WO2022048627A1

WO2022048627A1 - Battery swapping control method for battery swapping station

Info

Publication number: WO2022048627A1
Application number: PCT/CN2021/116392
Authority: WO
Inventors: ***; 陈志民; 陆文成
Original assignee: 奥动新能源汽车科技有限公司
Priority date: 2020-09-03
Filing date: 2021-09-03
Publication date: 2022-03-10
Also published as: CN114132213A

Abstract

Disclosed in the present application is a battery swapping control method for a battery swapping station. The battery swapping station is provided with an adjustable swap lane. The battery swapping control method comprises: acquiring vehicle information of a battery swapping vehicle; and controlling, according to the vehicle information, the swap lane to be adjusted to a preset battery swapping parking position. In the present application, vehicle information of different models of battery swapping vehicles is acquired to control the swap lane to reach corresponding battery swapping parking positions, thereby realizing positioning adjustment for the different models of battery swapping vehicles, improving the positioning accuracy for the battery swapping parking positions of the battery swapping vehicles and battery swapping efficiency, effectively overcoming the defect that a battery swapping trolley can only be positioned for battery swapping vehicles of a single model, enhancing the adaptability of the battery swapping trolley to the different models of battery swapping vehicles, improving the universality of the battery swapping station, and satisfying more battery swapping scenes and higher battery swapping requirements.

Description

换电站的换电控制方法Power exchange control method of power exchange station

本申请要求申请日为2020/9/3的中国专利申请2020109181953的优先权。本申请引用上述中国专利申请的全文。This application claims the priority of Chinese patent application 2020109181953 with an application date of 2020/9/3. This application cites the full text of the above Chinese patent application.

技术领域technical field

本申请涉及换电控制技术领域，特别涉及一种换电站的换电控制方法。The present application relates to the technical field of power exchange control, and in particular, to a power exchange control method of a power exchange station.

背景技术Background technique

换电站作为一种为电动汽车提供电池包更换服务的场所，由于电动汽车和电池包的体积与重量的限制，整个换电过程需要各个专有设备与之配合实施。其中，夹车道是一种指引待换电车辆停止在指定换电位置的专有设备，其主要的作用是针对底部换电方式调整车辆的具***置，从而提供充足的车辆底部空间以便于进行换电。As a place to provide battery pack replacement services for electric vehicles, the battery swap station is limited by the volume and weight of electric vehicles and battery packs. Among them, the pinch lane is a special device that guides the vehicle to be swapped to stop at the designated swapping position. Its main function is to adjust the specific position of the vehicle for the bottom swapping method, so as to provide sufficient space at the bottom of the vehicle for easy swapping. Electricity.

目前，换电站中的夹车道都是位置固定不变的，因而只适用于对某一固定车型的换电车辆的换电。对于其他不同车型的换电，则会造成电池包位置与换电工位的位置存在不同程度的偏差的情况，导致换电设备不能很好地与电池包对位，无法有效地执行换电操作，从而导致存在换电效率较低，使换电站的通用性降低，不能满足实际的换电需求等问题。At present, the positions of the pinch lanes in the power swap station are fixed, so they are only suitable for power swapping of power swap vehicles of a fixed model. For the battery replacement of other different models, there will be different degrees of deviation between the position of the battery pack and the position of the battery replacement station, resulting in that the battery replacement equipment cannot be well aligned with the battery pack, and the battery replacement operation cannot be performed effectively. As a result, the power exchange efficiency is low, the versatility of the power exchange station is reduced, and the actual power exchange demand cannot be met.

发明内容SUMMARY OF THE INVENTION

本申请要解决的技术问题是为了克服现有技术中换电过程存在换电效率较低，不能满足实际的换电需求的缺陷，目的在于提供一种换电站的换电控制方法。The technical problem to be solved by the present application is to overcome the defect of low power exchange efficiency in the power exchange process in the prior art and cannot meet the actual power exchange demand, and the purpose is to provide a power exchange control method for a power exchange station.

本申请是通过下述技术方案来解决上述技术问题：The present application solves the above-mentioned technical problems through the following technical solutions:

本申请提供一种换电站的换电控制方法，所述换电站中设有可调节的夹车道，所述换电控制方法包括：The present application provides a power exchange control method for a power exchange station, wherein an adjustable lane is provided in the power exchange station, and the power exchange control method includes:

获取换电车辆的车辆信息；Obtain the vehicle information of the battery-swapped vehicle;

根据所述车辆信息控制所述夹车道调整至预设换电停车位置。The pinch lane is controlled to be adjusted to a preset power-changing parking position according to the vehicle information.

基于不同的换电车辆的车辆信息针对性控制夹车道调整至与换电车辆相适配的换电停车位置，避免了电池包位置与换电工位的位置存在偏差的情况发生，能够实现对于不同换电车辆均能自动调整与之适应的夹车道以保证换电设备与电池包能够准确对位，提高了换电效率，增强了通用性。Based on the vehicle information of different battery-swapping vehicles, the lanes are controlled to adjust to the battery-swapping parking position suitable for the battery-swapping vehicles, which avoids the occurrence of deviation between the battery pack position and the position of the swapping station. All battery-swapping vehicles can automatically adjust the suitable clip lanes to ensure that the battery-swapping equipment and battery packs can be accurately aligned, which improves the battery-swapping efficiency and enhances versatility.

较佳地，所述获取换电车辆的车辆信息的步骤包括：Preferably, the step of acquiring vehicle information of the battery-swappable vehicle includes:

扫描并获取所述换电车辆的车牌信息；Scan and obtain the license plate information of the battery-swapping vehicle;

将所述车牌信息发送至云端服务器，并获取所述云端服务器根据所述车牌信息下发的所述车辆信息。The license plate information is sent to the cloud server, and the vehicle information issued by the cloud server according to the license plate information is acquired.

通过云端服务器集中管理与存储入网的所有换电车辆的相关信息，减少换电站的设备资源占用率。在换电车辆进入换电站时，采用摄像头采集换电车辆图像，进而对换电车辆图像进行图像分析处理以获取换电车辆对应的车牌信息，然后将车牌信息上传至云端服务器，云端服务器根据车牌信息搜索得到与之对应的车辆信息并下发至换电站中。The cloud server centrally manages and stores the relevant information of all battery-swapping vehicles connected to the network, reducing the equipment resource occupancy rate of the swapping station. When the battery-changing vehicle enters the battery-changing station, the camera is used to collect the image of the battery-changing vehicle, and then the image of the battery-changing vehicle is analyzed and processed to obtain the license plate information corresponding to the battery-changing vehicle, and then the license plate information is uploaded to the cloud server. Information search obtains the corresponding vehicle information and sends it to the swap station.

其中，对换电车辆图像进行图像分析处理以获取图像中的车牌号的处理技术属于本领域的成熟技术，因此此处就不再赘述。Among them, the processing technology of performing image analysis and processing on the image of the battery-swapped vehicle to obtain the license plate number in the image belongs to the mature technology in the art, so it will not be repeated here.

较佳地，所述车辆信息包括与车型对应的车轮位置信息，和/或，电池包在所述换电车辆中对应的电池位置信息。Preferably, the vehicle information includes wheel position information corresponding to the vehicle type, and/or battery position information corresponding to the battery pack in the battery swap vehicle.

不同车型的换电车辆对应不同的车轮位置信息(例如车轮间距)，以及内部嵌设的电池包在不同换电车辆中的位置不同等，实现基于直接表征每种换电车辆的参数信息对夹车道进行动态位置调整以满足不同车型的换电车辆的换电需求。Swap vehicles of different models correspond to different wheel position information (such as wheel spacing), and the positions of the battery packs embedded inside are different in different swap vehicles, etc., to realize the pairing based on the parameter information that directly characterizes each swap vehicle The dynamic position of the lane is adjusted to meet the battery swapping needs of different models of battery swapping vehicles.

