 by magnetic force. Note that the gripping part 75 is not limited to a magnetic hand. The gripping part 75 may be a robot hand or the like. The lock release part 76 is a mechanism for releasing the lock on the battery 4 by the fixed plunger 50. The unlocking portion 76 is provided so as to be movable relative to the gripping portion 75 in the first direction D1. This allows the unlocking portion 76 to be retracted to the rear side in the first direction D1 so as not to come into contact with the fixed plunger 50 when unlocking is not necessary. In this embodiment, the unlocking portion 76 is formed in a U-shape that opens toward the front side in the first direction D1 in order to unlock the two fixed plungers 50 (see Figure 6).

[0038] (Receiving unit) The receiving unit 9 is a device that receives signals from the transmitting unit 42 of the vehicle 2. The receiving unit 9 is provided on each plugging / unplugging mechanism 70 and is provided so as to be movable together with the plugging / unplugging mechanism 70. In this embodiment, the receiving unit 9 is a photodetector 26 of a photoelectric sensor for alignment that aligns the hand mechanism 72 in the second direction D2 with respect to the battery housing 30. The receiving unit 9 is a photodetector 26 that can receive a light ray L2 from the transmitting unit 42 (in this embodiment, the light emitter 25 of the photoelectric sensor for alignment) when the hand mechanism 72 moves to a position facing the battery housing 30 in the first direction D1.

[0039] (Replacement device control unit) The battery exchange control unit 80 controls various devices of the battery exchange device 3 (vehicle position sensor 6, charger 7, internal hand 8, insertion / removal mechanism 70, receiving unit 9, etc.). When the receiving unit 9 receives a reverse signal from the transmitting unit 42 to retract the hand mechanism 72, the battery exchange control unit 80 retracts the hand mechanism 72 to the rear in the first direction D1. As shown in Figure 8, the battery exchange control unit 80 has the following functional units: an operation unit 81, a positioning determination unit 82, a hand initial position determination unit 83, a torque determination unit 84, and a push-in determination unit 85.

[0040] (Operation unit) The operating unit 81 operates the insertion / removal mechanism 70.

[0041] (Alignment determination unit) The alignment determination unit 82 determines whether the hand mechanism 72 is aligned to a position facing the battery housing 30 in the first direction D1.

[0042] (Hand initial position determination unit) The hand initial position determination unit 83 determines whether the hand mechanism 72 is in its initial position on the rail 71.

[0043] (Torque determination unit) The torque determination unit 84 determines whether the torque of the hand mechanism 72 exceeds a preset upper limit.

[0044] (Press detection unit 85) The push-in determination unit 85 determines whether or not the battery 4 has been successfully pushed into the battery housing 30.

[0045] (Operation when inserting or removing the battery) Next, the operation of the battery replacement system 1 during battery insertion and removal will be explained with reference to the flowcharts in Figures 9 and 10, and the schematic diagrams in Figures 11 and 12. Here, we will explain the procedures common to both the battery 4 removal operation and the battery 4 insertion operation. Figure 11 is a diagram illustrating the procedure for the battery 4 removal operation. In Figure 11, the initial state is shown with an empty battery 4 installed in the vehicle 2. On the other hand, Figure 12 is a diagram illustrating the procedure for the battery 4 insertion operation. In Figure 12, the initial state is shown with no battery 4 installed in the vehicle 2.

[0046] First, the hand mechanism 72 and the battery housing 30 are aligned. As shown in Figure 9, the operating unit 81 moves the hand mechanism 72 in the second direction D2 (step S10). At this time, during the battery removal operation, the hand mechanism 72 does not hold the battery 4. On the other hand, during the battery insertion operation, the hand mechanism 72 holds the charged battery 4. In step S10, the hand mechanism 72 moves together with the rail 71 and approaches the battery housing 30 in the second direction D2.

[0047] Subsequently, the alignment information acquisition unit determines whether the hand mechanism 72 has been aligned to a position facing the battery housing 30 in the first direction D1 (step S11). In this embodiment, while the hand mechanism 72 is moving in the second direction D2, the alignment light emitter 25 mounted on the vehicle 2 is turned ON and emits a light ray L2 (see Figures 11(a) and 12(a)). When the alignment light receiver 26, which moves together with the hand mechanism 72, receives the light ray L2 from the light emitter 25, the alignment determination unit 82 determines that the hand mechanism 72 has been aligned to a position facing the battery housing 30 in the first direction D1 (see Figures 11(b) and 12(b)). In the insertion operation, the alignment determination step (step S11) may be performed in the following procedure. For example, the exchange device control unit 80 holds the stop position of the hand mechanism 72 in the second direction D2 when the alignment by transmitting and receiving the light beam L2 between the light emitter 25 and the light receiver 26 is completed during the previously performed extraction operation. The stop position of the hand mechanism 72 is held, for example, as an encoder value. In the subsequent insertion operation, the alignment determination unit 82 determines that alignment is complete when the hand mechanism 72 reaches the stop position stored during the extraction operation.

[0048] If the hand mechanism 72 is not aligned with the battery housing 30 in the first direction D1 (step S11; NO), the hand mechanism 72 continues to move in the second direction D2. If the hand mechanism 72 is aligned with the battery housing 30 in the first direction D1 (step S11; YES), the operating unit 81 stops the movement of the hand mechanism 72 (step S12). In this way, the alignment between the hand mechanism 72 and the battery housing 30 is completed.

