Battery exchange system and battery exchange system control method

Abstract

A battery exchange system and a method for controlling the battery exchange system, the battery exchange system including a travel path (2) and a battery exchange device (1), the travel path (2) being provided with a battery exchange position (4), and the battery exchange device (1) moving along the travel path (2) to the battery exchange position (4), the battery exchange system and the method for controlling the battery exchange system, realizing a rapid battery exchange operation and improving the efficiency and stability of the battery exchange operation.

Description

[Technical field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims priority from Chinese Patent Application No. 2020100769847, filed on January 23, 2020. The entire text of the above Chinese patent application is incorporated herein by reference. The present invention relates to a battery exchange system. The present invention further relates to a method for controlling a battery exchange system. [Background technology]

[0002] A conventional battery exchange system uses a battery exchange cart (i.e., battery exchange equipment) to replace the battery pack of an electric vehicle, and the replacement process includes unlocking the battery pack from the bottom of the electric vehicle, removing and transporting the battery pack to a palletizer, transporting the battery pack in the palletizer to the electric vehicle, and installing the battery pack on the electric vehicle.

[0003] However, in conventional technology, it is difficult to control the positional accuracy of the battery exchange cart, making it difficult to align the battery exchange cart with the electric vehicle, which in turn affects the removal and installation of the battery packs and makes the operation of the battery exchange system unstable. Summary of the Invention [Problem to be solved by the invention]

[0004] SUMMARY OF THE PRESENT EMBODIMENT The problem to be solved by the present invention is to provide a battery exchange system and a control method for the battery exchange system, in order to overcome the drawback of the prior art that the battery exchange cart is difficult to align with the electric vehicle. [Means for solving the problem]

[0005] The present invention solves the above problems by the following technical solutions.

[0006] 1. A battery exchange system comprising: a travel path provided with a battery replacement position; and a battery exchange station for moving along the travel path to the battery exchange location. In this technical solution, by controlling the movement of the battery exchange equipment within the driving passageway, the battery exchange equipment can be aligned with the electric vehicle to perform removal or installation of the battery pack, thereby improving the operating stability of the battery exchange system.

[0007] Preferably, the battery exchange position is provided with an alignment origin and the battery exchange equipment is provided with an alignment sensor, or the battery exchange position is provided with an alignment sensor and the battery exchange equipment is provided with an alignment origin, and the alignment sensor is for detecting whether the battery exchange equipment has reached the alignment origin. In this technical proposal, an alignment sensor is used to detect the position of the alignment origin, and when the alignment origin is detected by the alignment sensor, it means that the battery replacement equipment has reached the battery replacement position, so that the battery replacement equipment can accurately stop at the battery replacement position.

[0008] Preferably, an exchange position is provided on the travel path, and the battery exchange equipment is used to move along the travel path to the exchange position, and the battery exchange equipment is further used to exchange a battery pack into a battery compartment at the exchange position. In this technical solution, the battery replacement device stops at the replacement position, and at the replacement position, the removed battery pack is placed in the battery chamber, and the charged battery pack is removed from the battery chamber, thereby realizing the replacement of the battery pack.

[0009] Preferably, a replacement origin is provided at the replacement position and a replacement sensor is provided in the battery replacement equipment, or a replacement sensor is provided at the replacement position and a replacement origin is provided in the battery replacement equipment, and the replacement sensor is for detecting whether the battery replacement equipment has reached the replacement origin. In this technical solution, a replacement sensor is used to detect the replacement origin, so that the battery replacement device can be accurately positioned at the replacement position, and it is ensured that the battery pack replacement operation can be carried out stably.

[0010] Preferably, the battery chamber and the battery replacement position are connected by the traveling path, a deceleration positioning point is provided on the traveling path, and the battery replacement equipment is provided with a deceleration sensor corresponding to the deceleration positioning point, the deceleration sensor is for detecting whether the battery replacement equipment has reached the deceleration positioning point, and the battery replacement equipment is further used to move along the traveling path toward the battery replacement position and decelerate after passing the deceleration positioning point. In this technical solution, the battery replacement equipment moves between the battery room and the battery replacement position, and the battery replacement equipment moves quickly before reaching the deceleration positioning point, so as to improve the operating efficiency, while the battery replacement equipment moves at a slower speed after passing the deceleration positioning point, so as to ensure the positioning accuracy, reduce the control difficulty, and improve the operating safety of the battery replacement equipment.

[0011] Preferably, the travel path is provided with a first waiting position, the first waiting position is located between the battery exchange position and the exchange position, and the battery exchange equipment is used to stay at the first waiting position. In this technical solution, multiple battery exchange devices can exist in one battery exchange system at the same time, and when there is a battery exchange device at the battery exchange position, the other battery exchange devices can stay at the first standby position.

[0012] Preferably, a second waiting position is provided in the travel path, the battery exchange position is located between the second waiting position and the exchange position, and the battery exchange equipment is used to stay at the second waiting position. In this technical solution, multiple battery exchange devices can exist in one battery exchange system at the same time, and when there is a battery exchange device at the exchange position, the other battery exchange devices can stay at the second standby position.

[0013] Preferably, the number of the battery exchange facilities is two, the two battery exchange facilities being a first battery exchange facility and a second battery exchange facility, and a first track on which the first battery exchange facility runs and a second track on which the second battery exchange facility runs are laid within the traveling passage, the first track connects the battery room and the battery exchange position, and the second track connects the battery room and the battery exchange position. In this technical solution, the two battery exchange devices respectively perform the operation of removing and installing the battery pack, thereby improving the battery exchange speed. For example, when the first battery exchange device is removing the battery pack at the battery exchange position, the second battery exchange device can take out the charged battery pack from the battery room, and after the first battery exchange device finishes removing the battery pack and leaves the battery exchange position, the second battery exchange device can move to the battery exchange position while holding the battery pack and install the battery pack on the electric vehicle, at this time, the first battery exchange device can exchange the new battery with the old battery in the battery room, and the two battery exchange devices can operate on the first track and the second track separately, respectively, and the battery exchange efficiency is high.

[0014] Preferably, the first orbit and the second orbit are independent of each other, or the first orbit and the second orbit are the same orbit. In this technical proposal, if the first track and the second track are independent of each other, the two battery exchange equipment can move independently, resulting in high operating efficiency, whereas if the first track and the second track are the same track, the two battery exchange equipment can share the same track, thereby reducing the cost of the battery exchange system.

