CN115972972A

CN115972972A - Battery replacement control method and system, electronic equipment and storage medium

Info

Publication number: CN115972972A
Application number: CN202310096463.1A
Authority: CN
Inventors: ***; 黄春华
Original assignee: Aulton New Energy Automotive Technology Co Ltd
Current assignee: Aulton New Energy Automotive Technology Co Ltd
Priority date: 2020-01-23
Filing date: 2020-01-23
Publication date: 2023-04-18
Also published as: WO2021148030A1; CN111301215A

Abstract

The invention discloses a battery swapping control method and system, electronic equipment and a storage medium. The battery replacement control method is realized by matching a clamping lane and a battery replacement device, the clamping lane is provided with a liftable vehicle carrying plane, a battery replacement device walking plane for the battery replacement device to walk is arranged on the clamping lane, and a battery replacement position is arranged in the battery replacement device walking plane; the method comprises the following steps: controlling the height of the vehicle carrying plane and the position of the battery replacing equipment to disassemble or assemble a battery pack; the control trade the position of electric equipment with carry the height on the car plane, in order to dismantle the battery package includes: controlling the battery replacing equipment to reach the battery replacing position, and controlling the vehicle carrying plane to reach a fourth height so as to disassemble the battery pack; the fourth height is lower than the initial height of the vehicle carrying plane before lifting. According to the invention, through controlling the clamping lane and the battery replacing equipment, the whole process of battery dismounting and battery mounting is realized, the battery replacing time of the vehicle is saved, and the battery replacing efficiency is improved.

Description

Battery replacement control method and system, electronic equipment and storage medium

The application is a divisional application of invention patents with the application date of 2020, 1 month and 23 days, the application number of 2020100769175, and the name of 'battery swapping control method and system, electronic device, and storage medium'.

Technical Field

The present invention relates to the field of battery swapping control, and in particular, to a battery swapping control method and system, an electronic device, and a storage medium.

Background

The existing electric automobile mainly has two charging modes, one is a direct charging mode, and the other is a quick-change mode. Wherein, direct-charging formula need set up and fill electric pile and come to charge electric automobile, but the charge time is longer, and efficiency is lower. Trade the electric formula and need set up and trade the power station, realize trading the electricity fast through changing the battery package to electric automobile, it has shortened for a long time to directly fill the formula relatively, nevertheless trades the electric process and includes dismantlement battery package and installation battery package, still has the battery package change time longer, trades the lower problem of electric efficiency.

The existing battery replacement mode is bottom battery replacement, that is, battery replacement equipment for disassembling a battery pack is used for disassembling and assembling the battery pack from the bottom of a vehicle. In the process of replacing the battery at the bottom, the vehicle needs to drive a vehicle-carrying platform with a fixed height, so that a vehicle bottom space enough for replacing the battery pack of the battery equipment is provided. However, since the height of the vehicle carrying platform is fixed, only the battery replacing equipment can be lifted in the height direction, the whole battery replacing process has a large burden and high requirement on the battery replacing equipment, and a space for further optimizing and improving the battery replacing efficiency exists.

Disclosure of Invention

The invention aims to overcome the defects that the load of the whole battery replacement process on the battery replacement equipment is large and the requirement is high due to the fact that the height of a vehicle carrying platform is fixed and only the battery replacement equipment can lift in the height direction in the prior art, and provides a battery replacement control method and system, electronic equipment and a storage medium, wherein the battery replacement control method and system can further optimize the battery replacement process and improve the battery replacement efficiency.

The invention solves the technical problems through the following technical scheme:

the invention provides a battery replacement control method which is realized by matching a vehicle clamping lane and a battery replacement device, wherein the vehicle clamping lane is provided with a liftable vehicle carrying plane, the vehicle clamping lane is provided with a battery replacement device walking plane for the battery replacement device to walk, and a battery replacement position is arranged in the battery replacement device walking plane;

the battery replacement control method comprises the following steps:

controlling the height of the vehicle carrying plane and the position of the battery replacing equipment to disassemble or assemble a battery pack;

the control carry the height on car plane with trade the position of electric equipment, in order to dismantle the battery package includes:

controlling the battery replacing equipment to reach the battery replacing position, and controlling the vehicle carrying plane to reach a fourth height so as to disassemble the battery pack;

the fourth height is lower than the initial height of the vehicle carrying plane before lifting.

Preferably, the controlling the battery replacing device to reach the battery replacing position and the vehicle carrying plane to reach a fourth height to disassemble the battery pack includes:

controlling the battery replacement equipment to reach the battery replacement position in a state of not loading a battery pack;

and adjusting the posture of the battery replacement equipment so as to take down the battery pack from the electric automobile.

Preferably, adjusting the posture of the battery replacement device to remove the battery pack from the electric vehicle includes:

adjusting the relative position relation of a battery replacing platform of the battery replacing equipment and the vehicle carrying plane in the horizontal and/or vertical direction so as to meet the battery disassembling condition;

and controlling the battery replacing equipment to execute a battery disassembling action, wherein the battery disassembling action is used for taking down a battery pack from the electric automobile.

Preferably, a battery replacing station is arranged in the vehicle carrying plane and used for replacing a battery pack of the electric vehicle, and the battery replacing station corresponds to the battery replacing position up and down;

adjusting the relative position relationship of the battery replacing platform of the battery replacing device and the vehicle carrying plane in the vertical direction so as to meet the battery disassembling condition, and the method comprises the following steps:

controlling the battery replacement platform to reach a third height;

controlling the vehicle carrying plane to reach a fourth height, so that the battery replacing platform penetrates through the battery replacing station and the distance between the battery replacing platform and the bottom of the electric vehicle is a negative distance, and the battery disassembling height condition is met;

and/or, adjusting the relative position relation of the battery replacing platform of the battery replacing device and the vehicle carrying plane in the horizontal direction so as to meet the battery disassembling condition, and the method comprises the following steps:

and controlling the battery replacing platform to move horizontally so that the battery replacing platform is aligned with a battery pack on the electric automobile, and the battery disassembling alignment condition is met.

the control carry the planar height of car, still include:

controlling the vehicle carrying plane to reach a first height, wherein the first height is higher than the initial height;

the control carry the car plane and reach first height, include:

after the electric automobile is parked on the automobile carrying plane and a battery pack at the bottom of the electric automobile is aligned with the battery replacing station, the automobile carrying plane is lifted to the first height, so that the height difference between the automobile carrying plane and the battery replacing device walking plane exceeds the height of the battery replacing device.

Preferably, after the battery replacement device is controlled to reach the battery replacement position to mount the battery pack, and before the battery replacement device is controlled to drive away from the battery replacement position, the method further includes:

and controlling the vehicle carrying plane to reach the first height.

Preferably, after the battery pack is disassembled, the battery replacing device is controlled to drive away from the battery replacing position;

before controlling the battery swapping device to drive away from the battery swapping position, the method further comprises:

after the battery pack is taken down from the electric automobile by the battery replacing device, the vehicle carrying plane is controlled to reach a second height, so that the height difference between the vehicle carrying plane and the battery replacing device walking plane exceeds the height of the battery pack loaded on the battery replacing device, and the second height is higher than the initial height.

Preferably, the first height is less than or equal to the second height.

