Battery swapping method for commercial vehicle

Abstract

A battery swapping method for a commercial vehicle, comprising the following steps: on the basis of the position of a power insufficiency battery on a battery swapping vehicle, controlling a battery swapping device to drive to the position below the battery swapping vehicle (S510); acquiring a posture of the power insufficiency battery on the battery swapping vehicle, and adjusting an operation position of the battery swapping device on the basis of the posture of the power insufficiency battery (S520); and controlling the battery swapping device to dismount the power insufficiency battery and install a fully-charged battery (S530). According to the battery swapping method, the battery swapping device is controlled to autonomously drive to the position below the battery swapping vehicle without lifting the battery swapping vehicle, and the operation position of the battery swapping device can be directly adjusted on the basis of the posture of the power insufficiency battery, so that the position matching between the battery swapping device and the power insufficiency battery can be achieved, thereby achieving high adjustment accuracy and improving the battery swapping efficiency. Moreover, there is no need to excavate a trench on the ground and lay tracks, such that the motion range of the battery swapping device is not limited.

Description

Battery replacement methods for commercial vehicles

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This disclosure is based on and claims priority to an application with CN application number 202311602084.1 and filing date November 28, 2023. The disclosure content of this CN application is hereby introduced into this disclosure as a whole. Technical Field

[0003] The present application relates to a battery replacement method for a commercial vehicle. Background Art

[0004] Due to the limited capacity of batteries, electric vehicles need to replace batteries in order to meet the long-range operation of electric vehicles. How to improve the efficiency of battery replacement is an urgent problem to be solved.

[0005] Summary of the Invention

[0006] In view of the above problems, the present application provides a battery replacement method for commercial vehicles to improve the battery replacement efficiency.

[0007] This application provides a battery replacement method for a commercial vehicle, comprising the following steps:

[0008] According to the position of the low-power battery on the battery-swapping vehicle, the battery-swapping equipment is controlled to move under the battery-swapping vehicle;

[0009] Obtaining the posture of the low-power battery on the battery-swapping vehicle and adjusting the operating position of the battery-swapping device according to the posture of the low-power battery; and

[0010] Control the battery swapping equipment to remove the depleted battery and install a fully charged battery.

[0011] The battery-swapping method for commercial vehicles provided in the embodiment of the present application controls the battery-swapping device to move under the battery-swapping vehicle, obtains the posture of the low-battery on the battery-swapping vehicle, and adjusts the operating position of the battery-swapping device according to the posture of the low-battery. In other words, the battery-swapping method for commercial vehicles provided in the embodiment of the present application does not require lifting the battery-swapping vehicle, but directly controls the battery-swapping device to move under the battery-swapping vehicle by itself, and directly adjusts the operating position of the battery-swapping device according to the posture of the low-battery to achieve position matching between the battery-swapping device and the low-battery. The adjustment accuracy is high, and the battery-swapping efficiency is also high. Therefore, the battery-swapping method for commercial vehicles using the embodiment of the present application can improve the battery-swapping efficiency. Moreover, by using the battery-swapping method in the embodiment of the present application, there is no need to dig trenches or lay tracks on the ground, and the range of motion of the battery-swapping device is not restricted.

[0012] In some embodiments, controlling the battery swapping equipment to move under the battery swapping vehicle based on the position of the depleted battery on the battery swapping vehicle includes: obtaining status information of the battery swapping vehicle, the status information including the battery installation position; and controlling the battery swapping equipment to move to the battery installation position.

[0013] Controlling the movement of the battery swapping equipment according to the battery installation position enables the battery swapping equipment to be accurately moved to the bottom of the battery installation position of the battery swapping vehicle, thereby avoiding repeated movement for alignment and improving the battery swapping efficiency.

[0014] In some embodiments, obtaining the posture of a deflated battery on a battery-swapping vehicle includes obtaining coordinate information of the deflated battery through a visual camera and / or laser.

[0015] The coordinate information of the depleted battery is obtained through visual cameras and / or lasers to improve the accuracy of the battery replacement operation position.

[0016] In some embodiments, adjusting the operating position of the battery exchange device according to the posture of the deficient battery includes: adjusting the operating height and operating angle of the battery exchange device according to the coordinate information of the deficient battery.

