阅读说明：本技术 运载车对位方法及其对位系统、电动汽车电池更换方法 (Carrier loader alignment method and system and electric vehicle battery replacement method ) 是由 郑伟伟 罗峥 郑娅敏 席兵荣 齐紫玉 陈斌斌 于 2021-07-30 设计创作，主要内容包括：本申请公开了一种运载车对位方法及其对位系统、电动汽车电池更换方法。运载车对位方法包括步骤：控制一运载车沿着一预设路线向一预设区域行驶,所述预设区域位于一电动汽车的电池槽正下方；利用所述运载车内的磁传感器实时感应所述运载车所处磁场的强弱并实时采集电流信号,记录实时电流值；当所述实时电流值初次大于0时,将初次产生电流的时间记录为减速时间点,控制所述运载车减速缓行；在所述减速时间点之后的一预设时段内,连续记录两个以上实时电流值,将其中的最大电流值记录为阈值电流；当所述实时电流值再次等于阈值电流时,控制所述运载车停止行驶。本申请实现了运载车与电动汽车底盘上的电池槽的准确对位。(The application discloses a carrier loader alignment method, an alignment system and an electric vehicle battery replacement method. The carrier loader alignment method comprises the following steps: controlling a carrier loader to run along a preset route to a preset area, wherein the preset area is positioned right below a battery jar of an electric vehicle; sensing the intensity of a magnetic field where the carrier loader is located in real time by using a magnetic sensor in the carrier loader, collecting current signals in real time, and recording real-time current values; when the real-time current value is larger than 0 for the first time, recording the time of generating current for the first time as a deceleration time point, and controlling the carrier loader to decelerate and creep; continuously recording more than two real-time current values within a preset time period after the deceleration time point, and recording the maximum current value as a threshold current; and when the real-time current value is equal to the threshold current again, controlling the carrier loader to stop running. The accurate counterpoint of battery jar on carrier loader and the electric automobile chassis has been realized to this application.)

1. A carrier loader alignment system, comprising:

the carrying vehicle runs to a preset area along a preset route, and the tail end of the preset route extends into the preset area; and

the electric automobile comprises a chassis, wherein a battery jar is arranged on the bottom surface of the chassis, and the preset area is positioned right below the battery jar; two magnetic strips which are arranged oppositely are arranged at the notch, and the central axis of each magnetic strip is vertical to the extending direction of the tail end of the preset route;

wherein, carrier loader includes:

a vehicle body;

the circuit board is arranged in the vehicle body and provided with a processor; and

the magnetic sensor is arranged on the top surface of the vehicle body, is electrically connected to the processor and is used for generating a current signal according to the intensity of a magnetic field where the carrying vehicle is located.

2. The vehicle alignment system of claim 1, further comprising

A lifting platform is respectively arranged at four corners of the parking space; when an electric automobile is parked at the standard position of the parking space, four wheels of the electric automobile are respectively positioned on a lifting platform.

3. The vehicle alignment system of claim 1, further comprising

The four distance sensors are respectively arranged at the four corners of the top surface of the carrier loader, are respectively electrically connected to the processor and are used for collecting the real-time distances between the four corners of the top surface of the carrier loader and the electric automobile.

4. The vehicle alignment system of claim 1, further comprising

The four wheels are mounted to the bottom surface of the vehicle body of the carrier vehicle and are connected to power equipment of the vehicle body through a transmission device; the wheels are multi-directional wheels or flat wheels.

5. The vehicle alignment system of claim 1, further comprising

The guiding belt is arranged on the traveling road surface of the carrying vehicle, the tail end of the guiding belt is located in the preset area, and the central line of the tail end of the guiding belt is the middle line of the preset area.

6. The vehicle alignment system of claim 5, further comprising image sensors disposed on the front and rear surfaces of the vehicle body and electrically connected to the processor for obtaining real-time images of the traveling road surface; when the carrier vehicle advances, a lens of the image sensor faces the guide belt, and a picture of the guide belt is displayed in the real-time picture; and

the electronic compass is arranged in the vehicle body and is electrically connected to the processor; the real-time traveling direction of the vehicle body is collected.

7. The vehicle alignment system of claim 1, wherein the vehicle comprises:

a platform;

a lifting device mounted to an upper surface of the platform; and

the tray is horizontally arranged at the top of the lifting device; when the carrying vehicle is located in the preset area, the tray is located under the battery jar.

8. A carrier loader alignment method is characterized by comprising the following steps:

controlling a carrier loader to run along a preset route to a preset area, wherein the preset area is positioned under a battery jar of an electric vehicle, and the tail end of the preset route extends into the preset area; two magnetic strips which are arranged oppositely are arranged at the notch of the battery jar, and the central axis of each magnetic strip is vertical to the extending direction of the tail end of the preset route;

in the running process of the carrier loader, sensing the intensity of a magnetic field where the carrier loader is located in real time by using a magnetic sensor in the carrier loader, collecting current signals in real time, and recording real-time current values;

when the real-time current value is larger than 0 for the first time, recording the time of generating current for the first time as a deceleration time point, and controlling the carrier loader to decelerate and creep;

continuously recording more than two real-time current values within a preset time period after the deceleration time point, and recording the maximum current value as a threshold current; and

and when the real-time current value is equal to the threshold current again, controlling the carrier loader to stop running.

9. The vehicle alignment method according to claim 8,

before the step of controlling a carrier vehicle to travel along a predetermined route to a predetermined area, the method further comprises the following steps:

and controlling the lifting platform of the parking space to synchronously ascend for a preset distance, so that the height difference between the electric automobile chassis and the ground is greater than the height of the carrier loader and the height of the battery pack carried by the carrier loader.

10. The vehicle alignment method according to claim 8,

the method comprises the following steps of controlling a carrier loader to run along a preset route to a preset area, and further comprising the following steps:

acquiring a map of a marching area of the carrier loader;

acquiring the real-time position of the carrier loader and the position of the preset area on the map;

planning and optimizing a preset route for the carrier loader according to the map;

generating a control instruction set of the carrier loader according to the preset route and the speed of the carrier loader, wherein the control instruction set comprises at least one control instruction and a time interval between any two adjacent control instructions; and

and transmitting the control instruction set to the carrier loader, and controlling the carrier loader to travel along the preset route.

11. The vehicle alignment method according to claim 8, further comprising the steps of:

distance sensors are arranged at four corners of the top surface of the carrier loader, and the real-time distance between the four corners of the top surface of the carrier loader and the electric automobile is collected;

after the carrier vehicle stops running, judging whether the carrier vehicle deviates from the preset area according to the real-time distances acquired by the four distance sensors, and acquiring the deviation direction of the carrier vehicle;

when the carrying vehicle deviates to the first direction, the carrying vehicle is controlled to translate towards a second direction opposite to the first direction until the carrying vehicle is completely positioned in the preset area.

12. The vehicle alignment method according to claim 11,

the method comprises the following steps of judging whether the carrier loader deviates from the preset area according to the real-time distances acquired by the four distance sensors:

numbering the two distance sensors on the left side of the vehicle body as A1 and A2, and numbering the two distance sensors on the right side of the vehicle body as B1 and B2;

defining the real-time acquired distance values of the distance sensors A1, A2, B1, B2 as S_A1、S_A2、S_B1、S_B2；

When S is_A1＝S_A2And S_B1＝S_B2And S_A1>S_B1When the vehicle body deviates to the right, judging that the vehicle body deviates to the right;

when S is_A1＝S_A2And S_B1＝S_B2And S_A1<S_B1If so, judging that the vehicle body deviates leftwards;

when S is_A1＝S_A2＝S_B1＝S_B2And judging that the vehicle body is completely positioned in the preset area.