Preferably, the controlling the height of the vehicle carrying plane and the position of the battery replacing device to install the battery pack includes:

controlling the battery replacement equipment to reach the battery replacement position;

and adjusting the posture of the battery replacing equipment so as to install the battery pack loaded by the battery replacing equipment on the electric automobile.

Preferably, the adjusting the posture of the battery replacement device to install the battery pack loaded on the battery replacement device in the electric vehicle includes:

adjusting the relative position relation of a battery replacing platform of the battery replacing equipment and the vehicle carrying plane in the horizontal and/or vertical direction so as to meet the battery loading condition;

and controlling the battery replacement equipment to execute a battery loading action, wherein the battery loading action is used for installing a loaded battery pack in the electric automobile.

Preferably, a battery replacement station is arranged in the vehicle carrying plane and used for replacing a battery pack of the electric vehicle, and the battery replacement station corresponds to the battery replacement position up and down;

adjusting the relative position relation of the battery replacing platform of the battery replacing equipment and the vehicle carrying plane in the vertical direction to meet the battery loading condition, and the method comprises the following steps:

controlling the battery replacement platform to reach a fifth height;

controlling the vehicle carrying plane to reach a sixth height so that the battery replacing platform penetrates through the battery replacing station and the distance between the battery replacing platform and the bottom of the electric vehicle is a negative distance, and the battery loading height condition is met;

and/or adjusting the relative position relation of the battery replacing platform of the battery replacing equipment and the vehicle carrying plane in the horizontal direction to meet the battery loading condition, wherein the relative position relation comprises the following steps:

and controlling the battery replacing platform to move horizontally so that the battery replacing platform is aligned with the battery pack outer box on the electric automobile, and meeting the battery mounting alignment condition.

Preferably, the sixth height is lower than the initial height.

Preferably, the battery replacement control method further includes:

after the battery replacing device finishes disassembling the battery pack and before the battery replacing device drives away from the battery replacing position, restoring a battery replacing platform of the battery replacing device to an initial position where the battery pack is not loaded;

and/or restoring the battery replacing platform of the battery replacing equipment to the initial position without the battery pack after the battery replacing equipment is installed with the battery pack and before the battery replacing equipment is driven away from the battery replacing position.

Preferably, the controlling the battery replacement device to unload the battery pack detached from the electric vehicle specifically includes: and controlling the battery replacement equipment to drive to a battery rack and returning the battery pack taken down from the electric automobile to the battery rack.

Preferably, a first rail for the battery replacing equipment to travel is arranged in the battery replacing equipment traveling plane, and the first rail is connected with the battery rack and the battery replacing position;

the battery replacement control method further comprises the following steps:

and in the process that the battery replacement equipment drives to the battery replacement position through the first track, judging whether the battery replacement equipment reaches a preset first positioning point, wherein the first positioning point is positioned on a traveling path of the battery replacement equipment, and if so, controlling the battery replacement equipment to decelerate until the battery replacement equipment reaches the battery replacement position and then stopping.

Preferably, the battery replacement control method further includes:

prestoring the total distance of the first track and a first distance from the battery rack to the first positioning point;

the battery swapping device is controlled to travel the first distance at a first speed, the battery swapping device is controlled to travel a second distance at a second speed, whether the battery swapping device reaches the battery swapping position is judged, if yes, the battery swapping device is controlled to stop traveling, if not, the battery swapping device is controlled to travel the second distance at the second speed again and whether the battery swapping device reaches the battery swapping position is judged, the process is repeated until the battery swapping device reaches the battery swapping position, the first speed is higher than the second speed, and the second distance is smaller than the difference between the total distance of the first track and the first distance.

The invention also provides a battery replacement control system, which controls the battery clamping lane and the battery replacement equipment, wherein the battery clamping lane is provided with a liftable vehicle carrying plane, the battery replacement equipment walking plane for the battery replacement equipment to walk is arranged on the battery clamping lane, and a battery replacement position is arranged in the battery replacement equipment walking plane;

the battery replacement control system comprises:

the battery disassembly control module is used for controlling the height of the vehicle carrying plane and the position of the battery replacement equipment so as to disassemble the battery pack; control carry the planar height of car and trade the position of electrical equipment to dismantle the battery package, include: controlling the battery replacing equipment to reach the battery replacing position, and controlling the vehicle carrying plane to reach a fourth height so as to disassemble the battery pack; the fourth height is lower than the initial height of the vehicle carrying plane before lifting.

Preferably, the battery replacement control system further includes:

and the battery loading control module is used for controlling the height of the vehicle loading plane and the position of the battery replacing equipment so as to install a battery pack.

Preferably, the battery removal control module is further configured to control the battery replacement device to move away from the battery replacement position, and control the battery replacement device to unload the battery pack taken down from the electric vehicle;

and/or the battery loading control module is further used for controlling the battery replacing equipment to load a battery pack matched with the electric automobile, controlling the battery replacing equipment to reach the battery replacing position to install the battery pack, controlling the battery replacing equipment to drive away from the battery replacing position, and controlling the vehicle carrying plane to recover to the initial height.

Preferably, the controlling the battery replacement device to reach the battery replacement position and the vehicle carrying plane to reach a fourth height to detach the battery pack includes:

and controlling the battery replacing equipment to execute a battery disassembling action, wherein the battery disassembling action is used for taking down the battery pack from the electric automobile.

controlling the battery replacement platform to reach a third height;

and/or adjusting the relative position relation of the battery replacing platform of the battery replacing device and the vehicle carrying plane in the horizontal direction to meet the battery disassembling condition, wherein the method comprises the following steps:

tear battery control module control open carry the planar height of car, still include:

controlling the vehicle carrying plane to reach a first height, wherein the first height is higher than the initial height; the control carry the car plane and reach first height, include:

Preferably, the battery loading control module is further configured to, after controlling the battery replacement device to reach the battery replacement position to install the battery pack, and before controlling the battery replacement device to move away from the battery replacement position,

and controlling the vehicle carrying plane to reach the first height.

Preferably, the battery removal control module is further configured to control the battery replacement device to move away from the battery replacement position after the battery pack is removed;

the battery disassembling control module is also used for controlling the battery replacing equipment to move away from the battery replacing position,

after the battery pack is taken down from the electric automobile by the battery replacing device, the vehicle carrying plane is controlled to reach a second height, so that the height difference between the vehicle carrying plane and the battery replacing device walking plane exceeds the height of the battery pack loaded by the battery replacing device, and the second height is higher than the initial height.

Preferably, the first height is less than or equal to the second height.

Preferably, the battery loading control module controls the height of the vehicle carrying plane and the position of the battery replacing device to install a battery pack, and includes:

Preferably, the adjusting the posture of the battery replacement device to install the battery pack loaded on the battery replacement device on the electric vehicle includes:

controlling the battery replacement platform to reach a fifth height;

Preferably, the sixth height is lower than the initial height.

Preferably, the battery replacement control module is further configured to restore the battery replacement platform of the battery replacement device to an initial position where the battery replacement package is not loaded after the battery replacement device completes the removal of the battery package and before the battery replacement device moves away from the battery replacement position;

and/or the battery loading control module is further configured to restore the battery replacement platform of the battery replacement device to an initial position where the battery replacement package is not loaded after the battery replacement device completes installation of the battery package and before the battery replacement device moves away from the battery replacement position.