[0015] Preferably, a waiting positioning point is provided on the second track, and the second battery exchange equipment is used to stop at the waiting positioning point when the first battery exchange equipment is stopped at the battery exchange position. In this technical proposal, when a first battery replacement device is present at the battery replacement position, the second battery replacement device can wait at the standby positioning point, so that there is no interference caused by the two battery replacement devices both being at the battery replacement position, and no impact on other battery replacement devices in the battery room caused by the second battery replacement device remaining at the replacement position.

[0016] Preferably, the travel path is provided with a standby position, the battery exchange position is located between the standby position and the exchange position, and the battery exchange equipment is used to stay at the standby position. In this technical solution, when the second battery replacement device finishes installing the battery pack, the first battery replacement device and / or the second battery replacement device are controlled to travel to a standby position.

[0017] Preferably, a limit position is provided on the travel path, and the battery exchange facility is further used for stopping movement along the travel path when the battery exchange facility has moved to the limit position. In this technical proposal, by setting limit positions and regulating the position of the battery replacement equipment, the battery replacement equipment is prevented from leaving the work area, a boundary of the work area is given to the battery replacement equipment, and the danger of uncontrolled escape of the battery replacement equipment is avoided.

[0018] Preferably, a limit positioning point is provided at the limit position, and the battery exchange equipment is provided with a limit sensor corresponding to the limit positioning point, and the limit sensor is for detecting whether the battery exchange equipment has reached the limit positioning point. In this technical solution, when the limit positioning point is detected by the limit sensor, the battery exchange device stops moving, preventing the battery exchange device from exceeding the limit position and causing any danger.

[0019] Preferably, the limit positions include a first limit position located on the opposite side of the battery exchange position along the traveling direction of the battery exchange equipment, a first limit positioning point is provided at the first limit position, and a first limit sensor is provided on the battery exchange equipment. In this technical solution, the first limit position is used to prevent the battery replacement equipment from leaving the working area from the battery replacement position side, and the above purpose is achieved by cooperation between the first limit positioning point and the first limit sensor.

[0020] Preferably, an exchange position is provided on the travel path, and the battery exchange equipment is used to move along the travel path to the exchange position, and the limit position further includes a second limit position provided on the opposite side of the exchange position along the travel direction of the battery exchange equipment, and a second limit position is provided at the second limit position, and a second limit sensor is provided on the battery exchange equipment. In this technical solution, the second limit position is used to prevent the battery replacement equipment from leaving the working area from the replacement position side, and the above purpose is achieved by cooperation between the second limit positioning point and the second limit sensor.

[0021] Preferably, the distance between the first limit positioning point and the battery replacement position is 60 mm or less, and the distance between the second limit positioning point and the replacement position is 60 mm or less. In this technical solution, the distance between the first limit positioning point and the battery replacement position, and the distance between the second limit positioning point and the replacement position are set small, thereby limiting the movement range of the battery replacement equipment and reducing the space requirements of the battery replacement system.

[0022] The present invention relates to a battery exchange system control method, the battery exchange system including a travel path and a battery exchange facility, the battery exchange facility being for removing and installing a battery pack of an electric vehicle, The present invention further provides a battery exchange system control method, comprising the step of controlling the battery exchange equipment to move along the travel path to a battery exchange position when a battery removal signal or a battery installation signal is received. In this technical solution, according to the above steps, the travel of the battery exchange device is controlled by the battery exchange signal, which is advantageous to improving the accuracy of moving the battery exchange device to the designated position.

[0023] Preferably, the battery exchange position is provided with an alignment origin and the battery exchange equipment is provided with an alignment sensor, or the battery exchange position is provided with an alignment sensor and the battery exchange equipment is provided with an alignment origin; The step of controlling the battery exchange equipment to move along the travel path to a battery exchange position when a battery removal signal or a battery installation signal is received includes: The method includes controlling the battery exchange equipment to stop moving when the alignment origin is detected by the alignment sensor. In this technical solution, according to the above steps, the alignment sensor and the alignment origin are used to realize that the battery replacement device stays at the battery replacement position accurately.

[0024] Preferably, the travel path is provided with an exchange station, The step of controlling the battery exchange equipment to move along the travel path to a battery exchange position when a battery removal signal or a battery installation signal is received includes: The method includes the step of controlling, upon receiving a battery exchange signal, the battery exchange equipment to move along the travel path to a battery exchange position. In this technical solution, according to the above steps, the battery replacement equipment stops at the replacement position, and at the replacement position, the removed battery pack is placed in the battery chamber, and the charged battery pack is removed from the battery chamber, thereby realizing the replacement of the battery pack.

[0025] Preferably, after the step of controlling the battery exchange equipment to move along the travel path to a battery exchange position when a battery removal signal or a battery installation signal is received, controlling the battery exchange equipment to unload a battery pack from the electric vehicle; and controlling the battery exchange equipment to move from the battery exchange location to the exchange location. In this technical solution, according to the above steps, the battery exchange device can perform the following steps: detaching the battery pack from the electric vehicle and transporting the battery pack to the exchange location.

[0026] Preferably, a replacement origin is provided at the replacement position and a replacement sensor is provided at the battery replacement equipment, or a replacement sensor is provided at the replacement position and a replacement origin is provided at the battery replacement equipment, The step of controlling the battery exchange equipment to move from a battery exchange position to a battery exchange position includes: The method includes controlling the battery exchange equipment to stop moving when the exchange origin is detected by the exchange sensor. In this technical solution, according to the above steps, the battery replacement device can be accurately moved to the replacement position by using the replacement sensor and the replacement origin, and it is ensured that the battery replacement device can transport the battery pack into the battery compartment.

[0027] Preferably, the battery chamber and the battery exchange position are connected by the travel path, and a deceleration positioning point is provided on the travel path, The step of controlling the battery exchange equipment to move along the travel path to a battery exchange position includes: The method further includes a step of determining whether the battery exchange equipment has reached the deceleration positioning point during the course of the battery exchange equipment moving along the travel path toward the battery exchange position, and if so, decelerating the battery exchange equipment until the battery exchange equipment reaches the battery exchange position and then stopping the battery exchange equipment. In this technical solution, according to the above steps, the battery exchange equipment can be moved quickly and positioned accurately.

[0028] Preferably, the step of controlling the battery exchange equipment to move along the travel path to a battery exchange position includes: A step S1 of storing in advance a total distance of the travel path and a first distance from the battery chamber to the deceleration positioning point; A step S2 of controlling the battery exchange equipment to travel the first distance at a first speed; Step S3 of controlling the battery exchange equipment to travel at a second speed less than the first speed for a second distance less than a difference between a total distance of the travel path and the first distance; Step S4: determining whether the battery exchange device has reached the battery exchange position, and if so, executing S5; otherwise, executing S3; The method further includes a step S5 of controlling the battery exchange equipment to stop traveling. In this technical solution, according to the above steps, the battery exchange equipment can be controlled to gradually approach the battery exchange position.