13. The vehicle alignment method according to claim 8,

the method for controlling the carrier vehicle to travel along a preset route to a preset area comprises the following steps:

arranging a guide belt on a road surface as a preset route; edge lines on two sides of the guide belt are guide edge lines, the tail end of the guide belt is located in the preset area, and the central line of the tail end of the guide belt is a middle line of the preset area;

controlling the carrier loader to run towards the preset area along the guide belt;

acquiring a real-time picture of a road surface in real time by using an image sensor, wherein the image of the guide belt is displayed in the real-time picture;

performing image processing on the real-time picture, and finding out the positions of two guide sidelines, wherein the guide sidelines are two side edges of a guide belt;

finding out the position of the center line of the guide belt according to the positions of the two guide sidelines;

acquiring the real-time driving direction of the carrier loader in real time by using an electronic compass;

judging whether the real-time driving direction is consistent with the extending direction of the guide sideline, and if not, executing the next step; and

and sending a direction control instruction, and adjusting the running direction of the carrier loader to make the running direction of the carrier loader consistent with the extending direction of the guide sideline, so that the projection of the center line of the carrier loader on the road surface is consistent with the position of the center line of the guide belt.

14. The vehicle alignment method of claim 13, further comprising the steps of:

distance sensors are arranged at four corners of the top surface of the carrier loader, and the real-time distance between the four corners of the top surface of the carrier loader and the electric automobile is collected;

after the carrier vehicle stops running, judging whether the carrier vehicle deviates from the preset area according to the real-time distances acquired by the four distance sensors, and if so, executing the next step;

and controlling the carrier vehicle to retreat for a preset distance along the guide belt, and returning to the step of controlling the carrier vehicle to travel to the preset area along the guide belt.

15. A method for replacing a battery of an electric automobile is characterized by comprising the following steps:

selecting a power exchange cabinet closest to the electric automobile according to the parking position of the electric automobile with the battery to be replaced, wherein the power exchange cabinet is provided with at least one carrier loader and at least one storage battery vacancy and at least one new battery pack;

controlling a carrier loader to run empty to a position right below a battery jar of the electric vehicle, and implementing first-time accurate alignment on the carrier loader and the battery jar according to the carrier loader alignment method of any one of claims 8-14;

controlling the carrier loader to transfer the old battery pack in the battery groove into the carrier loader;

controlling the carrier loader to convey the old battery pack to the power change cabinet; and

controlling a carrier loader to drive to a position right below a battery groove of the electric vehicle with a new battery pack, and implementing a second accurate alignment between the carrier loader and the battery groove according to the carrier loader alignment method in any one of claims 8-14;

controlling the carrier loader to install the new battery pack into the battery slot;

and controlling the carrier loader to return to the power exchange cabinet.

Technical Field

The invention relates to the technical field of electric automobile manufacturing, in particular to a carrier loader alignment method, an alignment system and an electric automobile battery replacement method.

Background

With the increasing depletion of petroleum resources and the increasing enhancement of environmental protection awareness, new energy automobiles are more and more favored by people. The electric automobile replaces a fuel engine with a motor, is powered by a storage battery and is driven by the motor without a gearbox, and has the advantages of energy conservation, environmental protection, convenient operation and maintenance, reliable operation, low noise and the like. The battery is used as an indispensable important part on the electric automobile and provides power energy for the electric automobile. The most key technical problem of the electric automobile is the rapid charging of the battery, the current battery is difficult to drive in a long distance, the battery of the electric automobile needs frequent charging, and how to rapidly and efficiently complete the charging work of the electric automobile is always a problem which hinders the rapid development of the electric automobile. And the requirement of rapidly recovering the power of the electric automobile can be met by replacing the automobile battery, the use habit of the traditional automobile user is better met, and the automobile battery replacement method is the best choice for improving the user experience at present. However, the storage of the automobile battery in the electric automobile power exchange cabinet can only be achieved at present, so that the battery storage is convenient, when a user replaces the battery, the used power-shortage battery is detached from the automobile battery compartment and then placed in the electric automobile power exchange cabinet, and then the fully charged battery after charging is taken out and replaced into the automobile battery compartment.

But at present, the accurate alignment of the trolley for carrying the battery cannot be realized and the trolley is stopped below the electric automobile, which is the key for limiting the realization of full-automatic control of battery replacement.

Disclosure of Invention

The invention aims to provide a carrier loader alignment method, an alignment system thereof and an electric vehicle battery replacement method, which are used for solving the technical problem that the automatic replacement of batteries of an electric vehicle and a battery replacement cabinet cannot be realized due to the fact that batteries cannot be disassembled and assembled because alignment difference often occurs when the batteries are replaced because the conventional trolley for carrying the batteries is accurately aligned and stopped below the electric vehicle.

In order to achieve the above object, an embodiment of the present invention provides a vehicle alignment system, which includes a vehicle and an electric vehicle; the carrier vehicle is used for running along a guide belt; the carrier loader runs to a preset area along a preset route, and the tail end of the preset route extends into the preset area; the electric automobile comprises a chassis, a battery jar is arranged on the bottom surface of the chassis, and the preset area is located right below the battery jar; two magnetic strips which are arranged oppositely are arranged at the notch, and the central axis of each magnetic strip is vertical to the extending direction of the tail end of the preset route; the carrying vehicle comprises a vehicle body, a circuit board and a magnetic sensor; the circuit board is arranged in the vehicle body and is provided with a processor; the magnetic sensor is arranged on the top surface of the vehicle body, is electrically connected to the processor and is used for generating a current signal according to the intensity of a magnetic field where the carrying vehicle is located.

Furthermore, the carrier loader alignment system also comprises parking spaces, and four corners of each parking space are respectively provided with a lifting platform; when an electric automobile is parked at the standard position of the parking space, four wheels of the electric automobile are respectively positioned on a lifting platform.

Furthermore, the carrier loader alignment system further comprises four distance sensors respectively arranged at the four corners of the top surface of the carrier loader, and electrically connected to the processor respectively, so as to collect real-time distances between the four corners of the top surface of the carrier loader and the electric vehicle.

Further, the carrier vehicle alignment system further comprises four wheels, wherein the four wheels are mounted on the bottom surface of the vehicle body of the carrier vehicle and connected to power equipment of the vehicle body through a transmission device; the wheels are multi-directional wheels or flat wheels.

Furthermore, the carrier loader alignment system further comprises a guide belt arranged on a traveling road surface of the carrier loader, the tail end of the guide belt is located in the preset area, and the central line of the tail end of the guide belt is the middle line of the preset area.

Furthermore, the vehicle alignment system further comprises an image sensor and an electronic compass; the image sensors are arranged on the surfaces of the front end and the rear end of the vehicle body and electrically connected to the processor for acquiring real-time pictures of the traveling road surface; when the carrier vehicle advances, a lens of the image sensor faces the guide belt, and a picture of the guide belt is displayed in the real-time picture; the electronic compass is arranged in the vehicle body and is electrically connected to the processor; the real-time traveling direction of the vehicle body is collected.

Further, the carrier loader comprises a platform, a lifting device and a tray; the lifting device is mounted to an upper surface of the platform; the tray is horizontally arranged at the top of the lifting device; when the carrying vehicle is located in the preset area, the tray is located under the battery jar.

In order to achieve the above object, an embodiment of the present invention provides a vehicle alignment method, including the following steps: controlling a carrier loader to run along a preset route to a preset area, wherein the preset area is positioned under a battery jar of an electric vehicle, and the tail end of the preset route extends into the preset area; two magnetic strips which are arranged oppositely are arranged at the notch of the battery jar, and the central axis of each magnetic strip is vertical to the extending direction of the tail end of the preset route; in the running process of the carrier loader, sensing the intensity of a magnetic field where the carrier loader is located in real time by using a magnetic sensor in the carrier loader, collecting current signals in real time, and recording real-time current values; when the real-time current value is larger than 0 for the first time, recording the time of generating current for the first time as a deceleration time point, and controlling the carrier loader to decelerate and creep; continuously recording more than two real-time current values within a preset time period after the deceleration time point, and recording the maximum current value as a threshold current; and when the real-time current value is equal to the threshold current again, controlling the carrier loader to stop running.

Further, before the step of controlling a carrier vehicle to travel along a predetermined route to a predetermined area, the method further comprises the following steps: and controlling the lifting platform of the parking space to synchronously ascend for a preset distance, so that the height difference between the electric automobile chassis and the ground is greater than the height of the carrier loader and the height of the battery pack carried by the carrier loader.