Preferably, the battery removal control module is further configured to control the battery replacement device to unload a battery pack removed from the electric vehicle, and specifically includes: and controlling the battery replacement equipment to drive to a battery rack and returning the battery pack taken down from the electric automobile to the battery rack.

the battery disassembling control module and the battery assembling control module are also used for:

and in the process that the battery replacement equipment drives to the battery replacement position through the first track, judging whether the battery replacement equipment reaches a preset first positioning point, wherein the first positioning point is positioned on a traveling path of the battery replacement equipment, if so, controlling the battery replacement equipment to travel at a reduced speed until the battery replacement equipment reaches the battery replacement position, and then stopping.

Preferably, the battery removal control module and the battery installation control module are further configured to:

The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, which when executed by the processor implements the method as described above.

The invention also provides a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method as described above.

On the basis of the common knowledge in the field, the above preferred conditions can be combined randomly to obtain the preferred embodiments of the invention.

The positive progress effects of the invention are as follows: according to the invention, the height of the vehicle carrying plane is changed by controlling the lane clamping and the battery replacing equipment and matching with the battery replacing progress, so that the height of the bottom of the vehicle is changed, the whole process of battery pack disassembly and battery pack assembly is realized, the battery replacing time of the vehicle is saved, and the battery replacing efficiency is improved.

Drawings

Fig. 1 is a schematic top view of a layout of a lane clamping and battery replacing device.

Fig. 2 is a flowchart of a battery swapping control method according to embodiment 1 of the present invention.

Fig. 3 is a side view of the plane of the carriage reaching the initial height according to embodiment 1 of the present invention.

Fig. 4 is a side view of the plane of the carriage reaching the first height in embodiment 1 of the present invention.

Fig. 5 is a flowchart of step S2 in the battery swap control method according to embodiment 1 of the present invention.

Fig. 6 is a schematic diagram of a process of the power swapping device reaching a power swapping position in embodiment 1 of the present invention.

Fig. 7 is a side view of the power swapping device after reaching a swapping position in embodiment 1 of the present invention.

Fig. 8 is a side view of the power exchanging platform according to embodiment 1 of the present invention after reaching a third height.

Fig. 9 is a side view of the carriage plane after reaching a fourth height according to embodiment 1 of the present invention.

Fig. 10 is a side view of the vehicle loading plane lifted to the second height after the battery replacing platform bears the battery pack and returns to the initial position according to the embodiment 1 of the present invention.

Fig. 11 is a flowchart of step S6 in the battery swapping control method according to embodiment 1 of the present invention.

Fig. 12 is a side view of the battery replacement device in embodiment 1 after the battery replacement device reaches the replacement position after being loaded with the battery pack.

Fig. 13 is a side view of the power exchanging platform according to embodiment 1 of the present invention after reaching a fifth height.

Fig. 14 is a side view of the carriage plane after reaching a sixth height according to embodiment 1 of the present invention.

Fig. 15 is a side view of the vehicle carrying plane lifted to the first height after the battery pack is installed on the battery replacing platform and returned to the initial position according to the embodiment 1 of the invention.

Fig. 16 is a block diagram of a power swapping control system according to embodiment 2 of the present invention.

Fig. 17 is a schematic structural diagram of an electronic device in embodiment 3 of the present invention.

Detailed Description

The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.

Before specifically describing the embodiments of the present invention, a brief description is first made of the lane clamping and the battery swapping device. As shown in fig. 1, the driveway 1 is a device used in detaching and installing a battery pack, and is generally used in a power exchange station, and its main function is to adjust the height of a vehicle in a bottom power exchange manner, so as to provide sufficient vehicle bottom space for power exchange.

The tramway 1 has a vehicle carrying plane 11, the vehicle carrying plane 11 is used for carrying the electric vehicle 9 and can be lifted in the height direction, the lifting can be realized by a related lifting mechanism, and the mechanical structure of the lifting mechanism is not the key point of the invention, so the detailed description is not provided herein. In the figure, the vehicle carrying plane 11 is not a continuous complete plane, but is a sectional type, that is, two vehicle carrying planes 11 capable of carrying wheels 91 are arranged on two sides, and a hollow area in the middle of the two vehicle carrying planes 11 can be called as a battery replacement station for replacing a battery pack of the electric vehicle 9. When the vehicle is parked on the vehicle loading plane 11, the battery pack at the bottom of the vehicle (located in the outer box of the battery pack shown in the figure) is aligned with the battery replacing station. In the following embodiments, the two segments of the vehicle carrying planes 11 are synchronously controlled, i.e. rise or fall at the same time and have the same height all the time.

The battery replacing device 2 is a bottom battery replacing device, is used for disassembling a battery pack from the bottom of a vehicle and installing the battery pack, and comprises a liftable battery replacing platform, a lifting mechanism for controlling the battery replacing platform to lift and the like. The clamping lane 1 is provided with a power exchange equipment walking plane 12 for the power exchange equipment 2 to walk. The battery replacing device walking plane 12 is internally provided with a battery replacing position. The battery replacing position corresponds to the battery replacing station vertically, namely, when the battery replacing device 2 is located at the battery replacing position, the height of the battery replacing platform only needs to be adjusted vertically by the battery replacing device 2, and the battery replacing platform can penetrate through the battery replacing station to reach the bottom of the vehicle by matching with small-amplitude horizontal movement or without horizontal movement, so that the battery pack is detached or installed. A first track for the battery replacement equipment to travel can be further arranged in the battery replacement equipment traveling plane 12. One end of the first rail leads to the battery swapping position and the other end can lead to the battery rack or other positions near the battery rack.

The arrow in fig. 1 is a feasible walking route of the battery replacement device 2, that is, the battery replacement device enters the vehicle bottom from one end of the walking plane 12 of the battery replacement device and then exits the vehicle bottom from the other end, and of course, the battery replacement device 2 may also adopt other walking routes, that is, the battery replacement device enters the vehicle bottom from one end of the walking plane 12 of the battery replacement device and then exits the vehicle bottom from the same end.

It should be noted that the above description and the accompanying drawings only schematically show a lane clamping and power swapping device applicable to the following embodiments, but do not indicate that the following embodiments can only be used for the lane clamping and power swapping device of the above structure or style, and the lane clamping and power swapping device having the same or similar functions and power swapping principles is also applicable to the following embodiments.

Example 1

The embodiment provides a battery replacement control method which is realized by matching a lane and a battery replacement device. Fig. 2 shows a flowchart of the present embodiment, and referring to fig. 2, the battery swapping control method of the present embodiment includes:

s1: controlling the vehicle carrying plane to reach a first height;

s2: controlling the battery replacement equipment to reach a battery replacement position to disassemble the battery pack;

s3: controlling the battery replacement equipment to drive away from the battery replacement position;

s4: controlling the battery replacement equipment to unload the battery pack taken down from the electric automobile;

s5: controlling battery replacement equipment to load a battery pack matched with the electric automobile;

s6: controlling the battery replacement equipment to reach a battery replacement position to install a battery pack;

s7: controlling the battery replacement equipment to drive away from the battery replacement position;

s8: and controlling the plane of the vehicle to recover to the initial height.