[0049] Once the hand mechanism 72 is aligned, it is inserted into and removed from the battery housing 30. As shown in Figure 10, first, the hand initial position determination unit 83 determines whether the hand mechanism 72 is in its initial position on the rail 71. If the hand mechanism 72 is not in its initial position on the rail 71 (step S20; NO), error processing is performed (step S21). In the error processing of step S21, for example, the hand mechanism 72 is returned to its initial position on the rail 71, and the flow is terminated. After the error processing, the flow shown in Figure 10 may be executed again. On the other hand, if the hand mechanism 72 is in its initial position on the rail 71, the operation unit 81 moves the hand mechanism 72 forward in the first direction D1 (step S22). At this time, the rail 71 also moves forward in the first direction D1 together with the hand mechanism 72. After step S22, the following are repeatedly performed simultaneously: a determination (step S23) to determine whether the torque of the hand mechanism 72 has exceeded a preset upper limit, and a determination (step S24) to determine whether the battery 4 has been pushed in. The determination in step S23 is performed by the torque determination unit 84. If the torque of the hand mechanism 72 has not exceeded the upper limit (step S23; NO), the hand mechanism 72 continues to move forward. On the other hand, if the torque of the hand mechanism 72 has exceeded the upper limit (step S23; YES), error processing is performed (step S25). In the error processing of step S25, for example, the hand mechanism 72 is moved backward in the first direction D1 and returned to the casing 5, and the flow is terminated once. After the error processing, the flow shown in Figure 10 may be executed again after the position of the vehicle 2 relative to the battery exchange device 3, the position of the hand mechanism 72 relative to the battery housing 30 shown in Figure 9, the position of the hand mechanism 72 relative to the rail 71, etc.

[0050] Furthermore, the determination in step S24 is made by the push-in determination unit 85. At this time, in the battery removal operation, a push-in is determined for an empty battery 4 already installed in the vehicle 2. On the other hand, in the battery insertion operation, a push-in is determined for a charged battery 4 held by the hand mechanism 72.

[0051] When the battery position sensor 41 detects that the battery 4 has been pushed in to the push-in position A2, the transmitter 42 transmits this information to the receiver 9 as a backward signal. In this embodiment, when the battery position sensor 41 detects that the battery 4 has been pushed in to the push-in position A2, the transmitter 42, which is also the light emitter 25, turns OFF, and the emission of the light beam L2 for alignment stops (see Figures 11(c) and 12(c)). As a result, the receiver 9, which is also the light receiver 26, can no longer receive the light beam L2, and the light receiver 26 also turns OFF. When the light receiver 26 turns OFF, it is determined that the push-in of the battery 4 is complete.

[0052] If the battery 4 has not been fully pushed in (step S24; NO), the hand mechanism 72 continues to move forward. On the other hand, if the battery 4 has been fully pushed in (step S24; YES), the operating unit 81 moves the hand mechanism 72 backward in the first direction D1 (step S26). At this time, the rail 71 also moves backward together with the hand mechanism 72 (see Figures 11(d) and 12(d)). In the battery removal operation, the battery 4 is gripped by the hand mechanism 72, and the battery 4 also moves backward in the first direction D1 together with the hand mechanism 72. On the other hand, in the battery insertion operation, the charged battery 4 is fixed in the fixed position A1 of the battery housing 30, and only the hand mechanism 72 and the rail 71 move backward in the first direction D1.

[0053] Subsequently, when the hand mechanism 72 and rail 71 return to the casing 5, the hand initial position determination unit 83 determines whether the hand mechanism 72 has returned to its initial position on the rail 71 (step S27). If the hand mechanism 72 has not returned to its initial position on the rail 71 (step S27; NO), the hand mechanism 72 continues to retract. On the other hand, if the hand mechanism 72 has returned to its initial position on the rail 71 (step S27; YES), the operation unit 81 stops the movement (retraction) of the hand mechanism 72 in the first direction D1 (step S28). In this way, the operation when inserting or removing the battery 4 is completed.

[0054] (Removal action) Next, referring to the schematic diagram in Figure 13, the operation of each component within the battery housing 30 during the battery 4 removal operation will be explained. Here, it is assumed that the alignment of the hand mechanism 72 and the battery housing 30 in the second direction D2 has been completed and the rail 71 is in contact with the rear surface of the vehicle 2.

[0055] As shown in Figure 13(a), the empty battery 4 to be replaced is biased to the rear in the first direction D1 by the return plunger 40, and is fixed to a fixed position A1 in the battery housing 30 by inserting the pin 52 of the fixed plunger 50 into the fixed hole 33.

[0056] Subsequently, as shown in Figure 13(b), the hand mechanism 72 is inserted into the battery housing 30, and the gripping portion 75 (a magnet in this embodiment) of the hand mechanism 72 is pressed against the rear surface 4b of the battery 4. At this time, the lock release portion 76 of the hand mechanism 72 is pressed against the tab 54 of the fixed plunger 50. This causes the tab 54 to rotate around the pin 52 so as to approach the rear surface 4b of the battery 4. As the tab 54 rotates, the pin 52 rotates and is pulled out of the fixed hole 33, and the lock on the battery 4 is released. Then, the return plunger 40 pushes the battery 4 slightly to the rear in the first direction D1, and the rear surface 4b of the battery 4 is pressed against the gripping portion 75.