[0029] Preferably, a first waiting position is provided on the travel path, and the first waiting position is located between the battery replacement position and the replacement position, The battery exchange system control method includes: The method further includes the step of controlling, upon receiving a first standby signal, the battery exchange equipment to move along the travel path to the first standby position. In this technical solution, according to the above steps, the first waiting position can be used to adjust the movement path of the battery replacement device during the operation of the battery replacement system, and interference and collision of the battery replacement device can be prevented.

[0030] Preferably, a second waiting position is provided on the travel path, and the battery replacement position is located between the second waiting position and the replacement position, The battery exchange system control method includes: The method further includes the step of controlling, upon receiving a second standby signal, the battery exchange equipment to move along the travel path to the second standby position. In this technical solution, according to the above steps, the second waiting position can be used to adjust the movement path of the battery replacement device during the operation of the battery replacement system, and interference and collision of the battery replacement device can be prevented.

[0031] Preferably, the number of the battery exchange facilities is two, the two battery exchange facilities being a first battery exchange facility and a second battery exchange facility, and a first track on which the first battery exchange facility runs and a second track on which the second battery exchange facility runs are laid in the travel passage, The battery exchange system control method includes: The method further includes, upon receiving a removal signal, controlling the first battery exchange equipment to move along the first track to the battery exchange position to remove the battery pack, and controlling the second battery exchange equipment to move along the second track to the exchange position to obtain a battery pack of the corresponding model number. In this technical solution, according to the above steps, two battery exchange devices can be controlled to work within the battery exchange system, and the battery exchange efficiency is improved.

[0032] Preferably, the first orbit and the second orbit are two different orbits, Alternatively, the first orbit and the second orbit are the same orbit. In this technical proposal, if the first track and the second track are independent of each other, the two battery exchange equipment can move independently, resulting in high operating efficiency, whereas if the first track and the second track are the same track, the two battery exchange equipment can share the same track, thereby reducing the cost of the battery exchange system.

[0033] Preferably, the battery exchange system control method further comprises: The method further includes the step of controlling the first battery exchange equipment to travel to the exchange position upon receiving a replacement signal. In this technical solution, according to the above steps, the first battery replacement device can be controlled to travel to the replacement position and enter the battery compartment.

[0034] Preferably, a standby position is provided in the travel path, and the battery exchange position is located between the standby position and the exchange position, The battery exchange system control method includes: The method further includes controlling the first battery exchange device and / or the second battery exchange device to travel to a standby position when the second battery exchange device has completed installation of the battery pack. In this technical solution, according to the above steps, the second battery exchange equipment can be controlled to travel to a waiting position.

[0035] Preferably, the battery exchange system control method further comprises: The method further includes a step of controlling the second battery exchange equipment to unload a battery pack compatible with the electric vehicle from the battery compartment and then wait for the first battery exchange equipment to leave the battery exchange position before the first battery exchange equipment leaves the battery exchange position. In this technical solution, the above steps can avoid interference between the second battery replacement device and the first battery replacement device.

[0036] Preferably, a standby positioning point is provided on the second track, and the second battery exchange equipment is provided with a standby positioning sensor for detecting the standby positioning point, or a standby positioning point is provided on the second battery exchange equipment, and the second track is provided with a standby positioning sensor for detecting the standby positioning point, The step of controlling the second battery exchange device to unload a battery pack suitable for the electric vehicle from the battery compartment before the first battery exchange device leaves the battery exchange position, and then wait for the first battery exchange device to leave the battery exchange position, includes: The method includes the step of causing the second battery exchange equipment to stop at the waiting positioning point before the first battery exchange equipment leaves the battery exchange location. In this technical solution, according to the above steps, the second battery replacement device can use the waiting positioning point to wait for the first battery replacement device to leave the battery replacement position.

[0037] Preferably, a limit position is provided on the travel path, and the battery exchange system control method further comprises: The method further includes a step of controlling the battery exchange equipment to stop at a limit position of the travel path. In this technical solution, the above steps can prevent danger caused by the battery replacement equipment being away from the work area.

[0038] Preferably, the limit position includes a first limit position provided on the opposite side of the battery exchange position along the traveling direction of the battery exchange equipment, the first limit position is provided with a first limit positioning point, and the battery exchange equipment is provided with a first limit sensor, or the first limit position is provided with a first limit sensor, and the battery exchange equipment is provided with a first limit positioning point, The step of controlling the battery exchange equipment to stop at a limit position of the travel path includes: The method further includes controlling the battery exchange equipment to stop moving when a first limit positioning point is detected by the first limit sensor. In this technical proposal, according to the above steps, the first limit position can prevent the battery replacement equipment from leaving the working area from the battery replacement position side, and the above objective is achieved by cooperation between the first limit positioning point and the first limit sensor.

[0039] Preferably, the travel path is provided with an exchange position, and the limit position further includes a second limit position, and when the battery exchange device moves to the exchange position along the travel path, the second limit position is provided on the opposite side of the exchange position along the travel direction of the battery exchange device, and a second limit positioning point is provided at the second limit position, and the battery exchange device is provided with a second limit sensor, or a second limit sensor is provided at the second limit position, and the battery exchange device is provided with a second limit positioning point, The step of controlling the battery exchange equipment to stop at a limit position of the travel path includes: The method further includes controlling the battery exchange equipment to stop moving when a second limit positioning point is detected by the second limit sensor. In this technical proposal, according to the above steps, the second limit position can prevent the battery replacement equipment from leaving the working area from the battery replacement position side, and the above objective is achieved by cooperation between the second limit positioning point and the second limit sensor. Effect of the Invention

[0040] The positive advances and advantages of the present invention are as follows: The battery exchange system and the battery exchange system control method of the present invention can realize a rapid battery exchange operation, and improve the efficiency and stability of the battery exchange operation. [Brief description of the drawings]

[0041] [Figure 1] 1 is a structural schematic diagram of a battery exchange system according to a first embodiment of the present invention. [Diagram 2] FIG. 11 is a step schematic diagram of a battery exchange system control method according to a third embodiment of the present invention. [Diagram 3] FIG. 11 is a step schematic diagram of a battery exchange system control method according to a fifth embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0042] The present invention will be further described below through examples, but the present invention is not limited to the scope of the examples.

[0043] <Example 1> As shown in Fig. 1, the present invention provides a battery exchange system, which includes a travel path 2 and battery exchange equipment 1, a battery exchange position 4 is provided on the travel path 2, and when removing or installing a battery, the battery exchange equipment 1 moves along the travel path 2 to the battery exchange position 4. By controlling the movement of the battery exchange equipment 1 within the travel path 2, the battery exchange equipment 1 can be aligned with the electric vehicle 3 to remove or install the battery pack, and the operating stability of the battery exchange system is improved.