较佳地，所述夹车道包括载车平台和设于所述载车平台上的支撑件，所述支撑件用于承载所述换电车辆的车轮；Preferably, the clip lane includes a vehicle-carrying platform and a support member disposed on the vehicle-carrying platform, and the support member is used to carry the wheels of the battery-swapping vehicle;

所述根据所述车辆信息控制所述夹车道调整至预设换电停车位置的步骤包括：The step of controlling the pinch lane to be adjusted to a preset power-swap parking position according to the vehicle information includes:

根据所述换电车辆对应的所述车轮位置信息控制所述支撑件沿着第一方向和/或沿着第二方向移动，以使得所述夹车道调整至所述预设换电停车位置；Controlling the support member to move along the first direction and/or along the second direction according to the wheel position information corresponding to the battery-changing vehicle, so that the lane is adjusted to the preset battery-changing parking position;

其中，所述第一方向为所述换电车辆驶入所述载车平台时的方向，所述第二方向垂直于所述第一方向。Wherein, the first direction is the direction when the battery-swapping vehicle drives into the vehicle platform, and the second direction is perpendicular to the first direction.

即基于换电车辆的车轮位置信息来对应调整夹车道的载车平台上的支撑件移动至对应位置，以达到夹车道适配不同车型的换电车辆的换电停车位置的定位效果。That is, based on the wheel position information of the battery-changing vehicle, the support on the vehicle-carrying platform of the clip lane is correspondingly adjusted to move to the corresponding position, so as to achieve the positioning effect of the clip-lane adapting to the battery swap parking position of the battery swap vehicles of different models.

较佳地，所述支撑件包括以所述第一方向限位的第一限位件和以所述第二方向限位的第二限位件；Preferably, the support member includes a first limiting member for limiting the position in the first direction and a second limiting member for limiting the position in the second direction;

所述根据所述换电车辆对应的所述车轮位置信息控制所述支撑件沿着第一方向和/或沿着第二方向移动，以使得所述夹车道调整至所述预设换电停车位置的步骤包括：The control of the support member to move along the first direction and/or along the second direction according to the wheel position information corresponding to the battery-swapped vehicle, so that the pinch lane is adjusted to the preset battery-swap stop The steps for location include:

控制所述第一限位件沿着所述第一方向移动，以使得所述支撑件在第一方向移动至对应位置；和/或，controlling the first limiting member to move along the first direction, so that the supporting member moves to a corresponding position in the first direction; and/or,

控制所述第二限位件沿着所述第二方向移动，以使得所述支撑件在第二方向移动至对应位置。The second limiting member is controlled to move along the second direction, so that the supporting member moves to a corresponding position in the second direction.

基于车轮位置信息调整支撑件中的第一限位件、第二限位件所处位置以使得不同支撑件移动至预设位置，当换电车辆的车轮停泊在不同支撑件上时，该换电车辆也就处于预设换电停车位置处。Based on the wheel position information, the positions of the first limiter and the second limiter in the supports are adjusted to move different supports to preset positions. When the wheels of the battery-swapped vehicle are parked on different supports, the replacement The electric vehicle is also in the preset electric swap parking position.

较佳地，所述根据所述车辆信息控制所述夹车道调整至预设换电停车位置的步骤还包括：Preferably, the step of controlling the pinch lane to adjust to a preset power-swap parking position according to the vehicle information further includes:

根据所述换电车辆对应的所述电池位置信息控制所述支撑件沿着第一方向和/或沿着第二方向移动，以使得所述夹车道调整至所述预设换电停车位置。The supporting member is controlled to move along the first direction and/or along the second direction according to the battery position information corresponding to the battery swapping vehicle, so that the lane is adjusted to the preset battery swapping parking position.

在基于车轮位置信息调整夹车道位置后，同时又结合电池位置信息对夹车道上的支撑件的位置进行进一步调整，以达到对换电车辆的换电停车位置的精确定位效果，进一步地提高了不同车型的换电车辆的换电停车位置的调整准确度。After adjusting the position of the pinch lane based on the wheel position information, at the same time, the position of the support on the pinch lane is further adjusted in combination with the battery position information, so as to achieve the precise positioning effect of the battery-changing parking position of the battery-changing vehicle, which further improves the The adjustment accuracy of the power-swap parking position of power-swap vehicles of different models.

较佳地，所述根据所述换电车辆对应的所述电池位置信息控制所述支撑件沿着第一方向和/或沿着第二方向移动，以使得所述夹车道调整至所述预设换电停车位置的步骤还包括：Preferably, the supporting member is controlled to move along the first direction and/or along the second direction according to the battery position information corresponding to the battery-swappable vehicle, so that the lane is adjusted to the predetermined level. The steps of setting the parking position for battery swap further include:

基于所述电池位置信息控制所述第一限位件沿着所述第一方向移动，以使得当所述换电车辆停泊在所述支撑件上时，所述换电车辆的电池包与换电工位在所述第一方向上位置上下对准；和/或，Based on the battery position information, the first limiting member is controlled to move along the first direction, so that when the battery-swapping vehicle is parked on the support, the battery pack of the battery-swapping vehicle is connected to the replacement vehicle. The electrical station is positioned up and down in the first direction; and/or,

基于所述电池位置信息控制所述第二限位件沿着所述第二方向移动，以使得当所述换电车辆停泊在所述支撑件上时，所述换电车辆的电池包与换电工位在所述第二方向上位置上下对准；The second limiting member is controlled to move along the second direction based on the battery position information, so that when the battery-swapping vehicle is parked on the support, the battery pack of the battery-swapping vehicle is not connected to the replacement. The position of the electric station is aligned up and down in the second direction;

其中，所述换电工位设置在所述载车平台内，所述换电工位用于供所述换电车辆进行电池包的更换。Wherein, the power-changing station is set in the vehicle platform, and the power-changing station is used for replacing the battery pack of the power-changing vehicle.

基于电池位置信息同时调整支撑件中的第一限位件、第二限位件所处位置以使得不同支撑件移动至目标位置，当换电车辆的车轮停泊在不同支撑件上时，此时换电车辆的电池包与换电工位的位置上下对应，提高调整定位的准确度。Based on the battery position information, the positions of the first limiter and the second limiter in the supports are adjusted at the same time so that the different supports move to the target positions. When the wheels of the battery-swapped vehicle are parked on different supports, then The battery pack of the battery-changing vehicle corresponds to the position of the battery-changing station up and down, which improves the accuracy of adjustment and positioning.

较佳地，所述夹车道上设有供所述穿梭车行走的行走平面，且所述载车平台可升降，所述行走平面内设有换电位置，所述换电位置与所述载车平台内的换电工位上下对应；Preferably, a walking plane for the shuttle vehicle to travel on the clip lane is provided, and the vehicle-carrying platform can be raised and lowered. The power changing stations in the car platform correspond up and down;

所述换电控制方法还包括：The power exchange control method further includes:

在所述换电车辆停泊于所述载车平台，且所述换电车辆车底的电池包对准所述换电工位后，将所述载车平台从初始高度举升至第一高度，以使得所述载车平台与所述行走平面之间的高度差超过所述穿梭车的高度；和/或，控制所述载车平台至第二高度，以使得所述载车平台低于初始高度，满足拆电池的高度条件；和/或，After the battery-changing vehicle is parked on the vehicle-carrying platform, and the battery pack at the bottom of the battery-changing vehicle is aligned with the battery-changing station, the vehicle-carrying platform is lifted from the initial height to the first height, so that the height difference between the vehicle platform and the walking plane exceeds the height of the shuttle; and/or, controlling the vehicle platform to a second height so that the vehicle platform is lower than the initial height Height, which meets the height condition for battery removal; and/or,

控制所述载车平台至第三高度，以使得所述载车平台与所述行走平面之间的高度差超过所述穿梭车装载电池包之后的高度。The vehicle carrying platform is controlled to a third height, so that the height difference between the vehicle carrying platform and the walking plane exceeds the height of the shuttle vehicle after the battery pack is loaded.