[0017] By adjusting the operating height and operating angle of the battery swap device, the posture of the battery swap device and the low-power battery can be accurately adapted, thereby improving the accuracy of adaptation.

[0018] In some embodiments, the battery exchange equipment includes a battery carrying platform and at least two lifting mechanisms for supporting the battery carrying platform. Adjusting the operating height and operating angle of the battery exchange equipment according to the coordinate information of the deficient battery includes: independently controlling the initial stroke of at least two lifting mechanisms so that the inclination angle of the battery carrying platform is parallel to the inclination angle of the deficient battery, and then controlling at least two lifting mechanisms to lift synchronously.

[0019] When adjusting the operating height and operating angle of the battery swapping device, the battery swapping method of the embodiment of the present application first independently controls the initial stroke of at least two lifting mechanisms so that the inclination angle of the battery carrying platform is the same as the inclination angle of the low-power battery. That is to say, the battery carrying platform is first made parallel to the low-power battery, and then the at least two lifting mechanisms are controlled to synchronously lift the same stroke, so that the battery carrying platform is lifted upward at the same inclination angle. The battery swapping method of the embodiment of the present application first adjusts the inclination angle of the battery carrying platform and then makes it reach the operating height. In this way, when controlling the inclination of the battery carrying platform, the battery carrying platform is still at a position far away from the battery swapping vehicle. Therefore, the movable range of the battery carrying platform is larger, and it is not easy to interfere with the battery swapping vehicle, thereby achieving higher adjustment accuracy.

[0020] In some embodiments, during the process of controlling at least two lifting mechanisms to lift synchronously, if contact is detected between the battery support platform and a depleted battery, the at least two lifting mechanisms are controlled to lift to a set height to carry the depleted battery. After contact is detected with the depleted battery, the lifting mechanisms are controlled to continue lifting to a set height, thereby transferring the depleted battery's own weight from the support point of the battery mounting bracket to the battery support platform of the battery swapping device, thereby enabling the battery support platform to carry the depleted battery.

[0021] In some embodiments, adjusting the operating position of the battery exchange device according to the posture of the depleted battery includes: floatingly adjusting the operating height of the battery supporting platform.

[0022] The floating adjustment of the operating height of the battery carrying platform automatically realizes the floating adjustment of the battery carrying platform, thereby adapting to the battery posture and improving adaptability.

[0023] In some embodiments, the battery replacement method further includes: after adjusting the operating position of the battery replacement equipment according to the posture of the depleted battery, controlling the locking and unlocking mechanism on the battery supporting platform to unlock the battery locking mechanism.

[0024] The locking mechanism is used to unlock the battery locking mechanism and release the lock on the low-power battery, so that the low-power battery is released from the lock. The battery swap equipment then carries the low-power battery away from the battery swap vehicle, thereby achieving the removal of the low-power battery.

[0025] In some embodiments, controlling the locking and unlocking mechanism on the battery supporting platform to unlock the battery locking mechanism includes: controlling the locking and unlocking mechanism to rotate a set angle in a first direction to achieve a locking action to align with the battery locking mechanism, and then rotating in a second direction opposite to the first direction after alignment to achieve an unlocking operation.

[0026] The locking action is first performed to align the locking and unlocking mechanism with the battery locking mechanism, and then reverse rotation is performed to unlock the mechanism after alignment. This alignment is first achieved to ensure the effectiveness of the unlocking operation.

[0027] In some embodiments, controlling the locking and unlocking mechanism to rotate a set angle along a first direction to achieve a locking action includes: detecting the angle change of the locking and unlocking mechanism at set time intervals during the process of rotating the set angle along the first direction; when the angle of the locking and unlocking mechanism remains unchanged, it indicates that the locking and unlocking mechanism has achieved alignment with the locking mechanism.