[0044] An alignment origin is provided at the battery exchange position 4, and an alignment sensor is provided at the battery exchange equipment 1, and the alignment sensor is for detecting whether the battery exchange equipment 1 has reached the alignment origin. The position of the alignment origin is detected using the alignment sensor, and when the alignment origin is detected by the alignment sensor, it means that the battery exchange equipment 1 has reached the battery exchange position 4, so that the battery exchange equipment 1 can accurately stop at the battery exchange position 4. In another preferred embodiment, the installation positions of the alignment origin and the alignment sensor may be interchanged. That is, the alignment origin may be provided at the battery exchange equipment 1, and the alignment sensor may be provided at the battery exchange position, and the above-mentioned effect can also be achieved in this way.

[0045] The travel path 2 is provided with an exchange position 6, the battery exchange equipment 1 is for moving along the travel path 2 to the exchange position 6, and the battery exchange equipment 1 is further used for exchanging a battery pack into a battery compartment 5 at the exchange position 6. The battery exchange equipment can transfer a battery to a battery transfer device and then put the battery into the battery compartment 5 by the battery transfer device, and the battery compartment 5 can be used for storing the battery pack and can also be used for charging the battery pack. The battery exchange equipment 1 stays at the exchange position 6, and can place the removed battery pack into the battery compartment 5 and take out the charged battery pack from the battery compartment 5 at the exchange position 6 to realize the exchange of the battery pack.

[0046] A replacement origin is provided at the replacement position 6, and a replacement sensor is provided in the battery replacement equipment 1, and the replacement sensor is for detecting whether the battery replacement equipment 1 has reached the replacement origin. By using the replacement sensor to detect the replacement origin, the battery replacement equipment 1 can be accurately positioned at the replacement position 6, and it is ensured that the battery pack replacement operation can be stably performed.

[0047] A battery room 5 and a battery exchange position 4 are connected by a travel path 2, a deceleration positioning point is provided on the travel path 2, and the battery exchange equipment 1 is provided with a deceleration sensor corresponding to the deceleration positioning point, the deceleration sensor is for detecting whether the battery exchange equipment 1 has reached the deceleration positioning point, and the battery exchange equipment 1 moves along the travel path 2 toward the battery exchange position and decelerates after passing the deceleration positioning point. The battery exchange equipment 1 moves between the battery room 5 and the battery exchange position 4, and the battery exchange equipment 1 moves quickly before reaching the deceleration positioning point so that the operation efficiency is improved, whereas the battery exchange equipment 1 decelerates after passing the deceleration positioning point so that it is guaranteed that the battery exchange equipment can stop at the battery exchange position accurately, the difficulty of control is reduced, and the operation safety of the battery exchange equipment 1 is improved.

[0048] A first waiting position is provided in the travel passage 2, and the first waiting position is located between the battery exchange position 4 and the exchange position 6, and the battery exchange equipment 1 is used to stop at the first waiting position. Before the electric vehicle is stopped at a predetermined position, the battery exchange equipment 1 can stop at the first waiting position in advance, and after the electric vehicle is stopped at the predetermined position, the battery exchange equipment 1 can enter the battery exchange position 4 from the first waiting position to remove and install the battery. If multiple battery exchange equipment 1 can exist at the same time in one battery exchange system, when there is a battery exchange equipment 1 removing and installing a battery at the battery exchange position 4, the other battery exchange equipment 1 can stop at the first waiting position. By providing the first waiting position, the time required for horizontal movement when the battery exchange equipment 1 enters the bottom of the vehicle to remove and install the battery can be reduced, and the battery exchange efficiency can be improved.

[0049] Furthermore, a second waiting position is further provided on the travel path 2, the battery exchange position 4 is located between the second waiting position and the exchange position 6, and the battery exchange equipment 1 is used to stay at the second waiting position. After the battery exchange equipment 1 moves along the travel path 2 to the battery exchange position 4 to perform the operations of removing and installing the battery, it continues to move forward along the original travel direction to the second waiting position to perform the next battery exchange operation. For example, after completing the battery removal, it can wait for another battery exchange equipment to move along the same travel path to the battery exchange position to perform the operation of installing the battery, or after completing the installation of the battery, it can move to the second waiting position to wait for the electric vehicle to leave.

[0050] In this embodiment, the number of battery exchange equipment 1 is two, the two battery exchange equipment 1 being a first battery exchange equipment 11 and a second battery exchange equipment 12, and a first track 21 on which the first battery exchange equipment 11 runs and a second track 22 on which the second battery exchange equipment 12 runs are laid within the travel path 2. The two battery exchange equipment 1 each perform a battery pack removal operation and a battery pack installation operation, thereby improving the battery exchange speed. For example, when the first battery exchange equipment 11 is removing a battery pack at the battery exchange position 4, the second battery exchange equipment 12 can remove the charged battery pack from inside the battery room 5, and after the first battery exchange equipment 11 has finished removing the battery pack and moved away from the battery exchange position 4, the second battery exchange equipment 12 can move to the battery exchange position 4 while still holding the battery pack and attach it to the electric vehicle. At this time, the first battery exchange equipment 11 can carry out the exchange of the new battery with the old battery inside the battery room 5, and the two battery exchange equipment 1 can be operated individually on the first track 21 and the second track 22, respectively, resulting in high battery exchange efficiency.

[0051] 1, in this embodiment, the first track 21 and the second track 22 are independent of each other, and the first track 21 connects the battery exchange position 4 and the battery room 5, while the second track 22 connects the battery exchange position 4 and another battery room 5, and the two battery exchange devices 1 can move independently, resulting in high operating efficiency. In some other embodiments, the first track 21 and the second track 22 may be the same track, and the same track is shared by the two battery exchange devices 1, thereby reducing the cost of the battery exchange system.

[0052] A standby positioning point is provided on the second track 22, and a standby positioning sensor is provided on the second battery exchange device 12 for detecting the standby positioning point. The second battery exchange device 12 is used to stop at the standby positioning point when the first battery exchange device 11 is stopped at the battery exchange position 4. When the first battery exchange device 11 is present at the battery exchange position 4, the second battery exchange device 12 can wait at the standby positioning point. Therefore, there is no interference caused by both battery exchange devices 1 being at the battery exchange position 4, and no influence is exerted on the other battery exchange device 1 in the battery room 5 caused by the second battery exchange device 12 stopping at the exchange position 6. In some other embodiments, the standby positioning point is not limited to the track, and may be provided at other positions on the travel path 2. In some preferred embodiments, the standby positioning point may be provided on the second battery exchange device 12, and the standby positioning sensor may be provided on the travel path 2, and the above-mentioned effect can also be achieved in this way.