[0057] Subsequently, as shown in Figure 13(c), the gripping portion 75 moves further forward in the first direction D1, and the battery 4 is pushed in to the push-in position A2. By inserting the hand mechanism 72 until the battery 4 moves to the push-in position A2, the gripping portion 75 is pressed firmly against the battery 4. As a result, the battery 4 is strongly attracted to the gripping portion 75. In other words, the battery 4 is securely held in the gripping portion 75.

[0058] When the battery 4 moves to the push-in position A2, the projection 4c of the battery 4 enters the battery position sensor 41, and it is detected that the battery 4 has been pushed into the push-in position A2. When it is detected that the battery 4 has been pushed into the push-in position A2, the transmission unit 42 sends a retraction signal to the battery replacement device 3 as described above. When the battery replacement device 3 receives the retraction signal, it retracts the hand mechanism 72 as shown in Figure 13(d). Since the battery 4 is gripped by the gripping part 75, the retraction of the hand mechanism 72 causes the battery 4 to be removed from the battery housing 30. In this way, the battery removal operation is completed.

[0059] (Insertion operation) Next, referring to the schematic diagram in Figure 14, the operation of each component within the battery housing 30 during the battery 4 insertion operation will be explained. Here, it is assumed that the alignment of the hand mechanism 72 and the battery housing 30 in the second direction D2 has been completed and the rail 71 is in contact with the rear surface of the vehicle 2.

[0060] As shown in Figure 14(a), the charged battery 4 to be replaced is attracted to the gripping portion 75 (a magnet in this embodiment) of the hand mechanism 72. That is, the charged battery 4 is gripped by the gripping portion 75. During the insertion operation, the lock release portion 76 is retracted to the rear in the first direction D1 so as not to come into contact with the fixed plunger 50.

[0061] Subsequently, as shown in Figure 14(b), when the hand mechanism 72 is inserted into the battery housing 30 in this state, the tip 52a of the pin 52 of the fixing plunger 50 is pushed outward in the second direction D2 by the rear surface of the vehicle 2 and the inner wall surface 32 of the battery housing 30, causing the pin 52 to rotate and move away from the fixing hole 33 in the second direction D2.

[0062] Subsequently, as shown in Figure 14(c), the hand mechanism 72 moves further forward in the first direction D1, pushing the battery 4 to the push-in position A2. By inserting the hand mechanism 72 until the battery 4 moves to the push-in position A2, the fixing plunger 50 moves to the center of the fixing hole 33 in the first direction D1. As a result, the pin 52 of the fixing plunger 50 is biased by the internal biasing part 53 and pushed back inward in the second direction D2, and securely inserted into the fixing hole 33.

[0063] When the battery 4 moves to the push-in position A2, the projection 4c of the battery 4 enters the battery position sensor 41, and it is detected that the battery 4 has been pushed into the push-in position A2. When it is detected that the battery 4 has been pushed into the push-in position A2, the transmission unit 42 sends a retraction signal to the battery replacement device 3 as described above. When the battery replacement device 3 receives the retraction signal, it retracts the hand mechanism 72 as shown in Figure 14(d). At this time, the battery 4 is biased to the rear in the first direction D1 by the return plunger 40, and the pin 52 of the fixing plunger 50 is inserted into the fixing hole 33, thereby fixing the battery 4 in the fixing position A1. As a result, the gripping portion 75 of the hand mechanism 72 is reliably separated from the battery 4, and only the hand mechanism 72 can be pulled out of the battery housing 30 while the charged battery 4 remains in the battery housing 30. In this way, the battery insertion operation is completed.

[0064] (Effects and Benefits) The battery replacement system 1 of this embodiment provides the following effects and benefits.

[0065] In this embodiment, the vehicle 2 comprises a battery 4, a battery housing 30, a return plunger 40, a battery position sensor 41, and a transmitting unit 42. The battery 4 is mounted so as to be removable in a first direction D1 by the hand mechanism 72 of the battery replacement device 3. The battery 4 is housed in the battery housing 30. In the battery housing 30, the battery 4 is movable between a fixed position A1 where the battery 4 is fixed and a pushed-in position A2 where it is pushed from the fixed position A1 in the first direction D1 by the hand mechanism 72. The return plunger 40 is provided in the battery housing 30 and biases the battery 4 from the pushed-in position A2 toward the fixed position A1. The battery position sensor 41 can detect the position of the battery 4 in the battery housing 30. When the battery position sensor 41 detects that the battery 4 has moved to the pushed-in position A2, the transmitting unit 42 can transmit a reverse signal to the battery replacement device 3 to retract the hand mechanism 72.

[0066] With this configuration, it is possible to prevent the battery 4 from being pushed in beyond the push-in position A2 without having to control the amount of stroke for pushing in the hand mechanism 72. This prevents the battery 4 from colliding with the terminals 31 or the inner wall surface 32 inside the battery housing 30 when inserting or removing the battery 4. Therefore, the battery 4 can be inserted and removed in a simple manner without having to control the amount of stroke.