[0028] If the angle of the locking and unlocking mechanism changes during rotation in the first direction, it indicates that there is still a gap between the locking and unlocking mechanism and the battery locking mechanism, indicating that they are not aligned yet, so further rotation can be performed. If the angle of the locking and unlocking mechanism does not change, it indicates that the locking and unlocking mechanism and the battery locking mechanism are completely aligned and do not need to be rotated further to align, and the unlocking operation can be directly reversed. This alignment operation improves the success rate of the unlocking operation, avoids repeated unlocking operations, and further improves the efficiency of battery replacement.

[0029] In some embodiments, the battery swap method also includes controlling the battery swap equipment to descend to the initial height and drive out from under the battery swap vehicle after the battery swap equipment removes the depleted battery; and after loading the fully charged battery, driving under the battery swap vehicle again and installing the fully charged battery.

[0030] After removing the depleted battery, the battery swapping device of this embodiment first drives out of the battery swapping vehicle carrying the depleted battery, then unloads the depleted battery, and then reloads the fully charged battery and moves it back to the battery installation position of the battery swapping vehicle for installation. When installing the fully charged battery, the fully charged battery can be installed according to the battery installation position obtained when removing the depleted battery, so there is no need for secondary positioning, which improves work efficiency.

[0031] In some embodiments, the battery swapping device has multiple battery loading positions, at least one of the multiple battery loading positions carries a fully charged battery. The battery swapping method also includes adjusting the operating position of the battery swapping device according to the posture of the deficient battery on the battery swapping vehicle after removing the deficient battery and installing the fully charged battery carried by the battery loading position onto the battery swapping vehicle.

[0032] The battery exchange device of this embodiment has multiple battery carrying positions, some of which are used to place depleted batteries after disassembly, and some of which are used to place fully charged batteries. In this way, after the battery exchange device disassembles the depleted batteries, the battery exchange device can directly install the fully charged batteries without moving out, thereby improving efficiency.

[0033] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the drawings without creative work.

[0035] FIG1 is a schematic diagram of the steps of a battery replacement method for a commercial vehicle according to some embodiments of the present application.

[0036] Figure 2 is a structural schematic diagram of the battery exchange equipment in some embodiments of the present application.

[0037] In the drawings, the drawings are not drawn to scale.

[0038] Description of symbols: Battery swap device 2; Lifting mechanism 21; Locking and unlocking mechanism 22; Battery carrying platform 24; Battery swap body 25; DETAILED DESCRIPTION

[0039] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned figure descriptions are intended to cover non-exclusive inclusions.

[0040] In the description of the embodiments of this application, the technical terms "first" and "second" are used only to distinguish different objects and should not be understood to indicate or imply relative importance or implicitly specify the quantity, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, the meaning of "plurality" is more than two, unless otherwise clearly and specifically defined.

[0041] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0042] In the description of the embodiments of this application, the term "and / or" is simply a description of the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent the following three situations: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0043] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0044] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0045] In the description of the embodiments of the present application, unless otherwise expressly specified or limited, technical terms such as "installed," "connected," "connected," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; internal connections between two components or interactions between two components. Those skilled in the art can understand the specific meanings of the above terms in the embodiments of the present application based on specific circumstances.

[0046] Batteries are widely used in electric vehicles such as vehicles. Due to the limited capacity of batteries, the power supply time is limited. Therefore, batteries need to be replaced during long-distance operation, so the efficiency of battery replacement is crucial.

[0047] In conventional battery swap stations, specialized platforms are used to park and lift the battery swapping vehicles, and the vehicle's posture must be adjusted via the platform to facilitate battery removal and installation. This results in low battery swap efficiency. Furthermore, due to the heavy weight of commercial vehicles, there is no dedicated platform for these operations.

[0048] In addition, a vehicle-carrying platform is used to adjust the vehicle's posture to match the vehicle's battery installation position with the battery swapping equipment. Since the posture of the entire vehicle needs to be adjusted, multiple adjustments are required to accurately match it with the battery swapping equipment. Therefore, the adjustment accuracy is low and the operating efficiency is also low.

[0049] In response to the above technical problems, the present application proposes a battery replacement method for a commercial vehicle. Referring to FIG1 , the battery replacement method for a commercial vehicle provided in an embodiment of the present application includes the following steps:

[0050] S510, controlling the battery swapping device to move under the battery swapping vehicle according to the position of the low-power battery on the battery swapping vehicle;

[0051] S520, obtaining the posture of the low-power battery on the battery-swapping vehicle and adjusting the operating position of the battery-swapping device according to the posture of the low-power battery; and

[0052] S530: Control the battery swapping equipment to remove the depleted battery and install a fully charged battery.