[0053] A standby position is provided in the travel path 2, the battery exchange position 4 is located between the standby position and the exchange position 6, and the battery exchange equipment 1 is used to stay at the standby position. After the second battery exchange equipment 12 has completed installation of the battery pack, the first battery exchange equipment 11 and / or the second battery exchange equipment 12 is controlled to travel to the standby position.

[0054] A limit position is provided on the travel path 2, which is further used to stop the movement of the battery exchange equipment 1 when it moves to the limit position along the travel path 2. By providing the limit position and restricting the position of the battery exchange equipment 1, the battery exchange equipment 1 is prevented from moving out of the working area, a boundary of the working area is given to the battery exchange equipment 1, and danger due to uncontrolled escape of the battery exchange equipment 1 is avoided.

[0055] In this embodiment, a limit positioning point is provided at the limit position, and a limit sensor associated with the limit positioning point is provided in the battery exchange equipment 1, and the limit sensor is used to detect whether the battery exchange equipment 1 has reached the limit positioning point. When the limit sensor detects the limit positioning point, the battery exchange equipment 1 stops moving, preventing danger caused by the battery exchange equipment 1 exceeding the limit position. In some other embodiments, the limit positioning point may be provided in the battery exchange equipment 1, and accordingly, a limit sensor is provided at the limit position, and the above-mentioned effect can also be achieved in this way.

[0056] The limit positions include a first limit position, which is provided on the opposite side to the battery exchange position 4 along the traveling direction of the battery exchange equipment 1, and which is provided with a first limit positioning point and a first limit sensor on the battery exchange equipment 1. The first limit position is used to prevent the battery exchange equipment 1 from leaving the working area from the battery exchange position 4 side, and the above purpose is achieved by cooperation between the first limit positioning point and the first limit sensor. In another preferred embodiment, the positions of the first limit positioning point and the first limit sensor may be interchanged.

[0057] The limit positions further include a second limit position, which is provided on the opposite side to the exchange position 6 along the traveling direction of the battery exchange equipment 1, and a second limit positioning point is provided at the second limit position, and a second limit sensor is provided on the battery exchange equipment 1. The second limit position is used to prevent the battery exchange equipment 1 from leaving the working area from the exchange position 6 side, and the second limit positioning point and the second limit sensor cooperate to achieve the above purpose. In another preferred embodiment, the positions of the second limit positioning point and the second limit sensor may be interchanged.

[0058] The distance between the first limit positioning point and the battery replacement position 4 is less than 60 mm, and the distance between the second limit positioning point and the replacement position 6 is 60 mm. Since the intervals between the first limit positioning point and the battery replacement position 4 and between the second limit positioning point and the replacement position 6 are set small, the movement range of the battery replacement equipment 1 is limited, and the space requirement for the battery replacement system is reduced.

[0059] <Example 2> The present invention further provides a battery exchange system control method, the battery exchange system including a travel path 2 and a battery exchange device 1, the battery exchange device 1 is for removing and installing a battery pack of an electric vehicle 3, and the battery exchange system control method includes: The method includes step S10 of controlling the battery exchange equipment 1 to move along the travel path 2 to the battery exchange position 4 when a battery removal signal or a battery installation signal is received.

[0060] When the battery exchange equipment receives a battery removal signal or a battery installation signal, the controller of the battery exchange equipment controls the battery exchange equipment 1 to move along the traveling path 2 to the battery exchange position. According to the above steps, precise control of the horizontal movement of the battery exchange equipment 1 can be realized, so that the operating stability of the battery exchange system is improved.

[0061] In this embodiment, an alignment origin is provided at the battery exchange position 4, and an alignment sensor is provided at the battery exchange equipment 1. In other embodiments, an alignment sensor may be provided at the battery exchange position 4, and an alignment origin may be provided at the battery exchange equipment 1.

[0062] The S10 is The method includes step S101 of controlling the battery exchange equipment 1 to stop moving when the alignment origin is detected by the alignment sensor. According to the above steps, the alignment sensor and the alignment origin are utilized to ensure that the battery exchange device 1 stops at the battery exchange position 4 accurately.

[0063] The travel path 2 is further provided with a change position 6 . The battery exchange system control method includes: The method further includes a step S20 of controlling the battery exchange equipment 1 to move along the travel path 2 to the battery exchange position 6 when the battery exchange signal is received.

[0064] When the battery exchange equipment receives a battery exchange signal, the controller of the battery exchange equipment controls the battery exchange equipment 1 to move along the travel path 2 to the battery exchange position 6, and according to the above steps, the battery exchange equipment 1 stops at the exchange position 6, and at the exchange position 6, the removed battery pack is placed in the battery chamber 5 and the charged battery pack is removed from the battery chamber 5, thereby realizing the replacement of the battery pack.

[0065] <Example 3> As shown in FIG. 2, the battery exchange system control method of this embodiment further includes the following steps in addition to those of the second embodiment.

[0066] After the S10, Step S1001 of controlling the battery exchange equipment 1 to unload the battery pack from the electric vehicle 3; The method further includes a step S1002 of controlling the battery exchange equipment 1 to move from the battery exchange position 4 to the exchange position 6. According to the above steps, the battery exchange equipment 1 can accomplish removing the battery pack from the electric vehicle 3 and transporting the battery pack to the exchange location 6.

[0067] In this embodiment, the replacement origin is provided at the replacement position 6, and the replacement sensor is provided in the battery replacement equipment 1, but in other embodiments, the positions of the replacement origin and the replacement sensor may be interchanged.

[0068] The S1002 is The method includes step S10021 of controlling the battery exchange equipment 1 to stop moving when the exchange origin is detected by the exchange sensor. According to the above steps, the battery exchange device 1 can be moved accurately to the exchange position 6 by using the exchange sensor and the exchange origin, and it is ensured that the battery exchange device 1 can transport the battery pack into the battery compartment 5.

[0069] <Example 4> The battery exchange system control method of this embodiment further includes the following steps in addition to those of the third embodiment.

[0070] The battery chamber 5 and the battery exchange position 4 are connected by a travel path 2, and a deceleration positioning point is provided on the travel path 2. The S10 is The method further includes a step S10010 of determining whether the battery exchange equipment 1 has reached a deceleration positioning point during the process of the battery exchange equipment 1 moving along the travel path 2 toward the battery exchange position 4, and if so, decelerating and moving the battery exchange equipment 1 until it reaches the battery exchange position 4 and then stopping the battery exchange equipment 1. According to the above steps, the battery exchange equipment 1 can be moved quickly and can also be positioned accurately.