在换电车辆停泊于载车平台上后，控制载车平台举升至不同的高度，保证了空载的穿梭车能顺利进入换电车辆的车底到达换电工位，穿梭车快速高效地对电池进行拆装，穿梭车装载电池包后也能顺利穿梭于换电车辆的车底，使得电池包的更换过程高效、快速完成，整体提高换电效率。After the battery-changing vehicle is parked on the vehicle-carrying platform, the vehicle-loading platform is controlled to be lifted to different heights to ensure that the no-load shuttle vehicle can smoothly enter the bottom of the battery-changing vehicle to reach the battery-changing station. The battery is disassembled and assembled, and the shuttle car can also smoothly shuttle under the vehicle of the battery-changing vehicle after loading the battery pack, which makes the battery pack replacement process efficient and fast, and the overall power-changing efficiency is improved.

较佳地，所述第二高度为第一设定阈值，所述第三高度为第二设定阈值。Preferably, the second height is a first set threshold, and the third height is a second set threshold.

对于不同车型的换电车辆基于同一举升高度进行拆电池以及装载电池，提高对不同车型的适配性，保证了所有车型的电池包的更换过程高效、快速完成。For the battery swapping vehicles of different models, the battery is removed and loaded based on the same lift height, which improves the adaptability to different models and ensures that the battery pack replacement process of all models is completed efficiently and quickly.

较佳地，所述车辆信息还包括电池厚度信息；Preferably, the vehicle information further includes battery thickness information;

根据所述电池厚度信息调整所述载车平台的所述第二高度和/或所述第三高度。The second height and/or the third height of the vehicle platform is adjusted according to the battery thickness information.

基于不同车型的换电车辆采用的电池包的高度或者厚度有所差异，通过考虑电池厚度信息来对不同换电车辆在拆电池以及装载电池过程的举升高度进行适配，以提供更合理有效的更换过程。Based on the difference in height or thickness of battery packs used in battery swap vehicles of different models, by considering the battery thickness information, the lifting height of different battery swap vehicles during the process of battery removal and battery loading is adapted to provide a more reasonable and effective solution. replacement process.

在符合本领域常识的基础上，所述各优选条件，可任意组合，即得本申请各较佳实施例。On the basis of common knowledge in the art, the preferred conditions can be combined arbitrarily to obtain preferred embodiments of the present application.

本申请的积极进步效果在于：The positive and progressive effects of this application are:

本申请中，对于不同车型的换电车辆，通过获取其车辆信息以控制夹车道到达对应的预设换电停车位置，实现针对不同车型的换电车辆进行定位调整，提高了换电车辆的换电停车位置的定位准确度，提高了换电效率，同时有效地解决了换电小车仅能与单一车型的换电车辆进行定位的缺陷，增强换电小车与不同车型的换电车辆的适配性，提高换电站的通用性，能够满足更多的换电场景以及更高的换电需求。In the present application, for the battery-swap vehicles of different models, by obtaining the vehicle information to control the lanes to reach the corresponding preset battery-swap parking positions, the positioning adjustment for the battery-swap vehicles of different models is realized, and the replacement of the battery-swap vehicles is improved. The positioning accuracy of the electric parking position improves the efficiency of battery swapping, and at the same time effectively solves the defect that the battery swap car can only be positioned with a single model of battery swap vehicle, and enhances the adaptation of the battery swap trolley to the battery swap vehicles of different models. It can improve the versatility of the power exchange station, and can meet more power exchange scenarios and higher power exchange needs.

附图说明Description of drawings

图1为本申请实施例1的换电站的换电控制方法的流程图。FIG. 1 is a flowchart of a power exchange control method of a power exchange station according to Embodiment 1 of the present application.

图2为本申请实施例2的换电站的换电控制方法的流程图。FIG. 2 is a flowchart of a power exchange control method of a power exchange station according to Embodiment 2 of the present application.

图3为本申请实施例3的换电站的换电控制方法的流程图。FIG. 3 is a flowchart of a power exchange control method of a power exchange station according to Embodiment 3 of the present application.

图4为本申请实施例4的换电站的换电控制方法的流程图。FIG. 4 is a flowchart of a power exchange control method of a power exchange station according to Embodiment 4 of the present application.

图5为本申请实施例4的换电站的结构示意图。FIG. 5 is a schematic structural diagram of a power exchange station according to Embodiment 4 of the present application.

图6为本申请实施例4的载车平台的结构示意图。FIG. 6 is a schematic structural diagram of a vehicle-carrying platform according to Embodiment 4 of the application.

图7为本申请实施例4的载车平台的一车辆定位装置和平台本体的结构示意图。7 is a schematic structural diagram of a vehicle positioning device and a platform body of a vehicle-carrying platform according to Embodiment 4 of the application.

图8为本申请实施例4的载车平台的另一车辆定位装置和平台本体的结构示意图。8 is a schematic structural diagram of another vehicle positioning device and a platform body of the vehicle-carrying platform according to Embodiment 4 of the application.

图9为本申请实施例4的载车平台的局部结构示意图。FIG. 9 is a partial structural schematic diagram of the vehicle platform according to Embodiment 4 of the present application.

图10为本申请实施例4的载车平台的另一局部结构示意图。FIG. 10 is another partial structural schematic diagram of the vehicle platform according to Embodiment 4 of the application.

图11为图10在A处的放大视图。FIG. 11 is an enlarged view at A of FIG. 10 .

具体实施方式detailed description

下面通过实施例的方式进一步说明本申请，但并不因此将本申请限制在所述的实施例范围之中。The present application is further described below by way of examples, but the present application is not limited to the scope of the described embodiments.

本实施例的换电站的换电控制方法中所用的电池锁止机构、换电设备(穿梭车)和码垛机分别以中国专利申请号2016110412204、2017112442213、2017100524087为例进行说明，但本申请的换电控制方法并不以上述现有技术中的具体结构为限，还可适用于其他底部换电方式的机构的控制。The battery locking mechanism, the power exchange equipment (shuttle car) and the stacker used in the power exchange control method of the power exchange station in this embodiment are described by taking Chinese patent application numbers 2016110412204, 2017112442213 and 2017100524087 as examples, but the The power exchange control method is not limited to the specific structure in the above-mentioned prior art, and can also be applied to the control of mechanisms of other bottom power exchange methods.

实施例1Example 1

如图1所示，本实施例的换电站的换电控制方法包括：As shown in FIG. 1 , the power exchange control method of the power exchange station in this embodiment includes:

S101、获取换电车辆的车辆信息；S101. Obtain vehicle information of the battery-swapping vehicle;

具体地，步骤S101包括：Specifically, step S101 includes:

扫描并获取换电车辆的车牌信息；Scan and obtain the license plate information of the battery-swapped vehicle;

将车牌信息发送至云端服务器，并获取云端服务器根据车牌信息下发的车辆信息。Send the license plate information to the cloud server, and obtain the vehicle information issued by the cloud server according to the license plate information.