[0053] The battery-swapping method for commercial vehicles provided in the embodiment of the present application controls the battery-swapping device to move under the battery-swapping vehicle, obtains the posture of the low-battery on the battery-swapping vehicle, and adjusts the operating position of the battery-swapping device according to the posture of the low-battery. In other words, the battery-swapping method for commercial vehicles provided in the embodiment of the present application does not require lifting the battery-swapping vehicle, but directly controls the battery-swapping device to move under the battery-swapping vehicle by itself, and directly adjusts the operating position of the battery-swapping device according to the posture of the low-battery to achieve position matching between the battery-swapping device and the low-battery. The adjustment accuracy is high, and the battery-swapping efficiency is also high. Therefore, the battery-swapping method for commercial vehicles using the embodiment of the present application can improve the battery-swapping efficiency. Moreover, by using the battery-swapping method in the embodiment of the present application, there is no need to dig trenches or lay tracks on the ground, and the range of motion of the battery-swapping device is not restricted.

[0054] It should be noted here that in step S510, the movement of the battery swap device is controlled according to the position of the deficient battery on the battery swap vehicle. The position of the deficient battery here refers to the position (coordinates) of the deficient battery on the battery swap vehicle, which is the target position for the movement of the battery swap device. Acquiring the posture of the deficient battery on the battery swap vehicle in step S520 refers to further acquiring the posture of the deficient battery itself after the battery swap device moves to the bottom of the battery swap vehicle. The posture of the deficient battery is to be used as a reference for disassembling the battery of the battery swap device, so it is a further refinement of the position and posture.

[0055] In some embodiments, controlling the battery swapping equipment to move under the battery swapping vehicle based on the position of the depleted battery on the battery swapping vehicle includes: obtaining status information of the battery swapping vehicle, the status information including the battery installation position; and controlling the battery swapping equipment to move to the battery installation position.

[0056] By obtaining the position of the deficient battery and using the position of the deficient battery as the target position for the battery swapping device, the battery swapping device can accurately move to the target position corresponding to the position of the deficient battery. Specifically, the status information of the battery swapping vehicle is obtained, and the status information includes the battery installation position. For example, the battery installation position is different for different models of battery swapping vehicles. The battery swapping device can obtain the position of the deficient battery according to the model of the battery swapping vehicle. Or for another example, the battery swapping vehicle includes a sensor arranged at the battery installation position, and the battery swapping device includes a battery positioning mechanism. The battery positioning mechanism determines the battery installation position by detecting the sensor, and then moves to the bottom of the battery swapping vehicle according to the battery installation position. The battery installation position can be the coordinates of the deficient battery. For example, with the center of the battery swapping vehicle as the coordinate origin, a coordinate system is established to calibrate and locate the coordinates of the battery to accurately obtain the battery installation position. Controlling the movement of the battery swapping device according to the battery installation position enables the battery swapping device to accurately move to the bottom of the battery installation position of the battery swapping vehicle, thereby avoiding repeated movement for alignment and improving the battery swapping efficiency.

[0057] In some embodiments, obtaining the posture of a dead battery on a battery swapping vehicle includes obtaining coordinate information of the dead battery using a visual camera and / or a laser. The visual camera obtains a bottom image of the battery swapping vehicle and obtains the coordinate information of the dead battery based on the bottom image. Obtaining the coordinate information of the dead battery using a laser includes obtaining the coordinate information of the dead battery using a laser rangefinder.

[0058] 2 , the battery swap device 2 of some embodiments of the present application includes a battery swap body 25, a battery carrying platform 24, a lifting mechanism 21, and a locking and unlocking mechanism 22. The bottom end of the lifting mechanism 21 is connected to the battery swap body 25, and the top end of the lifting mechanism 22 is connected to the battery carrying platform 24. The top and bottom ends of the lifting mechanism 21 are telescopically arranged to lift the battery carrying platform 24.