Further, the step of controlling a carrier vehicle to travel along a predetermined route to a predetermined area further comprises the steps of: acquiring a map of a marching area of the carrier loader; acquiring the real-time position of the carrier loader and the position of the preset area on the map; planning and optimizing a preset route for the carrier loader according to the map; generating a control instruction set of the carrier loader according to the preset route and the speed of the carrier loader, wherein the control instruction set comprises at least one control instruction and a time interval between any two adjacent control instructions; and transmitting the control instruction set to the carrier loader, and controlling the carrier loader to travel along the preset route.

Further, the vehicle alignment method further comprises the following steps: distance sensors are arranged at four corners of the top surface of the carrier loader, and the real-time distance between the four corners of the top surface of the carrier loader and the electric automobile is collected; after the carrier vehicle stops running, judging whether the carrier vehicle deviates from the preset area according to the real-time distances acquired by the four distance sensors, and acquiring the deviation direction of the carrier vehicle; when the carrying vehicle deviates to the first direction, the carrying vehicle is controlled to translate towards a second direction opposite to the first direction until the carrying vehicle is completely positioned in the preset area.

Further, whether the carrier loader deviates or not is judged according to the real-time distances acquired by the four distance sensorsThe step of presetting the area comprises the following steps: numbering the two distance sensors on the left side of the vehicle body as A1 and A2, and numbering the two distance sensors on the right side of the vehicle body as B1 and B2; defining the real-time acquired distance values of the distance sensors A1, A2, B1, B2 as S_A1、S_A2、S_B1、S_B2(ii) a When S is_A1＝S_A2And S_B1＝S_B2And S_A1>S_B1When the vehicle body deviates to the right, judging that the vehicle body deviates to the right; when S is_A1＝S_A2And S_B1＝S_B2And S_A1<S_B1If so, judging that the vehicle body deviates leftwards; when S is_A1＝S_A2＝S_B1＝S_B2And judging that the vehicle body is completely positioned in the preset area.

Further, the method for controlling a carrier vehicle to travel along a preset route to a preset area comprises the following steps: arranging a guide belt on a road surface as a preset route; edge lines on two sides of the guide belt are guide edge lines, the tail end of the guide belt is located in the preset area, and the central line of the tail end of the guide belt is a middle line of the preset area; controlling the carrier loader to run towards the preset area along the guide belt; acquiring a real-time picture of a road surface in real time by using an image sensor, wherein the image of the guide belt is displayed in the real-time picture; performing image processing on the real-time picture, and finding out the positions of two guide sidelines, wherein the guide sidelines are two side edges of a guide belt; finding out the position of the center line of the guide belt according to the positions of the two guide sidelines; acquiring the real-time driving direction of the carrier loader in real time by using an electronic compass; judging whether the real-time driving direction is consistent with the extending direction of the guide sideline, and if not, executing the next step; and sending a direction control instruction, and adjusting the running direction of the carrier loader to make the running direction of the carrier loader consistent with the extending direction of the guide sideline, so that the projection of the center line of the carrier loader on the road surface is consistent with the position of the center line of the guide belt.

Further, the vehicle alignment method further comprises the following steps: distance sensors are arranged at four corners of the top surface of the carrier loader, and the real-time distance between the four corners of the top surface of the carrier loader and the electric automobile is collected; after the carrier vehicle stops running, judging whether the carrier vehicle deviates from the preset area according to the real-time distances acquired by the four distance sensors, and if so, executing the next step; and controlling the carrier vehicle to retreat for a preset distance along the guide belt, and returning to the step of controlling the carrier vehicle to travel to the preset area along the guide belt.

Further, in the step of detecting whether the carrying vehicle is positioned right below the battery jar, whether four distance sensors can simultaneously obtain four optical signals is detected, and if yes, the alignment is judged to be accurate; if not, the alignment error is determined.

In order to achieve the above object, an embodiment of the present invention provides a method for replacing a battery of an electric vehicle, including the following steps: selecting a power exchange cabinet closest to the electric automobile according to the parking position of the electric automobile with the battery to be replaced, wherein the power exchange cabinet is provided with at least one carrier loader and at least one storage battery vacancy and at least one new battery pack; controlling a carrier loader to run empty to a position right below a battery jar of the electric automobile, and enabling the carrier loader and the battery jar to realize first-time accurate alignment according to any one carrier loader alignment method; controlling the carrier loader to transfer the old battery pack in the battery groove into the carrier loader; controlling the carrier loader to convey the old battery pack to the power change cabinet; controlling a carrier loader to drive to a position right below a battery groove of the electric vehicle with a new battery pack, and enabling the carrier loader and the battery groove to realize secondary accurate alignment according to any carrier loader alignment method; controlling the carrier loader to install the new battery pack into the battery slot; and controlling the carrier loader to return to the power exchange cabinet.

The invention has the beneficial effects that the alignment method and the alignment system of the carrier loader and the battery replacement method of the electric automobile are provided, so that the carrier loader is accurately aligned with the battery jar on the electric automobile chassis, and the carrier loader runs along the road surface guide belt to ensure that two side edges of the carrier loader are aligned with the left edge and the right edge of the battery jar; and meanwhile, the carrier loader is controlled to stop according to detection signals of the aligning devices correspondingly arranged on the carrier loader and the battery groove, and the front edge and the rear edge of the carrier loader are aligned with the front edge and the rear edge of the battery groove after the carrier loader stops, so that the automatic replacement of the batteries of the electric automobile and the power change cabinet is realized.

Drawings

The technical solution and other advantages of the present application will be presented in the following detailed description of specific embodiments of the present application with reference to the accompanying drawings.

Fig. 1 is a schematic distribution structure diagram of the parking area and the power conversion cabinet provided in embodiment 1 of the present application.

Fig. 2 is a schematic structural diagram of the power transformation cabinet provided in embodiment 1 of the present application.

Fig. 3 is a schematic structural view of the carrier loader located below a car with a battery to be replaced in the parking area according to embodiment 1 of the present application.

Fig. 4 is a schematic structural diagram of the carrier loader provided in embodiment 1 of the present application.

Fig. 5 is a schematic structural view of a carrier loader provided in embodiment 1 of the present application, which runs to the lower side of an automobile along a road surface guide belt.

Fig. 6 is a schematic view of a vehicle bottom structure of the automobile provided in embodiment 1 of the present application.

Fig. 7 is a flowchart of a method for replacing a battery of an automobile according to embodiment 1 of the present application.

Fig. 8 is a flowchart illustrating a process of controlling a carrier loader to travel along a predetermined route to a predetermined area according to embodiment 1 of the present application.

Fig. 9 is a flowchart of a vehicle alignment method provided in embodiment 1 of the present application.

Fig. 10 is a schematic distribution structure diagram of the parking area and the power conversion cabinet provided in embodiment 2 of the present application.

Fig. 11 is a flowchart for controlling a carrier vehicle to travel along a guide belt on a road surface according to embodiment 2 of the present application.

The designations in the drawings are as follows:

a vehicle alignment system 10 is provided for aligning a vehicle,

the vehicle comprises a carrier vehicle 1, a vehicle body 11, a magnetic sensor 12, an image sensor 13, a distance sensor 14, a platform 15, a lifting device 16, a tray 17, wheels 18,

the electric automobile 2, the chassis 21, the battery jar 22, the magnetic strip 23, the reflecting surface 24,

a preset area 3a, a guide belt 3b,

the parking space 4, the lifting platform 41,

the power exchange cabinet 20, the charging potential 201, the battery transfer mechanism 202, the display screen 203,

and a battery pack 30.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Example 1

Referring to fig. 1 to 6, in embodiment 1 of the present invention, a carrier loader alignment system 10 is provided, including a carrier loader 1 and an electric vehicle 2; the carrier vehicle 1 travels along a predetermined route (indicated by a dotted line in fig. 1) to a predetermined area 3a, and the end of the predetermined route extends into the predetermined area 3 a. The preset route is a planned traveling route, and no barrier blocks the traveling of the carrier loader 1 on the preset route.

