Battery replacement control system and method

Abstract

To provide a battery swapping control system and method capable of efficiently swapping a battery in a short time.SOLUTION: A battery swapping control system comprises control means and a battery swapping device. The control means is used for determining a battery model number applied to an electric vehicle, and selecting a first battery placing stand and a second battery placing stand from at least one battery placing stand. The battery swapping device is configured to move to a preset battery swapping position, remove a battery with power shortage from the electric vehicle, transport the battery with the power shortage to the second placing stand and place it in an unoccupied battery placing shelf, then move to the first battery placing stand and remove a battery of the battery model number, and transport the battery of the battery model number to the preset battery swapping position and install the battery in the electric vehicle.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to the field of controlling battery replacement, and particularly to a battery replacement control system and method.

Background Art

[0002] Conventional electric vehicles mainly have two forms for battery replacement. One is the directly chargeable type, and the other is the quick replacement type where the battery can be replaced.

Summary of the Invention

Problems to be Solved by the Invention

[0003] The quick replacement type is usually carried out at a battery replacement station. By means of the battery replacement device at the battery replacement station, the battery with a small remaining amount or depleted remaining amount in the vehicle is removed, placed in an integrated charging holder, charged, and then the battery replacement device removes a new or fully charged battery from the charging holder and mounts it on the vehicle. In such a form, for the battery replacement device, not only is it necessary to remove the battery, but it is also necessary to mount the battery. Therefore, it is necessary to reciprocate between the vehicle and the charging holder, which takes a long time to replace the battery and has relatively low efficiency.

Means for Solving the Problems

[0004] The technical problem to be solved by the present invention is to provide a battery replacement control system and method in order to overcome the defect in the prior art that when using the same battery replacement device to realize both battery removal and battery mounting, the time taken to replace the battery is relatively long and the efficiency is relatively low.

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

[0006] The present invention provides a battery replacement control system, which includes a control means and a battery replacement device. The control means is used to identify the model number of the battery applied to an electric vehicle. The control means is further used to select, from at least one battery placement table, a battery placement table that satisfies a first condition as a first battery placement table, and to select, from the at least one battery placement table, a battery placement table that satisfies a second condition as a second battery placement table. The battery placement table has one or more battery placement shelves for placing batteries. The first condition is set to indicate that a battery of the model number of the battery is placed. The second condition is set to indicate that there is an empty battery placement shelf. The battery replacement device moves to a predetermined position for replacing the battery, removes the battery with a small remaining amount from the electric vehicle, transports the battery with a small remaining amount to the second placement table and places it on the empty battery placement shelf, then moves to the first battery placement table, removes the battery of the model number of the battery from the first battery placement table, transports the battery of the model number of the battery to the predetermined position for replacing the battery, and is used to mount it on the electric vehicle. The predetermined position for replacing the battery is a position where it is applicable to attach and detach the battery from the electric vehicle.

[0007] Preferably, the control means is further used to monitor the remaining amount of the battery placed on the battery placement table. The first condition is set to indicate that a battery of the model number of the battery and a fully charged battery are placed, or the first condition is preferentially set to indicate that a battery of the model number of the battery and a fully charged battery are placed. When the at least one battery placement table does not have a battery placement table that satisfies the first condition, the first condition is corrected and set to indicate that a battery of the model number of the battery and a battery with the largest remaining amount are placed.

[0008] Preferably, when there is more than one battery placement platform satisfying the first condition, the control means further randomly selects one battery placement platform from the battery placement platforms satisfying the first condition as the first battery placement platform, or selects the battery placement platform closest to the electric vehicle or the parking platform for parking the electric vehicle as the first battery placement platform, or selects one battery placement platform located on the path between the second battery placement platform and the battery vehicle as the first battery placement platform, or selects one battery placement platform located on the path and closest to the electric vehicle or the parking platform as the first battery placement platform, and / or When there is more than one battery placement platform satisfying the second condition, the control means further randomly selects one battery placement platform from the battery placement platforms satisfying the second condition as the second battery placement platform, or selects the battery placement platform closest to the electric vehicle or the parking platform as the second battery placement platform, and is used for this.

[0009] Preferably, the battery placement platforms are distributed on both sides of the parking platform along the direction in which the electric vehicle travels to the parking platform.

[0010] Preferably, there is a multi-functional battery placement platform among the at least one battery placement platform. When the multi-functional battery placement platform satisfies both the first condition and the second condition, the control means is further used to use the multi-functional battery placement platform as both the first battery placement platform and the second battery placement platform at the same time.

[0011] Preferably, the empty battery placement shelf is further used to charge the battery with a small remaining amount.

[0012] Preferably, the empty battery placement shelf has a battery charging circuit, the battery charging circuit has certain power parameters matching the model number of the battery, or has adjustable power parameters, and the control means is further used to adjust the power parameters according to the model number of the battery so that the power parameters match the model number of the battery.

[0013] Preferably, the control means is further used to scan the license plate of the electric vehicle and identify the model number of the battery applied to the electric vehicle according to the license plate.

[0014] Preferably, the battery replacement device is controlled by the control means. The control means sends a parking command to the battery replacement device to command the battery replacement device to park in a predetermined waiting position in advance before the electric vehicle parks on the parking platform, and is used to be executed by the battery replacement device.

[0015] Preferably, when the predetermined position for replacing the battery is in a parkable state, the predetermined waiting position is the same as the predetermined position for replacing the battery.

[0016] Preferably, when the predetermined position for replacing the battery is in a non-parkable state, the predetermined waiting position is a position where the distance from the predetermined position for replacing the battery does not exceed a first distance threshold. The control means is further used to send a fine adjustment command to the battery removal and replacement device when the electric vehicle is parked on the parking platform. The fine adjustment command is used to command the battery replacement device to move from the predetermined waiting position to the predetermined position for replacing the battery.

[0017] Preferably, when the following conditions are simultaneously satisfied: the condition that a predetermined position for replacing the battery is vacant; the condition that there is a passage for the battery replacement device to move to the predetermined position for replacing the battery; and the condition that when the battery replacement device is parked at the predetermined position for replacing the battery, it is predicted that the battery replacement device will not interfere with the electric vehicle traveling to the parking platform, the predetermined position for replacing the battery becomes a parkable state; otherwise, the predetermined position for replacing the battery becomes a non-parkable state.

[0018] Preferably, the configuration of the parking platform specifies whether the predetermined position for replacing the battery is located below or above the parking platform.

[0019] Preferably, the battery replacement device is controlled by the control means, and the control means further includes: a battery removal command for instructing the battery replacement device to remove the battery with a low remaining amount from the electric vehicle when the electric vehicle is parked on the parking platform; a first movement command for instructing the battery replacement device to move to the second battery placement table; a battery placement command for instructing the battery replacement device to place the battery with a low remaining amount on the empty battery placement shelf; a second movement command for instructing the battery replacement device to move to the first battery placement table; a battery extraction command for instructing the battery replacement device to extract the battery of the battery model number from the first battery placement table; a third movement command for instructing the battery replacement device to move to the predetermined position for replacing the battery; and a battery mounting command for instructing the battery replacement device to mount the battery of the battery model number on the electric vehicle, which are transmitted to the electric vehicle and executed by the battery replacement device.

[0020] The present invention further provides a battery replacement control system, which includes a control means and at least two battery replacement devices. The control means is used to select a battery placement table that satisfies a first condition as a first battery placement table from at least one battery placement table, and to select a battery placement table that satisfies a second condition as a second battery placement table from the at least one battery placement table. The battery placement table has one or more battery placement shelves for placing batteries. The first condition is set to indicate that a battery applicable to an electric vehicle is placed, and the second condition is set to indicate that there is an empty battery placement shelf. The control means is further used to arrange at least one of the at least two battery replacement devices as a battery placement and replacement device, and to arrange at least one of the at least two battery replacement devices as a battery removal and replacement device. The battery placement and replacement device is used to transport a battery waiting to be mounted, and the battery waiting to be mounted is taken out from the first battery placement table, is applicable to the electric vehicle, and is a battery to be mounted on the electric vehicle. The battery removal and replacement device is used to transport a battery with a small remaining amount, and the battery with a small remaining amount is taken out from the electric vehicle and is a battery to be placed on the empty battery placement shelf.

[0021] Preferably, the control means is further used to monitor the remaining amount of the battery placed on the battery placement table. The first condition is set to indicate that a fully charged battery applicable to the electric vehicle is placed, or the first condition is preferentially set to indicate that the electric vehicle has a fully charged battery. When the at least one battery placement table does not have a battery placement table that satisfies the first condition, the first condition is corrected and set to indicate that a battery with the largest remaining amount applicable to the electric vehicle is placed.

[0022] Preferably, when there is more than one battery placement platform that satisfies the first condition, the control means further randomly selects one battery placement platform as the first battery placement platform from the battery placement platforms that satisfy the first condition, or selects the battery placement platform that is closest to the electric vehicle or the parking platform for parking the electric vehicle as the first battery placement platform, and / or when there is more than one battery placement platform that satisfies the second condition, the control means further randomly selects one battery placement platform as the second battery placement platform from the battery placement platforms that satisfy the second condition, or selects the battery placement platform that is closest to the electric vehicle or the parking platform for parking the electric vehicle as the second battery placement platform.

[0023] Preferably, the battery placement platforms are distributed on both sides of the parking platform along the direction in which the electric vehicle travels to the parking platform.

[0024] Preferably, there is a multi-functional battery placement stand on the at least one battery placement stand. When the multi-functional battery placement stand satisfies both the first condition and the second condition, the control means further uses the multi-functional battery placement stand as the first battery placement stand and the second battery placement stand simultaneously, or uses the multi-functional battery placement stand as either one of the first battery placement stand and the second battery placement stand. Or, when the remaining battery placement stands do not satisfy the first condition, or the number of battery placement stands satisfying the first condition in the remaining battery placement stands is smaller than the number of battery placement stands satisfying the second condition, or the number of battery placement stands satisfying the first condition in the remaining battery placement stands is smaller than the number of battery placement stands satisfying the second condition and the absolute value of the difference between the two is smaller than the first difference threshold, and the number of battery placement stands satisfying the first condition in the remaining battery placement stands is smaller than the first number threshold, any one of these conditions is used as the condition necessary for using the multi-functional battery placement stand as the first battery placement stand. Or, when the remaining battery placement stands do not satisfy the second condition, or the number of battery placement stands satisfying the second condition in the remaining battery placement stands is smaller than the number of battery placement stands satisfying the first condition, or the number of battery placement stands satisfying the second condition in the remaining battery placement stands is smaller than the number of battery placement stands satisfying the first condition and the absolute value of the difference between the two is smaller than the second difference threshold, and the number of battery placement stands satisfying the second condition in the remaining battery placement stands is smaller than the second number threshold, any one of these conditions is used as the condition necessary for using the multi-functional battery placement stand as the second battery placement stand.

[0025] Preferably, the battery placement shelf is further used for charging the battery.

[0026] Preferably, the at least two battery replacement devices are both single-function battery replacement devices, or both multi-function battery replacement devices, or some are single-function battery replacement devices while some are multi-function battery replacement devices. The single-function battery replacement device has a first configuration and is only arranged as a battery placement and replacement device, or has a second configuration and is not arranged as a battery removal and replacement device. The multi-function battery replacement device has both the first configuration and the second configuration and is arranged as either one of the battery removal and replacement device and the battery placement and replacement device.

[0027] Preferably, the battery replacement device installed as the battery placement and replacement device is the battery replacement device closest to the first battery placement table, or the battery replacement device installed as the battery removal and replacement device is the battery replacement device closest to the electric vehicle or the parking platform for parking the electric vehicle. Or each of the battery placement tables has a predetermined association relationship with at least one of the battery replacement devices. The battery replacement device installed as the battery placement and replacement device is the battery replacement device having an association relationship with the first battery placement table, or is the battery replacement device having an association relationship with the first battery placement table and being closest to the first battery placement table. The battery replacement device installed as the battery removal and replacement device is the battery replacement device having an association relationship with the second battery placement table, or is the battery replacement device having an association relationship with the second battery placement table and being closest to the electric vehicle or the parking platform for parking the electric vehicle.

[0028] Preferably, before the electric vehicle parks on the parking platform, when the model number of the battery applied to the electric vehicle is known in advance, the control means further selects, as a first battery placement table, a battery placement table that satisfies a first condition from the at least one battery placement table before the electric vehicle parks on the parking platform, and is used to send a battery removal command to the battery placement and replacement device. The battery removal command is for instructing the battery placement and replacement device to remove the battery waiting to be mounted from the first battery placement table. The battery placement and replacement device is further used to execute the battery removal command. The control means is further used to send a first movement command to the battery placement and replacement device after the battery placement and replacement device executes the battery removal command. The first movement command is for instructing the battery placement and replacement device to park in a first predetermined waiting position in advance. The first predetermined waiting position is a position where the distance from the parking platform does not exceed a first distance threshold. The battery placement and replacement device is further used to execute the first movement command.

[0029] Preferably, by applying the limitation that only an electric vehicle with the battery of the model number can park on the parking platform, the model number of the battery applied to the electric vehicle can be known in advance.

[0030] Preferably, before the electric vehicle parks on the parking platform, the control means is further used to send a second movement command to the battery removal and replacement device. The second movement command is for instructing the battery removal and replacement device to park in a second predetermined waiting position in advance. The battery removal and replacement device is further used to execute the second movement command.

[0031] Preferably, when a predetermined position for battery replacement is in a parkable state, the second predetermined waiting position is the same as the predetermined position for battery replacement, and the predetermined position for battery replacement is a position where it is applicable to remove the battery from the electric vehicle parked on the parking platform.

[0032] Preferably, when a predetermined position for battery replacement is in a non-parkable state, the second predetermined waiting position is a position where the distance from the predetermined position for battery replacement does not exceed a second distance threshold, and the predetermined position for battery replacement is a position where it is applicable to remove the battery from the electric vehicle parked on the parking platform.

[0033] The control means is further used to send a fine adjustment command to the battery removal and replacement device when the electric vehicle is parked on the parking platform, and the fine adjustment command is for instructing the battery removal and replacement device to move from the second predetermined waiting position to the predetermined position for battery replacement.

[0034] Preferably, when the conditions that a predetermined position for battery replacement is an available position, there is a passage for the battery removal and replacement device to move to the predetermined position for battery replacement, and when the battery removal and replacement device is parked at the predetermined position for battery replacement, it is predicted that the battery removal and replacement device will not interfere with the electric vehicle traveling to the parking platform are simultaneously satisfied, the predetermined position for battery replacement is in a parkable state; otherwise, the predetermined position for battery replacement is in a non-parkable state.

[0035] Preferably, the configuration of the parking platform specifies whether the predetermined position for battery replacement is located below or above the parking platform.

[0036] Preferably, when the electric vehicle is parked on the parking platform, the control means is further used to send a third movement command to the battery removal and replacement device. The third movement command is for instructing the battery removal and replacement device to move to a predetermined position for battery replacement and park there. The predetermined position for battery replacement is a position where it is applicable to remove the battery from the electric vehicle parked on the parking platform. The battery removal and replacement device is further used to execute the third movement command.

[0037] Preferably, when the electric vehicle is parked on the parking platform and the battery removal and replacement device is parked at a predetermined position for battery replacement, the control means is further used to send a battery removal command to the battery removal and replacement device. The battery removal command is for instructing the battery removal and replacement device to remove the battery with a low remaining amount from the electric vehicle. The battery removal and replacement device is further used to execute the battery removal command. After the battery removal and replacement device executes the battery removal command, the control means is further used to send a fourth movement command to the battery removal and replacement device. The fourth movement command is for instructing the battery removal and replacement device to move to the second battery placement table and place the battery with a low remaining amount on the empty battery placement shelf. The battery removal and replacement device is further used to execute the fourth movement command.

[0038] Preferably, when the distance from the battery removal / replacement device to a predetermined position where the battery is to be replaced or a distance from the predetermined position where the battery is to be replaced exceeds a third distance threshold, the control means is further used to send a fifth movement command to the battery placement / replacement device. The fifth movement command is for instructing the battery placement / replacement device to move to the predetermined position where the battery is to be replaced. The battery placement / replacement device is further used to execute the fifth movement command. After the battery placement / replacement device executes the fifth movement command, the control means is further used to send a battery mounting command to the battery placement / replacement device. The battery mounting command is for instructing the battery placement / replacement device to mount the waiting-to-be-mounted battery on the electric vehicle. The battery placement / replacement device is further used to execute the battery mounting command.

[0039] The present invention further provides a battery replacement control system, which includes a control means and at least two battery replacement devices. The control means is used to identify the model number of the battery applied to an electric vehicle waiting for battery replacement. The control means is further used to select, from at least one battery placement table, a battery placement table that satisfies a first condition as a first battery placement table, and to select, from the at least one battery placement table, a battery placement table that satisfies a second condition as a second battery placement table. The battery placement table has one or more battery placement shelves for placing batteries. The first condition is set to indicate that a battery of the model number of the battery is placed, and the second condition is set to indicate that it has an empty battery placement shelf. The control means is further used to arrange at least one of the at least two battery replacement devices as a battery placement and replacement device, and to arrange at least one of the at least two battery replacement devices as a battery removal and replacement device. The battery placement and replacement device is used to transport a battery waiting to be mounted, and the battery waiting to be mounted is removed from the first battery placement table, has the model number of the battery, and is the battery to be mounted on the electric vehicle. The battery removal and replacement device is used to transport a battery with a low remaining amount, and the battery with a low remaining amount is taken out from the electric vehicle and is the battery to be placed on the empty battery placement shelf.

[0040] Preferably, the control means is further used to monitor the remaining amount of the battery placed on the battery placement table. The first condition is the model number of the battery, and moreover, it is set as the fact that a fully charged battery is placed. Or, preferably, the first condition is the model number of the battery, and moreover, it is set as the fact that a fully charged battery is placed. When there is no battery placement table that satisfies the first condition on the at least one battery placement table, the first condition is corrected and set as the model number of the battery, and moreover, the fact that the battery with the most remaining amount is placed.

[0041] Preferably, when there is more than one battery placement table that satisfies the first condition, the control means further randomly selects one battery placement table as the first battery placement table from the battery placement tables that satisfied the previous first condition, or is used to select, as the first battery placement table, the battery placement table that is closest to the electric vehicle or the parking platform for parking the electric vehicle. And / or, preferably, when there is more than one battery placement table that satisfies the second condition, the control means further randomly selects one battery placement table as the second battery placement table from the battery placement tables that satisfied the second condition, or is used to select, as the second battery placement table, the battery placement table that is closest to the electric vehicle or the parking platform.

[0042] Preferably, the battery placement tables are distributed on both sides of the parking platform along the direction in which the electric vehicle travels to the parking platform.