[0059] In some embodiments, adjusting the operating position of the battery swap device according to the posture of the deficient battery includes: adjusting the operating height and operating angle of the battery swap device according to the coordinate information of the deficient battery. That is to say, when adjusting the operating position of the battery swap device, not only the operating height of the battery swap device should be adapted to the height of the deficient battery, but also the operating angle of the battery swap device should be adapted to the inclination angle of the deficient battery. Specifically, as shown in Figure 2, the operating height of the battery swap device refers to the height of the battery carrying platform 24, and the operating angle of the battery swap device refers to the inclination angle of the battery carrying platform 24, that is, the inclination angle of the battery carrying platform 24 relative to the horizontal plane. By adjusting both the operating height and the operating angle of the battery swap device, the battery swap device is accurately adapted to the posture of the deficient battery, thereby improving the accuracy of the adaptation.

[0060] Referring to Figure 2, in some embodiments, the battery exchange device 2 includes a battery carrying platform 24 and at least two lifting mechanisms 21 for supporting the battery carrying platform 24. Adjusting the operating height and operating angle of the battery exchange device 2 according to the coordinate information of the deficient battery includes: independently controlling the initial stroke of at least two lifting mechanisms 21 so that the inclination angle of the battery carrying platform 24 is the same as the inclination angle of the deficient battery, and then controlling at least two lifting mechanisms 21 to lift synchronously.

[0061] As shown in Figure 2, the battery carrying platform 24 is jointly lifted by at least two lifting mechanisms 21. Moreover, at least two lifting mechanisms 21 are arranged at different positions of the battery carrying platform 24. In this way, by adjusting at least two lifting mechanisms 21 to different lifting heights, the battery carrying platform 24 can be placed at different tilt angles. When adjusting the operating height and operating angle of the battery swapping device 2, the battery swapping method of the embodiment of the present application first independently controls the initial stroke of at least two lifting mechanisms 21 so that the tilt angle of the battery carrying platform 24 is the same as the tilt angle of the low-power battery. That is to say, the battery carrying platform 24 is first made parallel to the low-power battery, and then the at least two lifting mechanisms 21 are controlled to lift the same stroke synchronously, so that the battery carrying platform 24 is lifted upward at the same tilt angle. The battery swapping method of the embodiment of the present application first adjusts the tilt angle of the battery carrying platform 24 and then makes it reach the operating height. In this way, when controlling the tilt of the battery carrying platform 24, the battery carrying platform 24 is still at a position farther away from the battery swapping vehicle. Therefore, the movable range of the battery carrying platform 24 is larger, and it is not easy to interfere with the battery swapping vehicle, thereby achieving higher adjustment accuracy.

[0062] It should also be noted that independently controlling the initial strokes of the at least two lifting mechanisms 21 first refers to controlling the at least two lifting mechanisms 21 to lift upward to an initial stroke, where each lifting mechanism has a different initial stroke so that the tilt angle of the battery support platform 24 is the same as the tilt angle of the depleted battery. The at least two lifting mechanisms 21 are then controlled to synchronously lift to the same stroke so that the battery support platform 24 maintains the same tilt angle as the depleted battery during the lifting process.

[0063] In some embodiments, as shown in FIG2 , each battery carrying platform 24 is lifted by four lifting mechanisms 21. The four lifting mechanisms 21 are located at the four corners of the battery carrying platform 24. By independently adjusting the lifting heights of the four lifting mechanisms 21, the battery carrying platform 24 can be tilted at different angles.

[0064] In some embodiments, during the process of controlling the synchronous lifting of at least two lifting mechanisms 21, if the battery supporting platform 24 is detected to be in contact with a low-charge battery, the at least two lifting mechanisms 21 are controlled to continue to be raised to a set height to carry the low-charge battery. In other words, after detecting contact with the low-charge battery, the lifting mechanisms 21 are controlled to continue to be raised to a set height, so that the low-charge battery's own weight is transferred from the supporting point of the battery mounting bracket to the battery supporting platform 24 of the battery swapping device, thereby enabling the battery supporting platform 24 to carry the low-charge battery.