[0071] <Example 5> As shown in FIG. 3, the battery exchange system control method of this embodiment further includes the following steps in addition to those of the fourth embodiment.

[0072] The S10010 is Step S1: storing in advance a total distance of the travel path 2 and a first distance from the battery chamber 5 to a deceleration positioning point; Step S2 of controlling the battery exchange equipment 1 to travel a first distance at a first speed; Step S3 of controlling the battery exchange equipment 1 to travel at a second speed less than the first speed by a second distance less than the difference between the total distance of the travel path 2 and the first distance; Step S4 of determining whether the battery exchange device 1 has reached the battery exchange position 4, and if so, executing S5, and if not, executing S3; The method further includes a step S5 of controlling the battery exchange equipment 1 to stop traveling. According to the above steps, the battery exchange equipment 1 can be controlled to gradually approach the battery exchange position 4 so as to ensure that the battery exchange equipment can stop accurately at the battery exchange position.

[0073] <Example 6> The battery exchange system control method of this embodiment further includes the following steps in addition to those of the second embodiment.

[0074] The travel path 2 is provided with a first waiting position, which is located between the battery replacement position 4 and the replacement position 6. The battery exchange system control method includes: The method further includes step S1010 of controlling the battery exchange equipment 1 to move along the travel path 2 to a first waiting position when the first waiting signal is received.

[0075] When the battery exchange equipment 1 receives the first standby signal, the controller of the battery exchange equipment 1 controls the battery exchange equipment 1 to move along the travel path 2 to the first standby position, and according to the above steps, before the electric vehicle is stopped at a predetermined position, the battery exchange equipment 1 can stop at the first standby position in advance, and after the electric vehicle is stopped at the predetermined position, the battery exchange equipment 1 can enter the battery exchange position 4 from the first standby position to remove and install the battery, and if multiple battery exchange equipment 1 can exist simultaneously in one battery exchange system, when one battery exchange equipment 1 is removing and installing the battery at the battery exchange position 4, the other battery exchange equipment 1 can stop at the first standby position. By providing the first standby position, the time required for horizontal movement when the battery exchange equipment 1 enters the bottom of the vehicle to remove and install the battery can be reduced, and the battery exchange efficiency can be improved.

[0076] The travel path 2 is further provided with a second waiting position, and the battery replacement position 4 is located between the second waiting position and the replacement position 6. The battery exchange system control method includes: The method further includes step S1020 of controlling the battery exchange equipment 1 to move along the travel path 2 to a second waiting position when the second waiting signal is received.

[0077] When the battery exchange equipment 1 receives the second standby signal, the controller of the battery exchange equipment 1 controls the battery exchange equipment 1 to move along the travel path 2 to the second standby position, and according to the above steps, the battery exchange equipment 1 can stay at the second standby position. After the battery exchange equipment 1 moves along the travel path 2 to the battery exchange position 4 to perform the battery removal and installation operations, it continues to move forward along the original travel direction to the second standby position to perform the next battery exchange operation. For example, after completing the battery removal, it can wait for another battery exchange equipment to move along the same travel path to the battery exchange position to perform the battery installation operation, or after completing the battery installation, it can move to the second standby position to wait for the electric vehicle to leave.

[0078] <Example 7> The battery exchange system control method of this embodiment further includes the following steps in addition to those of the second embodiment.

[0079] There are two battery exchange facilities 1, namely a first battery exchange facility 11 and a second battery exchange facility 12, and within the running passage 2, a first track 21 on which the first battery exchange facility 11 runs and a second track 22 on which the second battery exchange facility 12 runs are laid. The battery exchange system control method includes: The method further includes the step of, upon receiving a removal signal, controlling the first battery exchange equipment 11 to move along the first track 21 to the battery exchange position 4 to remove the battery pack, and controlling the second battery exchange equipment 12 to move along the second track 22 to the exchange position 6 to obtain the battery pack of the corresponding model number.

[0080] When the first battery exchange equipment 11 and the second battery exchange equipment 12 receive the removal signal, the first battery exchange equipment 11 is controlled to move along the first track 21 to the battery exchange position 4 to remove the battery pack, and the second battery exchange equipment 12 is controlled to move along the second track 22 to the exchange position 6 to obtain the battery pack of the corresponding model number. According to the above steps, the two battery exchange equipment 1 can be controlled to work within the battery exchange system, and the efficiency of battery exchange is improved.

[0081] The first track 21 and the second track 22 may be two different tracks, and the first track 21 connects the battery exchange position 4 and the battery room 5, while the second track 22 connects the battery exchange position 4 and another battery room 5, and the two battery exchange devices 1 can move independently, resulting in high operating efficiency. In some other embodiments, the first track 21 and the second track 22 may be the same track, and the same track is shared by the two battery exchange devices 1, thereby reducing the cost of the battery exchange system.

[0082] <Example 8> The battery exchange system control method of this embodiment further includes the following steps in addition to those of the seventh embodiment.

[0083] The battery exchange system control method includes: The method further includes the step of controlling the first battery exchange device 11 to travel to the exchange position 6 upon receiving the exchange signal.

[0084] When the first battery exchange device 11 receives the exchange signal, the first battery exchange device 11 is controlled to travel to the exchange position 6. According to the above steps, the first battery exchange device 11 can be controlled to travel to the exchange position 6 and enter the battery chamber 5.

[0085] A waiting position is provided in the travel path 2, and the battery exchange position 4 is located between the waiting position and the exchange position 6, The battery exchange system control method includes: The method further includes step S100100 of controlling the first battery exchange device 11 and / or the second battery exchange device 12 to travel to a standby position when the second battery exchange device 12 has completed installation of the battery pack. According to the above steps, the second battery exchange equipment 12 can be controlled to travel to the standby position.

[0086] The battery exchange system control method includes: The method further includes step S100101 of controlling the second battery exchange equipment 12 to unload a battery pack compatible with the electric vehicle 3 from the battery compartment 5 before the first battery exchange equipment 11 leaves the battery exchange position 4, and then wait for the first battery exchange equipment 11 to leave the battery exchange position 4. According to the above steps, interference between the second battery exchange device 12 and the first battery exchange device 11 can be avoided.

[0087] A waiting positioning point is provided on the second track 22, and accordingly, the second battery exchange equipment 12 is provided with a waiting positioning sensor for detecting the waiting positioning point. In some other embodiments, the waiting positioning point is not limited to the track, and may be provided at other positions on the travel path 2. In some preferred embodiments, the waiting positioning point may be provided on the second battery exchange equipment 12, and the waiting positioning sensor may be provided on the travel path 2.