The carrier vehicle 1 includes a vehicle body 11, a circuit board (not shown) provided in the vehicle body 11, and a magnetic sensor 12 provided on a top surface of the vehicle body 11. The circuit board is provided with a processor, and the magnetic sensor 12 is electrically connected to the processor and used for generating a current signal according to the intensity of a magnetic field where the carrier loader 1 is located.

The electric automobile 2 comprises a chassis 21, a battery jar 22 is arranged on the bottom surface of the chassis 21, a notch of the battery jar 22 faces to the lower side, the preset area is located under the battery jar 22, two magnetic strips 23 which are arranged oppositely are arranged at the notch, and the central axis of each magnetic strip 23 is perpendicular to the extending direction of the tail end of the preset route.

The two magnetic strips 23 which are oppositely arranged are arranged on the lower surface of the chassis 21, are respectively positioned at two ends of the notch and are closely adjacent to the notch. The magnetic sensor 12 is preferably provided on the top surface of the head portion, and the current value of the current signal is proportional to the intensity of the magnetic field. When the magnetic sensor 12 is opposite the magnetic strip 23, the magnetic sensor 12 will detect the maximum value of the current signal.

The magnetic sensors 12 are arranged at the front end of the carrier loader 1 in the running direction, namely the front end and the rear end of the vehicle body 11; the two magnetic strips 23 are respectively attached to the front edge and the rear edge of the battery jar 22; when the carrier vehicle 1 travels below the rear edge of the battery slot 22, the magnetic sensor 12 is opposite to the magnetic strip 23, and the magnetic sensor 12 detects the maximum value of the magnetic induction current of the magnetic strip 23 as a first threshold value; when the carrier vehicle 1 runs below the front edge of the battery slot 22, and when the magnetic sensor 12 detects that the magnetic induction current of the magnetic strip 23 is greater than or equal to a first threshold value, the carrier vehicle 1 is controlled to stop. This arrangement makes it possible to make good use of the positions of the front and rear edges of the battery tray 22, the maximum value of the magnetic induction current detected by the magnetic sensor 12 on the vehicle 1 when it first passes the first magnetic strip 23 being the first threshold value, so that the influence of the same conditions of different heights and different magnetic cancellations or disturbances can be avoided, thereby realizing that a first threshold value is formed when the relative distance between the upper part and the lower part of the magnetic sensor 12 on the head of the carrier loader 1 and the magnetic strip 23 is shortest, when the magnetic sensor 12 on the vehicle 1 passes a second one of the magnetic strips 23 a second time, when the detected magnetic induction current is a first threshold value, the magnetic sensor 12 on the head of the carrier vehicle 1 is inevitably opposite to the other magnetic strip 23 in the vertical direction and has the shortest distance, and when the vehicle stops, the carrier vehicle 1 is completely opposite to the battery slot 22 at the bottom of the electric vehicle 2.

In this embodiment, the carrier loader 1 further includes four distance sensors 14 respectively disposed at four corners of the top surface of the carrier loader 1, and electrically connected to the processor respectively, so as to collect real-time distances between the four corners of the top surface of the carrier loader 1 and the electric vehicle 2.

In order to improve the recognition accuracy of the distance sensor 14, the notch and the bottom surface of the battery jar 22 are rectangular; four corners of the bottom surface of the battery jar 22 are respectively provided with a reflecting surface 24; when the carrier vehicle 1 is located right below the battery jar 22, each reflecting surface 24 is arranged opposite to a distance sensor. The reflecting surfaces 24 are diffuse reflection surfaces, the distance sensors 14 are arranged at four corners of the carrier loader 1, so that a small number of distance sensors 14 can be utilized to realize alignment effect, the reflecting surfaces 24 are arranged at the four corners of the battery jar 22, and the reflecting surfaces 24 are used for reflecting light rays emitted by the emitting ends of the distance sensors 14 to the receiving ends of the distance sensors 14. The distance sensor 14 includes the transmitting terminal and the receiving terminal that set up side by side, and light is reflected by the plane of reflection 24 after launching from the transmitting terminal, shines the receiving terminal to be sensed, if can both receive feedback light, say that location is accurate this moment, otherwise explain to counterpoint inaccurate, need counterpoint again.

As shown in fig. 2, the carrier loader 1 includes a platform 15, a lifting device 16, and a tray 17; the platform 15 is arranged on the top of the vehicle body 11; the lifting device 16 is mounted to the upper surface of the platform 15; the tray 17 is horizontally arranged at the top of the lifting device 16; when the carrier loader 1 is located in the preset area 3a, the tray 17 is located right below the battery slot 22.

In this embodiment, the vehicle alignment system 10 further includes: a lifting platform 41 is respectively arranged at four corners of the parking space 4; when an electric vehicle 2 is driven to the standard position of the parking space 4, its four wheels are respectively located on a lifting platform 41.

The carrier loader alignment system 10 further comprises four wheels 18, which are mounted to the bottom surface of the body of the carrier loader 1 and connected to the power equipment of the body 11 through a transmission device; the wheels 18 are multi-directional wheels (shown as an example only) and can achieve any direction of movement, particularly lateral translation.

As shown in fig. 1, a plurality of parking spaces 4 and a plurality of power conversion cabinets 20 are disposed in an area, each of the parking spaces 4 is provided with a predetermined area 3a, the carrier vehicle 1 travels along a predetermined route to the predetermined area 3a, the predetermined area 3a is located right below a battery jar 22 of the electric vehicle 2, and a tail end of the predetermined route extends into the predetermined area 3 a.

As shown in fig. 2, each of the power conversion cabinets 20 is equipped with at least one carrier vehicle 1 and has a plurality of charging sites 201 and a battery transfer mechanism 202, wherein at least one of the charging sites 201 is idle as a storage battery vacancy, and the rest of the charging sites 201 accommodate a battery pack 30 for charging; the battery transfer mechanism 202 is used for transferring a battery pack 30 between the carrier vehicle 1 and the charging station 201 of the power changing cabinet 20. Wherein the battery pack 30 may be a power-deficient battery pack or a new battery pack.

The battery transfer mechanism 202 is a mechanical arm, or the battery transfer mechanism 202 is a battery tray and a battery tray driving mechanism. As shown in fig. 2, the battery transfer mechanism 202 of the power exchanging cabinet 20 is a specific structure of a battery tray and a battery tray driving mechanism.

As shown in fig. 3, a lifting platform 41 is provided at a position corresponding to a vehicle wheel on the side of each parking space 4, the lifting platform 41 is used for lifting the height of the vehicle with the battery to be replaced so as to accommodate the carrier vehicle 1 below the vehicle with the battery to be replaced, and the preset area 3a is provided between the two lifting platforms 41; the lifting height of the carrier vehicle 1 is 10-25cm, the thickness of each battery pack 30 is 10-15cm, and after the tray of the carrier vehicle 1 descends to the bottom, the upper surface of the battery pack 30 on the carrier vehicle 1 is lower than the chassis 21 of the electric vehicle 2 with the battery to be replaced.

The lifting platform 41 shown in fig. 3 is a lifting platform, the lifting platforms are respectively arranged corresponding to each wheel of the automobile, the lifting platforms can be arranged in two rows, the preset area 3a is arranged between the two rows of the lifting platforms, or the four lifting platforms are arranged, and the four lifting platforms respectively correspond to the four wheels.

The parking position information of the automobile with the battery to be replaced is formed in a mode of automatically identifying the position of the automobile with the battery to be replaced or in a mode of manually inputting the position of the automobile with the battery to be replaced; the parking position comprises the coordinates of a parking position 4 or the number of the parking position 4 of the battery car to be replaced. The mode of automatically identifying the automobile position of the battery to be replaced is adopted: a first sensor is correspondingly arranged on each parking space 4; sensing whether a car exists in a parking area, if so, executing the next step; when a car with a battery to be replaced parks in any parking space 4, the first sensor generates the coordinates or the serial number of the parking space 4 as the parking position information of the car with the battery to be replaced. The first sensor may be an infrared sensor or a camera. The mode of manually inputting the position of the automobile with the battery to be replaced is adopted: when a plurality of the electricity exchange cabinets 20 are arranged, each electricity exchange cabinet 20 is provided with a display screen 203, and the display screen 203 is used for manually inputting the information of the position of the automobile with the battery to be replaced. The display screen 203 can also be used for displaying information of steps performed by replacing the battery and information of waiting time, so that a client can conveniently and autonomously schedule the waiting time.