[0043] Preferably, there is a multi-functional battery placement stand on the at least one battery placement stand. When the multi-functional battery placement stand satisfies both the first condition and the second condition, the control means further uses the multi-functional battery placement stand as the first battery placement stand and the second battery placement stand simultaneously, or uses the multi-functional battery placement stand as either one of the first battery placement stand and the second battery placement stand. Or, when the remaining battery placement stands do not satisfy the first condition, or the number of battery placement stands satisfying the first condition in the remaining battery placement stands is smaller than the number of battery placement stands satisfying the second condition, or the number of battery placement stands satisfying the first condition in the remaining battery placement stands is smaller than the number of battery placement stands satisfying the second condition and the absolute value of the difference between the two is smaller than the first difference threshold, and the number of battery placement stands satisfying the first condition in the remaining battery placement stands is smaller than the first number threshold, any one of these conditions is used as the condition necessary for using the multi-functional battery placement stand as the first battery placement stand. Or, when the remaining battery placement stands do not satisfy the second condition, or the number of battery placement stands satisfying the second condition in the remaining battery placement stands is smaller than the number of battery placement stands satisfying the first condition, or the number of battery placement stands satisfying the second condition in the remaining battery placement stands is smaller than the number of battery placement stands satisfying the first condition and the absolute value of the difference between the two is smaller than the second difference threshold, and the number of battery placement stands satisfying the second condition in the remaining battery placement stands is smaller than the second number threshold, any one of these conditions is used as the condition necessary for using the multi-functional battery placement stand as the second battery placement stand.

[0044] Preferably, the battery placement shelf is further used for charging the battery.

[0045] Preferably, the at least two battery replacement devices are both single-function battery replacement devices, or both multi-function battery replacement devices, or some are single-function battery replacement devices and some are multi-function battery replacement devices. The single-function battery replacement device has a first configuration and is only arranged as a battery placement and replacement device, or has a second configuration and is only arranged as a battery removal and replacement device. The multi-function battery replacement device has both the first configuration and the second configuration and is arranged as either one of the battery removal and replacement device and the battery placement and replacement device.

[0046] Preferably, the battery replacement device installed as the battery placement and replacement device is the battery replacement device closest to the first battery placement table, or the battery replacement device installed as the battery removal and replacement device is the battery replacement device closest to the electric vehicle or the parking platform for parking the electric vehicle. Or each of the battery placement tables has a predetermined association relationship with at least one of the battery replacement devices. The battery replacement device installed as the battery placement and replacement device is the battery replacement device having an association relationship with the first battery placement table, or the battery replacement device having an association relationship with the first battery placement table and being the closest to the first battery placement table. The battery replacement device arranged as the battery removal and replacement device is the battery replacement device having an association relationship with the second battery placement table, or the battery replacement device having an association relationship with the second battery placement table and being the closest to the electric vehicle or the parking platform for parking the electric vehicle.

[0047] Preferably, after selecting the first battery placement table, the control means is further used to send a battery removal command to the battery placement and replacement device. The battery removal command is for instructing the battery placement and replacement device to remove the battery waiting to be mounted from the first battery placement table. The battery placement and replacement device is further used to execute the battery removal command. After the battery placement and replacement device executes the battery removal command, the control means is further used to send a first movement command to the battery placement and replacement device. The first movement command is for instructing the battery placement and replacement device to park in advance at a first predetermined waiting position. The first predetermined waiting position is a position where the distance from the parking platform does not exceed a first distance threshold. The battery placement and replacement device is further used to execute the first movement command.

[0048] Preferably, the control means is further used to scan the license plate of the electric vehicle and identify the model number of the battery applicable to the electric vehicle based on the license plate.

[0049] Preferably, before the electric vehicle parks on the parking platform, the control means is further used to send a second movement command to the battery removal and replacement device. The second movement command is for instructing the battery removal and replacement device to park in advance at a second predetermined waiting position. The battery removal and replacement device is further used to execute the second movement command.

[0050] Preferably, when a predetermined position for replacing the battery is in a parkable state, the second predetermined waiting position is the same position as the predetermined position for replacing the battery. The predetermined position for replacing the battery is a position where it is applicable to remove the battery from the electric vehicle parked on the parking platform.

[0051] Preferably, when a predetermined position for battery replacement is in a non-parkable state, the second predetermined waiting position is a position where the distance from the predetermined position for battery replacement does not exceed a second distance threshold, and the predetermined position for battery replacement is a position where it is applicable to remove the battery from an electric vehicle parked on the parking platform.

[0052] The control means is further used to transmit a fine adjustment command to the battery removal and replacement device when the electric vehicle is parked on the parking platform, and the fine adjustment command is for instructing the battery removal and replacement device to move from the second predetermined waiting position to the predetermined position for battery replacement.

[0053] Preferably, when the conditions that the predetermined position for battery replacement is an available position, there is a passage for the battery removal and replacement device to move to the predetermined position for battery replacement, and when the battery removal and replacement device is parked at the predetermined position for battery replacement, it is predicted that the battery removal and replacement device will not interfere with the electric vehicle traveling to the parking platform are simultaneously satisfied, the predetermined position for battery replacement becomes a parkable state; otherwise, the predetermined position for battery replacement becomes a non-parkable state.

[0054] Preferably, the configuration of the parking platform specifies whether the predetermined position for battery replacement is located below or above the parking platform.

[0055] Preferably, when the electric vehicle is parked on the parking platform, the control means is further used to send a third movement command to the battery removal and replacement device. The third movement command is for instructing the battery removal and replacement device to move to a predetermined position for battery replacement and park there. The predetermined position for battery replacement is the position where it is applicable to remove the battery from the electric vehicle parked on the parking platform. The battery removal and replacement device is further used to execute the third movement command.

[0056] Preferably, when the electric vehicle is parked on the parking platform and the battery removal and replacement device is parked at the predetermined position for battery replacement, the control means is further used to send a battery removal command to the battery removal and replacement device. The battery removal command is for instructing the battery removal and replacement device to remove the battery with a low remaining amount from the electric vehicle. The battery removal and replacement device is further used to execute the battery removal command. After the battery removal and replacement device executes the battery removal command, the control means is further used to send a fourth movement command to the battery removal and replacement device. The fourth movement command is for instructing the battery removal and replacement device to move to the second battery placement table and place the battery with a low remaining amount on the empty battery placement shelf. The battery removal and replacement device is further used to execute the fourth movement command.

[0057] Preferably, when the battery removal and replacement device is at a predetermined position for replacing the battery or the distance from the predetermined position for replacing the battery exceeds a third distance threshold, the control means is further used to send a fifth movement command to the battery placement and replacement device. The fifth movement command is for instructing the battery placement and replacement device to move to a predetermined position for replacing the battery. The battery placement and replacement device is further used to execute the fifth movement command. After the battery placement and replacement device executes the fifth movement command, the control means is further used to send a battery mounting command to the battery placement and replacement device. The battery mounting command is for instructing the battery placement and replacement device to mount the waiting-to-be-mounted battery on the electric vehicle. The battery placement and replacement device is further used to execute the battery mounting command.

[0058] The present invention further provides a battery replacement control method, which includes identifying the model number of a battery applied to an electric vehicle, selecting, from at least one battery placement platform, a battery placement platform that satisfies a first condition as a first battery placement platform, where the battery placement platform has a battery placement shelf for placing a battery, and the first condition is set such that a battery of the model number of the battery is placed thereon, selecting, from the at least one battery placement platform, a battery placement platform that satisfies a second condition as a second battery placement platform, where the second condition is set such that it has an empty battery placement shelf, moving a battery replacement device to a predetermined position for replacing a battery, removing a battery with a low remaining amount from the electric vehicle, transporting the battery with a low remaining amount to the second placement platform and placing it on the empty battery placement shelf, where the predetermined position for replacing the battery is a position applicable for attaching and detaching the electric vehicle battery, moving the battery replacement device to the first battery placement platform, removing the battery of the model number of the battery from the first battery placement platform, transporting the battery of the model number of the battery to the predetermined position for replacing the battery, and mounting it on the electric vehicle.

[0059] Preferably, the battery replacement control method further includes monitoring the remaining amount of the battery placed on the battery placement platform, and the first condition is set such that it is the model number of the battery and a fully charged battery is placed thereon, or the first condition is preferentially set such that it is the model number of the battery and a fully charged battery is placed thereon. When the at least one battery placement platform does not have a battery placement platform that satisfies the first condition, the first condition is corrected and set such that it is the model number of the battery and a battery with the most remaining amount is placed thereon.

[0060] Preferably, when there is more than one battery placement stand that satisfies the first condition, one battery placement stand is randomly selected as the first battery placement stand from the battery placement stands that satisfy the first condition, or one battery placement stand that is closest to the electric vehicle or the parking platform for parking the electric vehicle is selected as the first battery placement stand, or one battery placement stand located on the path between the second battery placement stand and the battery vehicle is selected as the first battery placement stand, or one battery placement stand that is located on the path and is closest to the electric vehicle or the parking platform is used as the first battery placement stand, and / or when there is more than one battery placement stand that satisfies the second condition, one battery placement stand is randomly selected as the second battery placement stand from the battery placement stands that satisfy the second condition, or one battery placement stand that is closest to the electric vehicle or the parking platform is selected as the second battery placement stand.

[0061] Preferably, the battery replacement control method further includes determining whether there is a multi-functional battery placement stand among the at least one battery placement stand, where the multi-functional battery placement stand is a battery placement stand that satisfies both the first condition and the second condition, and when it exists, using the multi-functional battery placement stand as both the first battery placement stand and the second battery placement stand at the same time.

[0062] Preferably, the empty battery placement shelf is further used to charge the battery with a low remaining amount.

[0063] Preferably, the empty battery placement shelf has a battery charging circuit, the battery charging circuit has certain power parameters matching the model number of the battery, or adjustable power parameters, and the battery replacement control method further includes adjusting the power parameters according to the model number of the battery so that the power parameters match the model number of the battery.

[0064] Preferably, identifying the model number of the battery applied to the battery replacement waiting electric vehicle specifically includes scanning the license plate of the electric vehicle and identifying the model number of the battery applied to the electric vehicle according to the license plate.

[0065] Preferably, the battery replacement control method further includes making the battery replacement device park at a predetermined waiting position in advance before the electric vehicle parks on the parking platform.

[0066] Preferably, when the predetermined position for replacing the battery is in a parkable state, the predetermined waiting position is the same as the predetermined position for replacing the battery.

[0067] Preferably, when the predetermined position for replacing the battery is in a non-parkable state, the predetermined waiting position is a position where the distance from the predetermined position for replacing the battery does not exceed a first distance threshold, and the battery replacement control method further includes moving the battery replacement device from the predetermined waiting position to the predetermined position for replacing the battery when the electric vehicle is parked on the parking platform.

[0068] Preferably, when the following conditions are simultaneously satisfied: a condition that a predetermined position for replacing the battery is vacant; a condition that there is a passage for the battery replacement device to move to the predetermined position for replacing the battery; and a condition that it is predicted that when the battery replacement device is parked at the predetermined position for replacing the battery, it will not interfere with the electric vehicle traveling on the parking platform, the predetermined position for replacing the battery becomes a parkable state; otherwise, the predetermined position for replacing the battery becomes a non-parkable state.

[0069] Preferably, according to the configuration of the parking platform, it is specified whether the predetermined position for replacing the battery is located below or above the parking platform.

[0070] The present invention further provides a battery replacement control method, Select a battery placement table that satisfies the first condition from at least one battery placement table as the first battery placement table. The battery placement table has one or more battery placement shelves for placing batteries. The first condition is that it is installed stating that a battery applicable to an electric vehicle is placed. Select a battery placement table that satisfies the second condition from the at least one battery placement table as the second battery placement table. The second condition is that it is installed stating that it has an empty battery placement shelf. Arrange at least one battery swapping device among the at least two battery swapping devices as a battery placement and swapping device. The battery placement and swapping device is used to transport a battery waiting to be mounted. The battery waiting to be mounted is removed from the first battery placement table, is applicable to the electric vehicle, and is also a battery to be mounted on the electric vehicle. Arrange at least one battery swapping device among the at least two battery swapping devices as a battery removal and swapping device. The battery removal and swapping device is used to transport a battery with a low remaining amount. The battery with a low remaining amount is removed from the electric vehicle and is also a battery to be placed on the empty battery placement shelf.

[0071] Preferably, the battery swapping control method further includes monitoring the remaining amount of the battery placed on the battery placement table. The first condition is that it is installed stating that a battery applicable to the electric vehicle and fully charged is placed, or the first condition is preferentially installed stating that a battery applicable to the electric vehicle and fully charged is placed. When the at least one battery placement table does not have a battery placement table that satisfies the first condition, the first condition is corrected and installed stating that a battery applicable to the electric vehicle and having the most remaining amount is placed.

[0072] Preferably, when there is more than one battery placement stand that satisfies the first condition, one battery placement stand is randomly selected as the first battery placement stand from the battery placement stands that satisfy the first condition, or one battery placement stand that is closest to the electric vehicle or the parking platform for parking the electric vehicle is selected as the first battery placement stand, and / or when there is more than one battery placement stand that satisfies the second condition, one battery placement stand is randomly selected as the second battery placement stand from the battery placement stands that satisfy the second condition, or one battery placement stand that is closest to the electric vehicle or the parking platform is selected as the second battery placement stand. The battery replacement control method further includes this.

[0073] Preferably, the battery replacement control method determines whether there is a multi-functional battery placement stand among the at least one battery placement stand, and the multi-functional battery placement stand is a battery placement stand that satisfies both the first condition and the second condition. If it exists, the multi-functional battery placement stand is used as both the first battery placement stand and the second battery placement stand at the same time, or the multi-functional battery placement stand is used as either one of the first battery placement stand and the second battery placement stand, or the remaining battery placement stands do not satisfy the first condition at all, the number of battery placement stands that satisfy the first condition among the remaining battery placement stands is smaller than the number of battery placement stands that satisfy the second condition, the number of battery placement stands that satisfy the first condition among the remaining battery placement stands is smaller than the number of battery placement stands that satisfy the second condition, and moreover, the absolute value of the difference between the two is smaller than the first difference threshold, and the number of battery placement stands that satisfy the first condition among the remaining battery placement stands is smaller than the first number threshold. Any one of these conditions is used as the condition necessary for using the multi-functional battery placement stand as the first battery placement stand, or the remaining battery placement stands do not satisfy the second condition at all, the number of battery placement stands that satisfy the second condition among the remaining battery placement stands is smaller than the number of battery placement stands that satisfy the first condition, the number of battery placement stands that satisfy the second condition among the remaining battery placement stands is smaller than the number of battery placement stands that satisfy the first condition, and moreover, the absolute value of the difference between the two is smaller than the second difference threshold, and the number of battery placement stands that satisfy the second condition among the remaining battery placement stands is smaller than the second number threshold. Any one of these conditions is used as the condition necessary for using the multi-functional battery placement stand as the second battery placement stand.

[0074] Preferably, the at least two battery replacement devices are both single-function battery replacement devices, or both multi-function battery replacement devices, or some are single-function battery replacement devices while some are multi-function battery replacement devices. The single-function battery replacement device has a first configuration and is only arranged as a battery placement and replacement device, or has a second configuration and is only arranged as a battery removal and replacement device. The multi-function battery replacement device has both the first configuration and the second configuration and is arranged as either one of the battery removal and replacement device and the battery placement and replacement device.

[0075] Preferably, the battery replacement device installed as the battery placement and replacement device is the battery replacement device closest to the first battery placement table, or the battery replacement device installed as the battery removal and replacement device is the battery replacement device closest to the electric vehicle or the parking platform for parking the electric vehicle. Or, each of the battery placement tables has a predetermined association relationship with at least one of the battery replacement devices. The battery replacement device installed as the battery placement and replacement device is the battery replacement device having an association relationship with the first battery placement table, or the battery replacement device having an association relationship with the first battery placement table and being closest to the first battery placement table. The battery replacement device installed as the battery removal and replacement device is the battery replacement device having an association relationship with the second battery placement table, or the battery replacement device having an association relationship with the second battery placement table and being closest to the electric vehicle or the parking platform for parking the electric vehicle.

[0076] Preferably, before the electric vehicle parks on the parking platform, when the model number of the battery applied to the electric vehicle is known in advance, the battery replacement control method further includes, before the electric vehicle parks on the parking platform, selecting a battery placement platform that satisfies a first condition as a first battery placement platform from the at least one battery placement platform, and instructing the battery placement and replacement device to remove the battery to be mounted from the first battery placement platform. After the battery placement and replacement device removes the battery to be mounted from the first battery placement platform, the battery placement and replacement device is instructed to park in a first predetermined waiting position in advance, and the first predetermined waiting position is a position where the distance from the parking platform does not exceed a first distance threshold.

[0077] Preferably, by being limitedly applied such that only an electric vehicle with the battery of the model number can park on the parking platform, the model number of the battery applied to the electric vehicle can be known in advance.

[0078] Preferably, the battery replacement control method further includes instructing the battery removal and replacement device to park in a second predetermined waiting position in advance before the electric vehicle parks on the parking platform.

[0079] Preferably, when a predetermined position for replacing the battery is in a parkable state, the second predetermined waiting position is the same position as the predetermined position for replacing the battery, and the predetermined position for replacing the battery is a position where it is applicable to remove the battery from the electric vehicle parked on the parking platform.

[0080] Preferably, when a predetermined position for battery replacement is in a non-parking state, the second predetermined waiting position is a position where the distance from the predetermined position for battery replacement does not exceed a second distance threshold, the predetermined position for battery replacement is a position where it is applicable to remove the battery from an electric vehicle parked on the parking platform, and the battery replacement control method further includes instructing, when the electric vehicle is parked on the parking platform, the battery removal and replacement device to move from the second predetermined waiting position to the predetermined position for battery replacement.

[0081] Preferably, when the conditions that a predetermined position for battery replacement is an available position, there is a passage for the battery removal and replacement device to move to the predetermined position for battery replacement, and it is predicted that when the battery removal and replacement device is parked at the predetermined position for battery replacement, it will not interfere with an electric vehicle traveling to the parking platform are simultaneously satisfied, the predetermined position for battery replacement becomes a parking-enabled state; otherwise, the predetermined position for battery replacement becomes a non-parking state.

[0082] Preferably, the configuration of the parking platform specifies whether the predetermined position for battery replacement is located below or above the parking platform.

[0083] Preferably, the battery replacement control method includes instructing, when the electric vehicle is parked on the platform, the battery removal and replacement device to move to and park at a predetermined position for battery replacement, and the predetermined position for battery replacement is a position where it is applicable to remove the battery from an electric vehicle parked on the parking platform.

[0084] Preferably, when the electric vehicle parks on the parking platform and the battery removal and replacement device parks at a predetermined position for replacing the battery, the battery removal and replacement device is instructed to remove the battery with a small remaining amount from the electric vehicle. After the battery removal and replacement device removes the battery with a small remaining amount from the electric vehicle, the battery removal and replacement device is instructed to move to the second battery placement table and place the battery with a small remaining amount on the empty battery placement shelf.

[0085] Preferably, when the battery removal and replacement device is at a predetermined position for replacing the battery or the distance from the predetermined position for replacing the battery exceeds a third distance threshold, the battery placement and replacement device is instructed to move to the predetermined position for replacing the battery. After the battery placement and replacement device moves to the predetermined position for replacing the battery, the battery placement and replacement device is further instructed to mount the waiting-to-be-mounted battery on the electric vehicle.

[0086] By arbitrarily combining the above-described preferred conditions based on the common general knowledge in this field, preferred embodiments of the present invention can be obtained.

[0087] The positive progress and effects of the present invention are that, by the control of the control means, in the whole process of replacing the battery on the vehicle, the moving trajectory is located between the first battery placement table and the electric vehicle, and a battery placement and replacement device that realizes transporting the waiting-to-be-mounted battery, and the moving trajectory is located between the electric vehicle and the second battery placement table, and a battery removal and replacement device that realizes transporting the battery with a small remaining amount are used, that is, two battery replacement devices are used.