[0067] In this embodiment, during the removal operation in which the battery 4 is removed from the battery housing 30, if the battery position sensor 41 detects that the battery 4 has moved to the push-in position A2, the transmission unit 42 transmits a retraction signal to the battery replacement device 3 to retract the hand mechanism 72.

[0068] With this configuration, when removing the battery 4, the hand mechanism 72 can be pressed against the battery 4 to securely grip it, while avoiding collision of the battery 4 with the terminals 31 or inner wall surface 32 inside the battery housing 30. Therefore, the battery 4 can be securely gripped and removed in a simple manner.

[0069] In this embodiment, the inner wall surface 32 of the battery housing 30 has a fixing hole 33 that is recessed in a direction intersecting the first direction D1 and extends in the first direction D1. The vehicle 2 further includes a fixing plunger 50 provided on the battery 4. In the insertion operation in which the battery 4 is inserted into the battery housing 30, the fixing plunger 50 is inserted into the fixing hole 33 when the battery 4 moves from outside the battery housing 30 to the fixed position A1. In the insertion operation, if the battery position sensor 41 detects that the battery 4 has moved to the pushed-in position A2, the transmission unit 42 transmits a retraction signal to the battery replacement device 3 to retract the hand mechanism 72.

[0070] With this configuration, when inserting the battery 4, the hand mechanism 72 can be pressed against the battery 4 mechanism to insert the fixing plunger 50 into the fixing hole 33, while avoiding the battery 4 colliding with the terminals 31 or the inner wall surface 32 inside the battery housing 30. Therefore, the battery 4 can be inserted and securely fixed in a simple manner.

[0071] In this embodiment, the battery replacement system 1 comprises a vehicle 2 and a battery replacement device 3. The battery replacement device 3 comprises a hand mechanism 72, a receiving unit 9, and a replacement device control unit 80. The receiving unit 9 is capable of receiving signals from the transmitting unit 42. When the receiving unit 9 receives a retraction signal from the transmitting unit 42 to retract the hand mechanism 72, the replacement device control unit 80 retracts the hand mechanism 72.

[0072] With this configuration, the battery replacement system 1 can control the insertion and removal of the hand mechanism 72 so that the battery 4 is not pushed in beyond the insertion position A2, without having to manage the amount of stroke the hand mechanism 72 is pushed in. Therefore, the battery 4 can be inserted and removed in a simple manner.

[0073] In this embodiment, the transmitting unit 42 is a light emitter 25 capable of emitting a light ray L2. The receiving unit 9 is a light receiver 26 capable of receiving the light ray L2 from the transmitting unit 42 when the hand mechanism 72 moves to a position facing the battery housing 30 in the first direction D1. When the battery position sensor 41 detects that the battery 4 has moved to the push-in position A2, the transmitting unit 42 stops emitting light to the receiving unit 9 and transmits a retraction signal to the battery replacement device 3 to retract the hand mechanism 72.

[0074] With this configuration, the light emitter 25 and light receiver 26 used for positioning the hand mechanism 72 can be used to transmit a retraction signal to the battery replacement device 3 to move the hand mechanism 72 backward. Furthermore, since the retraction signal is transmitted and received using light, response delays of the hand mechanism 72 can be avoided.

[0075] (Other embodiments) Although embodiments of this disclosure have been described in detail above with reference to the drawings, the specific configuration is not limited to these embodiments and may include design changes and the like that do not depart from the gist of this disclosure.

[0076] For example, as shown in Figure 15, the battery position sensor 41A may be a transmissive photoelectric sensor in which the light-emitting unit 43 and the light-receiving unit 44 are provided separately. In the illustrated example, the battery position sensor 41A is positioned behind the return plunger 40 in the first direction D1. The light-emitting unit 43 and the light-emitting unit face each other in the third direction D3. When the battery 4 moves to the pushed-in position A2, the light ray L1 directed from the light-emitting unit 43 to the light-receiving unit 44 is blocked by the battery 4. In this way, the blocking of the light ray L1 indicates that the battery 4 has moved to the pushed-in position A2.

[0077] As shown in Figure 16, the battery position sensor 41B may also be a reflective photoelectric sensor. The light-emitting unit 43 and the light-receiving unit 44 are provided integrally. The battery position sensor 41B is positioned so as to face the battery 4, which has moved to the push-in position A2, in the third direction D3. The battery position sensor 41B emits a light ray L1 in the third direction D3, and when the battery 4 moves to the push-in position A2, the light ray L1 is reflected by the battery 4 and returns to the battery position sensor 41B. In this way, the battery position sensor 41B detects that the battery 4 has moved to the push-in position A2 by receiving the light ray L1.

[0078] As shown in Figure 17, the battery position sensor 41C may also be a limit switch. The battery position sensor 41C has a lever 45. The battery position sensor 41C is positioned so as to face the battery 4 when it moves to the pushed-in position A2 and in the third direction D3. When the battery 4 moves to the pushed-in position A2, the lever 45 is pushed in the third direction D3. This pushing of the lever 45 detects that the battery 4 has moved to the pushed-in position A2.

[0079] Furthermore, the battery position sensor 41C of such a limit switch may be positioned so as to face the battery 4 in the first direction D1, as shown in Figure 18. In this case, when the battery 4 moves to the pushed-in position A2, the lever 45 is pushed in the first direction D1. This pushing of the lever 45 detects that the battery 4 has moved to the pushed-in position A2.