车辆信息包括但不限于与车型对应的车轮位置信息、电池包在换电车辆中对应的电池位置信息。The vehicle information includes, but is not limited to, wheel position information corresponding to the vehicle model, and battery position information corresponding to the battery pack in the battery-swapped vehicle.

S102、根据车辆信息控制夹车道调整至预设换电停车位置。即基于不同的换电车辆的车辆信息针对性控制夹车道调整至与换电车辆相适配的换电停车位置，避免了电池包位置与换电工位的位置存在偏差的情况发生，能够实现对于不同换电车辆均能自动调整与之适应的夹车道以保证换电设备与电池包能够准确对位，提高了换电效率，增强了通用性。S102 , controlling the clip lane to adjust to a preset power-swap parking position according to vehicle information. That is to say, based on the vehicle information of different battery-changing vehicles, the lane is controlled to be adjusted to the battery-changing parking position suitable for the battery-changing vehicle, which avoids the occurrence of deviation between the position of the battery pack and the position of the battery-changing station. Different battery-swapping vehicles can automatically adjust the suitable clip lanes to ensure that the battery-swapping equipment and battery packs can be accurately aligned, which improves the battery-swapping efficiency and enhances versatility.

本实施例中，对于不同车型的换电车辆，通过获取其车辆信息以控制夹车道到达对应的预设换电停车位置，实现针对不同车型的换电车辆对夹车道的定位调整，提高了换电车辆的停车换电位置的定位准确度，有效地解决了换电小车与换电车辆的定位不准确的问题，提高了换电效率。In this embodiment, for the battery-swapping vehicles of different models, the vehicle information is obtained to control the lanes to reach the corresponding preset parking positions for battery-swapping, so as to realize the positioning adjustment of the lanes for the swapping vehicles of different models, and improve the replacement performance. The positioning accuracy of the electric vehicle's parking and battery-changing position effectively solves the problem of inaccurate positioning of the battery-changing trolley and the battery-changing vehicle, and improves the battery-changing efficiency.

实施例2Example 2

本实施例的夹车道包括载车平台和设于载车平台上的支撑件，支撑件用于承载换电车辆的车轮。The clip lane of this embodiment includes a vehicle-carrying platform and a support member disposed on the vehicle-carrying platform, and the support member is used to carry the wheels of the battery-swapping vehicle.

如图2所示，本实施例的换电站的换电控制方法是对实施例1的进一步改进，具体地：As shown in FIG. 2 , the power exchange control method of the power exchange station of the present embodiment is a further improvement of the embodiment 1, specifically:

步骤S102包括：Step S102 includes:

S1021、根据换电车辆对应的车轮位置信息控制支撑件沿着第一方向和/或沿着第二方向移动，以使得夹车道调整至预设换电停车位置；S1021. Control the support member to move along the first direction and/or along the second direction according to the wheel position information corresponding to the battery-changing vehicle, so that the lane is adjusted to a preset battery-changing parking position;

其中，第一方向为换电车辆驶入载车平台时的方向，第二方向垂直于第一方向。即基于换电车辆的车轮位置信息来对应调整夹车道的载车平台上的支撑件移动至对应位置，以达到夹车道适配不同车型的换电车辆的换电停车位置的定位效果。Wherein, the first direction is the direction when the battery-swapping vehicle drives into the vehicle platform, and the second direction is perpendicular to the first direction. That is, based on the wheel position information of the battery-changing vehicle, the support on the vehicle-carrying platform of the clip lane is correspondingly adjusted to move to the corresponding position, so as to achieve the positioning effect of the clip-lane adapting to the battery swap parking position of the battery swap vehicles of different models.

当支撑件包括以第一方向限位的第一限位件和以第二方向限位的第二限位件时，步骤S1021包括：When the supporting member includes a first limiting member that is limited in the first direction and a second limiting member that is limited in the second direction, step S1021 includes:

控制第一限位件沿着第一方向移动，以使得支撑件在第一方向移动至对应位置；和/或，controlling the first limiting member to move along the first direction, so that the supporting member moves to the corresponding position in the first direction; and/or,

控制第二限位件沿着第二方向移动，以使得支撑件在第二方向移动至对应位置。即基于车轮位置信息调整支撑件中的第一限位件、第二限位件所处位置以使得不同支撑件移动至预设位置，当换电车辆的车轮停泊在不同支撑件上时，该换电车辆也就处于预设换电停车位置处。The second limiting member is controlled to move along the second direction, so that the supporting member moves to the corresponding position in the second direction. That is, the positions of the first limiter and the second limiter in the supports are adjusted based on the wheel position information so that different supports are moved to preset positions. When the wheels of the battery-swapped vehicle are parked on different supports, the The battery swapping vehicle is also at the preset battery swapping parking position.

本实施例中，通过换电车辆的车牌信息获取与车型对应的车轮位置信息，以控制夹车道调整至预设换电停车位置，提高了换电车辆的停车换电位置的定位准确度，有效地解决了换电小车与换电车辆的定位不准确的问题，提高了换电效率；同时，能够适配多车型换电，从而能够满足更多的换电场景以及更高的换电需求。In this embodiment, the wheel position information corresponding to the vehicle type is obtained through the license plate information of the battery-swapping vehicle, so as to control the lane to be adjusted to the preset battery-swapping parking position, which improves the positioning accuracy of the parking and battery-swapping position of the battery-swapping vehicle, and effectively It solves the problem of inaccurate positioning of the battery-changing trolley and the battery-changing vehicle, and improves the battery-changing efficiency; at the same time, it can adapt to multiple models for battery-changing, so as to meet more battery-changing scenarios and higher battery-changing needs.

实施例3Example 3

如图3所示，本实施例的换电站的换电控制方法是对实施例2的进一步改进，具体地：As shown in FIG. 3 , the power exchange control method of the power exchange station of the present embodiment is a further improvement of the second embodiment, specifically:

步骤S1021之后还包括：After step S1021, it also includes:

S1022、根据换电车辆对应的电池位置信息控制支撑件沿着第一方向和/或沿着第二方向移动，以使得夹车道调整至预设换电停车位置。S1022 , controlling the support member to move along the first direction and/or along the second direction according to the battery position information corresponding to the battery swapping vehicle, so that the lane is adjusted to a preset battery swapping parking position.

具体地，基于电池位置信息控制第一限位件沿着第一方向移动，以使得当换电车辆停泊在支撑件上时，换电车辆的电池包与换电工位在第一方向上位置上下对准；和/或，Specifically, the first limiting member is controlled to move along the first direction based on the battery position information, so that when the battery-changing vehicle is parked on the support, the battery pack of the battery-changing vehicle and the battery-changing station are positioned up and down in the first direction aligned; and/or,

基于电池位置信息控制第二限位件沿着第二方向移动，以使得当换电车辆停泊在支撑件上时，换电车辆的电池包与换电工位在第二方向上位置上下对准；Controlling the movement of the second limiting member along the second direction based on the battery position information, so that when the battery-changing vehicle is parked on the support, the battery pack of the battery-changing vehicle and the battery-changing station are aligned up and down in the second direction;

其中，换电工位设置在载车平台内，换电工位用于供换电车辆进行电池包的更换。Among them, the power exchange station is set in the vehicle platform, and the power exchange station is used for the power exchange vehicle to replace the battery pack.