As shown in fig. 3, the initial height h0 is a height at which the vehicle carrying plane 11 is not lifted, and the vehicle carrying plane 11 can be located on the same plane as the plane at which the battery replacing device walking plane 12 and the vehicle clamping lane are located when located at the initial height h0. Before the electric automobile drives into the clamping lane, the vehicle carrying plane is always at the initial height so as to facilitate the driving of the vehicle.

As shown in fig. 4, the first height h1 is higher than the initial height h0. The step S1 may specifically include, after the electric vehicle is parked on the vehicle carrying plane and the battery pack at the bottom of the electric vehicle is aligned with the battery replacing station, lifting the vehicle carrying plane to a first height h1 to make a height difference between the vehicle carrying plane and the battery replacing device walking plane exceed a height of the battery replacing device, so that the battery replacing device without the battery pack can smoothly reach a battery replacing position below the vehicle carrying plane, and performing an operation of detaching the battery pack on the electric vehicle.

Fig. 5 shows a flowchart of step S2, and referring to fig. 5, step S2 specifically includes:

s21, controlling the battery replacement equipment to reach a battery replacement position in a state of not loading a battery pack;

and S22, adjusting the posture of the battery replacing equipment so as to take down the battery pack from the electric automobile.

Specifically, in the process of controlling the battery swapping device to move to the battery swapping position in step S21, a step of determining whether the battery swapping device reaches a preset first positioning point may be specifically included, as shown in fig. 6 (an automobile is omitted in the figure), where the first positioning point P1 is located on a traveling path (i.e., a direction indicated by an arrow) of the battery swapping device 2, and if it is determined that the battery swapping device 2 reaches the preset first positioning point P1, a step of controlling the battery swapping device 2 to travel at a reduced speed until the battery swapping device reaches the battery swapping position is executed, and then a step of controlling the battery swapping device 2 to stop is executed.

In this embodiment, a total distance L0 of the track (if the first track uses the battery rack as a starting point, the total distance of the first track is a total distance from the battery rack to the battery swapping position) and a first distance L1 from the battery rack to the first positioning point P1 may be prestored, and the steps may specifically include:

the battery swapping device 2 is controlled to travel a first distance L1 (to P1 in fig. 6) at a first speed v1, the battery swapping device 2 is controlled to travel a second distance L2 (to P1 'in fig. 6) at a second speed v2, whether the battery swapping device 2 reaches the battery swapping position is judged, if yes, the battery swapping device 2 is controlled to stop traveling, otherwise, the battery swapping device 2 is controlled to travel a second distance L2 (to P1' in fig. 6) again at the second speed v2, whether the battery swapping device 2 reaches the battery swapping position is judged, and the process is repeated until the battery swapping device 2 reaches the battery swapping position.

In this embodiment, the battery swapping device firstly drives to the first fixed location at a high speed and then drives to the battery swapping position at a low speed, that is, the battery swapping device firstly drives to the first fixed location adjacent to the battery swapping position and then continuously adjusts and determines the position of the battery swapping device at a second distance that is slightly smaller, so that the battery swapping device can be accurately positioned at the battery swapping position.

In addition, in consideration of high-speed driving of the battery swapping device, when it is determined that the battery swapping device reaches the first fixed point, the actual traveling distance of the battery swapping device may be greater than the first distance, and thus, the second distance traveled by the battery swapping device at the second speed may be smaller than the difference between the total distance of the first track and the first distance. Even if an error is generated in the process of walking the first distance, the error generated before can be made up by walking the second distance for a plurality of times, and the battery replacement equipment can be ensured to accurately reach the battery replacement position.

Also, in this embodiment, whether the battery swapping device is accurately positioned at the battery swapping position may be determined in a visual manner, for example, a visual camera may be carried on the battery swapping device to capture a first actual image of the electric vehicle located on the battery swapping station during a walking process of the battery swapping device, and based on a comparison result between the first actual image and a first standard image corresponding to the battery swapping device at the battery swapping position, whether the battery swapping device is accurately positioned at the battery swapping position may be determined.

Fig. 7 shows a schematic diagram of the power switching device 2 after reaching the switching potential.

Specifically, the step S22 may specifically include a step of adjusting a relative position relationship between the battery replacing platform of the battery replacing apparatus and the vehicle carrying plane in the vertical direction to satisfy the battery removing condition, and specifically, may include a step of controlling the battery replacing platform to reach a third height (fig. 8 shows a schematic diagram after the battery replacing platform 221 reaches the third height), and a step of controlling the vehicle carrying plane to reach a fourth height (fig. 9 shows a schematic diagram after the vehicle carrying plane 11 reaches a fourth height h 4), so that a distance between the battery replacing platform and the vehicle bottom of the electric vehicle is a negative distance, and the battery removing condition is satisfied. The battery disassembling height condition is determined according to the operation process of the battery replacing device during battery disassembling, and generally needs to meet the requirements that a battery disassembling structure on the battery replacing platform (such as a battery unlocking mechanism for unlocking a battery pack from a battery pack outer box) is enough to contact with a battery pack outer box at the bottom of a vehicle in the height direction. And the battery replacement platform reaches the initial position of which the third height exceeds the battery replacement platform, namely, the battery replacement platform is lifted upwards relative to the initial position. To cooperate with the third height, the fourth height may be lower than the first height, or even lower than the initial height.

The step S22 may further include a step of adjusting a relative position relationship between the battery replacing platform of the battery replacing device and the vehicle carrying plane in the horizontal direction to meet a battery removing condition, and specifically may include a step of controlling the battery replacing platform to move horizontally, so that the battery replacing platform is aligned with a battery pack on the electric vehicle, and the battery removing alignment condition is met. The battery disassembling alignment condition needs to be determined according to the operation process of the battery replacing device during battery disassembling, and generally needs to meet the requirements that a battery disassembling structure on the battery replacing platform (such as a battery unlocking mechanism for unlocking a battery pack from a battery pack outer box) can vertically align to a locking mechanism on the battery pack outer box and the like.

Step S22 specifically includes a step of controlling the battery replacement device to execute a battery removal operation, where the battery removal operation is used to remove the battery pack from the electric vehicle. The battery disassembling action is determined according to the operation process of the battery replacing device during battery disassembling, and may include a horizontal battery replacing platform, so that the battery unlocking mechanism unlocks the battery pack.

In this embodiment, after the battery swapping device is controlled to remove the battery pack from the electric vehicle in step S2 and before the battery swapping device is controlled to move away from the battery swapping position in step S3, the battery swapping control method of this embodiment may further include a step of restoring the battery swapping platform to the initial position where the battery pack is not loaded.

In this embodiment, after the battery swapping device is controlled to remove the battery pack from the electric vehicle in step S2 and before the battery swapping device is controlled to drive away from the battery swapping position in step S3, the battery swapping control method of this embodiment may further include a step of controlling the vehicle carrying plane to reach the second height, so that a height difference between the vehicle carrying plane and the battery swapping device walking plane exceeds a height after the battery pack is loaded by the battery swapping device. As shown in fig. 10, after the battery pack 03 is loaded on the battery replacing platform, the battery replacing platform returns to the initial position, and the vehicle loading plane 11 is lifted to the second height h2. The second height h2 is higher than the initial height h0, the battery replacing device corresponding to the first height h1 does not carry the battery pack and the electric vehicle does not carry the battery pack, the battery replacing device corresponding to the second height h2 carries the battery pack and the electric vehicle does not carry the battery pack, and in addition, the chassis of the electric vehicle carrying the battery pack is lower than the chassis of the electric vehicle not carrying the battery pack, so the first height h1 is smaller than or equal to the second height h2.