[0088] Since the two battery replacement devices each have different roles and together complete the task of replacing the battery, the total time taken to replace the battery can be reduced by at least half compared to realizing battery replacement with only one battery replacement device, improving the speed and efficiency of battery replacement.

[0089] The present invention further provides a battery replacement control method, which includes identifying the model number of the battery applied to an electric vehicle waiting for battery replacement, selecting, from at least one battery placement table, a battery placement table that satisfies a first condition as a first battery placement table, where the battery placement table has one or more battery placement shelves for placing batteries, and the first condition is set such that a battery of the model number of the battery is placed, selecting, from the at least one battery placement table, a battery placement table that satisfies a second condition as a second battery placement table, where the second condition is set such that it has an empty battery placement shelf, arranging at least one of the at least two battery replacement devices as a battery placement and replacement device, where the battery placement and replacement device is used to transport a battery waiting to be mounted, and the battery waiting to be mounted is taken out from the first battery placement table, is of the model number of the battery, and is the battery to be mounted on the electric vehicle, and arranging at least one of the at least two battery replacement devices as a battery removal and replacement device, where the battery removal and replacement device is used to transport a battery with a low remaining amount, and the battery with a low remaining amount is taken out from the electric vehicle and is the battery to be placed on the empty battery placement shelf.

[0090] Preferably, the battery replacement control method further includes monitoring the remaining amount of the battery placed on the battery placement table, the first condition is the model number of the battery, and moreover, it is set as the fact that a fully charged battery is placed, or the first condition is preferentially the model number of the battery, and moreover, it is set as the fact that a fully charged battery is placed. When the at least one battery placement table does not have a battery placement table that satisfies the first condition, the first condition is corrected and set as the model number of the battery and the fact that the battery with the most remaining amount is placed.

[0091] Preferably, when there is more than one battery placement table that satisfies the first condition in the battery replacement control method, one battery placement table is randomly selected as the first battery placement table from the battery placement tables that satisfy the first condition, or one battery placement table with the closest distance to the electric vehicle or the parking platform for parking the electric vehicle is selected as the first battery placement table, and / or when there is more than one battery placement table that satisfies the second condition, one battery placement table is randomly selected as the second battery placement table from the battery placement tables that satisfy the second condition, or one battery placement table with the closest distance to the electric vehicle or the parking platform is selected as the second battery placement table. The battery replacement control method further includes the above.

[0092] Preferably, the battery replacement control method determines whether there is a multi-functional battery placement table among the at least one battery placement table. The multi-functional battery placement table is a battery placement table that satisfies both the first condition and the second condition. If it exists, the multi-functional battery placement table is simultaneously used as the first battery placement table and the second battery placement table, or the multi-functional battery placement table is used as either one of the first battery placement table and the second battery placement table. Or, any one of the conditions that none of the remaining battery placement tables satisfy the first condition, the number of battery placement tables that satisfy the first condition among the remaining battery placement tables is smaller than the number of battery placement tables that satisfy the second condition, the number of battery placement tables that satisfy the first condition among the remaining battery placement tables is smaller than the number of battery placement tables that satisfy the second condition, and moreover, the absolute value of the difference between the two is smaller than the first difference threshold, and the number of battery placement tables that satisfy the first condition among the remaining battery placement tables is smaller than the first number threshold is used as a necessary condition for using the multi-functional battery placement table as the first battery placement table. Or, any one of the conditions that none of the remaining battery placement tables satisfy the second condition, the number of battery placement tables that satisfy the second condition among the remaining battery placement tables is smaller than the number of battery placement tables that satisfy the first condition, the number of battery placement tables that satisfy the second condition among the remaining battery placement tables is smaller than the number of battery placement tables that satisfy the first condition, and moreover, the absolute value of the difference between the two is smaller than the second difference threshold, and the number of battery placement tables that satisfy the second condition among the remaining battery placement tables is smaller than the second number threshold is used as a necessary condition for using the multi-functional battery placement table as the second battery placement table.

[0093] Preferably, the at least two battery replacement devices are both single-function battery replacement devices, or both multi-function battery replacement devices, or some are single-function battery replacement devices while some are multi-function battery replacement devices. The single-function battery replacement device has a first configuration and is only arranged as a battery placement and replacement device, or has a second configuration and is only arranged as a battery removal and replacement device. The multi-function battery replacement device has both the first configuration and the second configuration and is arranged as either one of the battery removal and replacement device and the battery placement and replacement device.

[0094] Preferably, the battery replacement device installed as the battery placement and replacement device is the battery replacement device closest to the first battery placement table, or the battery replacement device installed as the battery removal and replacement device is the battery replacement device closest to the electric vehicle or the parking platform for parking the electric vehicle. Or each of the battery placement tables has a predetermined association relationship with at least one of the battery replacement devices. The battery replacement device installed as the battery placement and replacement device is the battery replacement device having an association relationship with the first battery placement table, or the battery replacement device having an association relationship with the first battery placement table and being closest to the first battery placement table. The battery replacement device installed as the battery removal and replacement device is the battery replacement device having an association relationship with the second battery placement table, or the battery replacement device having an association relationship with the second battery placement table and being closest to the electric vehicle or the parking platform for parking the electric vehicle.

[0095] Preferably, after selecting the first battery placement table, the battery placement and replacement device is instructed to remove the battery to be mounted from the first battery placement table. After the battery placement and replacement device removes the battery to be mounted from the first battery placement table, the battery placement and replacement device is instructed to park in a first predetermined waiting position in advance. The first predetermined waiting position is a position where the distance from the parking platform does not exceed a first distance threshold.

[0096] Preferably, specifying the model number of the battery applied to the battery replacement waiting electric vehicle specifically includes scanning the license plate of the electric vehicle and specifying the model number of the battery applied to the electric vehicle based on the license plate.

[0097] Preferably, the battery replacement control method further includes instructing the battery removal and replacement device to park in a second predetermined waiting position in advance before the electric vehicle parks on the parking platform.

[0098] Preferably, when the predetermined position for replacing the battery is in a parkable state, the second predetermined waiting position is the same as the predetermined position for replacing the battery. The predetermined position for replacing the battery is a position where it is applicable to remove the battery from the electric vehicle parked on the parking platform.

[0099] Preferably, when a predetermined position for battery replacement is in a non-parking state, the second predetermined waiting position is a position where the distance from the predetermined position for battery replacement does not exceed a second distance threshold. The predetermined position for battery replacement is a position where it is applicable to remove the battery from an electric vehicle parked on the parking platform. The battery replacement control method further includes instructing, when the electric vehicle is parked on the parking platform, the battery removal and replacement device to move from the second predetermined waiting position to the predetermined position for battery replacement.

[0100] Preferably, when conditions such as a condition that a predetermined position for replacing the battery is an available position, a condition that there is a passage for the battery removal and replacement device to move to the predetermined position for battery replacement, and a condition that it is predicted that when the battery removal and replacement device is parked at the predetermined position for battery replacement, it will not interfere with an electric vehicle traveling to the parking platform are simultaneously satisfied, the predetermined position for battery replacement becomes a parking-enabled state; otherwise, the predetermined position for battery replacement becomes a non-parking state.

[0101] Preferably, the configuration of the parking platform identifies whether the predetermined position for battery replacement is located below or above the parking platform.

[0102] Preferably, the battery replacement control method includes instructing, when the electric vehicle is parked on the parking platform, the battery removal and replacement device to move to and park at a predetermined position for battery replacement. The predetermined position for battery replacement is a position where it is applicable to remove the battery from an electric vehicle parked on the parking platform.

[0103] Preferably, when the electric vehicle parks on the parking platform and the battery removal and replacement device parks at a predetermined position for replacing the battery, the battery removal and replacement device is instructed to remove the battery with a low remaining amount from the electric vehicle. After the battery removal and replacement device removes the battery with a low remaining amount from the electric vehicle, the battery removal and replacement device is further instructed to move to the second battery placement table and place the battery with a low remaining amount on the empty battery placement shelf.

[0104] Preferably, when the battery removal and replacement device is at a predetermined position for replacing the battery or the distance from the predetermined position for replacing the battery exceeds a third distance threshold, the battery placement and replacement device is instructed to move to the predetermined position for replacing the battery. After the battery placement and replacement device moves to the predetermined position for replacing the battery, the battery placement and replacement device is further instructed to mount the battery waiting to be mounted on the electric vehicle.

Advantages of the Invention

[0105] Combining the above-described preferred conditions arbitrarily based on the common knowledge in this field can obtain preferred embodiments of the present invention.

[0106] The positive progress and effects of the present invention are as follows: By the control means in the present invention, by checking the model number of the battery applied to the electric vehicle, it is convenient to select the first battery mounting platform and extract the battery waiting to be mounted. Further, under the control of the control means, throughout the process of replacing the battery in the vehicle, the moving trajectory is located between the first battery mounting platform and the electric vehicle, and it is realized to transport the battery waiting to be mounted. Also, a battery removal and replacement device is used, where the moving trajectory is located between the electric vehicle and the second battery mounting platform, and it is realized to transport the battery with a small remaining amount. These two battery replacement devices each have different roles and together complete the task of replacing the battery. Therefore, the total time required for replacing the battery can be shortened by at least half compared to realizing battery replacement with only one battery replacement device, improving the speed and efficiency of battery replacement.

[0107] The positive progress and effects of the present invention are that in the present invention, the number of movements of the battery replacement device in the process of replacing the battery is reduced, the time required for replacing the battery is shortened, and the efficiency of replacing the battery is improved.

Brief Description of the Drawings

[0108]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Figure 15

Mode for Carrying Out the Invention

[0109] Hereinafter, the present invention will be described in more detail based on the embodiments, but the present invention is not limited to the scope according to the above-described embodiments.

[0110] Embodiment 1 FIG. 1 shows a battery replacement control system according to this embodiment. The battery replacement control system 10 includes a control means 11 and a battery replacement device 12. Among them, the control means 11 is communicatively connected to the battery replacement device 12. The communication connection is preferably a wireless communication connection, and specifically, it can be realized by communication means such as 2G, 3G, 4G, or Bluetooth (registered trademark). Of course, in a certain special case (for example, when the control means 11 is close to the battery replacement device 12 and the working range by the battery replacement device 12 is extremely small), it is not excluded that the communication connection is a wired communication connection.

[0111] The control means 11 is used to identify the model number of the battery applied to the electric vehicle. Specifically, the control means 11 scans the license plate of the electric vehicle, and based on the license plate, the model number of the battery applied to the electric vehicle can be identified.

[0112] The control means 11 is further used to select, as the first battery placement table 13A, a battery placement table that satisfies the first condition from at least one battery placement table 13, and to select, as the second battery placement table 13B, a battery placement table that satisfies the second condition from the at least one battery placement table 13. The battery placement table has one or more battery placement shelves for placing batteries. The first condition is set to indicate that a battery of the model number of the battery is placed, and the second condition is set to indicate that there is an empty battery placement shelf.

[0113] The battery replacement device 12 moves to a predetermined position for replacing the battery, removes the battery with a small remaining amount from the electric vehicle, transports the battery with a small remaining amount to the second mounting table 13B and places it on the empty battery mounting shelf, then moves to the first battery mounting table 13A, removes the battery with the battery model number from the first battery mounting table 13A, and transports the battery with the battery model number to the predetermined position for replacing the battery and uses it to mount on the electric vehicle. The predetermined position for replacing the battery is a position where attaching and detaching the battery from the electric vehicle is applicable.

[0114] In this embodiment, the control means 11 confirms the battery model number applicable to the electric vehicle, so that the first battery mounting table is easily selected, and the movement of the battery replacement device 12 becomes smooth throughout the process of replacing the battery in the vehicle, improving the speed and efficiency of replacing the battery.

[0115] In this embodiment, the predetermined position for replacing the battery may be understood as a position where the battery can be removed from the electric vehicle or mounted on the electric vehicle with the least amount of operation when the battery replacement device 12 is located at the predetermined position for replacing the battery. Specifically, regarding the predetermined position for replacing the battery, it is only necessary to specify whether the predetermined position for replacing the battery is located below or above the parking platform on which the electric vehicle is parked according to the configuration of the parking platform.

[0116] Taking the parking platform configured in the first manner as an example, as shown in FIG. 2, the parking platform 15 is higher than the ground and has a cut-out area in the middle. When replacing the battery of the electric vehicle 14, it is necessary to park on the parking platform 15 and position the battery case of the electric vehicle 14 above the cut-out area. For such a parking platform 15 configured in this way, generally, a predetermined position P1 for replacing the battery is located below the parking platform, particularly below the cut-out area, and is aligned with the outer case of the battery of the electric vehicle 14. For the electric vehicle 14 parked on the parking platform 15 to have its battery replaced, the battery replacement device 12 vertically raises an unlocking mechanism for unlocking the battery with a small remaining amount from the electric vehicle at the predetermined position P1 for replacing the battery, passes through the cut-out area, inserts the unlocking mechanism into the gap between the outer case and the battery of the electric vehicle 14, and touches a touch part for locking the battery case, so that the battery with a small remaining amount can be unlocked, and thus the battery with a small remaining amount can be removed. Similarly, the battery replacement device 12 can complete the installation by vertically lifting the battery mounted on the electric vehicle at the predetermined position P1 for replacing the battery.

[0117] Also, taking the parking platform configured as the second configuration as an example, as shown in FIG. 3, the parking platform 15 has a lifting platform 151 therein, and the lifting platform 151 has a cutout area therein. When the electric vehicle 14 has its battery replaced, it travels to the parking platform 15 and parks on the lifting platform 151, and moreover, it is necessary to position the battery case of the electric vehicle 14 above the cutout area. For the parking platform 15 configured in this way, the predetermined position P2 for replacing the battery is generally located above the parking platform 15, and in particular, when the lifting platform 151 rises, it is located below the cutout area. For the electric vehicle 14 parked on the lifting platform 151 and having its battery replaced, the battery exchange device 12 vertically rises with an unlocking mechanism for unlocking the battery with a small remaining amount from the electric vehicle 14 at the predetermined position P2 for replacing the battery, passes through the cutout area, inserts the unlocking structure into the gap between the outer case of the battery of the electric vehicle 14 and the battery, and touches the touch part for locking the battery case, whereby the battery with a small remaining amount can be unlocked, and thus, the battery with a small remaining amount can be removed. Similarly, the battery exchange device 12 can complete the installation by vertically lifting the battery mounted on the electric vehicle at the predetermined position P2 for replacing the battery.

[0118] Of course, the parking platform is not limited to the above-described configuration, and furthermore, other configurations may be used. The predetermined position for replacing the battery can be set according to the configuration of the parking platform and further according to conditions such as the movement path of the configuration necessary for the battery exchange device 12 to take out the battery with a small remaining amount or install the battery.

[0119] Example 2 The battery replacement control system of this embodiment is further modified based on Embodiment 1, and the main point is the installation under the first condition. The first condition, as the basis for selecting the first battery placement table 13A, in addition to the necessary point that a battery with the battery model number is placed, may further set preferable corresponding conditions. In this embodiment, the corresponding conditions are mainly related to the remaining amount of the battery. The control means 11 is further used to monitor the remaining amount of the battery placed on the battery placement table.

[0120] Specifically, the first condition may be set as the battery model number and that a fully charged battery is placed. Accordingly, the control means 11 is used to determine whether there is a battery placement table that satisfies the first condition among the at least one battery placement table. If it exists, one of them is selected as the first battery placement table 13A. When there is no battery placement table that satisfies the first condition, the control means 11 may transmit an alarm signal to indicate that the battery of the electric vehicle cannot be replaced.

[0121] Alternatively, in order to increase the probability of being able to replace the battery of the electric vehicle, the first condition may preferentially be the model number of the battery, and moreover, it may be set to indicate that a fully charged battery is placed. When there is no battery placement table that satisfies the first condition among the at least one battery placement table, the first condition is corrected and set to indicate that the battery with the most remaining amount is placed and is the model number of the battery. Accordingly, by default, the first condition is the model number of the battery, and moreover, it is set to indicate that a fully charged battery is placed. The control means 11 is used to determine whether there is a battery placement table that satisfies the default first condition among the at least one battery placement table. If so, one of them is selected as the first battery placement table 13A. Otherwise, the first condition is corrected and set to indicate that the battery with the most remaining amount is placed and is the model number of the battery, and it is determined again whether there is a battery placement table that satisfies the current first condition among the at least one battery placement table. If so, one of them is selected as the first battery placement table 13A. Still, when there is no battery placement table that satisfies the first condition, the control means 11 may transmit an alarm signal to indicate that the battery of the electric vehicle cannot be replaced.

[0122] Also, in this embodiment, the empty battery placement shelf is further used to charge the battery with less remaining amount. Specifically, the empty battery placement shelf may have a battery charging circuit, and the battery charging circuit may have a certain power parameter that matches the model number of the battery, or the battery charging circuit may have an adjustable power parameter. The control means is further used to adjust the power parameter according to the model number of the battery so as to match the model number of the battery. The power parameter includes current, voltage, etc.

[0123] Of course, in other embodiments, the first condition may further be set as other conditions as needed.

[0124] Embodiment 3 The battery replacement control system according to this embodiment is further modified based on Embodiment 1 or Embodiment 2, and the main thing is to select the first battery placement table 13A and the second battery placement table 13B by the control means 11. When the number of battery placement tables is two, and thus more, it is highly likely that two or more battery placement tables simultaneously satisfy the first condition or the second condition. The control means 11 may further set a selection request for the first battery placement table 13A and the second battery placement table 13B as needed.

[0125] In this embodiment, in order to respond to the situation where two or more battery placement tables simultaneously satisfy the first condition, the control means 11 is used to determine whether the number of battery placement tables satisfying the first condition exceeds one.

[0126] If it exceeds, one battery placement table is randomly selected from the battery placement tables satisfying the first condition as the first battery placement table 13A, or, in order to shorten the moving distance and moving time by the battery replacement device 12 and improve the efficiency of battery replacement, from the battery placement tables satisfying the first condition, the one battery placement table closest to the electric vehicle, or the one battery placement table closest to the holder of the parking platform for parking the electric vehicle is selected as the first battery placement table 13A, or one battery placement table on the path between the second battery placement table and the battery vehicle is selected as the first battery placement table, or the one battery placement table located on the path and closest to the electric vehicle or the parking platform is selected as the first battery placement table.

[0127] Of course, when there is only one battery placement platform that satisfies the first condition, usually, it can only be used as the first battery placement platform 13A.

[0128] Similarly, in order to respond to two or more battery placement platforms simultaneously satisfying the second condition, the control means 11 may be used to determine whether the number of battery placement platforms satisfying the second condition exceeds one. If it exceeds, one battery placement platform is randomly selected from the battery placement platforms satisfying the second condition as the second battery placement platform 13B, or, in order to shorten the moving distance and time by the battery replacement device 12 and improve the efficiency of battery replacement, one battery placement platform closest to the electric vehicle is selected from the battery placement platforms satisfying the second condition, or one battery placement platform closest to the parking platform holder for parking the electric vehicle is selected as the second battery placement platform 13B.

[0129] Of course, when there is only one battery placement platform that satisfies the second condition, usually, it can only be used as the second battery placement platform 13B.