本实施例中，通过换电车辆的车牌信息获取与车型对应的车轮位置信息，以控制夹车道调整至预设换电停车位置，提高了换电车辆的停车换电位置的定位准确度；另外，通过获取该换电车辆中电池包对应的电池位置信息，进而根据该电池位置信息进一步调整对夹车道的位置，从而进一步地提高了换电车辆的停车换电位置的定位准确度，有效地解决了换电小车与换电车辆的定位不准确的问题，提高了换电效率；同时，能够适配多车型换电，从而能够满足更多的换电场景以及更高的换电需求。In this embodiment, the wheel position information corresponding to the vehicle type is obtained through the license plate information of the battery-changing vehicle, so as to control the lane to be adjusted to the preset battery-changing parking position, which improves the positioning accuracy of the parking and battery-changing position of the battery-changing vehicle; , by acquiring the battery position information corresponding to the battery pack in the battery swap vehicle, and then further adjusting the position of the dual lane according to the battery position information, thereby further improving the positioning accuracy of the parking and battery swap position of the battery swap vehicle, effectively It solves the problem of inaccurate positioning of the battery-changing trolley and the battery-changing vehicle, and improves the battery-changing efficiency; at the same time, it can adapt to multiple models for battery-changing, so as to meet more battery-changing scenarios and higher battery-changing needs.

实施例4Example 4

本实施例的夹车道上设有供穿梭车行走的行走平面，且载车平台可升降，行走平面内设有换电位置，换电位置与载车平台内的换电工位上下对应。In this embodiment, there is a walking plane on the clip lane for the shuttle vehicle to travel, and the vehicle-carrying platform can be raised and lowered, and a power-changing position is arranged in the walking plane, and the power-changing position corresponds to the power-changing station in the car-carrying platform up and down.

如图4所示，本实施例的换电站的换电控制方法是对实施例3的进一步改进，具体地：As shown in FIG. 4 , the power exchange control method of the power exchange station of the present embodiment is a further improvement of the third embodiment, specifically:

步骤S102之后还包括：After step S102, it also includes:

S103、在换电车辆停泊于载车平台，且换电车辆车底的电池包对准换电工位后，将载车平台从初始高度举升至第一高度，以使得载车平台与行走平面之间的高度差超过穿梭车的高度；和/或，S103. After the battery-changing vehicle is parked on the vehicle-carrying platform, and the battery pack at the bottom of the battery-changing vehicle is aligned with the battery-changing station, lift the vehicle-carrying platform from the initial height to the first height, so that the vehicle-carrying platform is connected to the walking plane. The height difference between them exceeds the height of the shuttle; and/or,

控制载车平台至第二高度，以使得载车平台低于初始高度，满足拆电池的高度条件；和/或，Controlling the vehicle platform to the second height, so that the vehicle platform is lower than the initial height and meets the height condition for removing the battery; and/or,

控制载车平台至第三高度，以使得载车平台与行走平面之间的高度差超过穿梭车装载电池包之后的高度。The vehicle carrying platform is controlled to a third height, so that the height difference between the vehicle carrying platform and the walking plane exceeds the height after the shuttle vehicle is loaded with the battery pack.

其中，第二高度为第一设定阈值，第三高度为第二设定阈值。The second height is the first set threshold, and the third height is the second set threshold.

另外，当车辆信息还包括电池厚度信息是，本实施例的换电控制方法还包括：In addition, when the vehicle information further includes battery thickness information, the power exchange control method of this embodiment further includes:

根据电池厚度信息调整载车平台的第二高度和/或第三高度。Adjust the second height and/or the third height of the vehicle platform according to the battery thickness information.

本实施例中，在根据不同车型的换电车辆的车辆信息以控制夹车道到达对应的预设换电停车位置，有效地解决了换电小车与换电车辆的定位不准确的问题的前提下，控制载车平台举升至不同高度，以使得穿梭车能够顺利对换电车辆进行拆电池和安装电池操作，以完成换电过程；另外，考虑不同车型中的电池厚度或电池高度不同，结合电池厚度信息以确定载车平台的不同的举升高度，以达到更有效地进行换电操作的效果，提高了整体的换电效率。In this embodiment, the problem of inaccurate positioning of the battery-changing trolley and the battery-changing vehicle is effectively solved by controlling the lane to reach the corresponding preset battery-changing parking position according to the vehicle information of the battery-changing vehicles of different models. , control the vehicle platform to be lifted to different heights, so that the shuttle can smoothly remove the battery and install the battery on the battery-changing vehicle to complete the battery-changing process; The battery thickness information is used to determine different lifting heights of the vehicle platform, so as to achieve the effect of more efficient power exchange operation and improve the overall power exchange efficiency.

本实施例的换电控制方法基于如下换电站及其夹车道实现，具体地：The power exchange control method of the present embodiment is implemented based on the following power exchange stations and their lanes, specifically:

如图5和图6所示，换电站100包括换电设备和载车平台10，其中换电设备(即穿梭车)用于对电动汽车(即换电车辆)更换电池，载车平台10包括平台本体1、支撑件2和举升装置3，电动汽车能够行驶到平台本体1上，支撑件2设置于平台本体1上对应于电动汽车的车轮停靠的位置上，用于对车轮定位。支撑件2可以设置四个，即电动汽车的每个车轮都对应设置一支撑件2，也可以仅设置两个支撑件2，两个支撑件2与电动汽车左侧的两个车轮相对应、或者与电动汽车右侧的两个车轮相对应。As shown in FIG. 5 and FIG. 6 , the power exchange station 100 includes a power exchange device and a vehicle-carrying platform 10, wherein the power-changing device (ie, a shuttle vehicle) is used to replace the battery of an electric vehicle (ie, a power-swap vehicle), and the vehicle-carrying platform 10 includes The platform body 1, the support member 2 and the lifting device 3, the electric vehicle can travel on the platform body 1, and the support member 2 is arranged on the platform body 1 corresponding to the parking position of the wheel of the electric vehicle for positioning the wheel. Four supports 2 can be provided, that is, each wheel of the electric vehicle is provided with a support 2 correspondingly, or only two supports 2 can be provided, and the two supports 2 correspond to the two wheels on the left side of the electric vehicle. Or corresponding to the two wheels on the right side of an electric car.

举升装置3包括举升平台31和举升机构32，平台本体1安装于举升平台31上，举升机构32用于驱动举升平台31上下运动，因此举升装置3能够用于对平台本体1进行升降，从而实现对电动汽车的升降，当进行换电时，举升装置3配合换电设备举升或下降电动汽车，以使得换电设备可以进入电动车辆的底部进行换电操作(即拆卸电池和安装电池)。The lifting device 3 includes a lifting platform 31 and a lifting mechanism 32. The platform body 1 is installed on the lifting platform 31, and the lifting mechanism 32 is used to drive the lifting platform 31 to move up and down, so the lifting device 3 can be used to lift the platform. The main body 1 is lifted up and down, thereby realizing the lifting and lowering of the electric vehicle. When the power exchange is performed, the lifting device 3 cooperates with the power exchange equipment to lift or lower the electric vehicle, so that the power exchange equipment can enter the bottom of the electric vehicle for power exchange operation ( i.e. removing the battery and installing the battery).

可以利用单个举升装置3托举整个电动汽车，也可采用多个举升装置3实现举升和复位，通过两个举升装置3实现举升和复位为例进行了示意。A single lifting device 3 can be used to lift the entire electric vehicle, or multiple lifting devices 3 can be used to achieve lifting and resetting. The lifting and resetting can be achieved by using two lifting devices 3 as an example to illustrate.

支撑件2可以移动，具体可以沿预设路径的方向运动、或者沿垂直于预设路径的方向运动、或者在两个方向上都可以运动。The support member 2 can move, specifically, can move in the direction of the preset path, or move in the direction perpendicular to the preset path, or can move in both directions.