As shown in fig. 7, an embodiment of the present invention provides a method for aligning a carrier loader 1, which includes the following steps S1-S7.

And S1, controlling the lifting platform 41 of the parking space 4 to synchronously lift a preset distance, so that the height difference between the chassis 21 of the electric vehicle 2 and the ground is greater than the height of the carrier vehicle 1 and the battery pack 30 carried by the carrier vehicle.

S2, controlling a carrier vehicle 1 to travel to a preset area 3a along a preset route, wherein the preset area 3a is located right below a battery jar 22 of an electric vehicle, and the tail end of the preset route extends into the preset area 3 a; two magnetic strips 23 which are arranged oppositely are arranged at the notch of the battery jar 22, and the central axis of each magnetic strip 23 is perpendicular to the extending direction of the tail end of the preset route.

As shown in fig. 8, controlling a carrier loader 1 to travel along a predetermined route to a predetermined area 3a specifically includes the following steps: s101, obtaining a map of a marching area of the carrier loader 1; s102, acquiring a real-time position of the carrier loader 1 and a position of the preset area 3a on the map; s103, planning and optimizing a preset route for the carrier loader 1 according to the map; s104, generating a control instruction set of the carrier loader 1 according to the preset route and the speed of the carrier loader 1, wherein the control instruction set comprises at least one control instruction and a time interval between any two adjacent control instructions; the control instruction set sets a time interval t of each section based on the length S of each section of route and the vehicle speed v, and controls the steering of the carrier vehicle 1 to enable the sections S-v-t to form the whole preset route; in order to control the steering of the vehicle 1 in real time, an electronic compass (not shown) is further included in the vehicle 1, and is electrically connected to the processor for acquiring the real-time traveling direction of the vehicle body 11; and S105, transmitting the control instruction set to the carrier loader 1, and controlling the carrier loader 1 to move along the preset route.

This way, it is achieved that the vehicle 1 is controlled to reach right below the notch of the battery tray 22 after driving from the starting point to the end point based on the real-time position of the vehicle 1 as the starting point and the preset area 3a as the end point.

In order to align accurately, the method for aligning the carrier loader further comprises the following steps: distance sensors 14 are arranged at four corners of the top surface of the carrier loader 1, and the real-time distances between the four corners of the top surface of the carrier loader 1 and the electric automobile 2 are collected; after the carrier loader 1 stops running, judging whether the carrier loader 1 deviates from the preset area 3a according to the real-time distances collected by the four distance sensors 14, and acquiring the deviation direction of the carrier loader 1; when the carrier loader 1 deviates to a first direction, the carrier loader 1 is controlled to translate towards a second direction opposite to the first direction until the carrier loader 1 is completely positioned in the preset area 3 a. The step of judging whether the carrier loader 1 deviates from the preset area 3a or not according to the real-time distances acquired by the four distance sensors 14 comprises the following steps: the two distance sensors 14 on the left side of the vehicle body 11 are numbered as A1 and A2, and the two distance sensors 14 on the right side of the vehicle body 11 are numbered as B1 and B2; defining the real-time acquired distance values of the distance sensors A1, A2, B1, B2 as S_A1、S_A2、S_B1、S_B2(ii) a When S is_A1＝S_A2And S_B1＝S_B2And S_A1>S_B1When the vehicle body deviates to the right, judging that the vehicle body deviates to the right; when S is_A1＝S_A2And S_B1＝S_B2And S_A1<S_B1If so, determining that the vehicle body 11 deviates leftward; when S is_A1＝S_A2＝S_B1＝S_B2Then, it is determined that the vehicle body 11 is completely located within the preset region 3 a.

S3, in the driving process of the carrier vehicle 1, sensing the strength of a magnetic field where the carrier vehicle 1 is located in real time by using the magnetic sensor 12 in the carrier vehicle 1, collecting current signals in real time, and recording real-time current values.

And S4, when the real-time current value is greater than 0 for the first time, recording the time of generating current for the first time as a deceleration time point, and controlling the carrier loader 1 to decelerate and creep. The speed of the carrier vehicle 1 slowing down is a speed slower than normal running, preferably 0.1-0.5m/s, and can be stopped immediately when the carrier vehicle 1 stops and does not continue running due to inertia.

And S5, continuously recording more than two real-time current values in a preset time period after the deceleration time point, and recording the maximum current value as a threshold current. The threshold current has a small value, typically 0.05-0.2A.

And S6, controlling the carrier loader 1 to stop running when the real-time current value is equal to the threshold current again.

And S7, detecting whether the carrier loader 1 is positioned right below the battery slot 22, and if not, executing the next step. In the step of detecting whether the carrier loader 1 is positioned right below the battery jar 22, detecting whether four distance sensors can simultaneously obtain four optical signals, and if so, judging that the alignment is accurate; if not, the alignment error is determined. If four optical signals can be obtained simultaneously, it is determined that the carrier loader 1 is located right below the battery slot 22, and the projection of the carrier loader 1 on the lower bottom surface of the electric vehicle 2 is located in the battery slot 22 area, so that the alignment is accurate.

And S8, controlling the carrier vehicle 1 to retreat for a preset distance along the guide belt 3b, and returning to the step of controlling the carrier vehicle 1 to run along the guide belt 3 b.

As shown in fig. 9, an embodiment of the present invention provides a method for replacing a battery of an electric vehicle, including the following steps: s10, selecting a power exchange cabinet 20 closest to the electric vehicle 2 according to the parking position of the electric vehicle 2 to be replaced, wherein the power exchange cabinet 20 is equipped with at least one carrier vehicle 1 and has at least one storage battery vacancy and at least one new battery pack; s20, controlling a carrier loader 1 to run empty to a position right below the battery jar 22 of the electric vehicle 2, and implementing a first accurate alignment between the carrier loader 1 and the battery jar 22 according to any one of the carrier loader 1 alignment methods; s30, controlling the carrier loader 1 to transfer the old battery pack in the battery slot 22 into the carrier loader 1; s40, controlling the carrier loader 1 to convey the old battery pack to the power change cabinet 20; transferring the old battery pack into a storage battery vacancy of the power change cabinet 20; s50, controlling a carrier loader 1 to carry a new battery pack to drive to a position right below the battery slot 22 of the electric vehicle 2, and implementing a second accurate alignment between the carrier loader 1 and the battery slot 22 according to any one of the alignment methods of the carrier loader 1; s60, controlling the carrier loader 1 to install the new battery pack into the battery slot 22; and S70, controlling the carrier loader 1 to return to the power change cabinet 20. The carrying vehicle 1 reciprocates twice, action operation is basically consistent, the difficulty of control steps is simplified, the guiding belts 3b are arranged, the carrying vehicle 1 can conveniently drive to the positions of the battery grooves 22 on the chassis 21 of the electric vehicle 2 along the guiding belts 3b, the alignment difficulty of the carrying vehicle 1 is reduced, the carrying vehicle 1 is subjected to primary alignment according to the guiding belts 3b and then is subjected to fine adjustment and accurate alignment by the distance sensors 14, alignment time is shortened, and alignment accuracy is improved.

In this embodiment, the manner of controlling the carrier loader 1 to transfer the old battery pack in the battery slot 22 into the carrier loader 1 is as follows: and a locking device is arranged in the battery slot 22, and when the carrier loader 1 is positioned under the battery slot 22, the locking device is unlocked to transfer the old battery pack in the battery slot 22 into the carrier loader 1.

In this embodiment, the manner of controlling the carrier loader 1 to transfer the old battery pack in the battery slot 22 into the carrier loader 1 is as follows: the disassembly and assembly mechanism is arranged on the carrier loader 1, when the carrier loader 1 is located under the battery jar 22, the disassembly and assembly mechanism is controlled to transfer the old battery pack in the battery jar 22 into the carrier loader 1. The disassembly and assembly mechanism is used for disassembling the fixing bolt of the battery pack or transferring the battery pack and fixing the battery pack in the battery groove 22. The disassembly and assembly mechanism may be a robotic arm or a tool disassembly system.