[0065] In some embodiments, adjusting the operating position of the battery swap device based on the posture of the depleted battery includes floatingly adjusting the operating height of the battery support platform. Specifically, a chain is provided between the lifting mechanism 21 and the battery support platform 24, which can automatically achieve floating adjustment of the battery support platform 24, thereby adapting to the battery posture and improving adaptability.

[0066] In some embodiments, the battery swap method further includes: after adjusting the operating position of the battery swap device according to the posture of the depleted battery, controlling the locking and unlocking mechanism to unlock the battery locking mechanism. The battery locking mechanism is used to lock the depleted battery and mount it on the battery mounting bracket. The locking and unlocking mechanism is used to unlock the battery locking mechanism, thereby releasing the lock on the depleted battery, allowing the depleted battery to be disengaged, and then the battery swap device 2 carries the depleted battery away from the battery swap vehicle, thereby achieving the removal of the depleted battery.

[0067] The locking and unlocking mechanism is set on the battery replacement body 25 and is used to disassemble and install the battery. Its specific structure is not limited in this application.

[0068] In some embodiments, controlling the locking and unlocking mechanism to unlock the battery locking mechanism includes controlling the locking and unlocking mechanism to rotate by a set angle in a first direction to achieve a locking action for alignment, and then, after alignment, rotating the locking and unlocking mechanism in a second direction opposite the first direction to achieve an unlocking operation. Specifically, a small torque is first applied to the locking action to achieve alignment between the locking and unlocking mechanism and the battery locking mechanism, and after alignment, the locking and unlocking mechanism and the battery locking mechanism are then rotated in the opposite direction to perform the unlocking operation. This initial alignment helps ensure the effectiveness of the unlocking operation.

[0069] In some embodiments, controlling the locking mechanism to enclose the battery locking mechanism and rotate it in a first direction by a set angle to achieve the locking action includes: detecting the angle change of the locking mechanism at set time intervals during the process of rotating the locking mechanism in the first direction by the set angle. When the angle of the unlocking mechanism remains unchanged, it indicates that the locking mechanism has achieved alignment with the locking mechanism. If the angle of the locking mechanism changes during the process of rotating the locking mechanism in the first direction by the set angle, it indicates that there is still a gap between the locking mechanism and the battery locking mechanism, and they are not yet aligned, so further rotation can be performed. If the angle of the locking mechanism does not change, it indicates that the locking mechanism and the battery locking mechanism are completely matched in shape and aligned, and there is no need to continue rotating to align them, and a reverse unlocking operation can be performed directly. For example, the battery locking mechanism is a hexagonal bolt structure. When the locking mechanism is enclosed by the battery locking mechanism, if the locking mechanism and the battery locking mechanism are not completely aligned, there is still room for movement between the locking mechanism and the battery locking mechanism, and they are not yet fully aligned. This alignment operation improves the success rate of the unlocking operation, avoids repeated unlocking operations, and further improves the efficiency of battery replacement.

[0070] In some embodiments, the battery swap method also includes controlling the battery swap equipment to descend to the initial height and drive out from under the battery swap vehicle after the battery swap equipment removes the depleted battery; and after loading the fully charged battery, driving under the battery swap vehicle again and installing the fully charged battery.

[0071] After removing the depleted battery, the battery swapping device of this embodiment first drives out of the battery swapping vehicle carrying the depleted battery, then unloads the depleted battery, and then reloads the fully charged battery and moves it back to the battery installation position of the battery swapping vehicle for installation. When installing the fully charged battery, the fully charged battery can be installed according to the battery installation position obtained when removing the depleted battery, so there is no need for secondary positioning, which improves work efficiency.

[0072] In some embodiments, the battery swapping device has multiple battery loading positions, at least one of the multiple battery loading positions carries a fully charged battery. The battery swapping method also includes adjusting the operating position of the battery swapping device according to the posture of the deficient battery on the battery swapping vehicle after removing the deficient battery and installing the fully charged battery carried by the battery loading position onto the battery swapping vehicle.

[0073] The battery exchange device of this embodiment has multiple battery carrying positions, some of which are used to place depleted batteries after disassembly, and some of which are used to place fully charged batteries. In this way, after the battery exchange device disassembles the depleted batteries, the battery exchange device can directly install the fully charged batteries without moving out, thereby improving efficiency.