支撑件2能够实现对车轮的定位，从而能够准确确定每次换电时电动汽车的位置，相应地确定了待更换的电池包的位置范围，进而有利于提高换电过程的自动化，同时，由于支撑件2可移动，当需要对不同的电动汽车进行换电时，可以相应调整支撑件2的位置，以适配具有不同轮距和轴距的电动汽车，从而使得载车平台10能够对多种型号的电动汽车进行定位，因此单个换电站100能够适配于多种型号的电动汽车，具有较高的灵活性，降低了换电站100的建设成本，总体上降低了换电成本。The support 2 can realize the positioning of the wheels, so that the position of the electric vehicle can be accurately determined every time the battery is replaced, and the position range of the battery pack to be replaced can be determined accordingly, which is beneficial to improve the automation of the battery replacement process. The support 2 can be moved, and when it is necessary to exchange electricity for different electric vehicles, the position of the support 2 can be adjusted accordingly to adapt to electric vehicles with different wheelbases and wheelbases, so that the vehicle platform 10 can be used for multiple Different types of electric vehicles can be positioned, so a single power exchange station 100 can be adapted to multiple types of electric vehicles, has high flexibility, reduces the construction cost of the power exchange station 100, and reduces the power exchange cost in general.

例如，当需要换电的电动汽车具有较大的轴距时，则可以使得支撑件2沿预设路径的方向运动，以增加预设路径的方向上两个支撑件2的距离。反之亦然。For example, when the electric vehicle that needs to be replaced has a larger wheelbase, the support member 2 can be moved in the direction of the preset path to increase the distance between the two support members 2 in the direction of the preset path. vice versa.

又例如，当需要换电的电动汽车具有较大的轮距时，则可以使得支撑件2沿垂直于预设路径的方向运动，以增加垂直于预设路径的方向上两个支撑件2的距离。反之亦然。For another example, when the electric vehicle that needs to be replaced has a larger wheel base, the support member 2 can be moved in a direction perpendicular to the preset path, so as to increase the distance between the two support members 2 in the direction perpendicular to the preset path. distance. vice versa.

如图7、图8和图9所示，支撑件2包括限位件21(即对应第一限位件和第二限位件)，限位件21用于对车轮在前后方向的运动趋势和/或在左右方向的运动趋势进行限位。因此单个限位件21能够实现车轮至少在前后方向或左右方向上的定位，或者可以实现车轮在水平面上的完全定位。通过设置多个支撑件2，可以实现对电动汽车在水平面上的完全定位。As shown in FIG. 7 , FIG. 8 and FIG. 9 , the support 2 includes a limiter 21 (ie, corresponding to the first limiter and the second limiter), and the limiter 21 is used to control the movement trend of the wheel in the front-rear direction. And/or limit the movement trend in the left and right direction. Therefore, a single stopper 21 can realize the positioning of the wheel at least in the front-rear direction or the left-right direction, or can realize the complete positioning of the wheel on the horizontal plane. By arranging a plurality of support members 2, the complete positioning of the electric vehicle on the horizontal plane can be achieved.

如图10和图11所示，支撑件2还包括移动部件22，移动部件22用于驱动限位件21运动。在移动部件22的驱动下，限位件21能够整体运动，以适配不同的车轮位置，从而适配不同型号的电动汽车。As shown in FIG. 10 and FIG. 11 , the support 2 further includes a moving part 22 , and the moving part 22 is used to drive the limiting part 21 to move. Driven by the moving part 22 , the limiting member 21 can move as a whole to adapt to different wheel positions, so as to adapt to different models of electric vehicles.

移动部件22包括安装平台221和动力源222，安装平台221连接于限位件21的底部，动力源222用于驱动安装平台221沿预设路径的方向和/或垂直于预设路径的方向移动。安装平台221与限位件21相对固定，动力源222通过驱动安装平台221，从而带动限位件21运动。在本实施例中，动力源222为电推杆，电推杆安装于举升平台31上，电推杆的伸缩端2221连接于安装平台221，举升平台31开设有连通口311，以使得安装平台221能够连接于限位件21的底部，伸缩端2221的运动能够带动安装平台221运动。在其他的某些实施例中，也可以将安装平台221也可以为二维滑台，通过移动部件22可以驱动限位件21在平面上朝任意方向移动。The moving part 22 includes an installation platform 221 and a power source 222, the installation platform 221 is connected to the bottom of the limiter 21, and the power source 222 is used to drive the installation platform 221 to move along a direction of a preset path and/or a direction perpendicular to the preset path . The mounting platform 221 is relatively fixed with the limiting member 21 , and the power source 222 drives the mounting platform 221 to drive the limiting member 21 to move. In this embodiment, the power source 222 is an electric push rod, the electric push rod is installed on the lifting platform 31, the telescopic end 2221 of the electric push rod is connected to the installation platform 221, and the lifting platform 31 is provided with a communication port 311, so that The installation platform 221 can be connected to the bottom of the limiting member 21 , and the movement of the telescopic end 2221 can drive the installation platform 221 to move. In some other embodiments, the installation platform 221 can also be a two-dimensional sliding table, and the limiter 21 can be driven to move in any direction on the plane by the moving part 22 .

动力源222还可以为丝杆、电机、液压等驱动装置，也能够实现自动移动调节，从而提高换电效率。在某些实施例中，动力源222也可以为人工驱动，即可以利用人工驱动安装平台221运动。The power source 222 can also be a driving device such as a screw rod, a motor, a hydraulic pressure, etc., and can also realize automatic movement adjustment, thereby improving the power exchange efficiency. In some embodiments, the power source 222 can also be manually driven, that is, the installation platform 221 can be moved by manual driving.

限位件21开设有导向槽，平台本体1具有沿竖直方向凸起的导向块，导向块滑动配合地设置在导向槽中，导向槽沿预设路径的方向或者沿垂直于预设路径的方向延伸。在导向槽和导向块的共同作用下，限位件21能够沿导向槽的延伸方向运动，可以根据实际需要设定导向槽的延伸方向。The limiting member 21 is provided with a guide groove, and the platform body 1 has a guide block protruding in the vertical direction. The guide block is slidably arranged in the guide groove. direction extension. Under the combined action of the guide groove and the guide block, the limiting member 21 can move along the extending direction of the guide groove, and the extending direction of the guide groove can be set according to actual needs.

具体在本实施例中，导向块为连接在平台本体1上的螺栓220，导向槽为开设在限位件21上的腰孔210。利用螺栓220作为导向块较容易实现，结构较为简单。而且，当限位件21调整到合适的位置时，可以利用螺栓220将限位件21与平台本体1固定，使得限位件21被牢固锁定，防止车轮将限位件21顶走，以利于对于车轮的固定。Specifically, in this embodiment, the guide block is a bolt 220 connected to the platform body 1 , and the guide groove is a waist hole 210 formed on the limiting member 21 . Using the bolt 220 as a guide block is easier to implement and has a simpler structure. Moreover, when the limiter 21 is adjusted to an appropriate position, the limiter 21 can be fixed with the platform body 1 by means of bolts 220, so that the limiter 21 is firmly locked to prevent the wheel from pushing the limiter 21 away, so as to facilitate the For wheel fixation.