[0088] S100101 is, The method includes a step S1001011 of making the second battery exchange device 12 stop at a waiting positioning point before the first battery exchange device 11 leaves the battery exchange position 4. According to the above steps, the second battery exchange device 12 can use the waiting positioning point to wait for the first battery exchange device 11 to leave the battery exchange position 4.

[0089] <Example 9> The battery exchange system control method of this embodiment further includes the following steps in addition to those of the second embodiment.

[0090] A limit position is provided on the travel path 2, and the battery exchange system control method includes: The method further includes a step S11 of controlling the battery exchange equipment 1 to stop at a limit position of the travel path 2. According to the above steps, it is possible to prevent danger caused by the battery exchange equipment 1 being moved away from the work area.

[0091] Preferably, the limit positions include a first limit position, which is located opposite the battery exchange position 4 along the travel direction of the battery exchange apparatus 1, which is provided with a first limit positioning point and which is provided with a first limit sensor on the battery exchange apparatus 1. In other preferred embodiments, the first limit positioning point and the first limit sensor may be swapped.

[0092] The step of controlling the battery exchange equipment 1 to stop at a limit position of the travel path 2 includes: The method includes step S111 of controlling the battery exchange equipment 1 to stop moving when the first limit positioning point is detected by the first limit sensor. According to the above steps, the first limit position prevents the battery exchange equipment 1 from leaving the working area from the battery exchange position 4, and the above objective is achieved by cooperation between the first limit positioning point and the first limit sensor.

[0093] The limit positions further include a second limit position, which is located opposite the exchange position 6 along the travel direction of the battery exchange apparatus 1, in which a second limit positioning point is provided and a second limit sensor is provided on the battery exchange apparatus 1. In other preferred embodiments, the second limit positioning point and the second limit sensor may be interchanged.

[0094] S11 is, The method further includes step S112 of controlling the battery exchange equipment 1 to stop moving when the second limit positioning point is detected by the second limit sensor. The provision of the first limit positioning point and the first limit sensor prevents the battery exchange device from failing to stop in a timely manner on the travel path due to the positioning origin being out of alignment, which would result in a safety risk, while the provision of the second limit positioning point and the second limit sensor prevents the battery exchange device from colliding with other devices in the battery room due to the exchange origin being out of alignment.

[0095] Although the specific embodiments of the present invention have been described above, those skilled in the art should understand that these are merely examples, and the scope of protection of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principle and essence of the present invention, and all of these changes and modifications shall fall within the scope of protection of the present invention. [Explanation of symbols]

[0096] 1 Battery replacement equipment 11 First battery replacement equipment 12 Second battery replacement equipment 2 Travel passage 21 First orbit 22 Second orbit 3. Electric Vehicles 4 Battery replacement position 5 Battery compartment 6 Exchange position

Claims

1. 1. A battery exchange system comprising: a travel path provided with a battery replacement position; a battery exchange facility for moving along the travel path to the battery exchange location, an exchange position is provided on the travel path, the battery exchange device is used to move along the travel path to the exchange position, and the battery exchange device is further used to exchange a battery pack into a battery chamber at the exchange position; a first waiting position is provided on the travel path, the first waiting position is located between the battery exchange position and the exchange position, and the battery exchange device is used to stay at the first waiting position; And / or a battery exchange system characterized in that a second waiting position is provided in the travel path, the battery exchange position is located between the second waiting position and the exchange position, and the battery exchange equipment is used to stop at the second waiting position.

2. The battery exchange system of claim 1, characterized in that an alignment origin is provided at the battery exchange position and an alignment sensor is provided at the battery exchange equipment, or an alignment sensor is provided at the battery exchange position and an alignment origin is provided at the battery exchange equipment, and the alignment sensor is for detecting whether the battery exchange equipment has reached the alignment origin.

3. The battery exchange system of claim 1, characterized in that an exchange origin is provided at the exchange position and an exchange sensor is provided in the battery exchange equipment, or an exchange sensor is provided at the exchange position and an exchange origin is provided in the battery exchange equipment, and the exchange sensor is for detecting whether the battery exchange equipment has reached the exchange origin.

4. The battery exchange system of claim 1 or 3, characterized in that the battery chamber and the battery exchange position are connected by the travel path, a deceleration positioning point is provided on the travel path, the battery exchange equipment is provided with a deceleration sensor corresponding to the deceleration positioning point, the deceleration sensor is for detecting whether the battery exchange equipment has reached the deceleration positioning point, and the battery exchange equipment is further used to move along the travel path toward the battery exchange position and decelerate after passing the deceleration positioning point.

5. the number of the battery exchange facilities is two, the two battery exchange facilities being a first battery exchange facility and a second battery exchange facility, a first track on which the first battery exchange facility runs and a second track on which the second battery exchange facility runs are laid within the travel passage, the number of the battery chambers is two, one of the battery chambers is connected to the battery exchange position by the first track, and the other of the battery chambers is connected to the battery exchange position by the second track, The battery exchange system according to at least one of claims 1 to 4, characterized in that the first orbit and the second orbit are independent of each other, or the first orbit and the second orbit are the same orbit.

6. The battery exchange system described in claim 5, characterized in that a waiting positioning point is provided on the second track, and the second battery exchange equipment is used to stop at the waiting positioning point when the first battery exchange equipment is stopped at the battery exchange position.

7. A battery exchange system as described in at least one of claims 1 to 6, characterized in that a waiting position is provided in the travel path, the battery exchange position is located between the waiting position and the exchange position, and the battery exchange equipment is used to stop at the waiting position.

8. a limit position is provided on the travel path, and the battery exchange device is further used to stop movement when the battery exchange device moves along the travel path to the limit position, a limit positioning point is provided at the limit position, and the battery exchange device is provided with a limit sensor corresponding to the limit positioning point, the limit sensor being for detecting whether the battery exchange device has reached the limit positioning point; The limit positions include a first limit position that is located on the opposite side of the battery exchange position along the travel direction of the battery exchange device, the first limit position is provided with a first limit positioning point, and the battery exchange device is provided with a first limit sensor; and / or A battery exchange system as described in at least one of claims 1 to 7, characterized in that an exchange position is provided on the travel path, the battery exchange equipment is used to move along the travel path to the exchange position, the limit position includes a second limit position provided on the opposite side of the exchange position along the travel direction of the battery exchange equipment, a second limit positioning point is provided at the second limit position, and a second limit sensor is provided on the battery exchange equipment.