When the automobile is used, a driver drives the automobile into the parking space 4 beside the battery replacing cabinet 20, or the automobile automatically drives into the parking space in an automatic driving mode, the positions of wheels of the automobile are ensured to be positioned at two sides of the preset area 3a and correspond to the lifting platform 41, and the hand brake is tightened to prevent the automobile from moving. The first sensor corresponding to the parking space 4 acquires the coordinates or the serial number of the parking space 4 as the parking position information of the vehicle with the battery to be replaced, or the driver manually inputs the parking position information in the display screen 203 on the battery replacing cabinet 20. Selecting a power exchange cabinet 20 closest to a vehicle with a battery to be replaced according to the parking position information, lifting the vehicle by a lifting platform 41 to reserve a vehicle bottom space for replacing the battery pack, calling a carrier vehicle 1 to drive to a preset area 3a along a preset route, extending the tail end of the preset route into the preset area 3a, driving the carrier vehicle 1 to the vehicle bottom space at the bottom of the vehicle and automatically aligning with a battery groove 22 on a chassis 21 of an electric vehicle 2, lifting a tray of the carrier vehicle 1, taking out an old battery pack from the battery groove 22 on the chassis 21 of the electric vehicle 2, carrying the old battery pack by the tray of the carrier vehicle 1 to descend to the lowest position, transporting the old battery pack to the power exchange cabinet 20, and transferring the old battery pack to a storage battery vacancy by a battery transfer mechanism 202 of the power exchange cabinet 20. Adopting the carrier vehicle 1 or taking out an old battery pack from the carrier vehicle 1 and taking another carrier vehicle 1 at the same time, placing a new battery pack on the carrier vehicle 1 by the battery transfer mechanism 202 of the power change cabinet 20, driving the carrier vehicle 1 to a preset area 3a along a preset route to a vehicle bottom space at the bottom of the vehicle and automatically aligning with a battery groove 22 on a chassis 21 of the electric vehicle 2, lifting a tray of the carrier vehicle 1, installing the new battery pack into the battery groove 22 on the chassis 21 of the electric vehicle 2, and then returning an empty vehicle to the power change cabinet 20 after the tray of the carrier vehicle 1 is lowered to the lowest position. The fully automatic operation of replacing the battery pack 30 is realized.

Example 2

Referring to fig. 2-6 and 10, in embodiment 2 of the present invention, a vehicle alignment system 10 is provided, including a vehicle 1 and an electric vehicle 2; the carrier vehicle 1 travels along a predetermined route (indicated by a guide belt 3b in fig. 10) to a predetermined area 3a, and the end of the predetermined route extends into the predetermined area 3 a. The preset route is a guide belt 3b, and the carrier vehicle 1 runs along the guide belt 3 b; the carrier loader 1 comprises a loader body 11 and a magnetic sensor 12 arranged on the top surface of the loader body 11 and used for sensing a magnetic field where the carrier loader 1 is located and generating a current signal; the electric automobile 2 comprises a chassis 21, wherein a battery jar 22 is arranged on the bottom surface of the chassis 21, and the notch of the battery jar 22 faces to the right lower side; two magnetic strips 23 which are arranged oppositely are arranged at the notch, and the central axis of each magnetic strip 23 is vertical to the central line of the tail end of the guide belt 3 b. The arrangement of the guide belt 3b facilitates the carrier loader 1 to travel to the position of the battery slot 22 at the bottom of the automobile body along the guide belt 3b, so that the alignment difficulty of the carrier loader 1 is reduced, the carrier loader 1 performs fine adjustment and accurate alignment by using the magnetic strip 23 after performing primary alignment according to the guide belt 3b, the alignment time is reduced, and the alignment accuracy is improved.

The two magnetic strips 23 which are oppositely arranged are arranged on the lower surface of the chassis 21, are respectively positioned at two ends of the notch and are closely adjacent to the notch. The magnetic sensor 12 is preferably provided on the top surface of the head portion, and the current value of the current signal is proportional to the intensity of the magnetic field. When the magnetic sensor 12 is opposite the magnetic strip 23, the magnetic sensor 12 will detect the maximum value of the current signal.

The magnetic sensors 12 are arranged at the front end of the carrier loader 1 in the running direction, namely the front end and the rear end of the vehicle body 11; the two magnetic strips 23 are respectively attached to the front edge and the rear edge of the battery jar 22; when the carrier vehicle 1 travels below the rear edge of the battery slot 22, the magnetic sensor 12 detects the maximum value of the magnetic induction current of the magnetic strip 23 as a first threshold value; when the carrier vehicle 1 runs below the front edge of the battery slot 22, and when the magnetic sensor 12 detects that the magnetic induction current of the magnetic strip 23 is greater than or equal to a first threshold value, the carrier vehicle 1 is controlled to stop. This arrangement makes it possible to make good use of the positions of the front and rear edges of the battery tray 22, the maximum value of the magnetic induction current detected by the magnetic sensor 12 on the vehicle 1 when it first passes the first magnetic strip 23 being the first threshold value, so that the influence of the same conditions of different heights and different magnetic cancellations or disturbances can be avoided, thereby realizing that a first threshold value is formed when the relative distance between the upper part and the lower part of the magnetic sensor 12 on the head of the carrier loader 1 and the magnetic strip 23 is shortest, when the magnetic sensor 12 on the vehicle 1 passes a second one of the magnetic strips 23 a second time, when the detected magnetic induction current is a first threshold value, the magnetic sensor 12 on the head of the carrier vehicle 1 is inevitably opposite to the other magnetic strip 23 in the vertical direction and has the shortest distance, and when the vehicle is stopped, the carrier vehicle 1 is completely opposite to the battery slot 22 at the bottom of the vehicle body.

In this embodiment, a circuit board (not shown) is disposed in the carrier 1, a processor is disposed on the circuit board, and the magnetic sensor 12 is electrically connected to the processor.

In this embodiment, the front end and the rear end of the carrier loader 1 are respectively provided with an image sensor 13, which is electrically connected to the processor, for obtaining a real-time picture of the traveling road surface; when the carrier vehicle 1 advances, the lens of the image sensor faces the guide belt 3b, and a picture of the guide belt 3b is displayed in the real-time picture; an electronic compass (not shown) is arranged in the carrier loader 1 and electrically connected to the processor for acquiring the real-time traveling direction of the vehicle body 11.

In this embodiment, distance sensors 14 are respectively disposed at four corners of the top surface of the carrier loader 1, and are electrically connected to the processor, so as to collect real-time distances between the four corners of the top surface of the carrier loader 1 and the electric vehicle 2. In order to improve the recognition accuracy of the distance sensor 14, the notch and the bottom surface of the battery jar 22 are rectangular; four corners of the bottom surface of the battery jar 22 are respectively provided with a reflecting surface 24; when the carrier vehicle 1 is located right below the battery jar 22, each reflecting surface 24 is arranged opposite to a distance sensor. The reflecting surfaces 24 are diffuse reflection surfaces, the distance sensors 14 are arranged at four corners of the carrier loader 1, so that a small number of distance sensors 14 can be utilized to realize alignment effect, the reflecting surfaces 24 are arranged at the four corners of the battery jar 22, and the reflecting surfaces 24 are used for reflecting light rays emitted by the emitting ends of the distance sensors 14 to the receiving ends of the distance sensors 14.

In this embodiment, the alignment system of carrier loader 1 further includes: a lifting platform 41 is respectively arranged at four corners of the parking space 4; when an electric vehicle 2 is driven to the standard position of the parking space 4, its four wheels are respectively located on a lifting platform 41.

The battery jar 22 is used for installing battery package 30, and distance sensor 14 is including the transmitting terminal and the receiving terminal that set up side by side, and light is reflected by plane of reflection 24 after launching from the transmitting terminal, shines the receiving terminal to being sensed, if four distance sensor 14 can both receive feedback light, explain this moment the location accurate, otherwise explain the counterpoint inaccurate, need counterpoint again.