[0130] Furthermore, by selecting the first battery placement platform 13A / second battery placement platform 13B, the moving distance by the battery replacement device 12 may be shortened so as to conveniently position each battery placement platform. The battery placement platforms are distributed on both sides of the parking platform in the direction in which the electric vehicle travels to the parking platform. Among them, the parking platform may be a dedicated platform for replacing the battery in the vehicle, or another general platform that can park the vehicle and can conveniently replace the battery.

[0131] In this embodiment, the selection of the first battery placement table 13A and the second battery placement table 13B is relatively independent. In other words, depending on different situations, the selection requirements for the first battery placement table 13A and the second battery placement table 13B may be set respectively.

[0132] Example 4 The battery replacement control system according to this embodiment is further modified based on Example 1 or 2, and the main thing is to select the first battery placement table 13A and the second battery placement table 13B by the control means 11. The difference from Example 3 is that in this embodiment, when selecting the first battery placement table 13A and the second battery placement table 13B, to a certain extent, the relevance between the two is considered.

[0133] Specifically, the control means 11 may be used to determine whether there is a multi-functional battery placement table on the at least one battery placement table. Among them, the multi-functional battery placement table is a battery placement table that satisfies both the first condition and the second condition.

[0134] When the multi-functional battery placement table does not exist, according to the means according to Example 3, the first battery placement table 13A may be selected from the battery placement tables that satisfy the first condition, and the second battery placement table 13B may be selected from the battery placement tables that satisfy the second condition.

[0135] When the multi-functional battery placement table exists, the control means 11 may further use the multi-functional battery placement table as both the first battery placement table and the second battery placement table at the same time. And the moving distance by the battery replacement device 12 becomes shorter.

[0136] Example 5 The battery replacement control system according to this embodiment is a further modification based on Embodiment 1, and the main point is the process of controlling the battery replacement device 12 by the control means 11. The entire process of replacing the battery is divided into a preparation process for replacing the battery before the electric vehicle parks on the parking platform and an operation process for replacing the battery when the electric vehicle is parked on the parking platform.

[0137] The battery replacement device 12 is controlled by the control means 11.

[0138] In the preparation process for replacing the battery, the control means 11 sends a parking command to the battery replacement device 12 and the battery replacement device 12 executes it. Among them, the parking command is for instructing the battery replacement device 12 to park in advance to a predetermined waiting position. The predetermined waiting position is related to the predetermined position for replacing the battery, and may be the same position as the predetermined position for replacing the battery, or may be a position close to the predetermined position for replacing the battery.

[0139] Specifically, the control means 11 determines whether the predetermined position for replacing the battery is in a parkable state so as to set the predetermined waiting position. Condition (1) that the predetermined position for replacing the battery is an empty position, Condition (2) that there is a passage for the battery replacement device 12 to move to the predetermined position for replacing the battery, and, Condition (3) that it is predicted that when the battery replacement device 12 is parked at the predetermined position for replacing the battery, the battery replacement device 12 will not interfere with the electric vehicle traveling to the parking platform. When these three conditions are simultaneously satisfied, the predetermined position for replacing the battery becomes a parkable state, otherwise, the predetermined position for replacing the battery becomes a non-parkable state.

[0140] Whether condition (3) is satisfied usually depends on the configuration of the parking platform.

[0141] Taking the parking platform configured as the first configuration in Embodiment 1 as an example, when the electric vehicle has its battery replaced, it is parked on the parking platform, and the predetermined position for replacing the battery is usually located below the parking platform. Therefore, in a normal case, even if the battery replacement device 12 parks at the predetermined position for replacing the battery before the electric vehicle drives onto the parking platform, the battery replacement device 12 will not interfere with the electric vehicle driving onto the parking platform, and condition (3) is satisfied.

[0142] Also, taking the parking platform configured as the second configuration in Embodiment 1 as an example, when the electric vehicle has its battery replaced, it is parked on the lifting platform, and the predetermined position for replacing the battery is usually located above the parking platform. Therefore, when the battery replacement device 12 parks at the predetermined position for replacing the battery before the electric vehicle drives onto the parking platform, there is a high risk that the battery replacement device 12 will interfere with the electric vehicle driving onto the parking platform. Therefore, for the parking platform configured as the second configuration, the predetermined position for replacing the battery usually does not satisfy condition (3) and is in a non-parkable state.

[0143] When the predetermined position for replacing the battery is in a parkable state, the predetermined waiting position is the same position as the predetermined position for replacing the battery. When the predetermined position for replacing the battery is in a non-parkable state, the predetermined waiting position is a position where the distance from the predetermined position for replacing the battery does not exceed the second distance threshold, that is, a position close to the predetermined position for replacing the battery.

[0144] Up to this point, the process of preparing to replace the battery is completed. The battery replacement control system waits for the electric vehicle to drive onto the parking platform and park, and then transitions to the operation process of replacing the battery.

[0145] In the operation process of replacing the battery, the control means 11 determines whether the predetermined waiting position is the same as the predetermined position for replacing the battery. If they are the same position, the control means 11 sends a battery removal command to the battery replacement device 12. The battery removal command is for instructing the battery replacement device 12 to remove the battery with a low remaining amount from the electric vehicle, and the battery replacement device 12 executes the battery removal command. Otherwise, the control means 11 sends a fine adjustment command to the battery replacement device 12. The fine adjustment command is for instructing the battery replacement device 12 to move from the predetermined waiting position to the predetermined position for replacing the battery, and the battery replacement device 12 executes the fine adjustment command. Then, after the battery replacement device 12 executes the fine adjustment command, the control means 11 sends the battery removal command to the battery replacement device 12, and the battery replacement device 12 executes the battery removal command.

[0146] Next, the control means 11 sends a first movement command to the battery replacement device 12. The first movement command is for instructing the battery replacement device to move to the second battery placement table, and the battery replacement device 12 executes the first movement command.

[0147] Next, the control means 11 sends a battery placement command to the battery replacement device 12. The battery placement command is for instructing the battery replacement device to place the battery with a low remaining amount on the empty battery placement shelf, and the battery replacement device 12 executes the battery placement command.

[0148] Next, the control means 11 transmits a second movement command to the battery replacement device 12. The second movement command is for instructing the battery replacement device to move to the first battery placement table, and the battery replacement device 12 executes the second movement command.

[0149] Next, the control means 11 transmits a battery removal command to the battery replacement device 12. The battery removal command is for instructing the battery replacement device to remove the battery of the battery model number from the first battery placement table, and the battery replacement device 12 executes the battery removal command.

[0150] Next, the control means 11 transmits a third movement command to the battery replacement device 12. The battery removal command is for instructing the battery replacement device to move to a predetermined position where the battery is replaced, and the battery replacement device 12 executes the battery removal command.

[0151] Next, the control means 11 transmits a battery mounting command to the battery replacement device 12. The battery mounting command is for instructing the battery replacement device to mount the battery of the battery model number on the electric vehicle, and the battery replacement device 12 executes the battery mounting command.

[0152] Up to this point, since the battery replacement for the electric vehicle is completed, the control means 11 instructs the battery replacement device 12 to drive away from the predetermined position where the battery is replaced.

[0153] In the battery replacement control system according to this embodiment, since part of the control is performed during the process of preparing to replace the battery, the time from when the electric vehicle drives onto the parking platform until the battery is replaced can be significantly shortened, and the efficiency of replacing the battery is increased.

[0154] Example 6 FIG. 4 shows a battery replacement control system according to this embodiment. The system is basically the same as that according to Embodiment 1, but the difference is that it includes at least two battery replacement devices 12.

[0155] The control means 11 is further used to arrange at least one of the at least two battery replacement devices 12 as a battery placement and replacement device 12A. The battery placement and replacement device 12A is used to transport the battery waiting to be mounted, and the battery waiting to be mounted is removed from the first battery placement table 13A, and is the model number of the battery, and moreover, is the battery mounted on the electric vehicle.

[0156] The control means 11 is further used to arrange at least one of the at least two battery replacement devices 12 as a battery removal and replacement device 12B. The battery removal and replacement device 12B is used to transport the battery with a small remaining amount, and the battery with a small remaining amount is removed from the electric vehicle, and moreover, is the battery placed on the empty battery placement shelf.

[0157] In this embodiment, the control means 11 can check the model number of the battery applied to the electric vehicle, and facilitate the selection of the first battery mounting table and the extraction of the battery to be mounted. In the whole process of replacing the battery in the vehicle, two battery replacement devices 12, namely, the battery mounting / replacement device 12A and the battery removal / replacement device 12B, are used. The movement trajectory of the battery mounting / replacement device 12A is between the first battery mounting table 13A and the electric vehicle, and realizes the conveyance of the battery to be mounted. The movement trajectory of the battery removal / replacement device 12B is between the electric vehicle and the second battery mounting table 13B, and realizes the conveyance of the battery with a small remaining amount. Although these two battery replacement devices have different responsibilities respectively, they perform the work of replacing the battery together. Therefore, the total time for replacing the battery is at least half less than that of replacing the battery with only one battery replacement device, and the speed and efficiency of replacing the battery are improved.

[0158] Example 7 The battery replacement control system according to this embodiment is further modified based on Example 6. The modification from Example 6 in this embodiment is basically the same as the modification from Example 1 in Example 2. The difference is that the control means 11 can further monitor the remaining amount of the battery in real time and help select the first battery mounting table 13A.

[0159] Example 8 The battery replacement control system according to this embodiment is further modified based on Embodiment 6 or Embodiment 7. The modification of Embodiment 6 or Embodiment 7 in this embodiment is basically the same as the modification from Embodiment 1 or Embodiment 2 to Embodiment 3 in Embodiment 3. However, the difference is that in this embodiment, further, each battery placement table is conveniently positioned, the first battery placement table 13A / second battery placement table 13B is selected, and the moving distance by the battery placement / exchange device 12A / battery removal / exchange device 12B is shortened. The battery placement table may be distributed on both sides of the parking platform along the direction in which the electric vehicle travels to the parking platform.

[0160] Embodiment 9 The battery replacement control system according to this embodiment is further modified based on Embodiment 6 or Embodiment 7, and the main thing is to select the first battery placement table 13A and the second battery placement table 13B by the control means 11. Compared with Embodiment 8, the difference is that in this embodiment, when selecting the first battery placement table 13A and the second battery placement table 13B, to a certain extent, the relationship between the two is considered.

[0161] Specifically, the control means 11 is used to determine whether there is a multi-functional battery placement table among the at least one battery placement table. The multi-functional battery placement table is a battery placement table that satisfies both the first condition and the second condition.

[0162] When there is no such multi-functional battery placement table, according to the means according to Embodiment 8, the first battery placement table 13A may be selected from the battery placement tables that satisfy the first condition, and the second battery placement table 13B may be selected from the battery placement tables that satisfy the second condition, respectively.

[0163] When there is the multi-functional battery placement stand, the control means 11 further preferentially uses the multi-functional battery placement stand and selects any one of the following four forms to place the identity.

[0164] The first form is to use the multi-functional battery placement stand as both the first battery placement stand 13A and the second battery placement stand 13B at the same time.

[0165] The second form is to use the multi-functional battery placement stand as either one of the first battery placement stand 13A and the second battery placement stand 13B.

[0166] For the battery placement stand that satisfies the first condition and the battery placement stand that satisfies the second condition, for any one of the following conditions to maintain the balance from their numbers, the multi-functional battery placement stand is used as the first battery placement stand 13A.

[0167] Condition (1) is that none of the remaining battery placement stands satisfy the first condition. Condition (2) is that the number of battery placement stands that satisfy the first condition among the remaining battery placement stands is smaller than the number of battery placement stands that satisfy the second condition. Condition (3) is that the number of battery placement stands that satisfy the first condition among the remaining battery placement stands is smaller than the number of battery placement stands that satisfy the second condition, and moreover, the absolute value of the difference between the two is smaller than the first difference threshold. Condition (4) is that the number of battery placement stands that satisfy the first condition among the remaining battery placement stands is smaller than the first number threshold.

[0168] The third form is, for example, that condition (1) is set as a necessary condition for making the multi-functional battery mounting table the first battery mounting table 13A. That is, accordingly, the control means 11 needs to determine whether any of the battery mounting tables other than the multi-functional battery mounting table among the at least one battery mounting table do not satisfy the first condition. If not satisfied, the multi-functional battery mounting table is set as the first battery mounting table 13A.

[0169] In addition, condition (2) is set as a necessary condition for making the multi-functional battery mounting table the first battery mounting table 13A. That is, accordingly, the control means 11 needs to determine whether the number of battery mounting tables that satisfy the first condition is smaller than the number of battery mounting tables that satisfy the second condition in the battery mounting tables other than the multi-functional battery mounting table among the at least one battery mounting table. If smaller, the multi-functional battery mounting table is set as the first battery mounting table 13A (for example, when there are two battery mounting tables that satisfy the first condition and three battery mounting tables that satisfy the second condition, the multi-functional battery mounting table is set as the first battery mounting table 13A).

[0170] In addition, condition (3) is set as a necessary condition for making the multi-functional battery mounting table the first battery mounting table 13A. That is, accordingly, the control means 11 needs to determine whether the number of battery mounting tables that satisfy the first condition is smaller than the number of battery mounting tables that satisfy the second condition in the battery mounting tables other than the multi-functional battery mounting table among the at least one battery mounting table, and moreover, whether the absolute value of the difference between the two is smaller than the first difference threshold. If smaller, the multi-functional battery mounting table is set as the first battery mounting table 13A (for example, when there are two battery mounting tables that satisfy the first condition, six battery mounting tables that satisfy the second condition, and the first difference threshold is three, the multi-functional battery mounting table is set as the first battery mounting table 13A).

[0171] Furthermore, condition (4) is set as a condition necessary for setting the multi-functional battery mounting table as the first battery mounting table 13A. That is, accordingly, the control means 11 needs to determine whether the number of battery mounting tables satisfying the first condition in the battery mounting tables other than the multi-functional battery mounting table in the at least one battery mounting table is smaller than the first number threshold. If it is smaller, the multi-functional battery mounting table is set as the first battery mounting table 13A (for example, when there is one battery mounting table satisfying the first condition and the first number threshold is 2, the multi-functional battery mounting table is set as the first battery mounting table 13A).

[0172] In the fourth embodiment, for the battery mounting table satisfying the first condition and the battery mounting table satisfying the second condition, in order to maintain the balance in terms of quantity, either one of the conditions is set as a condition necessary for setting the multi-functional battery mounting table as the second battery mounting table 13B.

[0173] Condition (1) means that none of the remaining battery mounting tables satisfy the second condition. Condition (2) means that the number of battery mounting tables satisfying the second condition among the remaining battery mounting tables is smaller than the number of battery mounting tables satisfying the first condition. Condition (3) means that the number of battery mounting tables satisfying the second condition among the remaining battery mounting tables is smaller than the number of battery mounting tables satisfying the first condition, and moreover, the absolute value of the difference between the two is smaller than the second difference threshold. Condition (4) means that the number of battery mounting tables satisfying the second condition among the remaining battery mounting tables is smaller than the second number threshold.

[0174] Regarding the fourth embodiment, since reference may be made to the third embodiment, specific description is omitted here.

[0175] Example 10 The battery replacement control system according to this embodiment is further modified based on Embodiment 6, and the main thing is to arrange the battery placement / replacement device 12A and the battery removal / replacement device 12B by the control means 11. The battery replacement device 12 is roughly divided into two types: a battery replacement device with a single function and a battery replacement device with multiple functions. The battery replacement device with a single function has a relatively simple configuration, has a first configuration, and is only arranged as the battery placement / replacement device 12A, or has a second configuration and is only arranged as the battery removal / replacement device 12B. The battery replacement device with multiple functions has a relatively complex configuration, combines the first configuration and the second configuration, and is arranged as either one of the battery removal / replacement device 12B and the battery placement / replacement device 12A.

[0176] Among them, the first configuration includes the configurations necessary to remove the battery waiting to be mounted from the first battery mounting table 13A and mount it on the electric vehicle. For example, it includes a gripping mechanism for removing the battery waiting to be mounted from the first battery mounting table 13A and a lifting mechanism for mounting the battery waiting to be mounted on the electric vehicle.

[0177] The second configuration includes the configurations necessary to remove the battery with a low remaining amount from the electric vehicle and place it on the second battery mounting table 13B. For example, it includes an unlocking mechanism for unlocking the battery with a low remaining amount from the electric vehicle and a placing mechanism for placing the battery with a low remaining amount on the second battery mounting table 13B.

[0178] The battery replacement control system according to this embodiment may be such that the at least two battery replacement devices 12 are both single-function battery replacement devices (however, it is necessary that both the single-function battery replacement device having the first configuration and the single-function battery replacement device having the second configuration coexist), may be both multi-function battery replacement devices, or may be such that some are single-function battery replacement devices and some are multi-function battery replacement devices.

[0179] In order to shorten the moving distance and moving time of the battery placement and replacement device 12A and improve the efficiency of battery replacement, when arranging the battery placement and replacement device 12A, the control means 11 preferably selects the battery replacement device that is closest to the first battery placement table 13A. Specifically, as shown in FIG. 5, after selecting the first battery placement table 13A, the control means 11 identifies the position of the first battery placement table 13A, selects single-function battery replacement devices having the first configuration and multi-function battery replacement devices (indicated by "○" in the figure), calculates the distance to the first battery placement table 13A for each of the single-function battery replacement devices having the first configuration and the multi-function battery replacement devices respectively, selects the one battery replacement device arrangement with the closest distance as the battery placement and replacement device 12A, and the arrow at position 12A in the figure indicates the moving direction of the battery placement and replacement device 12A.

[0180] To shorten the moving distance and time of the battery removal and replacement device 12B and improve the efficiency of battery replacement, when arranging the battery removal and replacement device 12B, the control means 11 preferably selects the battery replacement device that is closest to the battery replacement device of the electric vehicle or the parking platform for parking the electric vehicle. Specifically, the control means 11 selects a single-function battery replacement device and a multi-function battery replacement device having a second configuration (indicated by "□" in the figure), and for each of the single-function battery replacement device and the multi-function battery replacement device having a second configuration, calculates the distance to the electric vehicle 14 or the distance to the parking platform 15, selects the battery replacement device with the shortest distance, and arranges it as the battery removal and replacement device 12B. The arrow at location 12B in the figure indicates the moving direction of the battery placement and replacement device 12B.

[0181] In another embodiment, to conveniently manage and distribute the battery replacement devices, each of the battery placement platforms has a predetermined association relationship with at least one of the battery replacement devices, that is, each battery placement platform can only attach and detach the battery by the battery replacement device having the association relationship.

[0182] When arranging the battery placement and replacement device 12A, the control means 11 preferably selects a battery replacement device having an associated relationship with the first battery placement table 13A, or a battery replacement device having an associated relationship with the first battery placement table 13A and being closest to the first battery placement table 13A in terms of distance. Specifically, after selecting the first battery placement table 13A, the control means 11 selects a single-function battery replacement device and a multi-function battery replacement device having an associated relationship with the first battery placement table 13A and having a first configuration, randomly selects one of them, and arranges it as the battery placement and replacement device 12A. Alternatively, the control means 11 further specifies the position of the first battery placement table 13A, calculates the distance from each selected battery replacement device to the first battery placement table 13A, and selects the battery replacement device with the closest distance as the battery placement and replacement device 12A for arrangement.