[0074] In some embodiments, the battery swapping device has multiple battery loading positions. The battery swapping device can simultaneously remove and replace one, two, three, or more batteries, and is compatible with different vehicle usage requirements and battery swapping vehicles with different wheelbases.

[0075] The following is a detailed description of the battery replacement method for commercial vehicles in a specific embodiment of the present application.

[0076] As shown in Figure 2, the battery swapping device of this embodiment includes a battery swapping body 25, a battery carrying platform 24, a lifting mechanism 21, and a locking and unlocking mechanism 22. The battery swapping body 25 is driven by a travel drive system to move independently. The battery swapping body 25 can move under the battery swapping vehicle and can also be driven out from under the battery swapping vehicle. The battery swapping device includes a battery positioning mechanism.

[0077] In some embodiments, the battery swapping device is a battery swapping robot.

[0078] The battery replacement method for a commercial vehicle in an embodiment of the present application includes a battery removal method and a battery installation method.

[0079] The battery disassembly method includes the following steps:

[0080] Control the battery swap device to move to the bottom of the battery swap vehicle's depleted battery. In step S610, the battery swap device obtains the status information of the battery swap vehicle, specifically the battery installation position, and locates it through visual and / or laser devices, and moves to the bottom of the battery swap vehicle's depleted battery.

[0081] Obtain the coordinate information of the defunct battery and adjust the operating position of the battery swap device based on the coordinate information of the defunct battery. Obtaining the coordinate information of the defunct battery includes obtaining the coordinate information of the height, tilt angle, etc. of the defunct battery through visual and / or laser means and saving the coordinate information. Then, adjust the operating position of the battery swap device based on the coordinate information. Specifically, adjust the lifting height of each lifting mechanism of the battery swap device so that the battery swap device is aligned with the battery, and the locking and unlocking mechanism is aligned with the lock hole of the battery locking mechanism.

[0082] The battery lock mechanism is unlocked by operating the unlocking mechanism to remove the depleted battery. When removing a depleted battery, the guide mechanism provided on the battery swapping device is pre-installed into the battery guide hole, and the multiple unlocking mechanisms are rotated to unlock the battery and then remove the battery.

[0083] Control the battery carrying platform to descend to the initial height and drive out from under the battery swap vehicle.

[0084] The battery installation method includes the following steps:

[0085] The battery swap device is controlled to move to the bottom of the battery installation position of the battery swap vehicle. Specifically, the battery swap device drives under the battery installation position of the battery swap vehicle with a fully charged battery.

[0086] The battery swapping equipment lifts the fully charged battery and adjusts its posture according to the battery coordinate information stored when the battery is removed, and the guide mechanism cooperates to place the battery into the battery installation position.

[0087] After the battery swap device places the fully charged battery in the battery installation position, the unlocking mechanism locks the battery through rotation and / or torque detection. In this step, the battery lock status needs to be detected and a feedback signal is fed back. If the feedback signal is abnormal, the action is suspended and an alarm signal is fed back.

[0088] After the battery is successfully locked, the battery swap equipment drives out of the battery swap area of ​​the battery swap vehicle.

[0089] The battery swapping method for commercial vehicles provided in the embodiment of the present application is that after the battery swapping vehicle enters the battery swapping area within the station, the battery swapping equipment moves to the bottom of the low-charged battery of the battery swapping vehicle, adaptively adjusts its posture and angle, and then lifts it to remove the low-charged battery on the vehicle side and install the fully charged battery. The battery swapping method of the embodiment of the present application does not require posture adjustment of the battery swapping vehicle, requires less equipment, and has a simple structure.

[0090] Although the present application has been described with reference to preferred embodiments, various modifications may be made thereto and components may be substituted with equivalents without departing from the scope of the present application. In particular, the various technical features described in the various embodiments may be combined in any manner as long as there are no structural conflicts. The present application is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions within the scope of the claims.