In this embodiment, in step S3, after the battery replacing device finishes detaching the battery pack and before the battery replacing device moves away from the battery replacing position, the battery replacing platform is restored to the initial position where the battery pack is not loaded.

In this embodiment, in step S4, the battery replacement device is controlled to drive to the battery rack and return the battery pack removed from the electric vehicle to the battery rack. Here, the battery replacement equipment may directly place the battery pack into the battery rack, or the battery replacement equipment may indirectly place the battery pack into the battery rack through a transfer equipment (e.g., a stacker crane).

So far, accomplished the operation of dismantling the battery package to electric automobile, follow-up can be to electric automobile installs the operation of battery package.

Specifically, after step S4 and before step S6 in this embodiment, the vehicle carrying plane may be controlled to be maintained at the second height, so that the height difference between the vehicle carrying plane and the battery replacement device walking plane exceeds the height after the battery pack is loaded on the battery replacement device.

In this embodiment, in step S5, the battery replacing device may directly or indirectly take the battery pack to be installed on the electric vehicle from the battery rack of the battery pack returning device, that is, take the battery pack to be installed on the electric vehicle through a certain transfer device (such as a stacker); the battery replacement equipment can also be driven to other battery racks to directly or indirectly take the battery pack to be installed on the electric automobile.

Fig. 11 shows a flowchart of step S6, and referring to fig. 11, step S6 specifically includes:

s61, controlling the battery replacement equipment to reach a battery replacement position;

s62, adjusting the posture of the battery replacing device so as to install the battery pack loaded by the battery replacing device on the electric automobile.

Specifically, in the process of controlling the battery swapping device to move to the battery swapping position in step S61, the battery swapping device may be accurately positioned at the battery swapping position by means of the first positioning point as in step S21 described above. Fig. 12 shows a schematic diagram of the battery swapping device after the battery swapping device arrives at the battery swapping position after reloading the battery pack.

Specifically, the step S62 may specifically include a step of adjusting a relative position relationship between the battery replacing platform of the battery replacing device and the vehicle carrying plane in the vertical direction to meet the battery loading condition, and specifically, may include a step of controlling the battery replacing platform to reach a fifth height (fig. 13 shows a schematic diagram after the battery replacing platform 221 reaches the fifth height), and a step of controlling the vehicle carrying plane to reach a sixth height (fig. 14 shows a schematic diagram after the vehicle carrying plane 11 reaches a sixth height h 6), so that a distance between the battery replacing platform and the vehicle bottom of the electric vehicle is a negative distance, and the battery loading condition is met. The height condition of the battery is determined according to the operation process of the battery replacing device during battery installation, and the requirements that the battery package on the battery replacing platform can be sufficiently placed into a battery package outer box at the bottom of a vehicle in the height direction of the battery installing structure and the like are generally met. And the battery replacing platform reaches a fifth height which exceeds the initial position of the battery replacing platform, namely, the battery replacing platform is lifted upwards relative to the initial position. To cooperate with the fifth height, the sixth height may be lower than the second height, or even lower than the initial height.

The step S62 may further include a step of adjusting a relative position relationship between the battery replacing platform of the battery replacing device and the vehicle carrying plane in the horizontal direction to meet the battery loading condition, and specifically may include a step of controlling the battery replacing platform to move horizontally, so that the battery replacing platform is aligned with the battery pack outer box on the electric vehicle to meet the battery loading alignment condition. The alignment condition of the battery pack also needs to be determined according to the operation process of the battery replacing device during battery mounting, and generally needs to meet the requirements that a battery mounting structure on the battery replacing platform (such as a battery locking mechanism for locking a battery pack in an outer box of the battery pack) can vertically align to a locking mechanism on the outer box of the battery pack and the like.

Step S62 specifically includes a step of controlling the battery replacement device to execute a battery loading operation, where the battery loading operation is used to install the loaded battery pack in the electric vehicle. The battery loading action is determined according to the operation process of the battery replacing device during battery loading, and may include a horizontal battery replacing platform, so that the battery locking mechanism realizes locking of the battery pack.

In this embodiment, after the battery swapping device is controlled to reach the battery swapping position in step S6 to mount the battery pack and before the battery swapping device is controlled to move away from the battery swapping position in step S7, the battery swapping control method in this embodiment may further include a step of restoring the battery swapping platform to the initial position where the battery pack is not loaded.

In this embodiment, after the battery swapping device is controlled to reach the battery swapping position to mount the battery pack in step S6 and before the battery swapping device is controlled to travel away from the battery swapping position in step S7, the battery swapping control method of this embodiment may further include a step of controlling the vehicle carrying plane to reach the first height, so that a height difference between the vehicle carrying plane and the battery swapping device walking plane exceeds a height of the battery swapping device. As shown in fig. 15, after the battery pack 03 is mounted on the battery replacing platform, the initial position is returned, and the vehicle carrying plane 11 is lifted to the first height h1.

So far, the operation of installing the battery pack on the electric vehicle is completed.

And finally, restoring the vehicle carrying plane to the initial state before power replacement through the step S8.

According to the embodiment, the whole process of disassembling and assembling the battery is realized through controlling the clamping lane and the battery replacing equipment, the battery replacing time of the vehicle is saved, and the battery replacing efficiency is improved.

Example 2

The embodiment provides a battery replacement control system for controlling a lane and a battery replacement device. Fig. 16 shows a block diagram of the present embodiment, and referring to fig. 16, the swapping control system of the present embodiment includes: a disassembled battery control module 41 and an assembled battery control module 42.

The battery dismounting control module 41 is used for controlling the vehicle carrying plane to reach a first height, controlling the battery replacing device to reach the battery replacing position to dismount the battery pack, controlling the battery replacing device to move away from the battery replacing position, and controlling the battery replacing device to unload the battery pack taken down from the electric vehicle.

The battery loading control module 42 is used for controlling the battery replacing device to load a battery pack matched with the electric vehicle, controlling the battery replacing device to reach the battery replacing position to install the battery pack, controlling the battery replacing device to drive away from the battery replacing position, and controlling the vehicle loading plane to recover to the initial height.

The initial height is the height of a vehicle carrying plane when the vehicle carrying plane is not lifted, and the vehicle carrying plane can be located on the same plane with a plane where the battery replacing equipment travels and a plane where the vehicle clamping lane is located when the vehicle carrying plane is located at the initial height. Before the electric automobile drives into the clamping lane, the vehicle carrying plane is always at the initial height so as to facilitate the driving of the vehicle.

In this embodiment, the first height is higher than the initial height. The plane of control year car reaches first height, specifically includes:

after the electric automobile is parked on the automobile carrying plane and a battery pack at the bottom of the electric automobile is aligned with the battery replacing station, the automobile carrying plane is lifted to the first height, so that the height difference between the automobile carrying plane and the battery replacing equipment walking plane exceeds the height of the battery replacing equipment. And then the battery replacing equipment without the battery pack can smoothly reach the battery replacing position below the vehicle carrying plane, and the battery pack is detached from the electric automobile.