[0183] When arranging the battery removal and replacement device 12B, the control means 11 preferably selects a battery replacement device having an associated relationship with the second battery placement table 13B, or a battery replacement device having an associated relationship with the second battery placement table 13B and being closest to the electric vehicle in terms of distance, or a battery replacement device being closest to the parking platform holder for parking the electric vehicle in terms of distance. Specifically, after selecting the second battery placement table 13B, the control means 11 selects a single-function battery replacement device and a multi-function battery replacement device having an associated relationship with the second battery placement table 13B and having a second configuration, randomly selects one of them, and arranges it as the battery removal and replacement device 12B. Alternatively, the control means 11 further calculates the distance from each selected battery replacement device to the electric vehicle or to the parking platform, and selects the battery replacement device with the closest distance as the battery removal and replacement device 12B for arrangement.

[0184] Example 11 The battery replacement control system according to this embodiment is further modified based on Embodiment 6, and the main thing is the control process of replacing the battery by the battery replacement control system. In this embodiment, the control process of replacing the battery is divided into the process of preparing to replace the battery before the electric vehicle parks on the platform and the operation process of replacing the battery when the electric vehicle is parked on the parking platform.

[0185] In the process of preparing to replace the battery, before the electric vehicle parks on the parking platform, the control means 11 is used to pre-select the second battery placement table 13B and then arrange the battery removal and replacement device 12B. Among them, for the process of selecting the second battery placement table 13B, reference may be made to Embodiments 7-9, and for the process of arranging the battery removal and replacement device 12B, reference may be made to Embodiment 10.

[0186] In the operation process of replacing the battery, when the electric vehicle is parked on the platform, the control means 11 is further used to send a third movement command to the battery removal and replacement device 12B. The third movement command is for instructing the battery removal and replacement device 12B to move to a predetermined position for replacing the battery and park there. The battery removal and replacement device 12B is further used to execute the third movement command.

[0187] When the electric vehicle is parked on the parking platform and the battery removal and replacement device 12B is parked at a predetermined position for replacing the battery, the control means 11 is further used to send a battery removal command to the battery removal and replacement device 12B. The battery removal command is for instructing the battery removal and replacement device 12B to remove the battery with a small remaining amount from the electric vehicle. The battery removal and replacement device 12B is further used to execute the battery removal command.

[0188] In this embodiment, the predetermined position for replacing the battery is the position where it is applicable to remove the battery from the electric vehicle parked on the parking platform. It is understood that when the battery removal and replacement device 12B is located at the predetermined position for replacing the battery, the battery removal and replacement device 12B can remove the battery from the electric vehicle parked on the parking platform with the least amount of operation. Specifically, depending on the configuration of the parking platform, it is possible to specify whether the predetermined position for replacing the battery is located below or above the parking platform.

[0189] Taking the parking platform configured in the first manner as an example, the parking platform is basically the same as the parking platform according to Embodiment 6, except that the battery replacement device 12 according to Embodiment 6 is replaced by a battery removal / replacement device 12B. As shown in FIG. 6, the parking platform 15 is higher than the ground and has a hollowed-out area in the middle. When the battery of the electric vehicle 14 is replaced, the electric vehicle 14 parks on the parking platform 15, and moreover, it is necessary for the battery case of the electric vehicle 14 to park above the hollowed-out area. For such a parking platform 15 configured in this way, a predetermined position P1 for replacing the battery is usually located below the parking platform, particularly below the hollowed-out area, and is aligned with the outer case of the battery of the electric vehicle 14. For the electric vehicle 14 parked on the parking platform 15 to have its battery replaced, when the battery removal / replacement device 12B is located at the predetermined position P1 for replacing the battery, the unlocking mechanism for unlocking the battery with a small remaining amount is lifted vertically, passes through the hollowed-out area, and inserts the unlocking mechanism into the gap between the outer case and the battery of the electric vehicle 14, and touches the touch part for locking the battery case. By doing only this, the battery with a small remaining amount can be unlocked, and thus the battery with a small remaining amount can be removed.

[0190] Furthermore, taking the parking platform with the second configuration as an example, the parking platform basically coincides with the parking platform according to Embodiment 6, but the difference lies in that the battery replacement device 12 according to Embodiment 6 is replaced by the battery removal and replacement device 12B. As shown in FIG. 7, the parking platform 15 has a lifting platform 151 therein. The lifting platform 151 has a cutout area therein. When the electric vehicle 14 has its battery replaced, it travels to the parking platform 15 and parks on the lifting platform 151. Moreover, it is necessary for the battery case of the electric vehicle 14 to be located above the cutout area. The parking platform 15 configured in this way has the predetermined position P2 for replacing the battery normally located above the parking platform 15. In particular, the lifting platform 151 rises and is located below the cutout area. For the electric vehicle 14 parked on the lifting platform 151 to have its battery replaced, when the battery removal and replacement device 12B is located at the predetermined position P2 for replacing the battery, the unlocking mechanism for unlocking the battery with a small remaining amount from the electric vehicle 14 is lifted vertically, passes through the cutout area, inserts the unlocking structure into the gap between the outer case and the battery of the electric vehicle 14's battery, and touches the touch part for locking the battery case, thereby being able to unlock the battery with a small remaining amount. Consequently, the battery with a small remaining amount can be removed.

[0191] Of course, the parking platform is not limited to the above-described configuration, and furthermore, other configurations may also be possible. The predetermined position for replacing the battery may be set based on the configuration of the parking platform, and further based on the second configuration of the battery removal and replacement device 12B, or conditions such as the movement path of the second configuration for taking out the battery with a small remaining amount.

[0192] The control means 11 is further used to send a fourth movement command to the battery removal and replacement device 12B after the battery removal and replacement device 12B executes the battery removal command. The fourth movement command is for instructing the battery removal and replacement device 12B to move to the second battery placement table 13B and place the battery with a small remaining amount on the empty battery placement shelf. The battery removal and replacement device 12B is further used to execute the fourth movement command.

[0193] During the process of the operation of replacing the battery, the control means 11 is further used to scan the license plate of the electric vehicle when the electric vehicle parks on the parking platform or the license plate of the electric vehicle is visible, identify the model number of the battery applicable to the electric vehicle based on the license plate, and then select the first battery placement table 13A. Next, the battery placement and replacement device 12A is arranged and used to send a battery removal command to the battery placement and replacement device 12A. The battery removal command is for instructing the battery placement and replacement device 12A to remove the battery waiting to be installed from the first battery placement table 13A. The battery placement and replacement device 12A is further used to execute the battery removal command. Among them, for the process of selecting the first battery placement table 13A, reference may be made to Embodiments 7-9, and for the process of arranging the battery placement and replacement device 12A, reference may be made to Embodiment 10.

[0194] The control means 11 is further used to send a first movement command to the battery placement / exchange device 12A after the battery placement / exchange device 12A executes the battery removal command. The first movement command is for commanding the battery placement / exchange device 12A to park in advance at a first predetermined waiting position, and the first predetermined waiting position is a position where the distance from the parking platform does not exceed a first distance threshold. The battery placement / exchange device is further used to execute the first movement command.

[0195] The control means 11 is further used to send a fifth movement command to the battery placement / exchange device 12A when the battery removal / exchange device 12B is at a predetermined position for exchanging the battery or the distance from the predetermined position for exchanging the battery exceeds a third distance threshold. The fifth movement command is for commanding the battery placement / exchange device 12A to move to the predetermined position for exchanging the battery. The battery placement / exchange device 12A is further used to execute the fifth movement command.

[0196] The control means 11 is further used to send a battery mounting command to the battery placement / exchange device 12A after the battery placement / exchange device 12A executes the fifth movement command. The battery mounting command is for commanding the battery placement / exchange device 12A to mount the waiting-to-be-mounted battery on the electric vehicle. The battery placement / exchange device 12A is further used to execute the battery mounting command. So far, the battery of the electric vehicle has been exchanged, and the battery placement / exchange device 12A drives away from the predetermined position for exchanging the battery.

[0197] Example 12 The battery replacement control system according to this embodiment is further modified based on Embodiment 6, and the main thing is the control process of replacing the battery in the battery replacement control system. In this embodiment, the control process of replacing the battery is divided into the process of preparing to replace the battery before the electric vehicle parks on the parking platform and the process of operating to replace the battery when the electric vehicle is parked on the platform. In the process of preparing to replace the battery and the process of operating to replace the battery, the control commands of the control means are different from those according to Embodiment 11.

[0198] In the process of preparing to replace the battery, the control means 11 may pre-select the second battery placement table 13B so as to save the time for removing the battery, arrange the battery removal and replacement device 12B, and also control the battery removal and replacement device 12B to complete some commands. Among them, for the process of selecting the second battery placement table 13B, reference may be made to Embodiments 7-9, and for the process of arranging the battery removal and replacement device 12B, reference may be made to Embodiment 10.

[0199] Among them, the control means 11 controlling the battery removal and replacement device 12B to complete some commands includes that the control means 11 determines whether the predetermined position for replacing the battery is in a parkable state, sets a second predetermined waiting position, and sends a second movement command to the battery removal and replacement device 12B. The second movement command is for instructing the battery removal and replacement device 12B to park in advance at the second predetermined waiting position. The battery removal and replacement device 12B is further used to execute the second movement command. Among them, the second predetermined waiting position is related to the predetermined position for replacing the battery, and may be the same position as the predetermined position for replacing the battery, or may be a position close to the predetermined position for replacing the battery (for the description of the predetermined position for replacing the battery, reference may be made to Embodiment 11).

[0200] Determining whether a predetermined position for replacing the battery is in a parkable state specifically includes the following.

[0201] Condition (1) that the predetermined position for replacing the battery is an empty position, condition (2) that there is a passage for the battery removal and replacement device 12B to move to the predetermined position for replacing the battery, and condition (3) that it is predicted that when the battery removal and replacement device 12B is parked at the predetermined position for replacing the battery, it will not interfere with the electric vehicle traveling on the parking platform. When these three conditions are simultaneously satisfied, the predetermined position for replacing the battery is in a parkable state; otherwise, the predetermined position for replacing the battery is in a non-parkable state.

[0202] Whether condition (3) is satisfied usually depends on the configuration of the parking platform.

[0203] Taking the parking platform configured as the first configuration in Embodiment 11 as an example, when the battery of the electric vehicle is replaced, the electric vehicle parks on the parking platform, and since the predetermined position for replacing the battery is usually located below the parking platform, in a normal case, even if the battery removal and replacement device 12B parks at the predetermined position for replacing the battery before the electric vehicle travels on the parking platform, the battery removal and replacement device 12B will not interfere with the electric vehicle traveling on the parking platform, and condition (3) is satisfied.

[0204] Taking the parking platform configured as the second configuration in Embodiment 11 as an example, when the electric vehicle parks on the lifting platform after the battery is replaced, and the predetermined position for replacing the battery is normally located above the parking platform, when the battery removal and replacement device 12B is parked at the predetermined position for replacing the battery before the electric vehicle travels onto the parking platform, if the electric vehicle travels onto the parking platform, there is a very high risk that the battery removal and replacement device 12B will interfere with the traveling electric vehicle. Therefore, for the parking platform configured as the second configuration, the predetermined position for replacing the battery does not normally satisfy condition (3) and is in a non-parkable state.

[0205] When the predetermined position for replacing the battery is in a parkable state, the second predetermined waiting position is the same position as the predetermined position for replacing the battery. When the predetermined position for replacing the battery is in a non-parkable state, the second predetermined waiting position is a position where the distance from the predetermined position for replacing the battery does not exceed the second distance threshold, that is, a position close to the predetermined position for replacing the battery.

[0206] Up to this point, the process of preparing for battery replacement is completed, and the battery replacement control system waits for the electric vehicle to travel onto the parking platform and park, and then proceeds to the process of the battery replacement operation.

[0207] During the process of the battery replacement operation, the control means 11 determines whether the second predetermined waiting position where the battery removal and replacement device 12B is located is the same position as the predetermined position for replacing the battery.

[0208] When they are the same, a battery removal command is sent to the battery removal and replacement device 12B. The battery removal command is for instructing the battery removal and replacement device 12B to remove the battery with a low remaining amount from the electric vehicle. The battery removal and replacement device 12B is further used to execute the battery removal command.

[0209] Otherwise, a fine adjustment command is sent to the battery removal and replacement device 12B. The fine adjustment command is for instructing the battery removal and replacement device 12B to move from the second predetermined waiting position to a predetermined position for replacing the battery. The battery removal and replacement device 12B is used to execute the fine adjustment command. Next, the control means 11 is used to send the battery removal command to the battery removal and replacement device 12B. The battery removal and replacement device 12B is further used to execute the battery removal command.

[0210] After the battery removal and replacement device 12B executes the battery removal command, the control means 11 is further used to send a fourth movement command to the battery removal and replacement device 12B. The fourth movement command is for instructing the battery removal and replacement device 12B to move to the second battery placement table 13B and place the battery with a low remaining amount on the empty battery placement shelf. The battery removal and replacement device 12B is further used to execute the fourth movement command.

[0211] During the process of replacing the battery, the control means 11 further scans the license plate of the electric vehicle when the electric vehicle parks on the parking platform or the license plate of the electric vehicle is visible, identifies the model number of the battery applicable to the electric vehicle based on the license plate, selects the first placement table 13A, then arranges the battery placement and replacement device 12A, and is used to send a battery removal command to the battery placement and replacement device 12A. The battery removal command is for instructing the battery placement and replacement device 12A to remove the battery waiting to be mounted from the first battery placement table. The battery placement and replacement device 12A is further used to execute the battery removal command.

[0212] The control means 11 is further used to send a first movement command to the battery placement and replacement device 12A after the battery placement and replacement device 12A executes the battery removal command. The first movement command is for instructing the battery placement and replacement device 12A to park in a first predetermined waiting position in advance. The first predetermined waiting position is a position where the distance from the parking platform does not exceed a first distance threshold. The battery placement and replacement device 12A is further used to execute the first movement command.

[0213] The control means 11 is further used to send a fifth movement command to the battery placement and replacement device 12A when the battery removal and replacement device 12B is at a predetermined position for replacing the battery or the distance from the predetermined position for replacing the battery exceeds a third distance threshold. The fifth movement command is for instructing the battery placement and replacement device 12A to move to the predetermined position for replacing the battery. The battery placement and replacement device 12A is further used to execute the fifth movement command.

[0214] The control means 11 is further used to send a battery mounting command to the battery mounting / exchanging device 12A after the battery mounting / exchanging device 12A executes the fifth movement command. The battery mounting command is for instructing the battery mounting / exchanging device 12A to mount the waiting-to-be-mounted battery on the electric vehicle. The battery mounting / exchanging device 12A is further used to execute the battery mounting command. Up to this point, the battery replacement for the electric vehicle has been completed, and the control means 11 instructs the battery mounting / exchanging device 12A to drive away from the predetermined position where the battery is replaced.

[0215] In the battery replacement control system according to this embodiment, since some controls are performed during the process of preparing for battery replacement, the time for the electric vehicle to drive to the parking platform and have its battery replaced is significantly shortened, and the efficiency of battery replacement is increased.

[0216] Example 13 FIG. 4 shows the battery replacement control system according to this embodiment. This embodiment is basically the same as Example 6, but the difference is that in this embodiment, the battery applied to the electric vehicle is usually the same as the model number of the battery used in the electric vehicle.

[0217] Example 14 The battery replacement control system according to this embodiment is a further modification based on Embodiment 13. The modification from Embodiment 13 in this embodiment is basically the same as the modification from Embodiment 6 in Embodiment 7. However, the difference is that the first condition may be applied to the electric vehicle and set as indicating that a fully charged battery is placed, or, in order to increase the probability of being able to replace the battery of the electric vehicle, the first condition may preferentially be applied to the electric vehicle and set as indicating that a fully charged battery is placed. When the at least one battery placement table does not have a battery placement table that satisfies the first condition, the first condition may be applied to the electric vehicle and corrected and set as indicating the battery with the most remaining amount.

[0218] Accordingly, by default, the first condition is applied to the electric vehicle and set as indicating that a fully charged battery is placed.

[0219] The control means 11 determines whether there is a battery placement table that satisfies the first condition by default among the at least one battery placement table. If there is, one of them is selected as the first battery placement table 13A. Otherwise, the first condition is applied to the electric vehicle and corrected and set as indicating that the battery with the most remaining amount is placed, and it is determined again whether there is a battery placement table that satisfies the current first condition among the at least one battery placement table. If there is, one of them is selected as the first battery placement table 13A. Still, when there is no battery placement table that satisfies the first condition, the control means 11 transmits an alarm signal to indicate that the battery of the electric vehicle cannot be replaced.

[0220] Embodiment 15 The battery replacement control system according to this embodiment is further modified based on Embodiment 13 or Embodiment 14. The modification from Embodiment 13 or Embodiment 14 in this embodiment is basically the same as the modification from Embodiment 6 or Embodiment 7 in Embodiment 8. However, the difference is that in this embodiment, if the battery vehicle has not yet parked, the first battery placement platform is the one battery placement platform closest to the parking platform holder for parking the electric vehicle. Similarly, if the battery vehicle has not yet parked, one battery placement platform closest to the parking platform holder for parking the electric vehicle is selected as the second battery placement platform 13B. Also, in this embodiment, the parking platform may be a dedicated platform for replacing the battery of the vehicle, or another ordinary platform for parking the vehicle and conveniently replacing the battery.

[0221] Embodiment 16 The battery replacement control system according to this embodiment is further modified based on Embodiment 13 or Embodiment 14. For the modification from Embodiment 13 or Embodiment 14 in this embodiment, reference may be made to the modification from Embodiment 6 or Embodiment 7 in Embodiment 9.

[0222] Embodiment 17 The battery replacement control system according to this embodiment is further modified based on Embodiment 13. The modification from Embodiment 13 in this embodiment is basically the same as the modification from Embodiment 6 in Embodiment 10. However, the difference is that if the electric vehicle has not yet parked, the battery replacement device closest to the parking platform for parking the electric vehicle is preferred. Similarly, if the electric vehicle 14 has not yet parked, the distances from the selected battery replacement devices to the parking platform 15 are calculated respectively.

[0223] In other embodiments, when each of the battery placement platforms has a predetermined association relationship with at least one of the battery replacement devices, if the battery vehicle has not yet parked, it has an association relationship with the second battery placement platform 13B, and moreover, the battery replacement device closest to the parking platform holder for parking the electric vehicle is preferred.

[0224] Similarly, if the battery vehicle has not yet parked, the distance from the selected battery replacement device to the parking platform is calculated.

[0225] Example 18 The battery replacement control system according to this embodiment is further modified based on Example 13. The modification to Example 13 in this embodiment is basically the same as the modification to Example 6 in Example 11, but the difference is that in this embodiment, for the process of selecting the second battery placement platform 13B, reference can be made to Examples 14 - 16, and for the process of arranging the battery removal and replacement device 12B, reference can be made to Example 17.

[0226] Also, in this embodiment, when the electric vehicle is parked on the parking platform, the control means 11 is further used to select the first battery placement platform 13A, then arrange the battery placement and replacement device 12A, and send a battery removal command to the battery placement and replacement device 12A. The battery removal command is for instructing the battery placement and replacement device 12A to remove the on - board waiting battery from the first battery placement platform 13A. The battery placement and replacement device 12A is further used to execute the battery removal command. Among them, for the process of selecting the first battery placement platform 13A, reference can be made to Examples 14 - 16, and for the process of arranging the battery placement and replacement device 12A, reference can be made to Example 17.