Claims

1. A method for replacing a battery of a commercial vehicle, comprising the following steps: According to the position of the low-power battery on the battery swap vehicle, the battery swap equipment is controlled to move under the battery swap vehicle; Acquiring the posture of a low-power battery on a battery-swapping vehicle and adjusting the operating position of the battery-swapping device according to the posture of the low-power battery; and Control the battery replacement equipment to remove the depleted battery and install a fully charged battery.

2. The battery replacement method for a commercial vehicle according to claim 1, wherein: Controlling the battery swapping equipment to move under the battery swapping vehicle according to the position of the deflated battery on the battery swapping vehicle includes: obtaining status information of the battery swapping vehicle, the status information including the battery installation position; and controlling the battery swapping equipment to move to the battery installation position.

3. The battery replacement method for a commercial vehicle according to claim 1 or 2, wherein: Obtaining the posture of a deflated battery on a battery-swapping vehicle includes obtaining coordinate information of the deflated battery through a visual camera and / or a laser.

4. The method for replacing a battery of a commercial vehicle according to claim 2, wherein: Adjusting the operating position of the battery exchange device according to the posture of the deficient battery includes: adjusting the operating height and operating angle of the battery exchange device according to the coordinate information of the deficient battery.

5. The battery replacement method for a commercial vehicle according to claim 4, wherein: The battery exchange device includes a battery carrying platform and at least two lifting mechanisms for supporting the battery carrying platform. Adjusting the operating height and operating angle of the battery exchange device according to the coordinate information of the deficient battery includes: independently controlling the initial stroke of the at least two lifting mechanisms so that the inclination angle of the battery carrying platform is parallel to the inclination angle of the deficient battery, and then controlling the at least two lifting mechanisms to lift synchronously.

6. The battery replacement method for a commercial vehicle according to claim 5, wherein: During the process of controlling the at least two lifting mechanisms to lift synchronously, if it is detected that the battery carrying platform is in contact with the low-power battery, the at least two lifting mechanisms are continuously controlled to lift to a set height to carry the low-power battery.

7. The battery replacement method for a commercial vehicle according to any one of claims 1 to 6, wherein the battery replacement equipment comprises a battery carrying platform, wherein: Adjusting the operating position of the battery exchange equipment according to the posture of the depleted battery includes: floatingly adjusting the operating height of the battery supporting platform.

8. The battery replacement method for a commercial vehicle according to any one of claims 1 to 7, wherein the battery replacement device comprises a battery carrying platform, and the battery replacement method further comprises: After adjusting the operating position of the battery exchange device according to the posture of the depleted battery, the locking and unlocking mechanism on the battery supporting platform is controlled to unlock the battery locking mechanism.

9. The battery replacement method for a commercial vehicle according to claim 8, wherein: Controlling the locking and unlocking mechanism on the battery carrying platform to unlock the battery locking mechanism includes: controlling the locking and unlocking mechanism to rotate a set angle in a first direction to achieve a locking action to align with the battery locking mechanism, and then rotating in a second direction opposite to the first direction after alignment to achieve an unlocking operation.

10. The battery replacement method for a commercial vehicle according to claim 9, wherein: Controlling the locking and unlocking mechanism to rotate a set angle along a first direction to achieve a locking action includes: detecting the angle change of the locking and unlocking mechanism at set time intervals during the process of rotating the set angle along the first direction, and when the angle of the locking and unlocking mechanism remains unchanged, it indicates that the locking and unlocking mechanism has achieved alignment with the locking mechanism.

11. A battery replacement method for a commercial vehicle according to any one of claims 1 to 10, the battery replacement method further comprising, after the battery replacement equipment removes the depleted battery, controlling the battery replacement equipment to descend to an initial height and drive out from under the battery replacement vehicle; and after loading a fully charged battery, driving under the battery replacement vehicle again and installing the fully charged battery.

12. A battery replacement method for a commercial vehicle according to any one of claims 1 to 11, wherein the battery replacement equipment has multiple battery loading positions, at least one of the multiple battery loading positions carries a fully charged battery, and the battery replacement method further includes, after removing the deflated battery, adjusting the operating position of the battery replacement equipment according to the posture of the deflated battery on the battery replacement vehicle and installing the fully charged battery carried by the battery loading position onto the battery replacement vehicle.

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