As shown in fig. 2, the carrier loader 1 includes a platform 15, a lifting device 16, and a tray 17; the platform 15 is arranged on the top of the vehicle body 11; the lifting device 16 is mounted to the upper surface of the platform 15; the tray 17 is horizontally arranged at the top of the lifting device 16; when the carrier loader 1 is located in the preset area 3a, the tray 17 is located right below the battery slot 22.

The carrier loader alignment system 10 further comprises four wheels 18, which are mounted to the bottom surface of the body of the carrier loader 1 and connected to the power equipment of the body 11 through a transmission device; the wheels 18 are flat wheels, which are not multi-directional wheels in embodiment 1, so that the cost can be reduced, and alignment accuracy can be realized only by matching with the guide belts 3b without transverse adjustment. If the position is abnormal, the vehicle only needs to be withdrawn and then driven to the position right below the battery groove 22 along the guide belt 3 b.

As shown in fig. 10, a plurality of parking spaces 4 and a plurality of power conversion cabinets 20 are provided in an area, each parking space 4 is provided with a guide belt 3b, a carrier vehicle 1 runs on the guide belt 3b, and the end point of the guide belt 3b is arranged opposite to a battery slot 22 on a chassis 21 of an electric vehicle 2; as shown in fig. 2, each of the power conversion cabinets 20 is equipped with at least one carrier vehicle 1 and has a plurality of charging sites 201 and a battery transfer mechanism 202, wherein at least one of the charging sites 201 is idle as a storage battery vacancy, and the rest of the charging sites 201 accommodate a battery pack 30 for charging; the battery transfer mechanism 202 is used for transferring a battery pack 30 between the carrier vehicle 1 and the charging station 201 of the power changing cabinet 20. Wherein the battery pack 30 may be a power-deficient battery pack or a new battery pack.

The battery transfer mechanism 202 is a mechanical arm, or the battery transfer mechanism 202 is a battery tray and a battery tray driving mechanism. As shown in fig. 2, the battery transfer mechanism 202 of the power exchanging cabinet 20 is a specific structure of a battery tray and a battery tray driving mechanism.

As shown in fig. 3, a lifting platform 41 is provided at a position corresponding to a vehicle wheel on the side of each parking space 4, the lifting platform 41 is used for lifting the height of the vehicle with the battery to be replaced so as to accommodate the carrier vehicle 1 below the vehicle with the battery to be replaced, and the guide belt 3b is provided between the two lifting platforms 41; the lifting height of the carrier vehicle 1 is 10-25cm, the thickness of each battery pack 30 is 10-15cm, and after the tray of the carrier vehicle 1 descends to the bottom, the upper surface of the battery pack 30 on the carrier vehicle 1 is lower than the chassis 21 of the electric vehicle 2 with the battery to be replaced.

The lifting platform 41 shown in fig. 3 is a lifting platform, which is respectively disposed corresponding to each wheel of the automobile, and the lifting platforms may be disposed in two rows, and the guiding belt 3b is disposed between the two rows of lifting platforms, or four lifting platforms are disposed, and the four lifting platforms respectively correspond to four wheels.

The parking position information of the automobile with the battery to be replaced is formed in a mode of automatically identifying the position of the automobile with the battery to be replaced or in a mode of manually inputting the position of the automobile with the battery to be replaced; the parking position comprises the coordinates of a parking position 4 or the number of the parking position 4 of the battery car to be replaced. The mode of automatically identifying the automobile position of the battery to be replaced is adopted: a first sensor is correspondingly arranged on each parking space 4; sensing whether a car exists in a parking area, if so, executing the next step; when a car with a battery to be replaced parks in any parking space 4, the first sensor generates the coordinates or the serial number of the parking space 4 as the parking position information of the car with the battery to be replaced. The first sensor may be an infrared sensor or a camera. The mode of manually inputting the position of the automobile with the battery to be replaced is adopted: when a plurality of the electricity exchange cabinets 20 are arranged, each electricity exchange cabinet 20 is provided with a display screen 203, and the display screen 203 is used for manually inputting the information of the position of the automobile with the battery to be replaced. The display screen 203 can also be used for displaying information of steps performed by replacing the battery and information of waiting time, so that a client can conveniently and autonomously schedule the waiting time.

As shown in fig. 7, an embodiment of the present invention provides a method for aligning a carrier loader 1, which includes the following steps S1-S8.

And S1, controlling the lifting platform 41 of the parking space 4 to synchronously lift a preset distance, so that the height difference between the chassis 21 of the electric vehicle 2 and the ground is greater than the height of the carrier vehicle 1 and the battery pack 30 carried by the carrier vehicle.

S2, controlling a carrier vehicle 1 to travel to a preset area 3a along a preset route, wherein the preset area 3a is located right below a battery jar 22 of an electric vehicle, and the tail end of the preset route extends into the preset area 3 a; two magnetic strips 23 which are arranged oppositely are arranged at the notch of the battery jar 22, and the central axis of each magnetic strip 23 is perpendicular to the extending direction of the tail end of the preset route. In the embodiment, the carrier vehicle 1 is controlled to run along a guide belt 3b on the road surface, and the tail end of the guide belt 3b is positioned right below a battery groove 22 of an electric vehicle 2; two magnetic strips 23 which are arranged oppositely are arranged at the notch of the battery jar 22, and the central axis of each magnetic strip 23 is vertical to the central line of the tail end of the guide belt 3 b.

As shown in fig. 11, controlling a carrier vehicle 1 to travel along a guide belt 3b on a road surface specifically includes the following steps: s11, acquiring a real-time picture of the road surface in real time by using an image sensor, wherein the image of the guide belt 3b is displayed in the real-time picture; s12, performing image processing on the real-time picture, and finding out the positions of two guide sidelines, wherein the guide sidelines are two side edges of the guide belt 3 b; s13, finding out the position of the center line of the guide belt 3b according to the positions of the two guide edge lines; s14, acquiring the real-time driving direction of the carrier loader 1 in real time by using an electronic compass; s15, judging whether the real-time driving direction is consistent with the extending direction of the guide sideline, and if not, executing the next step; and S16, sending a direction control command, and adjusting the running direction of the carrier loader 1 to make the running direction of the carrier loader 1 consistent with the extending direction of the guide sideline, so that the projection of the center line of the carrier loader 1 on the road surface is consistent with the position of the center line of the guide belt 3 b.

This way is used to control a vehicle 1 to travel along the guide belt 3b to below the chassis 21 of the electric vehicle 2; in the width direction of the guide belt 3b, two side edges of the carrier vehicle 1 are kept to correspond to the edge of the guide belt 3 b; when the carrier vehicle 1 travels below the battery slot 22, the two side edges of the carrier vehicle 1 are aligned with the left and right edges of the battery slot 22 in the width direction of the guide belt 3 b. The battery container 22 is preferably a rectangular container having four edges, namely a left edge, a right edge, a front edge, and a rear edge. The front end of the carrier vehicle 1 in the driving direction is provided with an image sensor 13, and the image sensor 13 is used for acquiring the real-time corresponding position of the carrier vehicle 1 and the guide belt 3b in real time; when the carrier loader 1 runs along the guide belt 3b, the running direction of the carrier loader 1 is adjusted according to the real-time corresponding position information acquired by the image sensor 13, and the central axis of the carrier loader 1 is kept corresponding to the central axis of the guide belt 3b in real time.

S3, sensing the intensity of the magnetic field of the carrier vehicle 1 in real time by using the magnetic sensor 12 in the carrier vehicle 1, collecting current signals in real time, and recording the real-time current value.

And S4, when the real-time current value is greater than 0 for the first time, recording the time of generating current for the first time as a deceleration time point, and controlling the carrier loader 1 to decelerate and creep.

And S5, continuously recording more than two real-time current values in a preset time period after the deceleration time point, and recording the maximum current value as a threshold current.

And S6, controlling the carrier loader 1 to stop running when the real-time current value is equal to the threshold current again.