[0227] Example 19 The battery replacement control system according to this embodiment is further modified based on Embodiment 13. The modification from Embodiment 13 in this embodiment is basically the same as the modification from Embodiment 6 in Embodiment 12. However, the difference is that in this embodiment, when the model number of the battery applied to the electric vehicle is known in advance before the electric vehicle parks on the platform, in the process of preparing for battery replacement, the control means 11 further pre-selects the first battery placement table 13A and arranges the battery placement and replacement device 12A so as to save the time for mounting the battery. Also, the control means 11 may control the battery placement and replacement device 12A to complete some commands. Among them, for the process of selecting the second battery placement table 13B, reference may be made to Embodiments 14-16, and for the process of arranging the battery removal and replacement device 12B, reference may be made to Embodiment 17. In addition, by limiting the application such that only the electric vehicle with the battery of the model number can park on the parking platform, the model number of the battery applied to the electric vehicle can be known in advance. For example, if it is limited that only the electric vehicle with a specific model number of battery can park on a certain parking platform, regardless of whether the electric vehicle is parked on the parking platform, the model number of the battery applied to the electric vehicle can be surely identified as the specific model number.

[0228] Among them, the control means 11 controlling the battery placement and replacement device 12A to complete some commands includes the control means 11 sending a battery removal command to the battery placement and replacement device 12A. The battery removal command is for instructing the battery placement and replacement device 12A to remove the waiting-to-be-mounted battery from the first battery placement table 13A. The battery placement and replacement device 12A is further used to execute the battery removal command.

[0229] The control means 11 is further used to send a first movement command to the battery placement / exchange device 12A after the battery placement / exchange device 12A executes a battery removal command. The first movement command is for instructing the battery placement / exchange device 12A to park in a first predetermined waiting position in advance. The first predetermined waiting position is near the parking platform and is a position where the distance from the parking platform does not exceed a first distance threshold. The battery placement / exchange device 12A is further used to execute the first movement command.

[0230] So far, the process of preparing to replace the battery is completed. The battery replacement control system waits for the electric vehicle to drive and park on the parking platform, and then proceeds to the process of operating to replace the battery.

[0231] In the process of operating to replace the battery, the control means 11 determines whether the second predetermined waiting position where the battery removal / exchange device 12B is located is the same as the predetermined position for replacing the battery. If they are the same, the control means 11 sends a battery removal command to the battery removal / exchange device 12B. The battery removal command is for instructing the battery removal / exchange device 12B to remove the battery with a low remaining amount from the electric vehicle. The battery removal / exchange device 12B is further used to execute the battery removal command. Otherwise, the control means 11 sends a fine adjustment command to the battery removal / exchange device 12B. The fine adjustment command is for instructing the battery removal / exchange device 12B to move from the second predetermined waiting position to the predetermined position for replacing the battery. The battery removal / exchange device 12B is used to execute the fine adjustment command. Next, the control means 11 sends the battery removal command to the battery removal / exchange device 12B, and the battery removal / exchange device 12B is further used to execute the battery removal command.

[0232] The control means 11 is further used to send a fourth movement command to the battery removal and replacement device 12B after the battery removal and replacement device 12B executes the battery removal command. The fourth movement command is for instructing the battery removal and replacement device 12B to move to the second battery placement table 13B and place the battery with a small remaining amount on the empty battery placement shelf. The battery removal and replacement device 12B is further used to execute the fourth movement command.

[0233] The control means 11 is further used to send a fifth movement command to the battery placement and replacement device when the battery removal and replacement device 12B is at a predetermined position for replacing the battery or the distance from the predetermined position for replacing the battery exceeds a third distance threshold. The fifth movement command is for instructing the battery placement and replacement device 12A to move to a predetermined position for replacing the battery. The battery placement and replacement device 12A is further used to execute the fifth movement command.

[0234] The control means 11 is further used to send a battery mounting command to the battery placement and replacement device 12A after the battery placement and replacement device 12A executes the fifth movement command. The battery mounting command is for instructing the battery placement and replacement device 12A to mount the waiting-to-be-mounted battery on the electric vehicle. The battery placement and replacement device 12A is further used to execute the battery mounting command. Up to this point, the battery replacement for the electric vehicle is completed, and the control means 11 instructs the battery placement and replacement device 12A to drive away from the predetermined position for replacing the battery.

[0235] Since some control is performed during the process of preparing to replace the battery in the battery replacement control system according to this embodiment, the time it takes for the electric vehicle to drive to the parking platform and have its battery replaced is significantly shortened, and the efficiency of battery replacement is increased.

[0236] Example 20 FIG. 8 shows the battery replacement control method according to this embodiment.

[0237] The battery replacement control method includes the following steps. Step 21 is to identify the model number of the battery applied to the electric vehicle. Specifically, the license plate of the electric vehicle may be scanned, and based on the license plate, the model number of the battery applied to the electric vehicle may be identified. Step 22 is to select, as the first battery placement table, a battery placement table that meets the first condition from at least one battery placement table. The battery placement table has one or more battery placement shelves for placing batteries, and the first condition is set such that a battery of the model number of the battery is placed.

[0238] Step 23 is to select, as the second battery placement table, a battery placement table that meets the second condition from the at least one battery placement table. The second condition is set such that an empty battery placement shelf is placed.

[0239] Step 24 is for the battery replacement device to move to a predetermined position where the battery is replaced, remove the battery with a low remaining amount from the electric vehicle, and transport the battery with a low remaining amount to the second placement table and place it on the empty battery placement shelf. The predetermined position where the battery is replaced is the position where attaching and detaching the battery to / from the electric vehicle is applicable.

[0240] Step 25 is that the battery replacement device moves to the first battery placement table, removes the battery with the battery model number from the first battery placement table, transports the battery with the battery model number to a predetermined position for replacing the battery, and mounts it on the electric vehicle.

[0241] In this embodiment, since the battery model number applied to the electric vehicle is confirmed, the first battery placement table can be conveniently selected, and the movement of the battery replacement device becomes smooth throughout the process of replacing the battery in the vehicle, increasing the speed and efficiency of replacing the battery.

[0242] In this embodiment, regarding the predetermined position for replacing the battery, when the battery replacement device is located at the predetermined position for replacing the battery, the battery can be removed from the electric vehicle or mounted on the electric vehicle with the least amount of operation. Specifically, the predetermined position for replacing the battery is determined according to the configuration of the parking platform where the electric vehicle is parked, whether the predetermined position for replacing the battery is located below or above the parking platform.

[0243] Example 21 The battery replacement control method according to this embodiment is further modified based on Example 20, and the main thing is to set a first condition. The first condition requires, as the basis for selecting the first battery placement table, that in addition to the condition that the battery with the battery model number is placed, other preferable corresponding conditions may be further set. In this embodiment, the corresponding condition is mainly related to the remaining amount of the battery, and the battery replacement control method may further include monitoring the remaining amount of the battery placed on the battery placement table.

[0244] Specifically, the first condition is the model number of the battery, and moreover, it is set to indicate that a fully charged battery is placed. Accordingly, in step 22, it is determined whether there is a battery placement stand that satisfies the first condition among the at least one battery placement stand. If there is, one of them is selected as the first battery placement stand. If there is no battery placement stand that satisfies the first condition, an alarm signal is transmitted to indicate that the battery of the electric vehicle cannot be replaced.

[0245] Alternatively, in order to increase the probability of being able to replace the battery of the electric vehicle, preferentially, the model number of the battery is set, and moreover, it is set to indicate that a fully charged battery is placed. When the at least one battery placement stand does not have a battery placement stand that satisfies the first condition, the first condition is corrected and set to indicate that the battery with the most remaining amount is placed. Accordingly, the first condition is set as the default to indicate that the model number of the battery and a fully charged battery is placed. Step 22 determines whether there is a battery placement stand that satisfies the first condition as the default among the at least one battery placement stand. If there is, one of them is selected as the first battery placement stand.

[0246] Otherwise, the first condition is corrected and set to indicate that the battery with the most remaining amount is placed, and again, it is determined whether there is a battery placement stand that satisfies the current first condition among the at least one battery placement stand. If there is, one of them is selected as the first battery placement stand. Still, if there is no battery placement stand that satisfies the first condition, an alarm signal may be transmitted to indicate that the battery of the electric vehicle cannot be replaced.

[0247] Also, in this embodiment, the empty battery placement shelf is further used to charge the battery with a small remaining amount. Specifically, the empty battery placement shelf may have a battery charging circuit, and the battery charging circuit may have certain power parameters matching the model number of the battery, or the battery charging circuit may have adjustable power parameters. The control means is further used to adjust the power parameters based on the model number of the battery so that the power parameters match the model number of the battery. The power parameters include current, voltage, etc.

[0248] Of course, in other embodiments, the first condition may further be set as other conditions as required.

[0249] Example 22 The battery replacement control method according to this embodiment is further modified based on Example 20 or Example 21, and the main thing is to select the first battery placement table and the second battery placement table. When the number of battery placement tables is two, and thus more, it is highly possible that two or more battery placement tables simultaneously satisfy the first condition or the second condition. In the method, a selection request for the first battery placement table and the second battery placement table may further be set as required.

[0250] In this embodiment, in order to respond to two or more battery placement tables simultaneously satisfying the first condition, step 22 further includes determining whether the number of battery placement tables satisfying the first condition exceeds one.

[0251] When it exceeds, from the battery placement table that satisfies the first condition, select as the first battery placement table the one battery placement table that is closest to the electric vehicle or the one battery placement table that is closest to the parking platform holder for parking the electric vehicle, so as to shorten the moving distance and moving time by the battery replacement device and improve the efficiency of battery replacement. Alternatively, select as the first battery placement table one battery placement table located on the path between the second battery placement table and the battery vehicle. Alternatively, select as the first battery placement table one battery placement table that is located on the path and is closest to the electric vehicle or the parking platform.

[0252] Of course, when there is only one battery placement table that satisfies the first condition, usually, there is no other choice but to use it as the first battery placement table.

[0253] Similarly, when two or more battery placement tables simultaneously satisfy the second condition, step 23 further includes determining whether the number of battery placement tables that satisfy the second condition exceeds one.

[0254] When it exceeds, randomly select one battery placement table from the battery placement tables that satisfy the second condition as the second battery placement table, or from the battery placement tables that satisfy the second condition, select as the second battery placement table the one battery placement table that is closest to the electric vehicle or the one battery placement table that is closest to the parking platform holder for parking the electric vehicle, so as to shorten the moving distance and moving time by the battery replacement device and improve the efficiency of battery replacement.

[0255] Of course, when there is no battery placement table that satisfies the second condition, usually, there is no other choice but to use it as the second battery placement table.

[0256] Furthermore, to facilitate the positioning of each battery placement platform, select the first battery placement platform / second battery placement platform, and shorten the moving distance by the battery replacement device, the battery placement platforms may be distributed on both sides of the parking platform along the direction in which the electric vehicle travels to the parking platform. Among them, the parking platform may be a dedicated platform for replacing the battery of the vehicle, or another ordinary platform that can park the vehicle and can facilitate battery replacement.

[0257] In this embodiment, the selection of the first battery placement platform and the second battery placement platform is relatively independent. In other words, depending on different situations, the selection requirements for the first battery placement platform and the second battery placement platform may be set respectively.

[0258] Embodiment 23 The battery replacement control method according to this embodiment is further modified based on Embodiment 20 or Embodiment 21, and the main thing is to select the first battery placement platform and the second battery placement platform. Compared with Embodiment 21, the difference is that in this embodiment, when selecting the first battery placement platform and the second battery placement platform, to a certain extent, the relationship between the two is considered.

[0259] Specifically, the method further includes determining whether there is a multi-functional battery placement platform among the at least one battery placement platform, and the multi-functional battery placement platform is a battery placement platform that satisfies both the first condition and the second condition.

[0260] When the multi-functional battery placement platform does not exist, according to the means of Embodiment 21, the first battery placement platform may be selected from the battery placement platforms that satisfy the first condition, and the second battery placement platform may be selected from the battery placement platforms that satisfy the second condition.

[0261] When the multifunctional battery placement table exists, the multifunctional battery placement table may further serve as the first battery placement table and the second battery placement table simultaneously. And the moving distance by the battery replacement device is shortened.

[0262] Example 24 The battery replacement control method according to this example is further modified based on Example 20, and the main thing is the control flow for the battery replacement device. The entire process of replacing the battery is divided into a flow of preparing to replace the battery before the electric vehicle parks on the platform and an operation flow of replacing the battery when the electric vehicle is parked on the parking platform.

[0263] In the flow of preparing to replace the battery, the battery replacement control method includes making the battery replacement device park in a predetermined waiting position in advance. The predetermined waiting position is related to the predetermined position for replacing the battery, and may be the same position as the predetermined position for replacing the battery, or a position close to the predetermined position for replacing the battery.

[0264] In this example, when the predetermined position for replacing the battery is in a parkable state, the predetermined waiting position is the same position as the predetermined position for replacing the battery.

[0265] When the predetermined position for replacing the battery is in a non-parkable state, the predetermined waiting position is a position where the distance from the predetermined position for replacing the battery does not exceed a first distance threshold.

[0266] Specifically, when the following three conditions are simultaneously satisfied: the condition that the predetermined position for replacing the battery is an available position, the condition that there is a passage for the battery replacement device to move to the predetermined position for replacing the battery, and the condition that when it is predicted that the battery replacement device is parked at the predetermined position for replacing the battery, it does not interfere with the electric vehicle traveling to the parking platform, the predetermined position for replacing the battery becomes a parkable state; otherwise, the predetermined position for replacing the battery becomes a non-parkable state.

[0267] Up to this point, the process of preparing to replace the battery is completed, and it waits for the electric vehicle to drive to and park on the parking platform, then proceeds to the process of the battery replacement operation.

[0268] In the process of the battery replacement operation, the battery replacement control method includes the following. Determine whether the predetermined waiting position is the same as the predetermined position for replacing the battery. If they are the same, the battery replacement device removes the battery with a low remaining amount from the electric vehicle; otherwise, the battery replacement device moves from the predetermined waiting position to the predetermined position for replacing the battery. Next, the battery replacement device removes the battery with a low remaining amount from the electric vehicle. After the battery replacement device removes the battery with a low remaining amount from the electric vehicle, the battery replacement device is made to move to the second battery placement table. Next, the battery replacement device places the battery with a low remaining amount on the empty battery placement shelf. Next, the battery replacement device is made to move to the first battery placement table. Next, the battery replacement device removes the battery of the battery model number from the first battery placement table. Next, the battery replacement device is moved to a predetermined position for replacing the battery. Next, the battery replacement device mounts a battery of the battery model number on the electric vehicle. Up to this point, the battery replacement for the electric vehicle is completed. Finally, the battery replacement device is made to drive away from the predetermined position for replacing the battery.

[0269] Since part of the control is performed in the process of preparing to replace the battery, the battery replacement control system according to this embodiment can significantly shorten the time from when the electric vehicle drives to the parking platform until the battery is replaced, and the efficiency of replacing the battery is increased.

[0270] Example 25 FIG. 10 shows a battery replacement control method according to this embodiment. The battery replacement control method includes the following steps. In step 21', a battery placement table that satisfies a first condition is selected as a first battery placement table from at least one battery placement table. Among them, the battery placement table has one or more battery placement shelves for placing batteries, and the first condition is set to indicate that a battery applicable to the electric vehicle is placed, and the battery applicable to the electric vehicle is usually the same as the model number of the battery used in the electric vehicle. In step 22', a battery placement table that satisfies a second condition is selected as a second battery placement table from the at least one battery placement table. Among them, the second condition is set to indicate that it has an empty battery placement shelf. In step 23’, at least one battery replacement device among the at least two battery replacement devices is installed as a battery placement and replacement device. Among them, the battery placement and replacement device is used to transport the batteries waiting to be installed, and the batteries waiting to be installed are taken out from the first battery placement table, are applicable to the electric vehicle, and moreover, are the batteries to be installed in the electric vehicle. In step 24’, at least one battery replacement device among the at least two battery replacement devices is arranged as a battery removal and replacement device. Among them, the battery removal and replacement device is used to transport the batteries with low remaining capacity, and the batteries with low remaining capacity are taken out from the electric vehicle and moreover, are the batteries to be placed on the empty battery placement shelf.

[0271] The above order of steps is one possible ordering for each of the above steps. In other embodiments, each of the above steps may be in other orders. For example, step 22’ may be executed first, and then steps 24’, 21’, and 23’ may be executed in sequence. Or step 21’ may be executed first, and then steps 23’, 22’, and 24’ may be executed in sequence.

[0272] In this embodiment, during the entire process of replacing the battery in a vehicle, two battery replacement devices, namely a battery placement and replacement device and a battery removal and replacement device, are used. The movement trajectory of the battery placement and replacement device is between the first battery placement platform and the electric vehicle, realizing the transportation to the waiting-to-be-mounted battery. The movement trajectory of the battery removal and replacement device is between the electric vehicle and the second battery placement platform, realizing the transportation to the battery with a low remaining amount. These two battery replacement devices each have different roles and together complete the task of replacing the battery. Therefore, the total time required for replacing the battery can be reduced by at least half compared to realizing battery replacement with only one battery replacement device, improving the speed and efficiency of battery replacement.

[0273] Example 26 The battery replacement control method according to this embodiment is further modified based on Example 25. The modification from Example 25 in this embodiment is basically the same as the modification from Example 20 in Example 21, but the difference is that the battery replacement control method further monitors the remaining amount of the battery placed on the battery placement platform to assist in the selection of the first battery placement platform.

[0274] Example 27 The battery replacement control method according to this embodiment is further modified based on Example 25 or Example 26. The modification from Example 25 or Example 26 in this embodiment is basically the same as the modification from Example 20 or Example 21 in Example 22, but the difference is that in this embodiment, further, to facilitate the positioning of each battery placement platform, select the first battery placement platform / second battery placement platform, and shorten the moving distance of the battery placement and replacement device / battery removal and replacement device, the battery placement platforms may be distributed on both sides of the parking platform along the direction in which the electric vehicle travels to the parking platform.

[0275] Example 28 The battery replacement control method according to this example is further modified based on Example 25 or Example 26, and the main thing is to select the first battery placement table and the second battery placement table. Compared with Example 27, the difference is that in this example, when selecting the first battery placement table and the second battery placement table, to a certain extent, the relationship between the two is considered.

[0276] The battery replacement control method further includes determining whether there is a multi-functional battery placement table on the at least one battery placement table. The multi-functional battery placement table is a battery placement table that satisfies both the first condition and the second condition.

[0277] If it does not exist, according to the means of Example 27, the first battery placement table can be selected from the battery placement tables that satisfy the first condition, and the second battery placement table can be selected from the battery placement tables that satisfy the second condition. If it exists, preferentially, use the multi-functional battery placement table to select one of the following four forms to place the identity.