[0080] Furthermore, as shown in Figure 19, the battery position sensor 41D may be a distance measuring sensor that measures the distance d between the battery 4 and the battery position sensor 41D in a first direction D1. The battery position sensor 41D is positioned opposite the battery 4 in the first direction D1. The distance d between the battery 4 and the battery position sensor 41 when the battery 4 is in the push-in position A2 is recorded in advance, and the system detects when the distance d between the battery 4 and the battery position sensor 41D becomes the distance d of the push-in position A2, thereby detecting that the battery 4 has moved to the push-in position A2. This distance measuring sensor may be a contact type or a non-contact type.

[0081] The battery position sensors 41, 41A, 41B, 41C, and 41D are not limited to the sensors described above. The battery position sensors 41, 41A, 41B, 41C, and 41D may be distance-setting type photoelectric sensors that turn on when they approach a set distance, microswitches, plunger-type or laser-type displacement sensors, ultrasonic sensors, or proximity sensors.

[0082] Furthermore, as shown in Figure 20, the battery exchange control unit 80 may also have the function of an alternative control unit 86 that controls the insertion and removal of the hand mechanism 72 without relying on the battery position sensors 41, 41A, 41B, 41C, 41D, and 41E when an abnormality occurs. With such a configuration, the battery exchange device 3 can switch to an alternative means of controlling the hand mechanism 72 without relying on the battery position sensors 41, 41A, 41B, 41C, 41D, and 41E when an abnormality occurs.

[0083] An example of an abnormality that would trigger a switch to such an alternative method is when the light beam L2 from the transmitter 42 (light emitter 25) to the receiver 9 (light receiver 26) is interrupted, and communication between the transmitter 42 and the receiver 9 does not occur normally. After aligning the hand mechanism 72 in the second direction D2 with respect to the battery housing 30, if the light beam L2 to the receiver 9 is interrupted during insertion or removal of the hand mechanism 72, an abnormality is detected, and the control is switched to the alternative control unit 86. The alternative control unit 86 measures the stroke amount of the hand mechanism 72 in the first direction D1, and the operating unit 81 controls the insertion and removal of the hand mechanism 72 based on the measured stroke amount. The stroke amount of the hand mechanism 72 in the first direction D1 is measured, for example, by measuring the operating torque of the hand mechanism 72.

[0084] Furthermore, when the light beam L2 from the transmitter 42 (light emitter 25) to the receiver 9 (light receiver 26) is interrupted, if the stroke amount of the hand mechanism 72 is not significantly greater than the stroke amount required for the battery 4 to be pushed into the push-in position A2 (for example, if the stroke amount of the hand mechanism 72 is 70% to 80% or less of the stroke amount required for the battery 4 to be pushed into the push-in position A2), the system may switch to the control of the alternative control unit 86 described above without determining that the battery 4 has been pushed in.

[0085] Alternatively, a current limit may be set for the motor (not shown) of the hand mechanism 72, and the alternative control unit 86 may control the hand mechanism 72 to stop plugging in if the current of the hand mechanism 72 motor exceeds the set limit. This prevents excessive force from being applied to the hand mechanism 72 or the battery housing 30.

[0086] With this configuration, even if, for example, an obstacle is placed between the light emitter 25 and the light receiver 26, blocking the light emitted from the light emitter 25 to the light receiver 26, the battery replacement device 3 can switch to a means for directly measuring the stroke amount of the hand mechanism 72, and based on the measured stroke amount, it can control the insertion and removal of the hand mechanism 72 so that the battery 4 is not pushed in excessively beyond the insertion position A2.

[0087] Furthermore, the aforementioned battery position sensors 41, 41A, 41B, 41C, and 41D detect whether or not the battery 4 is pushed into the push-in position A2, and the transmitter 42 (light emitter 25) controls the insertion and removal of the hand mechanism 72 to the battery replacement device 3 using only two values: ON / OFF for the light emitter. However, as shown in Figure 21, the battery position sensor 41E is a sensor that can detect the position of the battery 4 in stages from the fixed position A1 to the push-in position A2, and the transmitter 42 may be designed to transmit the position information of the battery 4 to the receiver 9 in stages. In this case, the battery position sensor 41E is, for example, a transmissive photoelectric sensor in which a light emitter 43 and a light receiver 44 are provided separately, and a plurality of battery position sensors 41E may be arranged in a line in the first direction D1. This allows the battery position sensor 41E to detect the degree to which the battery 4 is pushed in in stages. The exchange device control unit 80 then controls the speed of the hand mechanism 72 in the first direction D1 based on the position of the battery 4, and the closer the battery 4 is to the push-in position A2, the lower the speed of the hand mechanism 72 in the first direction D1.

[0088] With this configuration, the further the battery 4 is pushed into the battery housing 30, the slower the insertion speed of the battery 4 can be reduced. This makes it possible to more reliably avoid the battery 4 colliding with the terminals 31 or the inner wall surface 32 inside the battery housing 30 when inserting or removing the battery 4.