限位件21包括多个位于侧部的定位组件、以及移动组件，当车轮行驶到限位件21上时，定位组件位于车轮的侧部从而限制车轮的运动。至少一个定位组件能够沿预设路径的方向移动或沿垂直于预设路径的方向移动，移动组件用于驱动定位组件移动。定位组件可以根据轮距、轴距以及车轮的形状和尺寸调节位置，从而能够适配于不同型号的电动汽车以及不同型号的车轮。The limiter 21 includes a plurality of positioning components located on the side and a moving component. When the wheel travels on the limiter 21 , the positioning components are located on the side of the wheel to limit the movement of the wheel. At least one positioning assembly can move along the direction of the preset path or along the direction perpendicular to the preset path, and the moving assembly is used to drive the positioning assembly to move. The positioning assembly can adjust the position according to the wheelbase, wheelbase and the shape and size of the wheel, so that it can be adapted to different models of electric vehicles and wheels of different models.

多个定位组件包括前限位块211和后限位块212，和/或左定位组件213和右定位组件214，移动组件用于驱动前限位块211和/或后限位块212沿预设路径的方向移动、或者用于驱动左定位组件213和/或右定位组件214沿垂直于预设路径的方向移动。单个限位件21可以仅设置前限位块211和后限位块212，也可以仅设置左定位组件213和右定位组件214，或者可以同时设置上述四种定位组件，以满足不同的定位需求，本领域技术人员可以根据实际情况进行调整。The plurality of positioning assemblies include a front limit block 211 and a rear limit block 212, and/or a left positioning assembly 213 and a right positioning assembly 214, and the moving assembly is used to drive the front limit block 211 and/or the rear limit block 212 along the pre- Set the direction of the path to move, or to drive the left positioning assembly 213 and/or the right positioning assembly 214 to move in a direction perpendicular to the preset path. A single limiter 21 can be provided with only the front limit block 211 and the rear limit block 212, or only the left positioning assembly 213 and the right positioning assembly 214, or can be equipped with the above four positioning assemblies at the same time to meet different positioning requirements , those skilled in the art can adjust according to the actual situation.

前限位块211至少用于对电动汽车的车轮向前的运动趋势进行限位，后限位块212至少用于对电动汽车的车轮向后的运动趋势进行限位，左定位组件213至少用于对电动汽车的车轮向左的运动趋势进行限位，右定位组件214至少用于对电动汽车的车轮向右的运动趋势进行限位。The front limit block 211 is at least used to limit the forward movement trend of the wheels of the electric vehicle, the rear limit block 212 is at least used to limit the backward movement trend of the wheels of the electric vehicle, and the left positioning component 213 is used at least In order to limit the movement tendency of the wheels of the electric vehicle to the left, the right positioning component 214 is at least used to limit the movement tendency of the wheels of the electric vehicle to the right.

通过调节前限位块211或后限位块212的位置以适配不同的轴距和不同的车轮尺寸，通过调节左定位组件213和右定位组件214的位置以适配不同的轮距和不同的车轮尺寸，其中前限位块211和后限位块212中可以仅有一个是可移动的，也可以两个都是可移动的，类似地，左定位组件213和右定位组件214中可以仅有一个是可移动的，也可以两个都是可移动的。By adjusting the position of the front limit block 211 or the rear limit block 212 to adapt to different wheel bases and different wheel sizes, by adjusting the positions of the left positioning assembly 213 and the right positioning assembly 214 to adapt to different wheel bases and different wheel sizes The size of the wheel is different, in which only one of the front limit block 211 and the rear limit block 212 can be movable, or both can be movable. Similarly, the left positioning assembly 213 and the right positioning assembly 214 can be Only one is movable, or both can be movable.

当限位件21设置有前限位块211和后限位块212时，前限位块211和后限位块212中的至少一个开设有沿预设路径的方向延伸的第一导槽(图中未示出)，平台本体1包括沿竖直方向凸起的第一导块(图中未示出)，第一导块滑动配合地设置在第一导槽中，在第一导槽和第一导块的共同作用下，前限位块211和后限位块212能够沿预设路径的方向运动。When the limiter 21 is provided with the front limit block 211 and the rear limit block 212, at least one of the front limit block 211 and the rear limit block 212 is provided with a first guide groove ( (not shown in the figure), the platform body 1 includes a first guide block (not shown in the figure) protruding in the vertical direction, and the first guide block is slidably arranged in the first guide groove, in the first guide groove Under the joint action of the first guide block, the front limit block 211 and the rear limit block 212 can move in the direction of the preset path.

类似地，当限位件21设置左定位组件213和右定位组件214时，左定位组件213和右定位组件214中的至少一个开设有沿垂直于预设路径的方向延伸的第二导槽(图中未示出)，平台本体1包括沿竖直方向凸起的第二导块(图中未示出)，第二导块滑动配合地设置在第二导槽中，在第二导槽和第二导块的共同作用下，左定位组件213和右定位组件214能够沿预设路径的方向运动。Similarly, when the stopper 21 is provided with the left positioning assembly 213 and the right positioning assembly 214, at least one of the left positioning assembly 213 and the right positioning assembly 214 is provided with a second guide groove ( Not shown in the figure), the platform body 1 includes a second guide block (not shown in the figure) protruding in the vertical direction, and the second guide block is slidably arranged in the second guide groove, in the second guide groove Under the joint action of the second guide block, the left positioning assembly 213 and the right positioning assembly 214 can move in the direction of the preset path.

在某些实施方式中，左定位组件213和右定位组件214都包括沿预设路径的方向延伸的定位辊筒23，定位辊筒23通过定位支架24连接于平台本体1。若车轮偏离而行驶到定位辊筒23上时，定位辊筒23发生滚动，车轮顺着定位辊筒23的滚动而滑落到预设的位置上。其中第二导槽可以设置在定位支架24上。In some embodiments, both the left positioning assembly 213 and the right positioning assembly 214 include positioning rollers 23 extending along the direction of the preset path, and the positioning rollers 23 are connected to the platform body 1 through the positioning brackets 24 . If the wheel deviates and travels on the positioning roller 23 , the positioning roller 23 rolls, and the wheel slides down to a preset position along the rolling of the positioning roller 23 . The second guide groove may be provided on the positioning bracket 24 .

虽然以上描述了本申请的具体实施方式，但是本领域的技术人员应当理解，这些仅是举例说明，本申请的保护范围是由所附权利要求书限定的。本领域的技术人员在不背离本申请的原理和实质的前提下，可以对这些实施方式作出多种变更或修改，但这些变更和修改均落入本申请的保护范围。Although the specific embodiments of the present application are described above, those skilled in the art should understand that these are only examples, and the protection scope of the present application is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principle and essence of the present application, but these changes and modifications all fall within the protection scope of the present application.

Claims

一种换电站的换电控制方法，其特征在于，所述换电站中设有可调节的夹车道，所述换电控制方法包括：A power exchange control method for a power exchange station, characterized in that the power exchange station is provided with an adjustable clip lane, and the power exchange control method comprises:

获取换电车辆的车辆信息；Obtain the vehicle information of the battery-swapped vehicle;

根据所述车辆信息控制所述夹车道调整至预设换电停车位置。The pinch lane is controlled to be adjusted to a preset power-changing parking position according to the vehicle information.
如权利要求1所述的换电站的换电控制方法，其特征在于，所述获取换电车辆的车辆信息的步骤包括：The power exchange control method of a power exchange station according to claim 1, wherein the step of acquiring the vehicle information of the power exchange vehicle comprises:

扫描并获取所述换电车辆的车牌信息；Scan and obtain the license plate information of the battery-swapping vehicle;