[0278] The first form is to use the multi-functional battery placement table as both the first battery placement table and the second battery placement table at the same time. The second form is to use the multi-functional battery placement table as one of the first battery placement table and the second battery placement table. The third form is for the battery placement table that satisfies the first condition and the battery placement table that satisfies the second condition. To maintain the balance from the number, any one of the following conditions is the condition required to use the multi-functional battery placement table as the first battery placement table. Condition (1) is that none of the remaining battery placement tables satisfy the first condition. Condition (2) is that the number of battery placement platforms satisfying the first condition in the remaining battery placement platforms is smaller than the number of battery placement platforms satisfying the second condition. Condition (3) is that the number of battery placement platforms satisfying the first condition in the remaining battery placement platforms is smaller than the number of battery placement platforms satisfying the second condition, and moreover, the absolute value of the difference between the two is smaller than the first difference threshold. Condition (4) is that the number of battery placement platforms satisfying the first condition in the remaining battery placement platforms is smaller than the first number threshold.

[0279] In the fourth form, for the battery placement platforms satisfying the first condition and the battery placement platforms satisfying the second condition, in order to maintain the balance from the number, one of the conditions is set as the condition necessary for using the multifunctional battery placement platform as the second battery placement platform. Condition (1) is that none of the remaining battery placement platforms satisfy the second condition. Condition (2) is that the number of battery placement platforms satisfying the second condition in the remaining battery placement platforms is smaller than the number of battery placement platforms satisfying the first condition. Condition (3) is that the number of battery placement platforms satisfying the second condition in the remaining battery placement platforms is smaller than the number of battery placement platforms satisfying the first condition, and moreover, the absolute value of the difference between the two is smaller than the second difference threshold. Condition (4) is that the number of battery placement platforms satisfying the second condition in the remaining battery placement platforms is smaller than the second number threshold.

[0280] Example 29 The battery replacement control method according to this embodiment is a further modification based on Embodiment 25. The main steps are to arrange the battery placement and replacement device in step 23' and the battery removal and replacement device in step 24'. The battery replacement device can be roughly divided into a single-function battery replacement device and a multi-function battery replacement device. The single-function battery replacement device has a relatively simple configuration. It has a first configuration and is only arranged as a battery placement and replacement device, or it has a second configuration and is only arranged as a battery removal and replacement device. The multi-function battery replacement device has a relatively complex configuration. It combines the first configuration and the second configuration and is installed as either a battery removal and replacement device or a battery placement and replacement device.

[0281] Among them, the first configuration includes the components necessary to realize removing the battery waiting to be mounted from the first battery mounting table and mounting it on the electric vehicle. For example, it includes a gripping mechanism for removing the battery waiting to be mounted from the first battery mounting table and a lifting mechanism for mounting the battery waiting to be mounted on the electric vehicle.

[0282] The second configuration includes the components necessary to realize removing the battery with a low remaining amount from the electric vehicle and mounting it on the second battery mounting table. For example, it includes an unlocking mechanism for unlocking the battery with a low remaining amount from the electric vehicle and a mounting mechanism for mounting the battery with a low remaining amount on the second battery mounting table.

[0283] The battery replacement control method according to this embodiment is such that the at least two battery replacement devices may both be single-function battery replacement devices (however, it is necessary that both a single-function battery replacement device having the first configuration and a single-function battery replacement device having the second configuration exist), or they may both be multi-function battery replacement devices, or some may be single-function battery replacement devices while some may be multi-function battery replacement devices.

[0284] In order to shorten the moving distance and time of the battery placement and replacement device and improve the efficiency of battery replacement, in step 23’, the battery replacement device installed as the battery placement and replacement device is preferably the battery replacement device closest to the first battery placement table. Specifically, step 23’ may be executed after selecting the first battery placement table in step 21’, specifying the position of the first battery placement table, screening the single-function battery replacement device having the first configuration and the multi-function battery replacement device, calculating the distance to the first battery placement table for each of the single-function battery replacement device having the first configuration and the multi-function battery replacement device, and selecting the one battery replacement device with the closest distance as the battery placement and replacement device.

[0285] To shorten the moving distance and time by the battery removal and replacement device and improve the efficiency of battery replacement, the battery replacement device installed as the battery removal and replacement device in step 24' is preferably the battery replacement device closest to the electric vehicle (if the electric vehicle has not yet parked, the battery replacement device closest to the parking platform for parking the electric vehicle is preferred). Specifically, step 24' may include selecting a single-function battery replacement device and a multi-function battery replacement device having a second configuration, calculating the distance to the electric vehicle for each of the single-function battery replacement device and the multi-function battery replacement device having a second configuration (if the electric vehicle has not yet parked, calculating the distance from the selected battery replacement device to the parking platform respectively), and selecting the one battery replacement device arrangement with the closest distance as the battery removal and replacement device.

[0286] In other embodiments, to conveniently manage and distribute the battery replacement devices, each of the battery placement platforms has a predetermined association relationship with at least one of the battery replacement devices, that is, each battery placement platform can only attach and detach the battery by the battery replacement device having the association relationship.

[0287] Step 23': When arranging the battery placement and replacement device, a battery replacement device having an associated relationship with the first battery placement table, or a battery replacement device having an associated relationship with the first battery placement table and being closest to the first battery placement table in terms of distance is preferred. Specifically, Step 23' may include, after selecting the first battery placement table, screening the associated relationship with the first battery placement table, and screening single-function battery replacement devices and multi-function battery replacement devices having a first configuration, randomly selecting one of them, arranging it as the battery placement and replacement device, or further identifying the position of the first battery placement table, calculating the distance from each selected battery replacement device to the first battery placement table, and selecting the battery replacement device with the closest distance and arranging it as the battery placement and replacement device.

[0288] In Step 24', when arranging the battery removal and replacement device, a battery replacement device having an associated relationship with the second battery placement table, or a battery replacement device having an associated relationship with the second battery placement table and being closest to the electric vehicle in terms of distance is preferred (when the battery vehicle has not yet parked, a battery replacement device having an associated relationship with the second battery placement table and being closest to the parking platform holder for parking the electric vehicle is preferred). Specifically, Step 24' may include, after selecting the second battery placement table, screening the associated relationship with the second battery placement table, and screening single-function battery replacement devices and multi-function battery replacement devices having a second configuration, randomly selecting one of them, arranging it as the battery removal and replacement device, or further calculating the distance from each selected battery replacement device to the electric vehicle (when the battery vehicle has not yet parked, calculating the distance from the selected battery replacement device to the parking platform), and selecting the battery replacement device with the closest distance and arranging it as the battery removal and replacement device.

[0289] Example 30 The battery replacement control method according to this example is a further modification based on Example 25, and the main thing is the control flow for replacing the battery in the battery replacement control method. In this example, as shown in FIG. 11, the control flow for replacing the battery is divided into the preparation flow for replacing the battery before the electric vehicle parks on the platform and the operation flow for replacing the battery when the electric vehicle is parked on the platform.

[0290] In the preparation flow for replacing the battery, the battery replacement control method includes pre-selecting the second battery placement table and then arranging the battery removal and replacement device. Among them, for the method of selecting the second battery placement table, reference may be made to Examples 26-28, and for the method of arranging the battery removal and replacement device, reference may be made to Example 29.

[0291] In the operation flow for replacing the battery, the battery replacement control method includes instructing the battery removal and replacement device to move to a predetermined position for replacing the battery and park.

[0292] When the electric vehicle parks on the parking platform and moreover, the battery removal and replacement device parks at a predetermined position for replacing the battery, the battery removal and replacement device is instructed to remove the battery with a small remaining amount from the electric vehicle.

[0293] In this embodiment, the predetermined position for replacing the battery is the position where it is applicable to remove the battery from the electric vehicle parked on the parking platform. It can be understood that when the battery removal and replacement device is located at the predetermined position for replacing the battery, the battery removal and replacement device can remove the battery from the electric vehicle parked on the parking platform with the least amount of operation. Specifically, depending on the configuration of the parking platform, it is necessary to determine whether the predetermined position for replacing the battery is located below or above the parking platform (for a specific description of the predetermined position for replacing the battery, refer to Embodiment 25).

[0294] The predetermined position for replacing the battery may be further set based on the configuration of the parking platform and further based on conditions such as the second configuration of the battery removal and replacement device and the movement path of the second configuration for removing the battery with a small remaining amount.

[0295] After the battery removal and replacement device removes the battery with a small remaining amount from the electric vehicle, the battery removal and replacement device is commanded to move to the second battery placement table and place the battery with a small remaining amount on the empty battery placement shelf.

[0296] In the process of the operation of replacing the battery, the battery replacement control method further includes selecting the first battery placement table, and then arranging the battery placement and replacement device, and commanding the battery placement and replacement device to remove the battery waiting to be installed from the first battery placement table. Among them, for the method of selecting the first battery placement table, refer to Embodiments 26-28, and for the method of arranging the battery placement and replacement device, refer to Embodiment 29.

[0297] When the battery removal and replacement device is at a predetermined position for replacing the battery or the distance from the predetermined position for replacing the battery exceeds a third distance threshold, the battery placement and replacement device is commanded to move to the predetermined position for replacing the battery.

[0298] After the battery placement and replacement device has moved to the predetermined position for replacing the battery, the battery placement and replacement device is commanded to mount the waiting-to-be-mounted battery on the electric vehicle. Up to this point, the replacement of the battery for the electric vehicle is completed.

[0299] Finally, the battery placement and replacement device is commanded to drive away from the predetermined position for replacing the battery.

[0300] Example 31 The battery replacement control method according to this example is a further modification based on Example 25, and the main thing is the control flow for replacing the battery in the battery replacement control method. In this example, the control flow for replacing the battery is divided into a preparation flow for replacing the battery before the electric vehicle parks on the platform and an operation flow for replacing the battery when the electric vehicle is parked on the parking platform. As shown in FIG. 12, in the preparation flow for replacing the battery and the operation flow for replacing the battery, the steps included in the battery replacement control method are different from those according to Example 30.

[0301] In the preparation flow for replacing the battery, the battery replacement control method includes pre-selecting the second battery placement table, arranging the battery removal and replacement device, and commanding the battery removal and replacement device to complete some operations so as to save the time for removing the battery. Among them, for the method of selecting the second battery placement table, reference may be made to Examples 26-28, and for the method of arranging the battery removal and replacement device, reference may be made to Example 29.

[0302] Among them, instructing the battery removal and replacement device to complete some operations includes determining whether a predetermined position for replacing the battery is in a parkable state, setting a second predetermined waiting position, and instructing the battery removal and replacement device to park in advance at the second predetermined waiting position. Among them, the second predetermined waiting position is related to the predetermined position for replacing the battery, and may be the same position as the predetermined position for replacing the battery, or may be a position close to the predetermined position for replacing the battery (for a specific description of the predetermined position for replacing the battery, refer to Embodiment 30).

[0303] Specifically, determining whether a predetermined position for replacing the battery is in a parkable state includes three conditions: condition (1) that the predetermined position for replacing the battery is an empty position, condition (2) that there is a passage for the battery removal and replacement device to move to the predetermined position for replacing the battery, and condition (3) that it is predicted that when the battery removal and replacement device parks at the predetermined position for replacing the battery, it will not interfere with the electric vehicle traveling to the parking platform. When these three conditions are simultaneously satisfied, the predetermined position for replacing the battery is in a parkable state; otherwise, the predetermined position for replacing the battery is in a non-parkable state.

[0304] Whether condition (3) is satisfied usually depends on the configuration of the parking platform.

[0305] When the predetermined position for replacing the battery is in a parkable state, the second predetermined waiting position is the same position as the predetermined position for replacing the battery. When the predetermined position for replacing the battery is in a non-parkable state, the second predetermined waiting position is a position whose distance from the predetermined position for replacing the battery does not exceed a second distance threshold, that is, a position close to the predetermined position for replacing the battery.

[0306] In this embodiment, before the electric vehicle parks on the platform, if the model number of the battery applied to the electric vehicle is known in advance, in the process of preparing to replace the battery, the battery replacement control method further includes pre-selecting the first battery placement table so as to save the time for mounting the battery, arranging the battery placement and replacement device, and instructing the battery placement and replacement device to complete some operations. Among them, for the method of selecting the second battery placement table, reference may be made to Embodiments 26-28, and for the method of arranging the battery removal and replacement device, reference may be made to Embodiment 29. In addition, by limitedly applying that only the electric vehicle with the battery of the model number can park on the parking platform, the model number of the battery applied to the electric vehicle can be known in advance. For example, if it is limited that only the electric vehicle with a specific model number of battery can park on a certain parking platform, regardless of whether the electric vehicle is parked on the parking platform, it can be determined that the model number of the battery applied to the electric vehicle is necessarily the specific model number.

[0307] Among them, instructing the battery placement and replacement device to complete some operations includes instructing the battery placement and replacement device to remove the battery to be mounted from the first battery placement table.

[0308] After the battery placement and replacement device removes the battery to be mounted from the first battery placement table, the battery placement and replacement device is instructed to park in a first predetermined waiting position in advance. The first predetermined waiting position is close to the parking platform and is a position where the distance from the parking platform does not exceed a first distance threshold.

[0309] So far, the process of preparing to replace the battery is completed, and it waits for the electric vehicle to drive and park on the parking platform, and then proceeds to the process of operating to replace the battery.

[0310] In the process of the operation of replacing the battery, the battery replacement control method determines whether the second predetermined waiting position where the battery removal and replacement device is located is the same as the predetermined position for replacing the battery. If they are the same, the battery removal and replacement device is instructed to remove the battery with a low remaining amount from the electric vehicle. Otherwise, the battery removal and replacement device is instructed to move from the second predetermined waiting position to the predetermined position for replacing the battery. Next, the battery removal and replacement device is instructed to remove the battery with a low remaining amount from the electric vehicle.

[0311] After the battery removal and replacement device executes the battery removal instruction, the battery removal and replacement device moves to the second battery placement table and is instructed to place the battery with a low remaining amount on the empty battery placement shelf.

[0312] When the battery removal and replacement device is at or away from the predetermined position for replacing the battery by a distance exceeding a third distance threshold, the battery placement and replacement device is instructed to move to the predetermined position for replacing the battery.

[0313] After the battery placement and replacement device moves to the predetermined position for replacing the battery, the battery placement and replacement device is instructed to mount the waiting-to-be-mounted battery on the electric vehicle. Up to this point, the battery replacement for the electric vehicle is completed.

[0314] The battery placement and replacement device is instructed to drive away from the predetermined position for replacing the battery.

[0315] Since some control is performed during the process of preparing to replace the battery in the battery replacement control method of this embodiment, the time from when the electric vehicle travels to the parking platform until the battery is replaced is significantly shortened, and the efficiency of replacing the battery is increased.

[0316] Example 32 FIG. 13 shows the battery replacement control method according to this embodiment. The battery replacement control method includes the following steps. Step 21' is to identify the model number of the battery applied to the electric vehicle waiting for battery replacement. Step 22' is to select, as the first battery placement table, a battery placement table that satisfies the first condition from at least one battery placement table. Among them, the battery placement table has one or more battery placement shelves for placing batteries, and the first condition is set to indicate that a battery of the model number of the battery is placed, and the battery applied to the electric vehicle is usually the same as the model number of the battery used in the electric vehicle. Step 23' is to select, as the second battery placement table, a battery placement table that satisfies the second condition from at least one battery placement table. Among them, the second condition is set to indicate that an empty battery placement shelf is placed. Step 24' is to arrange at least one battery replacement device among the at least two battery replacement devices as a battery placement and replacement device. Among them, the battery placement and replacement device is used to transport the battery waiting to be mounted, and the battery waiting to be mounted is taken out from the first battery placement table, is the model number of the battery, and is also the battery to be mounted on the electric vehicle. Step 25' arranges at least one of the at least two battery replacement devices as a battery removal and replacement device. Among them, the battery removal and replacement device is used to transport the battery with a low remaining amount, and the battery with a low remaining amount is taken out from the electric vehicle and is also the battery placed on the empty battery placement shelf.

[0317] The above-mentioned step order is one possible ordering for the above-mentioned steps. In other embodiments, the above-mentioned steps may be in other orders. For example, first execute step 23', and then sequentially execute step 25', step 21', step 23', step 24', or first execute step 21', and then sequentially execute step 22', step 24', step 23', step 25'.

[0318] In this embodiment, by checking the model number of the battery applied to the electric vehicle, it is possible to facilitate the selection of the first battery placement table and the extraction of the battery waiting to be installed. Throughout the process of replacing the battery in the vehicle, two battery replacement devices, namely the battery placement and replacement device and the battery removal and replacement device, are used. The movement trajectory of the battery placement and replacement device is between the first battery placement table and the electric vehicle, transporting the battery waiting to be installed. The movement trajectory of the battery removal and replacement device is between the electric vehicle and the second battery placement table, transporting the battery with a low remaining amount. These two battery replacement devices each have different roles and together complete the task of replacing the battery. Therefore, the total time required to replace the battery can be shortened by at least half compared to realizing battery replacement with only one battery replacement device, improving the speed and efficiency of battery replacement.

[0319] Example 33 The battery replacement control method according to this embodiment is further modified based on Embodiment 32. The modification from Embodiment 32 in this embodiment is basically the same as the modification from Embodiment 25 in Embodiment 26. However, the difference is that the first condition is the model number of the battery, and moreover, it may be set as indicating that a fully charged battery is placed. Or, in order to increase the probability of being able to replace the battery in the electric vehicle, the first condition is preferentially the model number of the battery, and moreover, it may be set as indicating that a fully charged battery is placed. When there is no battery placement table that satisfies the first condition among the at least one battery placement table, the first condition is corrected and set as the model number of the battery and moreover, indicating that the battery with the most remaining amount is placed. Accordingly, specifically, Step 22’ sets the first condition as the model number of the battery and moreover, indicating that a fully charged battery is placed, and determines whether there is a battery placement table that satisfies the first condition as the default among the at least one battery placement table. If there is, one of them is selected as the first battery placement table. Otherwise, the first condition is corrected and set as the model number of the battery and moreover, indicating that the battery with the most remaining amount is placed, and it is determined again whether there is a battery placement table that satisfies the current first condition among the at least one battery placement table. If there is, one of them is selected as the first battery placement table. If there is still no battery placement table that satisfies the first condition, an alarm signal is transmitted to indicate that the battery in the electric vehicle cannot be replaced.

[0320] Embodiment 34 The battery replacement control method according to this embodiment is further modified based on Embodiment 32 or Embodiment 33. Regarding the modification of Embodiment 32 or Embodiment 33 in this embodiment, it is basically the same as the modification of Embodiment 25 or Embodiment 26 in Embodiment 27. However, the difference is that, in order to shorten the moving distance and moving time by the battery placement and replacement device and improve the efficiency of battery replacement, from the battery placement table that satisfies the first condition, one battery placement table that is closest to the electric vehicle or one battery placement table that is closest to the parking platform holder for parking the electric vehicle is selected as the first battery placement table.

[0321] Similarly, in order to shorten the moving distance and moving time by the battery removal and replacement device and improve the efficiency of battery replacement, from the battery placement table that satisfies the second condition, one battery placement table that is closest to the electric vehicle or one battery placement table that is closest to the parking platform holder for parking the electric vehicle is selected as the second battery placement table.

[0322] Also, in this embodiment, the parking platform may be a dedicated platform for replacing the battery in the vehicle, or another ordinary platform for parking the vehicle and conveniently replacing the battery.

[0323] Embodiment 35 The battery replacement control method according to this embodiment is further modified based on Embodiment 32 or Embodiment 33. Regarding the modified part of Embodiment 32 or Embodiment 33 in this embodiment, reference may be made to the modified part of Embodiment 25 or Embodiment 26 in Embodiment 27.