[0089] Furthermore, the receiving unit 9 is a light receiver 26 capable of detecting changes in the intensity of the light ray L2 from the transmitting unit 42, and the transmitting unit 42 may transmit the position information of the battery 4 to the receiving unit 9 in stages by gradually changing the intensity of the light ray L2 according to the degree to which the battery 4 is pressed in.

[0090] With this configuration, the light emitter 25 and light receiver 26 used for positioning the hand mechanism 72 can be used to transmit stepwise position information of the battery 4 to the battery replacement device 3. In addition, since light is used to send and receive the reversal signal, response delays of the hand mechanism 72 can be avoided.

[0091] Furthermore, the method of transmitting the degree to which the battery 4 is pressed in from the transmitting unit 42 to the receiving unit 9 in stages is not limited to changing the intensity of the light ray L2 as described above, but may also be a multiple-bit communication method using multiple ON / OFF binary sensors, for example.

[0092] Furthermore, in the above-described embodiment, the case was explained in which the transmitting unit 42 that transmits a reverse signal to the battery replacement device 3 is the light emitter 25 of the alignment photoelectric sensor, and the receiving unit 9 that receives the reverse signal from the vehicle 2 is the light receiver 26 of the alignment photoelectric sensor. However, means other than the photoelectric sensor may be used as a means to transmit information from the transmitting unit 42 to the receiving unit 9. For example, the transmitting unit 42 and the receiving unit 9 are provided separately as the light emitter 25 and the light receiver 26, respectively, and short-range communication may be used as a means to transmit information from the transmitting unit 42 to the receiving unit 9, communication via a higher-level control system may be used, or wired communication may be used.

[0093] (Hardware configuration) The vehicle control unit 60 and the exchange device control unit 80 of each of the above embodiments are implemented in the computer 1100 shown in Figure 22. The computer 1100 includes a processor 1110, main memory 1120, storage 1130, and interface 1140.

[0094] The operations of the aforementioned functional units of the vehicle control unit 60 and the exchange device control unit 80 are stored in the storage 1130 in the form of a program. The processor 1110 reads the program from the storage 1130, loads it into the main memory 1120, and executes the above processing according to the program. The processor 1110 also allocates a storage area in the main memory 1120 corresponding to the storage unit described above, according to the program.

[0095] The program may be for the purpose of realizing some of the functions that the computer 1100 is to perform. For example, the program may perform functions in combination with other programs already stored in the storage 1130, or in combination with other programs implemented in other devices. In addition, the computer 1100 may be equipped with 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 realized by the processor 1110 may be realized by the integrated circuit.

[0096] Examples of storage 1130 include magnetic disks, magneto-optical disks, and 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. Furthermore, if this program is distributed to computer 1100 via a communication line, computer 1100 that receives the program may expand it into main memory 1120 and execute the above processing. Storage 1130 may also be a tangible storage medium that is not temporary.

[0097] Furthermore, the program may be intended to implement some of the functions described above. In addition, the program may be a so-called differential file (differential program) that implements the functions described above in combination with other programs already stored in the storage 1130.

[0098] <Note> The vehicle 2 and battery replacement system 1 described in each embodiment can be understood, for example, as follows:

[0099] (1) The vehicle 2 according to the first embodiment includes a battery 4 mounted so as to be removable in a first direction D1 by a hand mechanism 72 of a battery replacement device 3, a battery housing 30 in which the battery 4 is housed and the battery 4 is movable to a fixed position A1 in which the battery 4 is fixed and to a pushed-in position A2 in which the hand mechanism 72 pushes the battery 4 from the fixed position A1 in the first direction D1, a return plunger 40 provided in the battery housing 30 for biasing the battery 4 from the pushed-in position A2 toward the fixed position A1, battery position sensors 41, 41A, 41B, 41C, 41D, 41E capable of detecting the position of the battery 4 in the battery housing 30, and a transmission unit 42 capable of transmitting a retraction signal to the battery replacement device 3 to retract the hand mechanism 72 when the battery position sensors 41, 41A, 41B, 41C, 41D, 41E detect that the battery 4 has moved to the pushed-in position A2. Examples of vehicle 2 include, for example, the autonomous forklift of this embodiment, as well as logistics vehicles, industrial vehicles, electric vehicles, and the like.

[0100] With this configuration, it is possible to prevent the battery 4 from being pushed in beyond the push-in position A2 without having to control the amount of stroke for pushing in the hand mechanism 72. This prevents the battery 4 from colliding with the terminals 31 or the inner wall surface 32 inside the battery housing 30 when inserting or removing the battery 4. Therefore, the battery 4 can be inserted and removed in a simple manner without having to control the amount of stroke.

[0101] (2) The vehicle 2 of the second embodiment is the vehicle 2 of (1), and in the extraction operation in which the battery 4 is removed from the battery housing 30, if the battery position sensors 41, 41A, 41B, 41C, 41D, 41E detect that the battery 4 has moved to the push-in position A2, the transmitting unit 42 may transmit a retraction signal to the battery replacement device 3 to retract the hand mechanism 72.

[0102] With this configuration, when removing the battery 4, the hand mechanism 72 can be pressed against the battery 4 to securely grip it, while avoiding collision of the battery 4 with the terminals 31 or inner wall surface 32 inside the battery housing 30. Therefore, the battery 4 can be securely gripped and removed in a simple manner.