将所述车牌信息发送至云端服务器，并获取所述云端服务器根据所述车牌信息下发的所述车辆信息。The license plate information is sent to the cloud server, and the vehicle information issued by the cloud server according to the license plate information is acquired.
如权利要求2所述的换电站的换电控制方法，其特征在于，所述车辆信息包括与车型对应的车轮位置信息，和/或，电池包在所述换电车辆中对应的电池位置信息。The power exchange control method of a power exchange station according to claim 2, wherein the vehicle information includes wheel position information corresponding to a vehicle type, and/or battery position information corresponding to a battery pack in the power exchange vehicle .
如权利要求1-3中至少一项所述的换电站的换电控制方法，其特征在于，所述夹车道包括载车平台和设于所述载车平台上的支撑件，所述支撑件用于承载所述换电车辆的车轮；The power exchange control method for a power exchange station according to at least one of claims 1 to 3, wherein the clip lane comprises a vehicle platform and a support member provided on the vehicle platform, the support member a wheel for carrying the battery-swapped vehicle;

所述根据所述车辆信息控制所述夹车道调整至预设换电停车位置的步骤包括：The step of controlling the pinch lane to be adjusted to a preset power-swap parking position according to the vehicle information includes:

根据所述换电车辆对应的所述车轮位置信息控制所述支撑件沿着第一方向和/或沿着第二方向移动，以使得所述夹车道调整至所述预设换电停车位置；Controlling the support member to move along the first direction and/or along the second direction according to the wheel position information corresponding to the battery-changing vehicle, so that the lane is adjusted to the preset battery-changing parking position;

其中，所述第一方向为所述换电车辆驶入所述载车平台时的方向，所述第二方向垂直于所述第一方向。Wherein, the first direction is the direction when the battery-swapping vehicle drives into the vehicle platform, and the second direction is perpendicular to the first direction.
如权利要求4所述的换电站的换电控制方法，其特征在于，所述支撑件包括以所述第一方向限位的第一限位件和以所述第二方向限位的第二限位件；The power exchange control method for a power exchange station according to claim 4, wherein the support member comprises a first limit member limited in the first direction and a second limit member limited in the second direction limiter;

所述根据所述换电车辆对应的所述车轮位置信息控制所述支撑件沿着第一方向和/或沿着第二方向移动，以使得所述夹车道调整至所述预设换电停车位置的步骤包括：The control of the support member to move along the first direction and/or along the second direction according to the wheel position information corresponding to the battery-swapped vehicle, so that the pinch lane is adjusted to the preset battery-swap stop The steps for location include:

控制所述第一限位件沿着所述第一方向移动，以使得所述支撑件在第一方向移动至对应位置；和/或，controlling the first limiting member to move along the first direction, so that the supporting member moves to a corresponding position in the first direction; and/or,

控制所述第二限位件沿着所述第二方向移动，以使得所述支撑件在第二方向移动至对应位置。The second limiting member is controlled to move along the second direction, so that the support member moves to a corresponding position in the second direction.
如权利要求5所述的换电站的换电控制方法，其特征在于，所述根据所述车辆信息控制所述夹车道调整至预设换电停车位置的步骤还包括：The power swap control method of a power swap station according to claim 5, wherein the step of controlling the lane to be adjusted to a preset power swap parking position according to the vehicle information further comprises:

根据所述换电车辆对应的所述电池位置信息控制所述支撑件沿着第一方向和/或沿着第二方向移动，以使得所述夹车道调整至所述预设换电停车位置。The supporting member is controlled to move along the first direction and/or along the second direction according to the battery position information corresponding to the battery swapping vehicle, so that the lane is adjusted to the preset battery swapping parking position.
如权利要求2-6中至少一项所述的换电站的换电控制方法，其特征在于，所述根据所述换电车辆对应的所述电池位置信息控制所述支撑件沿着第一方向和/或沿着第二方向移动，以使得所述夹车道调整至所述预设换电停车位置的步骤还包括：The power exchange control method for a power exchange station according to at least one of claims 2 to 6, wherein the support is controlled along a first direction according to the battery position information corresponding to the power exchange vehicle and/or moving along the second direction, so that the step of adjusting the pinch lane to the preset power changing parking position further includes:

基于所述电池位置信息控制所述第一限位件沿着所述第一方向移动，以使得当所述换电车辆停泊在所述支撑件上时，所述换电车辆的电池包与换电工位在所述第一方向上位置上下对准；和/或，Based on the battery position information, the first limiting member is controlled to move along the first direction, so that when the battery-swapping vehicle is parked on the support, the battery pack of the battery-swapping vehicle is connected to the replacement vehicle. The electrical station is positioned up and down in the first direction; and/or,

基于所述电池位置信息控制所述第二限位件沿着所述第二方向移动，以使得当所述换电车辆停泊在所述支撑件上时，所述换电车辆的电池包与换电工位在所述第二方向上位置上下对准；The second limiting member is controlled to move along the second direction based on the battery position information, so that when the battery-swapping vehicle is parked on the support, the battery pack of the battery-swapping vehicle is not connected to the replacement. The position of the electric station is aligned up and down in the second direction;

其中，所述换电工位设置在所述载车平台内，所述换电工位用于供所述换电车辆进行电池包的更换。Wherein, the power-changing station is set in the vehicle platform, and the power-changing station is used for replacing the battery pack of the power-changing vehicle.
如权利要求1-7中至少一项所述的换电站的换电控制方法，其特征在于，所述夹车道上设有供所述穿梭车行走的行走平面，且所述载车平台可升降，所述行走平面内设有换电位置，所述换电位置与所述载车平台内的换电工位上下对应；The power exchange control method for a power exchange station according to at least one of claims 1 to 7, characterized in that a walking plane for the shuttle vehicle to travel on is provided on the clip lane, and the vehicle carrying platform can be raised and lowered. , a power exchange position is arranged in the walking plane, and the power exchange position corresponds to the power exchange station in the vehicle platform;

所述换电控制方法还包括：The power exchange control method further includes:

在所述换电车辆停泊于所述载车平台，且所述换电车辆车底的电池包对准所述换电工位后，将所述载车平台从初始高度举升至第一高度，以使得所述载车平台与所述行走平面之间的高度差超过所述穿梭车的高度；和/或，After the battery-changing vehicle is parked on the vehicle-carrying platform, and the battery pack at the bottom of the battery-changing vehicle is aligned with the battery-changing station, the vehicle-carrying platform is lifted from the initial height to the first height, such that the height difference between the vehicle platform and the walking plane exceeds the height of the shuttle; and/or,

控制所述载车平台至第二高度，以使得所述载车平台低于初始高度，满足拆电池的高度条件；和/或，Controlling the vehicle-carrying platform to a second height, so that the vehicle-carrying platform is lower than the initial height and satisfies the height condition for removing the battery; and/or,

控制所述载车平台至第三高度，以使得所述载车平台与所述行走平面之间的高度差超过所述穿梭车装载电池包之后的高度。The vehicle carrying platform is controlled to a third height, so that the height difference between the vehicle carrying platform and the walking plane exceeds the height of the shuttle vehicle after the battery pack is loaded.
如权利要求8所述的换电站的换电控制方法，其特征在于，所述第二高度为第一设定阈值，所述第三高度为第二设定阈值。The power exchange control method for a power exchange station according to claim 8, wherein the second height is a first set threshold, and the third height is a second set threshold.
如权利要求1-9中至少一项所述的换电站的换电控制方法，其特征在于，所述车辆信息还包括电池厚度信息；The power exchange control method for a power exchange station according to at least one of claims 1 to 9, wherein the vehicle information further includes battery thickness information;

所述换电控制方法还包括：The power exchange control method further includes:

根据所述电池厚度信息调整所述载车平台的所述第二高度和/或所述第三高度。The second height and/or the third height of the vehicle platform is adjusted according to the battery thickness information.