[0324] Embodiment 36 The battery replacement control method according to this embodiment is a further modification based on Embodiment 32. The modification from Embodiment 32 in this embodiment is basically the same as the modification from Embodiment 25 in Embodiment 29, but the difference is that in this embodiment, in order to shorten the moving distance and time of the battery removal and replacement device and improve the efficiency of battery replacement, in Step 25', as the battery replacement device installed as the battery removal and replacement device, the battery replacement device closest to the electric vehicle or the battery replacement device closest to the parking platform for parking the electric vehicle is preferred. Specifically, Step 25' may include selecting a single-function battery replacement device and a multi-function battery replacement device having a second configuration, calculating the distance to the electric vehicle or the distance to the parking platform for each of the single-function battery replacement device and the multi-function battery replacement device having a second configuration, and selecting one battery replacement device with the closest distance and arranging it as the battery removal and replacement device.

[0325] In Step 25', when arranging the battery removal and replacement device, the battery replacement device having a tying relationship with the second battery placement table, or the battery replacement device having a tying relationship with the second battery placement table and being closest to the electric vehicle, or the battery replacement device closest to the parking platform holder for parking the electric vehicle is preferred. Specifically, in Step 25', after selecting the second battery placement table, select a single-function battery replacement device and a multi-function battery replacement device having a tying relationship with the second battery placement table and a second configuration, randomly select one of them, and arrange it as the battery removal and replacement device, or further calculate the distance from the selected battery replacement device to the electric vehicle or the distance to the parking platform, and select one battery replacement device with the closest distance and arrange it as the battery removal and replacement device.

[0326] Example 37 The battery replacement control method according to this example is further modified based on Example 32. The modification to Example 13 in this example is basically the same as the modification to Example 25 in Example 30, but the difference is that, as shown in FIG. 14, in this example, the control flow for replacing the battery is divided into the preparation flow for replacing the battery before the electric vehicle parks on the platform and the operation flow for replacing the battery when the electric vehicle is parked on the platform.

[0327] In the preparation flow for replacing the battery, the battery replacement control method includes pre-selecting the second battery placement table and then arranging the battery removal and replacement device. Among them, for the method of selecting the second battery placement table, reference may be made to Examples 33-35, and for the method of arranging the battery removal and replacement device, reference may be made to Example 36.

[0328] In this example, for a specific description of the predetermined position for replacing the battery, reference may be made to Example 30.

[0329] In the operation flow for replacing the battery, the battery replacement control method scans the license plate of the electric vehicle when the electric vehicle parks on the platform or the license plate of the electric vehicle is visible, identifies the model number of the battery applicable to the electric vehicle based on the license plate, then selects the first battery placement table, and then arranges the battery placement and replacement device, and further commands the battery placement and replacement device to remove the battery waiting to be installed from the first battery placement table. Among them, for the method of selecting the first battery placement table, reference may be made to Examples 33-35, and for the method of arranging the battery placement and replacement device, reference may be made to Example 36.

[0330] After the battery placement and replacement device removes the battery waiting to be mounted from the first battery placement table, the battery placement and replacement device is commanded to park in advance at a first predetermined waiting position. The first predetermined waiting position is a position where the distance from the parking platform does not exceed a first distance threshold value.

[0331] When the battery removal and replacement device is at a predetermined position for replacing the battery or the distance from the predetermined position for replacing the battery exceeds a third distance threshold value, the battery placement and replacement device is commanded to move to the predetermined position for replacing the battery.

[0332] After the battery placement and replacement device moves to the predetermined position for replacing the battery, the battery placement and replacement device is commanded to mount the battery waiting to be mounted on the electric vehicle. Thus far, the battery replacement for the electric vehicle is completed.

[0333] Finally, the battery placement and replacement device is commanded to drive away from the predetermined position for replacing the battery.

[0334] Example 38 The battery replacement control method according to this example is further modified based on Example 32, and the main thing is the control flow for replacing the battery in the battery replacement control method. In this example, the control flow for replacing the battery is divided into a preparation flow for replacing the battery before the electric vehicle parks on the platform and an operation flow for replacing the battery when the electric vehicle is parked on the platform. As shown in FIG. 15, in the preparation flow for replacing the battery and the operation flow for replacing the battery, the steps included in the battery replacement control method are different from those according to Example 37.

[0335] In the process of preparing for battery replacement, the battery replacement control method selects the second battery placement table in advance to save the time for removing the battery, arranges the battery removal and replacement device, and commands the battery removal and replacement device to complete some operations. Among them, for the method of selecting the second battery placement table, refer to Embodiments 33-35, and for the method of arranging the battery removal and replacement device, refer to Embodiment 36.

[0336] Among them, commanding the battery removal and replacement device to complete some operations includes determining whether a predetermined position for replacing the battery is in a parkable state, setting a second predetermined waiting position, and commanding the battery removal and replacement device to park in advance at the second predetermined waiting position. Among them, the second predetermined waiting position is related to the predetermined position for replacing the battery, and may be the same position as the predetermined position for replacing the battery, or may be a position close to the predetermined position for replacing the battery (for a specific description of the predetermined position for replacing the battery, refer to Embodiment 30).

[0337] Specifically, determining whether a predetermined position for replacing the battery is in a parkable state includes three conditions: condition (1) that the predetermined position for replacing the battery is an empty position, condition (2) that there is a passing road for the battery removal and replacement device to move to the predetermined position for replacing the battery, and condition (3) that it is predicted that when the battery removal and replacement device parks at the predetermined position for replacing the battery, it will not interfere with the electric vehicle traveling on the parking platform. When these three conditions are simultaneously satisfied, the predetermined position for replacing the battery is in a parkable state; otherwise, the predetermined position for replacing the battery is in a non-parkable state.

[0338] Whether condition (3) is satisfied usually depends on the configuration of the parking platform.

[0339] When the predetermined position for replacing the battery is in a parkable state, the second predetermined waiting position is the same position as the predetermined position for replacing the battery. When the predetermined position for replacing the battery is in a non-parkable state, the second predetermined waiting position is a position where the distance from the predetermined position for replacing the battery does not exceed a second distance threshold, that is, a position close to the predetermined position for replacing the battery.

[0340] Up to this point, the process of preparing to replace the battery is completed, and the electric vehicle is waiting to drive onto the parking platform and park, and then shifts to the process of the battery replacement operation.

[0341] In the process of the battery replacement operation, the battery replacement control method determines whether the second predetermined waiting position where the battery removal and replacement device is located is the same position as the predetermined position for replacing the battery. If they are the same position, the battery removal and replacement device is commanded to remove the battery with a low remaining amount from the electric vehicle. Otherwise, the battery removal and replacement device is commanded to move from the second predetermined waiting position to the predetermined position for replacing the battery. Next, the battery removal and replacement device is commanded to remove the battery with a low remaining amount from the electric vehicle.

[0342] After the battery removal and replacement device executes the battery removal command, the battery removal and replacement device moves to the second battery placement table and is commanded to place the battery with a low remaining amount on the empty battery placement shelf.

[0343] In the process of the operation of replacing the battery, the battery replacement control method further includes: when the electric vehicle is parked on the parking platform or when the license plate of the electric vehicle can be seen, scanning the license plate of the electric vehicle, identifying the model number of the battery applicable to the electric vehicle based on the license plate, selecting the first placement table, then arranging the battery placement and replacement device, and instructing the battery placement and replacement device to remove the battery to be mounted from the first battery placement table.

[0344] After the battery placement and replacement device removes the battery to be mounted from the first battery placement table, it is instructed to park in advance at a first predetermined waiting position. The first predetermined waiting position is a position where the distance from the parking platform does not exceed a first distance threshold.

[0345] When the battery removal and replacement device is at a predetermined position for replacing the battery or the distance from the predetermined position for replacing the battery exceeds a third distance threshold, it is instructed to move the battery placement and replacement device to the predetermined position for replacing the battery.

[0346] After the battery placement and replacement device moves to the predetermined position for replacing the battery, it is instructed to mount the battery to be mounted on the electric vehicle. Up to this point, the battery replacement for the electric vehicle is completed.

[0347] It is instructed to drive away from the predetermined position for replacing the battery by the battery placement and replacement device.

[0348] Since part of the control is completed in the preparation process of replacing the battery, the battery replacement control method according to this embodiment can significantly shorten the time from when the electric vehicle drives onto the parking platform to when the battery is replaced, and improve the efficiency of replacing the battery.

[0349] The specific embodiments of the present invention have been described above, but these are merely exemplary descriptions, and it should be understood by those skilled in the art that the protection scope according to the present invention is limited to the scope of the claims. Without departing from the principle and spirit of the present invention, those skilled in the art can implement numerous modifications and corrections to these embodiments, and all of these modifications and corrections are included in the protection scope of this application.

[0350] This application claims the priority of Chinese Patent Application No. 2018108053166 with an application date of July 20, 2018, Chinese Patent Application No. 2018108053096 with an application date of July 20, 2018, and Chinese Patent Application No. 2018108053062 with an application date of July 20, 2018. This application is considered to include all of the above-mentioned Chinese patent applications.

Claims

1. A control means and at least two battery replacement devices are provided. The control means is used to select, as a first battery placement table, a battery placement table that satisfies a first condition from at least one battery placement table, and to select, as a second battery placement table, a battery placement table that satisfies a second condition from the at least one battery placement table. The battery placement table has one or more battery placement shelves for placing batteries. The first condition is set as being applicable for placing the battery of an electric vehicle, and the second condition is set as having an empty battery placement shelf. The control means is further used to arrange at least one of the at least two battery replacement devices as a battery placement and replacement device, and to arrange at least one of the at least two battery replacement devices as a battery removal and replacement device. The battery placement and replacement device is used to transport a battery waiting to be mounted. The battery waiting to be mounted is removed from the first battery placement table, is applicable to the electric vehicle, and is the battery to be mounted on the electric vehicle. The battery removal and replacement device is used to transport a battery with a low remaining amount. The battery with a low remaining amount is removed from the electric vehicle and is the battery to be placed on the empty battery placement shelf. The battery replacement device arranged as the battery placement and replacement device is the battery replacement device closest to the first battery placement table, or The battery replacement device arranged as the battery removal and replacement device is the battery replacement device closest to the electric vehicle or the parking platform for parking the electric vehicle, or Each of the battery placement tables has a predetermined association relationship with at least one of the battery replacement devices. The battery replacement device arranged as the battery placement and replacement device is a battery replacement device having an associated relationship with the first battery placement table, or is a battery replacement device having an associated relationship with the first battery placement table and, moreover, is the battery replacement device closest to the first battery placement table. The battery replacement device arranged as the battery removal and replacement device is a battery replacement device having an associated relationship with the second battery placement table, or is a battery replacement device having an associated relationship with the second battery placement table and, moreover, is the battery replacement device closest to the electric vehicle or the parking platform for parking the electric vehicle. A battery replacement control system characterized by the above.

2. The control means is further used for monitoring the remaining amount of the battery placed on the battery placement table. The first condition is set as that a battery applicable to the electric vehicle and fully charged is placed, or The first condition is preferentially set as that a battery applicable to the electric vehicle and fully charged is placed. When at least one of the battery placement tables does not have a battery placement table satisfying the first condition, the first condition is corrected and set as that a battery applicable to the electric vehicle and having the most remaining amount is placed. The battery replacement control system according to claim 1, characterized by the above.

3. When there is more than one battery placement table satisfying the first condition, the control means is used for randomly selecting one battery placement table from the battery placement tables satisfying the first condition as the first battery placement table, or for selecting the battery placement table closest to the electric vehicle or the parking platform for parking the electric vehicle as the first battery placement table, and / or When there is more than one battery placement platform that satisfies the second condition, the control means further randomly selects one battery placement platform from the battery placement platforms that satisfy the second condition as the second battery placement platform, or selects, as the second battery placement platform, the one battery placement platform that is closest to the electric vehicle or the parking platform for parking the electric vehicle. The battery replacement control system according to claim 1 or claim 2, characterized in that it is used for this purpose.

4. The battery placement platforms are distributed on both sides of the parking platform along the direction in which the electric vehicle travels to the parking platform. The battery replacement control system according to claim 3, characterized in that it is used for this purpose.

5. There is a multi-functional battery placement platform among the at least one battery placement platform. When the multi-functional battery placement platform is a battery placement platform that satisfies both the first condition and the second condition, the control means further uses the multi-functional battery placement platform as the first battery placement platform and the second battery placement platform at the same time, or uses the multi-functional battery placement platform as either one of the first battery placement platform and the second battery placement platform, or the remaining battery placement platforms all do not satisfy the first condition, the number of battery placement platforms that satisfy the first condition among the remaining battery placement platforms is smaller than the number of battery placement platforms that satisfy the second condition, the number of battery placement platforms that satisfy the first condition among the remaining battery placement platforms is smaller than the number of battery placement platforms that satisfy the second condition, and moreover, the absolute value of the difference between the two is smaller than the first difference threshold, the number of battery placement platforms that satisfy the first condition among the remaining battery placement platforms is smaller than the first number threshold, uses any one of the following conditions as the condition necessary for using the multi-functional battery placement platform as the first battery placement platform, or The condition that none of the remaining battery placement platforms satisfy the second condition, The condition that the number of battery placement platforms satisfying the second condition among the remaining battery placement platforms is smaller than the number of battery placement platforms satisfying the first condition, The condition that the number of battery placement platforms satisfying the second condition among the remaining battery placement platforms is smaller than the number of battery placement platforms satisfying the first condition, and moreover, the absolute value of the difference between the two is smaller than a second difference threshold value, and The condition that the number of battery placement platforms satisfying the second condition among the remaining battery placement platforms is smaller than a second number threshold value Any one of the above conditions is used as a necessary condition for setting the multifunctional battery placement platform as the second battery placement platform, and the battery replacement control system according to claim 1 is characterized in that it is used for this.

6. The battery placement shelf is further used for charging the battery, and the battery replacement control system according to claim 1 is characterized in that it is used for this.

7. The at least two battery replacement devices are both single-function battery replacement devices, or both are multifunctional battery replacement devices, or some are single-function battery replacement devices, but some are multifunctional battery replacement devices, The single-function battery replacement device has a first configuration and is arranged only as a battery placement and replacement device, or has a second configuration and is arranged only as a battery removal and replacement device, The multifunctional battery replacement device has both the first configuration and the second configuration, and is arranged as either one of a battery removal and replacement device and a battery placement and replacement device, and the battery replacement control system according to claim 1 is characterized in that it is used for this.

8. Before the electric vehicle parks on the parking platform, when the model number of the battery applied to the electric vehicle is known in advance, The control means is further used to select, before the electric vehicle parks on the parking platform, a battery placement platform that satisfies a first condition from the at least one battery placement platform as a first battery placement platform, and transmit a battery removal command to the battery placement and replacement device. The battery removal command is for instructing the battery placement and replacement device to remove the battery waiting to be mounted from the first battery placement platform. The battery placement and replacement device is further used to execute the battery removal command. The control means is further used to transmit a first movement command to the battery placement and replacement device after the battery placement and replacement device executes the battery removal command. The first movement command is for instructing the battery placement and replacement device to park in a first predetermined waiting position in advance. The first predetermined waiting position is a position where the distance from the parking platform does not exceed a first distance threshold. The battery placement and replacement device is further used to execute the first movement command. The battery replacement control system according to claim 1 is characterized by this.

9. The battery replacement control system according to claim 8 is characterized in that, by being limitedly applied such that only an electric vehicle compatible with the battery model number can park on the parking platform, the battery model number applicable to the electric vehicle can be known in advance.

10. The control means is further used to transmit a second movement command to the battery removal and replacement device before the electric vehicle parks on the parking platform. The second movement command is for instructing the battery removal and replacement device to park in a second predetermined waiting position in advance. The battery removal and replacement device is further used to execute the second movement command. The battery replacement control system according to claim 1 is characterized by this.

11. When a predetermined position for battery replacement is in a parkable state, the second predetermined waiting position is the same as the predetermined position for battery replacement, and the predetermined position for battery replacement is a position where it is applicable to remove the battery from the electric vehicle parked on the parking platform. The battery replacement control system according to claim 10, characterized in that.

12. When a predetermined position for battery replacement is in a non-parkable state, the second predetermined waiting position is a position where the distance from the predetermined position for battery replacement does not exceed a second distance threshold, and the predetermined position for battery replacement is a position where it is applicable to remove the battery from the electric vehicle parked on the parking platform. The control means is further used to transmit a fine adjustment command to the battery removal / replacement device when the electric vehicle is parked on the parking platform, and the fine adjustment command is for instructing the battery removal / replacement device to move from the second predetermined waiting position to the predetermined position for battery replacement. The battery replacement control system according to claim 10, characterized in that.

13. Identifying whether the predetermined position for battery replacement is located below or above the parking platform according to the configuration of the parking platform. The battery replacement control system according to claim 11 or claim 12, characterized in that.

14. The control means is further used to transmit a third movement command to the battery removal / replacement device when the electric vehicle is parked on the parking platform, and the third movement command is for instructing the battery removal / replacement device to move to and park at the predetermined position for battery replacement. The predetermined position for battery replacement is a position where it is applicable to remove the battery from the electric vehicle parked on the parking platform. The battery removal and replacement device is further used for executing the third movement command, and the battery replacement control system according to claim 1 is characterized in that.

15. The control means is further used for transmitting a battery removal command to the battery removal and replacement device when the electric vehicle is parked on the parking platform and the battery removal and replacement device is parked at a predetermined position for replacing the battery. The battery removal command is for instructing the battery removal and replacement device to remove the battery with a small remaining amount from the electric vehicle. The battery removal and replacement device is further used for executing the battery removal command. The control means is further used for transmitting a fourth movement command to the battery removal and replacement device after the battery removal and replacement device executes the battery removal command. The fourth movement command is for instructing the battery removal and replacement device to move to the second battery placement table and place the battery with a small remaining amount on the empty battery placement shelf. The battery removal and replacement device is further used for executing the fourth movement command, and the battery replacement control system according to any one of claims 10, 11 and 14 is characterized in that.

16. The control means is further used for transmitting a fifth movement command to the battery placement and replacement device after the battery removal and replacement device leaves the predetermined position for replacing the battery or after the distance that the battery removal and replacement device leaves the predetermined position for replacing the battery exceeds a third distance threshold. The fifth movement command is for instructing the battery placement and replacement device to move to the predetermined position for replacing the battery. The battery placement and replacement device is further used for executing the fifth movement command. The control means is further used to send a battery mounting command to the battery placement / replacement device after the battery placement / replacement device executes the fifth movement command. The battery mounting command is for instructing the battery placement / replacement device to mount the waiting-to-be-mounted battery on the electric vehicle. The battery placement / replacement device is further used to execute the battery mounting command. The battery replacement control system according to any one of claims 10, 11, and 14, characterized in that.

17. The control means is used to identify the model number of the battery applied to the electric vehicle waiting for battery replacement. The first condition is set as indicating that a battery of the model number of the battery is placed. The waiting-to-be-mounted battery is taken out from the first battery placement table, has the model number of the battery, and is also the battery to be mounted on the electric vehicle. The battery replacement control system according to claim 1, characterized in that.

18. The control means is further used to scan the license plate of the electric vehicle and identify the model number of the battery applied to the electric vehicle based on the license plate. The battery replacement control system according to claim 17, characterized in that.

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