[0103] (3) The vehicle 2 of the third embodiment is the vehicle 2 of (1) or (2), wherein the inner wall surface 32 of the battery housing 30 has a fixing hole 33 formed therein that is recessed in a direction intersecting the first direction D1 and extends in the first direction D1, and is provided in the battery 4, and further comprises a fixing plunger 50 that is inserted into the fixing hole 33 when the battery 4 moves from outside the battery housing 30 to the fixing position A1 during the insertion operation in which the battery 4 is inserted into the battery housing 30, and during the insertion operation, when the battery position sensors 41, 41A, 41B, 41C, 41D, 41E detect that the battery 4 has moved to the push-in position A2, the transmitting unit 42 may transmit a retraction signal to the battery replacement device 3 to retract the hand mechanism 72.

[0104] With this configuration, when inserting the battery 4, the hand mechanism 72 can be pressed against the battery 4 mechanism to insert the fixing plunger 50 into the fixing hole 33, while avoiding the battery 4 colliding with the terminals 31 or the inner wall surface 32 inside the battery housing 30. Therefore, the battery 4 can be inserted and securely fixed in a simple manner.

[0105] (4) The battery exchange system 1 according to the fourth embodiment comprises one vehicle 2 from (1) to (3) and the battery exchange device 3, the battery exchange device 3 comprising the hand mechanism 72, a receiving unit 9 capable of receiving signals from the transmitting unit 42, and an exchange device control unit 80 that retracts the hand mechanism 72 when the receiving unit 9 receives a retraction signal from the transmitting unit 42 to retract the hand mechanism 72.

[0106] With this configuration, the battery replacement system 1 can control the insertion and removal of the hand mechanism 72 so that the battery 4 is not pushed in beyond the insertion position A2, without having to manage the amount of stroke the hand mechanism 72 is pushed in. Therefore, the battery 4 can be inserted and removed in a simple manner.

[0107] (5) The battery replacement system 1 according to the fifth embodiment is the battery replacement system 1 of (4), wherein the transmitting unit 42 is a light emitter 25 capable of emitting a light ray L2, and the receiving unit 9 is a light receiver 26 capable of receiving the light ray L2 from the transmitting unit 42 when the hand mechanism 72 moves to a position facing the battery housing 30 in the first direction D1, and when the battery position sensors 41, 41A, 41B, 41C, 41D, 41E detect that the battery 4 has moved to the push-in position A2, the transmitting unit 42 may transmit a retraction signal to the battery replacement device 3 to retract the hand mechanism 72 by stopping the emission of light to the receiving unit 9.

[0108] With this configuration, the light emitter 25 and light receiver 26 used for positioning the hand mechanism 72 can be used to transmit a retraction signal to the battery replacement device 3 to move the hand mechanism 72 backward. Furthermore, since the retraction signal is transmitted and received using light, response delays of the hand mechanism 72 can be avoided.

[0109] (6) The battery replacement system 1 according to the sixth embodiment is the battery replacement system 1 of (4) or (5), wherein the replacement device control unit 80 may control the insertion and removal of the hand mechanism 72 without relying on the battery position sensors 41, 41A, 41B, 41C, 41D, 41E when an abnormality occurs.

[0110] With this configuration, the battery replacement device 3 can switch to an alternative means of controlling the hand mechanism 72 without relying on the battery position sensors 41, 41A, 41B, 41C, 41D, and 41E in the event of an abnormality.

[0111] (7) The battery replacement system 1 according to the seventh aspect is (4 ) The battery replacement system 1 is configured such that the battery position sensors 41, 41A, 41B, 41C, 41D, and 41E can detect the position of the battery 4 in steps from the fixed position A1 to the push-in position A2, the transmitting unit 42 can transmit the position information of the battery 4 in steps to the receiving unit 9, and the replacement device control unit 80 controls the speed of the hand mechanism 72 in the first direction D1 based on each position of the battery 4, and may decrease the speed of the hand mechanism 72 in the first direction D1 as the battery 4 approaches the push-in position A2.

[0112] With this configuration, the further the battery 4 is pushed into the battery housing 30, the slower the insertion speed of the battery 4 can be reduced. This makes it possible to more reliably avoid the battery 4 colliding with the terminals 31 or the inner wall surface 32 inside the battery housing 30 when inserting or removing the battery 4.

[0113] (8) The battery replacement system 1 according to the eighth embodiment is the battery replacement system 1 of (7), wherein the transmitting unit 42 is a light emitter 25 capable of emitting a light ray L2, and the receiving unit 9 is a light receiver 26 capable of receiving the light ray L2 from the transmitting unit 42 and detecting changes in the intensity of the light ray L2 from the transmitting unit 42 when the hand mechanism 72 moves to a position facing the battery housing 30 in the first direction D1, and when the battery position sensors 41, 41A, 41B, 41C, 41D, 41E detect that the battery 4 has moved to the push-in position A2, the transmitting unit 42 transmits a retraction signal to the battery replacement device to retract the hand mechanism 72 by stopping the emission of light to the receiving unit 9, and the transmitting unit 42 may transmit the position information of the battery 4 to the receiving unit 9 in stages by gradually changing the intensity of the light ray L2 according to the degree to which the battery 4 is pushed in.