In this embodiment, control and trade electric equipment and reach and trade the electric position and dismantle the battery package, specifically include:

controlling the battery replacement equipment to reach a battery replacement position in a state of not loading a battery pack;

In order to control the battery replacement device to accurately reach the battery replacement position, the battery removal control module 41 is further configured to:

in the process that the battery replacing device drives to the battery replacing position through the first rail, whether the battery replacing device reaches a preset first positioning point is judged, the first positioning point is located on a traveling path of the battery replacing device, if yes, the battery replacing device is controlled to travel at a reduced speed until the battery replacing position is reached, and then the battery replacing device stops.

In this embodiment, the battery detaching control module 41 may pre-store the total distance of the first track and the first distance from the battery rack to the first positioning point; and controlling the battery swapping device to travel a first distance at a first speed, controlling the battery swapping device to travel a second distance at a second speed, judging whether the battery swapping device reaches the battery swapping position, if so, controlling the battery swapping device to stop traveling, otherwise, controlling the battery swapping device to travel the second distance at the second speed again and judging whether the battery swapping device reaches the battery swapping position, and repeating the steps until the battery swapping device reaches the battery swapping position.

In this embodiment, the battery swapping device firstly drives to the first fixing point at a high speed and then drives to the battery swapping position at a low speed, that is, the battery swapping device firstly drives to the first fixing point adjacent to the battery swapping position and then continuously adjusts and determines the position of the battery swapping device at a slightly smaller second distance, so that the battery swapping device can be accurately positioned at the battery swapping position.

In addition, in consideration of high-speed driving of the battery swapping device, when it is determined that the battery swapping device reaches the first fixed point, the actual traveling distance of the battery swapping device may be greater than the first distance, and thus, the second distance traveled by the battery swapping device at the second speed may be smaller than the difference between the total distance of the first track and the first distance. Even if an error is generated in the process of walking for the first distance, the error generated before can be made up by walking for a plurality of times for the second distance, and the battery replacement equipment can be guaranteed to accurately reach the battery replacement position.

Also, in this embodiment, a visual manner may be adopted to determine whether the battery swapping device is accurately positioned at the battery swapping position, for example, a visual camera may be carried on the battery swapping device, and is used to capture a first actual image of the electric vehicle located on the battery swapping station during a walking process of the battery swapping device, and based on a comparison result between the first actual image and a corresponding first standard image of the battery swapping device at the battery swapping position, it may be determined whether the battery swapping device is accurately positioned at the battery swapping position.

Specifically, adjust the gesture of trading electrical equipment to take off the battery package from electric automobile, specifically include:

adjusting the relative position relation of a battery replacing platform of the battery replacing device and a vehicle carrying plane in the horizontal and/or vertical direction to meet the battery disassembling condition;

and controlling the battery replacing equipment to execute a battery disassembling action, wherein the battery disassembling action is used for taking down the battery pack from the electric automobile. Wherein the battery removal action is used to remove the battery pack from the electric vehicle. The battery disassembling action is determined according to the operation process of the battery replacing device during battery disassembling, and may include a horizontal battery replacing platform, so that the battery unlocking mechanism unlocks the battery pack.

The relative position relation of the battery replacing platform of the battery replacing device and the vehicle carrying plane in the vertical direction is adjusted to meet the battery disassembling condition, and the method specifically comprises the following steps:

controlling the battery replacement platform to reach a third height;

and controlling the vehicle carrying plane to reach a fourth height so that the battery replacing platform penetrates through the battery replacing station and the distance between the battery replacing platform and the bottom of the electric vehicle is a negative distance, and the battery disassembling height condition is met. The battery disassembling height condition is determined according to the operation process of the battery replacing device during battery disassembling, and generally needs to meet the requirements that a battery disassembling structure on the battery replacing platform (such as a battery unlocking mechanism for unlocking a battery pack from a battery pack outer box) is enough to contact with a battery pack outer box at the bottom of a vehicle in the height direction. And the battery replacement platform reaches the initial position of which the third height exceeds the battery replacement platform, namely, the battery replacement platform is lifted upwards relative to the initial position. To cooperate with the third height, the fourth height may be lower than the first height, or even lower than the initial height.

The relative position relation of the battery replacing platform and the vehicle carrying plane on the horizontal direction of the battery replacing device is adjusted to meet the battery disassembling condition, and the method specifically comprises the following steps:

and controlling the battery replacing platform to move horizontally so that the battery replacing platform is aligned with a battery pack on the electric automobile, and the battery disassembling alignment condition is met. The battery disassembling alignment condition needs to be determined according to the operation process of the battery replacing device during battery disassembling, and generally needs to meet the requirements that a battery disassembling structure on the battery replacing platform (such as a battery unlocking mechanism for unlocking a battery pack from a battery pack outer box) can vertically align to a locking mechanism on the battery pack outer box and the like.

In this embodiment, the battery removal control module 41 is further configured to restore the battery swapping platform to the initial position without the battery pack after the battery swapping device is controlled to remove the battery pack from the electric vehicle and before the battery swapping device is controlled to move away from the battery swapping position.

In the present embodiment, the battery removal control module 41 is further configured to, before controlling the battery swapping device to move away from the swapping position:

after the battery pack is taken down from the electric automobile by the battery replacing device, the vehicle carrying plane is controlled to reach a second height, so that the height difference between the vehicle carrying plane and the battery replacing device walking plane exceeds the height of the battery pack loaded by the battery replacing device, and the second height is higher than the initial height. In this embodiment, the battery removal control module 41 is further configured to control the battery replacement device to unload the battery pack removed from the electric vehicle, and specifically includes: and controlling the battery replacement equipment to drive to the battery rack and returning the battery pack taken down from the electric automobile to the battery rack. Here, the battery replacement equipment may directly place the battery pack into the battery rack, or the battery replacement equipment may indirectly place the battery pack into the battery rack through a transfer equipment (e.g., a stacker crane).

Specifically, the battery loading control module 42 controls the vehicle loading plane to be maintained at the second height during the period that the battery replacing device is controlled to move away from the battery replacing position and a new battery pack is reloaded to return to the battery replacing position, so that the height difference between the vehicle loading plane and the battery replacing device walking plane exceeds the height of the battery pack loaded by the battery replacing device.

The battery pack to be installed on the electric automobile can be directly or indirectly taken from a battery rack of the battery pack returning through the battery replacing equipment, namely the battery pack to be installed on the electric automobile is taken through certain transfer equipment (such as a stacker crane); the battery replacement equipment can also be driven to other battery racks to directly or indirectly take the battery pack to be installed on the electric automobile.

In this embodiment, controlling the battery replacing device to reach the battery replacing position to install the battery pack includes:

controlling the battery replacement equipment to reach a battery replacement position;

Specifically, battery control module 42 is further configured to:

The battery control module is further configured to:

prestoring the total distance of a first track and a first distance from a battery rack to the first positioning point;

and controlling the battery swapping device to travel a first distance at a first speed, controlling the battery swapping device to travel a second distance at a second speed, judging whether the battery swapping device reaches the battery swapping position, if so, controlling the battery swapping device to stop traveling, otherwise, controlling the battery swapping device to travel the second distance at the second speed again and judging whether the battery swapping device reaches the battery swapping position, and repeating the steps until the battery swapping device reaches the battery swapping position, wherein the first speed is greater than the second speed, and the second distance is smaller than the difference between the total distance of the first track and the first distance.