9. A battery exchange system control method, the battery exchange system including a travel path and a battery exchange facility, the battery exchange facility being for removing and installing a battery pack of an electric vehicle, comprising: when receiving a battery removal signal or a battery installation signal, controlling the battery exchange equipment to move along the travel path to a battery exchange position; A change station is provided in the travel path, The battery exchange system control method includes: and controlling, when receiving a battery exchange signal, the battery exchange equipment to move along the travel path to the exchange position; a first waiting position is provided on the travel path, the first waiting position being located between the battery replacement position and the replacement position; The battery exchange system control method includes: and controlling the battery exchange device to move along the travel path to the first waiting position when a first waiting signal is received; and / or a second waiting position is provided in the travel path, and the battery replacement position is located between the second waiting position and the replacement position; The battery exchange system control method includes: A battery exchange system control method, comprising the further step of controlling the battery exchange equipment to move along the travel path to the second waiting position when a second waiting signal is received.

10. The battery replacement position is provided with an alignment origin, and the battery replacement equipment is provided with an alignment sensor, or the battery replacement position is provided with an alignment sensor, and the battery replacement equipment is provided with an alignment origin; The step of controlling the battery exchange device to move along the travel path to a battery exchange position when a battery removal signal or a battery installation signal is received includes: The battery exchange system control method according to claim 9, further comprising the step of controlling the battery exchange equipment to stop moving when the alignment origin is detected by the alignment sensor.

11. after a step of controlling the battery exchange equipment to move along the travel path to a battery exchange position when a battery removal signal or a battery installation signal is received, controlling the battery exchange equipment to unload a battery pack from the electric vehicle; and controlling the battery exchange equipment to move from the battery exchange location to the exchange location.

10. The battery exchange system control method according to claim 9.

12. The battery chamber and the battery replacement position are connected by the travel path, and a deceleration positioning point is provided on the travel path, The step of controlling the battery exchange equipment to move along the travel path to a battery exchange position includes: and / or a step of determining whether the battery exchange device reaches the deceleration position point during a process in which the battery exchange device moves along the travel path toward the battery exchange position, and if so, decelerating the battery exchange device until the battery exchange device reaches the battery exchange position and then stopping the battery exchange device; and / or A replacement origin is provided at the replacement position, and a replacement sensor is provided at the battery replacement equipment, or a replacement sensor is provided at the replacement position, and a replacement origin is provided at the battery replacement equipment; The step of controlling the battery exchange equipment to move from a battery exchange position to a battery exchange position includes: The battery exchange system control method according to claim 11, further comprising the step of controlling the battery exchange equipment to stop moving when the exchange origin is detected by the exchange sensor.

13. The step of controlling the battery exchange equipment to move along the travel path to a battery exchange position includes: A step S1 of storing in advance a total distance of the travel path and a first distance from the battery chamber to the deceleration positioning point; A step S2 of controlling the battery exchange equipment to travel the first distance at a first speed; Step S3 of controlling the battery exchange equipment to travel at a second speed less than the first speed for a second distance less than a difference between a total distance of the travel path and the first distance; Step S4: determining whether the battery exchange equipment has reached the battery exchange position, and if so, executing S5; otherwise, executing S3; The battery exchange system control method according to claim 12, further comprising the step of: controlling the battery exchange equipment to stop traveling (S5).

14. the number of the battery exchange facilities is two, the two battery exchange facilities being a first battery exchange facility and a second battery exchange facility, a first track on which the first battery exchange facility runs and a second track on which the second battery exchange facility runs are laid within the travel passage, The battery exchange system control method includes: The method further includes the steps of: when receiving a removal signal, controlling the first battery exchange device to move along the first track to the battery exchange position to remove the battery pack; and controlling the second battery exchange device to move along the second track to the exchange position to obtain a battery pack of a corresponding model number; The first orbit and the second orbit are two different orbits, 14. The battery exchange system control method according to claim 12, wherein the first trajectory and the second trajectory are the same trajectory.

15. The battery exchange system control method includes: The method further includes the step of controlling the first battery exchange device to travel to the exchange position when the battery exchange device receives an exchange signal; and / or a waiting position is provided in the travel path, and the battery exchange position is located between the waiting position and the exchange position; The battery exchange system control method includes: The battery exchange system control method according to claim 14, further comprising a step of controlling the first battery exchange equipment and / or the second battery exchange equipment to travel to a standby position when the second battery exchange equipment has completed installation of the battery pack.

16. The battery exchange system control method includes:

15. The battery exchange system control method according to claim 14, further comprising: controlling the second battery exchange equipment to unload a battery pack compatible with the electric vehicle from the battery compartment and then wait for the first battery exchange equipment to leave the battery exchange position before the first battery exchange equipment leaves the battery exchange position.

17. A standby positioning point is provided on the second track, and the second battery exchange equipment is provided with a standby positioning sensor for detecting the standby positioning point, or a standby positioning point is provided on the second battery exchange equipment, and the second track is provided with a standby positioning sensor for detecting the standby positioning point, The step of controlling the second battery exchange device to unload a battery pack suitable for the electric vehicle from the battery compartment before the first battery exchange device leaves the battery exchange position, and then wait for the first battery exchange device to leave the battery exchange position, includes: The battery exchange system control method of claim 16, further comprising the step of controlling the second battery exchange equipment to stay at the waiting positioning point before the first battery exchange equipment leaves the battery exchange position.

18. a limit position is provided on the travel path, and the battery exchange system control method includes: The method further includes controlling the battery exchange equipment to stop at a limit position of the travel path, the limit position includes a first limit position provided on the opposite side of the battery replacement position along the travel direction of the battery replacement equipment, the first limit position is provided with a first limit positioning point, and the battery replacement equipment is provided with a first limit sensor, or the first limit position is provided with a first limit sensor, and the battery replacement equipment is provided with a first limit positioning point; The step of controlling the battery exchange equipment to stop at a limit position of the travel path includes: and / or controlling the battery exchange device to stop moving when a first limit positioning point is detected by the first limit sensor. a replacement position is provided on the travel path, the limit position includes a second limit position, when the battery replacement device moves to the replacement position along the travel path, the second limit position is provided on the opposite side of the replacement position along the travel direction of the battery replacement device, a second limit positioning point is provided at the second limit position, and the battery replacement device is provided with a second limit sensor, or a second limit sensor is provided at the second limit position and the battery replacement device is provided with a second limit positioning point; The step of controlling the battery exchange equipment to stop at a limit position of the travel path includes: A battery exchange system control method according to at least one of claims 10 to 17, characterized in that it includes a step of controlling the battery exchange equipment to stop moving when a second limit positioning point is detected by the second limit sensor.

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