[0114] With this configuration, the light emitter 25 and light receiver 26 used for positioning the hand mechanism 72 can be used to transmit stepwise position information of the battery 4 to the battery replacement device 3. In addition, since light is used to send and receive the reversal signal, response delays of the hand mechanism 72 can be avoided. [Explanation of Symbols]

[0115] 1. Battery replacement system 2 vehicles 3. Battery replacement device 4 Batteries 4a front 4b Rear 4c protrusion 5. Casing 5a opening 6. Vehicle position sensor 7 Charger 8 Internal Hand 9. Receiving Unit 10 Vehicle Body 11 Car body 12 straddle legs 13. Running mechanism 13a First drive wheel 13b Second drive wheel 14 Mast 15. Vehicle frame 17 Outer Mast 18 Inner Mast 19 brackets 20 Cargo handling equipment 21 Lift Bracket 22 Forks 25 Floodlights 26 Receiver 30 Battery housing 31 terminals 32 Inner wall surface 32a side 33 Fixing hole 40 Return plunger 41, 41A, 41B, 41C, 41D, 41E Battery position sensor 42 Transmitter 43. Lighting Unit 44 Light receiving part 50 Fixed plunger 51 Mounting part 52 pins 52a Tip 53. Encouraging part 54 tabs 60 Vehicle Control Unit 61 Battery location information acquisition unit 62 Transmission Command Unit 70 Insertion / removal mechanism 71 rails 71a Front edge 72 Hand Mechanism 73 Base 74 Arms 74a Magnetic joint 75 Gripping part 76. Unlocking section 80 Switching device control unit 81 Operation section 82 Alignment determination unit 83 Hand initial position determination unit 84 Torque determination unit 85 Push-in detection unit 86 Alternative Control Unit 1100 Computer 1110 processor 1120 Main Memory 1130 storage 1140 Interface A1 Fixed position A2 Push-in position D1 1st direction D2 2nd direction D3 Third direction L1 ray L2 ray P Parking area

Claims

1. A battery mounted so as to be removable in a first direction by the hand mechanism of the battery replacement device, A battery housing portion in which the battery is housed and the battery is movable between a fixed position in which the battery is secured and a pushed-in position in which the battery is pushed from the fixed position in the first direction by the hand mechanism, A return plunger is provided in the battery housing and biases the battery from the pushed-in position toward the fixed position, A battery position sensor capable of detecting the position of the battery in the battery housing, When the battery position sensor detects that the battery has moved to the push-in position, a transmitting unit is provided that can transmit a retraction signal to the battery replacement device to retract the hand mechanism. A vehicle equipped with the following features.

2. In the removal operation in which the battery is removed from the battery housing, if the battery position sensor detects that the battery has moved to the push-in position, the transmitting unit transmits a retraction signal to the battery replacement device to retract the hand mechanism, as described in claim 1.

3. The inner wall surface of the battery housing has a fixing hole formed therein, which is recessed in a direction intersecting the first direction and extends in the first direction. The battery is provided with a fixing plunger that, when the battery moves from outside the battery housing to the fixed position during the insertion operation in which the battery is inserted into the battery housing, is further inserted into the fixing hole. In the insertion operation, if the battery position sensor detects that the battery has moved to the push-in position, the transmitting unit transmits a retraction signal to the battery replacement device to retract the hand mechanism, as described in claim 1.

4. A vehicle according to any one of claims 1 to 3, The aforementioned battery replacement device, Equipped with, The aforementioned battery replacement device is The aforementioned hand mechanism, A receiving unit capable of receiving signals from the aforementioned transmitting unit, When the receiving unit receives a retraction signal from the transmitting unit to retract the hand mechanism, the switching device control unit retracts the hand mechanism, A battery replacement system equipped with this system.

5. The transmitting unit is a light emitter capable of projecting light rays, The receiving unit is a light receiver capable of receiving light rays from the transmitting unit when the hand mechanism moves to a position facing the battery housing in the first direction. When the battery position sensor detects that the battery has moved to the push-in position, the transmitting unit stops emitting light to the receiving unit and transmits a retraction signal to the battery replacement device to retract the hand mechanism. The battery replacement system according to claim 4.

6. The aforementioned replacement device control unit controls the insertion and removal of the hand mechanism without relying on the battery position sensor when an abnormality occurs. The battery replacement system according to claim 4.

7. The battery position sensor is capable of detecting the position of the battery in stages from the fixed position to the pushed-in position. The transmitting unit is capable of transmitting the battery location information to the receiving unit in stages. The battery replacement system according to claim 4, wherein the replacement device control unit controls the speed of the hand mechanism in the first direction based on each position of the battery, and reduces the speed of the hand mechanism in the first direction as the battery gets closer to the push-in position.

8. The transmitting unit is a light emitter capable of projecting light rays, The receiving unit is a light receiver capable of receiving light rays from the transmitting unit and detecting changes in the intensity of light rays from the transmitting unit when the hand mechanism moves to a position facing the battery housing in the first direction. When the battery position sensor detects that the battery has moved to the push-in position, the transmitting unit stops emitting light to the receiving unit and transmits a retraction signal to the battery replacement device to retract the hand mechanism. The battery replacement system according to claim 7, wherein the transmitting unit can transmit the battery's position information to the receiving unit in stages by gradually changing the intensity of the light beam according to the degree to which the battery is pressed in.

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