Specifically, adjust the gesture of trading electrical equipment to installing the battery package that trades electrical equipment and load in electric automobile, include:

adjusting the relative position relation of a battery replacing platform of the battery replacing equipment and a vehicle carrying plane in the horizontal and/or vertical direction so as to meet the battery loading condition;

and controlling the battery replacement equipment to execute a battery loading action, wherein the battery loading action is used for installing the loaded battery pack on the electric automobile. The battery loading action is determined according to the operation process of the battery replacing device during battery loading, and may include a horizontal battery replacing platform, so that the battery locking mechanism realizes locking of the battery pack.

The relative position relation of the battery replacing platform of the battery replacing equipment and the vehicle carrying plane in the vertical direction is adjusted to meet the battery loading condition, and the method comprises the following steps:

controlling the battery replacement platform to reach a fifth height;

and controlling the vehicle carrying plane to reach a sixth height so that the battery replacing platform penetrates through the battery replacing station and the distance between the battery replacing platform and the bottom of the electric vehicle is a negative distance, and the battery loading height condition is met. The height condition of the battery is determined according to the operation process of the battery replacing device during battery installation, and the requirements that the battery pack on the battery replacing platform can be sufficiently placed into a battery pack outer box at the bottom of a vehicle in the height direction of the battery installing structure and the like are generally met. And the battery replacing platform reaches a fifth height which exceeds the initial position of the battery replacing platform, namely, the battery replacing platform is lifted upwards relative to the initial position. To cooperate with the fifth height, the sixth height may be lower than the second height, or even lower than the initial height.

Adjusting the relative position relationship of the battery replacing platform of the battery replacing equipment and the vehicle carrying plane in the horizontal direction to meet the battery loading condition, comprising:

and controlling the battery replacing platform to move horizontally so that the battery replacing platform is aligned with the battery pack outer box on the electric automobile, and meeting the battery assembling alignment condition. The alignment condition of the battery pack also needs to be determined according to the operation process of the battery replacing device during battery mounting, and generally needs to meet the requirements that a battery mounting structure on the battery replacing platform (such as a battery locking mechanism for locking a battery pack in an outer box of the battery pack) can vertically align to a locking mechanism on the outer box of the battery pack and the like.

In this embodiment, the battery loading control module 42 is further configured to restore the battery swapping platform to the initial position without the battery pack after the battery swapping device completes installation of the battery pack and before the battery swapping device moves away from the battery swapping position.

In this embodiment, the battery loading control module 42 is further configured to, after controlling the battery swapping device to reach the battery swapping position to install the battery pack, and before controlling the battery swapping device to drive away from the battery swapping position:

and controlling the vehicle carrying plane to reach a first height, so that the height difference between the vehicle carrying plane and the battery replacing equipment walking plane exceeds the height of the battery replacing equipment. After the battery pack is installed on the battery replacing platform, the initial position is returned, and the vehicle carrying plane is lifted to the first height.

So far, the operation of installing the battery pack on the electric automobile is completed.

And finally, restoring the vehicle carrying plane to an initial state before power replacement.

Example 3

Fig. 17 is a schematic structural diagram of an electronic device according to embodiment 3 of the present invention. The electronic device comprises a memory, a processor and a computer program stored on the memory and executable on the processor, which when executed by the processor implements a method of embodiment 1. The electronic device 50 shown in fig. 17 is only an example, and should not bring any limitation to the functions and the range of use of the embodiment of the present invention.

As shown in fig. 17, the electronic device 50 may be embodied in the form of a general purpose computing device, which may be, for example, a server device. The components of the electronic device 50 may include, but are not limited to: the at least one processor 51, the at least one memory 52, and a bus 53 connecting the various system components (including the memory 52 and the processor 51).

The bus 53 includes a data bus, an address bus, and a control bus.

The memory 52 may include volatile memory, such as Random Access Memory (RAM) 521 and/or cache memory 522, and may further include Read Only Memory (ROM) 523.

Memory 52 may also include a program/utility 525 having a set (at least one) of program modules 525, such program modules 524 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment.

The processor 51 executes various functional applications and data processing, such as the method provided in embodiment 1 of the present invention, by executing the computer program stored in the memory 52.

The electronic device 50 may also communicate with one or more external devices 54 (e.g., a keyboard, a pointing device, etc.). Such communication may be through an input/output (I/O) interface 55. Also, model-generating device 50 may also communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet) via network adapter 56. As shown in FIG. 17, the network adapter 56 communicates with the other modules of the model-generating device 50 over the bus 53. It should be appreciated that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the model-generating device 50, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (disk array) systems, tape drives, and data backup storage systems, etc.

It should be noted that although in the above detailed description several units/modules or sub-units/modules of the electronic device are mentioned, such a division is merely exemplary and not mandatory. Indeed, the features and functionality of two or more of the units/modules described above may be embodied in one unit/module according to embodiments of the invention. Conversely, the features and functions of one unit/module described above may be further divided into embodiments by a plurality of units/modules.

Example 4

The present embodiment provides a computer-readable storage medium, on which a computer program is stored, which program, when executed by a processor, implements the steps of a method as provided in embodiment 1.

More specific examples, among others, that the readable storage medium may employ may include, but are not limited to: a portable disk, a hard disk, random access memory, read only memory, erasable programmable read only memory, optical storage device, magnetic storage device, or any suitable combination of the foregoing.

In a possible implementation, the invention can also be implemented in the form of a program product comprising program code means for causing a terminal device to carry out the steps of implementing any of the methods described in embodiment 1, when said program product is run on said terminal device.

Where program code for carrying out the invention is written in any combination of one or more programming languages, the program code may be executed entirely on the user device, partly on the user device, as a stand-alone software package, partly on the user device and partly on a remote device or entirely on the remote device.

While specific embodiments of the invention have been described above, it will be understood by those skilled in the art that this is by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.

Claims

1. The battery replacement control method is characterized in that the battery replacement control method is realized by matching a vehicle clamping lane and a battery replacement device, the vehicle clamping lane is provided with a liftable vehicle carrying plane, a battery replacement device walking plane for the battery replacement device to walk is arranged on the vehicle clamping lane, and a battery replacement position is arranged in the battery replacement device walking plane;

the battery replacement control method comprises the following steps:

control carry the planar height of car and trade the position of electrical equipment, in order to dismantle the battery package includes:

2. The battery replacement control method of claim 1, wherein the controlling the battery replacement device to reach the battery replacement position and the controlling the vehicle carrying plane to reach a fourth height to detach the battery pack comprises:

3. The battery replacement control method of claim 2, wherein adjusting the posture of the battery replacement device to remove a battery pack from the electric vehicle comprises:

4. The battery replacement control method according to claim 3, wherein a battery replacement station is arranged in the vehicle carrying plane and used for replacing a battery pack of an electric vehicle, and the battery replacement station corresponds to the battery replacement position up and down;

controlling the battery replacement platform to reach a third height;

and controlling the battery replacement platform to horizontally move so that the battery replacement platform is aligned with a battery pack on the electric automobile, and the battery disassembly alignment condition is met.