And S7, detecting whether the carrier loader 1 is positioned right below the battery slot 22, and if not, executing the next step. In the step of detecting whether the carrier loader 1 is positioned right below the battery slot 22, detecting whether four distance sensors 14 can simultaneously obtain four optical signals, and if so, judging that the alignment is accurate; if not, the alignment error is determined. If four optical signals can be obtained simultaneously, it is determined that the carrier loader 1 is located right below the battery slot 22, and the projection of the carrier loader 1 on the lower bottom surface of the electric vehicle 2 is located in the battery slot 22 area, so that the alignment is accurate.

And S8, controlling the carrier vehicle 1 to retreat for a preset distance along the guide belt 3b, and returning to the step of controlling the carrier vehicle 1 to run along the guide belt 3 b.

Similarly, as shown in fig. 9, an embodiment of the present invention provides a method for replacing a battery of an electric vehicle, including the following steps: s10, selecting a power exchange cabinet 20 closest to the electric vehicle 2 according to the parking position of the electric vehicle 2 to be replaced, wherein the power exchange cabinet 20 is equipped with at least one carrier vehicle 1 and has at least one storage battery vacancy and at least one new battery pack; s20, controlling a carrier loader 1 to run empty to a position right below the battery jar 22 of the electric vehicle 2, and implementing a first accurate alignment between the carrier loader 1 and the battery jar 22 according to any one of the carrier loader 1 alignment methods; s30, controlling the carrier loader 1 to transfer the old battery pack in the battery slot 22 into the carrier loader 1; s40, controlling the carrier loader 1 to convey the old battery pack to the power change cabinet 20; transferring the old battery pack into a storage battery vacancy of the power change cabinet 20; s50, controlling a carrier loader 1 to carry a new battery pack to drive to a position right below the battery slot 22 of the electric vehicle 2, and implementing a second accurate alignment between the carrier loader 1 and the battery slot 22 according to any one of the alignment methods of the carrier loader 1; s60, controlling the carrier loader 1 to install the new battery pack into the battery slot 22; and S70, controlling the carrier loader 1 to return to the power change cabinet 20. The carrying vehicle 1 reciprocates twice, action operation is basically consistent, the difficulty of control steps is simplified, the guiding belts 3b are arranged, the carrying vehicle 1 can conveniently drive to the positions of the battery grooves 22 on the chassis 21 of the electric vehicle 2 along the guiding belts 3b, the alignment difficulty of the carrying vehicle 1 is reduced, the carrying vehicle 1 is subjected to primary alignment according to the guiding belts 3b and then is subjected to fine adjustment and accurate alignment by the distance sensors 14, alignment time is shortened, and alignment accuracy is improved.

In this embodiment, the manner of controlling the carrier loader 1 to transfer the old battery pack in the battery slot 22 into the carrier loader 1 is as follows: and a locking device is arranged in the battery slot 22, and when the carrier loader 1 is positioned under the battery slot 22, the locking device is unlocked to transfer the old battery pack in the battery slot 22 into the carrier loader 1.

In this embodiment, the manner of controlling the carrier loader 1 to transfer the old battery pack in the battery slot 22 into the carrier loader 1 is as follows: the disassembly and assembly mechanism is arranged on the carrier loader 1, when the carrier loader 1 is located under the battery jar 22, the disassembly and assembly mechanism is controlled to transfer the old battery pack in the battery jar 22 into the carrier loader 1. The disassembly and assembly mechanism is used for disassembling the fixing bolt of the battery pack or transferring the battery pack and fixing the battery pack in the battery groove 22. The disassembly and assembly mechanism may be a robotic arm or a tool disassembly system.

When the automobile is used, a driver drives the automobile into the parking space 4 beside the battery replacing cabinet 20, or the automobile automatically drives into the parking space in an automatic driving mode, the positions of wheels of the automobile are ensured to be positioned at two sides of the guide belt 3b and correspond to the lifting platform 41, and the hand brake is tightened to prevent the automobile from moving. The first sensor corresponding to the parking space 4 acquires the coordinates or the serial number of the parking space 4 as the parking position information of the vehicle with the battery to be replaced, or the driver manually inputs the parking position information in the display screen 203 on the battery replacing cabinet 20. Selecting a power exchange cabinet 20 closest to the vehicle with the battery to be replaced according to the parking position information, simultaneously lifting the vehicle by a lifting platform 41 to reserve a vehicle bottom space for replacing the battery pack, transferring a carrier vehicle 1 to the vehicle bottom space at the bottom of the vehicle along a guide belt 3b and automatically aligning with a battery groove 22 on a chassis 21 of an electric vehicle 2, lifting a tray of the carrier vehicle 1, taking out an old battery pack from the battery groove 22 on the chassis 21 of the electric vehicle 2, carrying the old battery pack by the tray of the carrier vehicle 1 and then transporting the old battery pack to the power exchange cabinet 20 after the old battery pack is lowered to the lowest position, and transferring the old battery pack to a storage battery vacancy by a battery transfer mechanism 202 of the power exchange cabinet 20. Adopting the carrier vehicle 1 or taking out an old battery pack from the carrier vehicle 1 and taking another carrier vehicle 1 at the same time, placing a new battery pack on the carrier vehicle 1 by the battery transfer mechanism 202 of the power change cabinet 20, driving the carrier vehicle 1 to the vehicle bottom space at the bottom of the vehicle along the guide belt 3b and automatically aligning with the battery groove 22 on the chassis 21 of the electric vehicle 2, lifting the tray of the carrier vehicle 1, installing the new battery pack into the battery groove 22 on the chassis 21 of the electric vehicle 2, then returning the empty vehicle to the power change cabinet 20 after the tray of the carrier vehicle 1 is lowered to the lowest position, and realizing the full-automatic operation of replacing the battery pack 30.

It can be understood that all the technical features in embodiment 1 are included in this embodiment, and the guidance tape 3b is further set in a detailed manner as a preset route of the carrier loader 1, and the image sensor 13 is correspondingly set, where the image sensor 13 is used to obtain real-time corresponding positions of the carrier loader 1 and the guidance tape 3b in real time; when the carrier loader 1 runs along the guide belt 3b, the running direction of the carrier loader 1 is adjusted according to the real-time corresponding position information acquired by the image sensor 13, the central axis of the carrier loader 1 is kept to be corresponding to the central axis of the guide belt 3b in real time, so that the carrier loader 1 stops in the preset area 3a at the tail end of a preset route, the left edge and the right edge of the carrier loader 1 and the left edge of the preset area 3a are kept aligned, the alignment requirement is simplified, the alignment is accurate, the wheels 18 can be flat wheels instead of multi-directional wheels in the embodiment 1, the cost can be reduced, and transverse adjustment is not needed. If the front and back alignment abnormal situation of the carrier vehicle 1 and the preset area 3a occurs, the vehicle only needs to exit and then travel along the guide belt 3b to the position under the battery groove 22, and the alignment accuracy is improved.

The invention has the beneficial effects that the vehicle carrying alignment method, the vehicle carrying alignment system and the electric vehicle battery replacement method are provided, the vehicle carrying system is connected with the parking position of the vehicle with the battery to be replaced and the battery replacement cabinet, the vehicle carrying system is used for taking out an old battery pack from a battery groove on a chassis of the electric vehicle, the taken-out battery pack is transported to the battery replacement cabinet to be replaced with a full-charge battery, and then the new battery pack is installed in the battery groove on the chassis of the electric vehicle, so that the automatic battery replacement is realized, and the battery replacement cabinet in the mode does not need to be provided with an extension mechanism which extends to the bottom of the vehicle body, so that the occupied space of the battery replacement cabinet is small, the electric vehicle and the battery replacement cabinet are not limited by distance and corresponding position relation, and the vehicle carrying system is convenient, flexible and high in utilization efficiency.

The alignment method and the alignment system for the carrier loader and the method for replacing the battery of the electric vehicle provided by the embodiment of the application are described in detail, a specific example is applied to explain the principle and the implementation mode of the application, and the description of the embodiment is only used for helping to understand the technical scheme and the core idea of the application; those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications or substitutions do not depart from the spirit and scope of the present disclosure as defined by the appended claims.