5. The battery replacement control method according to claim 1, wherein a battery replacement station is arranged in the vehicle carrying plane and used for replacing a battery pack of an electric vehicle, and the battery replacement station corresponds to the battery replacement position up and down;

the control carry the planar height of car, still include:

the control carry the car plane and reach first height, include:

after the electric automobile is parked on the automobile carrying plane and a battery pack at the bottom of the electric automobile is aligned to the battery replacing station, the automobile carrying plane is lifted to the first height, so that the height difference between the automobile carrying plane and the battery replacing equipment walking plane exceeds the height of the battery replacing equipment.

6. The battery swapping control method of claim 5, wherein after controlling the battery swapping device to reach the battery swapping position for installing a battery pack and before controlling the battery swapping device to move away from the battery swapping position, the method further comprises:

and controlling the vehicle carrying plane to reach the first height.

7. The battery replacement control method according to claim 5, wherein after the battery pack is disassembled, the battery replacement equipment is controlled to move away from the battery replacement position;

8. The battery replacement control method as claimed in claim 7, wherein the first height is less than or equal to the second height.

9. The battery replacement control method of claim 1, wherein the controlling of the height of the vehicle carrying plane and the position of the battery replacement equipment to install a battery pack comprises:

10. The battery replacement control method of claim 9, wherein adjusting the posture of the battery replacement device to mount a battery pack loaded on the battery replacement device on the electric vehicle comprises:

11. The battery replacement control method according to claim 10, wherein a battery replacement station is arranged in the vehicle carrying plane and used for replacing a battery pack of an electric vehicle, and the battery replacement station corresponds to the battery replacement position up and down;

controlling the battery replacement platform to reach a fifth height;

12. The battery replacement control method as claimed in claim 11, wherein the sixth height is lower than the initial height.

13. The battery swapping control method of claim 1, further comprising:

restoring a battery replacing platform of the battery replacing equipment to an initial position without a battery pack after the battery replacing equipment finishes disassembling the battery pack and before the battery replacing equipment drives away from the battery replacing position;

14. The battery replacement control method according to claim 1, wherein the controlling the battery replacement device to unload the battery pack detached from the electric vehicle specifically comprises: and controlling the battery replacement equipment to drive to a battery rack and returning the battery pack taken down from the electric automobile to the battery rack.

15. The battery replacement control method according to claim 14, wherein a first rail for the battery replacement equipment to travel is arranged in the battery replacement equipment traveling plane, and the first rail is connected to the battery rack and the battery replacement position;

the battery replacement control method further comprises the following steps:

16. The battery swapping control method of claim 15, further comprising:

17. The battery replacement control system is characterized in that a vehicle clamping lane and a battery replacement device are controlled, the vehicle clamping lane is provided with a liftable vehicle carrying plane, a battery replacement device walking plane for the battery replacement device to walk is arranged on the vehicle clamping lane, and a battery replacement position is arranged in the battery replacement device walking plane;

the battery replacement control system comprises:

the battery disassembly control module is used for controlling the height of the vehicle carrying plane and the position of the battery replacement equipment so as to disassemble the battery pack; control carry the height on car plane with trade the position of electric equipment to dismantle the battery package, include: controlling the battery replacing equipment to reach the battery replacing position, and controlling the vehicle carrying plane to reach a fourth height so as to disassemble the battery pack; the fourth height is lower than the initial height of the vehicle carrying plane before lifting.

18. The battery swapping control system of claim 17, further comprising:

19. The battery swapping control system of claim 18, wherein the battery removal control module is further configured to control the battery swapping device to move away from the battery swapping position, and control the battery swapping device to unload a battery pack taken off an electric vehicle;

20. The battery replacement control system of claim 17, wherein the controlling the battery replacement device to reach the battery replacement position and the controlling the vehicle carrying plane to reach a fourth height to detach the battery pack comprises:

21. The battery swapping control system of claim 20, wherein adjusting the attitude of the battery swapping device to remove a battery pack from the electric vehicle comprises:

22. The battery replacement control system according to claim 21, wherein a battery replacement station is arranged in the vehicle carrying plane, the battery replacement station is used for replacing a battery pack for an electric vehicle, and the battery replacement station corresponds to the battery replacement position up and down;

controlling the battery replacement platform to reach a third height;

controlling the vehicle carrying plane to reach a fourth height, so that the battery replacing platform penetrates through the battery replacing station and the distance between the battery replacing platform and the bottom of the electric automobile is a negative distance, and the battery disassembling height condition is met;

23. The battery replacement control system according to claim 18, wherein a battery replacement station is arranged in the vehicle carrying plane, the battery replacement station is used for replacing a battery pack for an electric vehicle, and the battery replacement station corresponds to the battery replacement position up and down;

24. The battery swapping control system of claim 23, wherein the battery loading control module is further configured to, after controlling the battery swapping device to reach the battery swapping position for battery package installation and before controlling the battery swapping device to move away from the battery swapping position,

and controlling the vehicle carrying plane to reach the first height.

25. The battery swapping control system of claim 23, wherein the battery removal control module is further configured to control the battery swapping device to move away from the battery swapping position after the battery pack is completely removed;

26. The battery swap control system of claim 25, wherein the first height is less than or equal to the second height.

27. The battery swapping control system of claim 18, wherein the battery loading control module controls a height of the vehicle loading plane and a position of the battery swapping device to install a battery pack, comprising:

28. The battery swapping control system of claim 27, wherein the adjusting of the posture of the battery swapping device to install the battery pack loaded by the battery swapping device on the electric vehicle comprises:

29. The battery replacement control system according to claim 28, wherein a battery replacement station is arranged in the vehicle carrying plane, the battery replacement station is used for replacing a battery pack for an electric vehicle, and the battery replacement station corresponds to the battery replacement position up and down;

adjusting the relative position relation of the battery replacing platform of the battery replacing device and the vehicle carrying plane in the vertical direction to meet the battery loading condition, and the method comprises the following steps:

controlling the battery replacement platform to reach a fifth height;

and/or, adjusting the relative position relation of the battery replacing platform of the battery replacing device and the vehicle carrying plane in the horizontal direction so as to meet the battery loading condition, and the method comprises the following steps:

30. The swapping control system of claim 29, wherein the sixth height is lower than the initial height.

31. The battery swapping control system of claim 19, wherein the battery removal control module is further configured to restore a battery swapping platform of the battery swapping device to an initial position of an unloaded battery pack after the battery swapping device completes battery pack removal and before the battery swapping device moves away from the battery swapping position;

and/or the battery loading control module is further configured to restore the battery swapping platform of the battery swapping device to an initial position where the battery swapping package is not loaded after the battery swapping device completes installation of the battery package and before the battery swapping device moves away from the battery swapping position.

32. The battery swapping control system of claim 18, wherein the battery removal control module is further configured to control the battery swapping device to unload a battery pack detached from an electric vehicle, and specifically comprises: and controlling the battery replacement equipment to drive to a battery rack and returning the battery pack taken down from the electric automobile to the battery rack.

33. The battery replacement control system of claim 32, wherein a first rail for the battery replacement device to travel is disposed in the battery replacement device travel plane, and the first rail is connected to the battery rack and the battery replacement position;

34. The battery swapping control system of claim 33, wherein the battery removal control module and the battery loading control module are further configured to:

35. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1-16 when executing the program.

36. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 16.