阅读说明：本技术 换电站及分箱换电方法 (Battery changing station and box-dividing battery changing method ) 是由 李想 徐旭海 王安沛 谢维贵 传国强 于 2020-12-10 设计创作，主要内容包括：一种换电站包括换电车位、电贩宝、取电装置、AGV机器人和云端控制模块,其中换电车位用于停放待换电车辆；电贩宝包括用于容置电池的电池仓；取电装置用于取出并运送所述电池仓内的电池；AGV机器人具有用于承载电池的电池位,包括驱动模组和导航模组,能够通过所述驱动模组和所述导航模组位移到所述待换电车辆的电池位置,并将所述电池位内的电池传递至所述待换电车辆；云端控制模块用于检测所述待换电车辆是否进入所述换电车位。本申请还提供了一种基于该换电站的分箱换电方法,可以实现一个AGV机器人对待换电车辆上多个待换电的固定规格的电池的更换,这种分箱换电方法中AGV机器人精确定位以进行换电,AGV机器人需要的占地小。(A battery replacement station comprises a battery replacement parking space, a power vending machine, a power taking device, an AGV robot and a cloud control module, wherein the battery replacement parking space is used for parking a vehicle to be replaced; the electric vending machine comprises a battery compartment for accommodating a battery; the electricity taking device is used for taking out and conveying the batteries in the battery compartment; the AGV robot is provided with a battery position for bearing a battery, comprises a driving module and a navigation module, can be displaced to the battery position of the vehicle to be replaced through the driving module and the navigation module, and transmits the battery in the battery position to the vehicle to be replaced; the cloud control module is used for detecting whether the vehicle to be changed enters the battery changing parking space. The application also provides a box separation battery replacing method based on the battery replacing station, the replacement of a plurality of batteries of fixed specifications to be replaced on a vehicle to be replaced by one AGV robot can be realized, the AGV robot is accurately positioned to replace the batteries in the box separation battery replacing method, and the occupied area required by the AGV robot is small.)

1. A power swapping station, comprising:

the battery replacing parking place is used for parking a vehicle to be replaced, and a first battery is arranged in a battery box of the vehicle to be replaced;

the cloud control module is used for sending a battery replacement signal for replacing a first battery of the vehicle to be replaced when the vehicle to be replaced enters the battery replacement parking space;

the electric vending machine comprises a battery compartment for accommodating a second battery;

the power taking device can take out a second battery in the power vendor when receiving the battery replacement signal;

AGV robot has the battery position that is used for bearing the weight of the battery, including drive module, navigation module and lifting mechanism, drive module is used for making the AGV robot removes, the navigation module can be set for AGV robot line of movement, the AGV robot can be received trade passing through behind the electric signal drive module with the navigation module displacement arrives wait to trade the battery box below of electric vehicle, and can pass through lifting mechanism can lift off first battery extremely the battery position, can also pass through lifting mechanism will the second battery is packed into because of being taken out of battery box in first battery and formation battery vacancy position.

2. A box-splitting battery-replacing method for replacing a first battery in a battery box of a battery-replacing vehicle by using the battery-replacing station as claimed in claim 1, comprising:

in the detection process, after detecting that an electric vehicle to be changed enters an electric changing parking space, a cloud control module sends electric changing signals to an electric dealer, the electric taking device and the AGV robot;

the battery unloading process comprises the steps that an AGV robot moves to the position below a battery box of a vehicle to be replaced after receiving a battery replacing signal, a lifting mechanism of the AGV robot takes out a first battery in the battery box and places the first battery to a battery position of the AGV robot, and the AGV robot moves to a position where a power vending machine with a second battery is stored;

the battery taking process comprises the steps that after receiving a battery replacement signal, the power taking device takes out the second battery from a power vendor and conveys the second battery to an unloading position, and the AGV robot takes the second battery at the unloading position and puts the second battery into the battery position;

a battery feeding process, wherein the AGV robot moves to a position below a battery box of the battery replacing vehicle, and the second battery is loaded into a battery empty position of the battery box formed by taking out the first battery through the lifting mechanism;

and a judging process, wherein the battery replacing station or the vehicle to be replaced judges the condition of the battery box:

if all the first batteries to be replaced in the battery box are replaced, the AGV robot moves to a position far away from the vehicle to be replaced; if the first battery to be replaced still exists in the battery box, the AGV robot returns to execute the battery unloading process.

3. The box separation and battery replacement method according to claim 2, further comprising a battery temporary storage process after the battery unloading process:

the AGV robot is with first battery transmission is to transfer position in order vacating the battery position.

4. The box separation and battery replacement method according to claim 3, further comprising a battery storage process after the battery taking process:

the electricity taking device conveys the first battery of the transfer bin position to the battery bin of the electric vending machine for storage.

5. The box separation and battery replacement method according to claim 4, wherein the battery compartment of the second battery is taken out in the battery taking process and used as the battery compartment for storing the first battery by the power taking device in the battery storage process.

6. The box-splitting power conversion method according to claim 2, further comprising, after the detection process:

the vehicle waiting to swap electricity transmits electricity swapping requirement information to the cloud control module, and the electricity swapping requirement information comprises:

the first battery to be replaced is arranged at the position of the battery box.

7. The box-splitting battery-replacing method according to claim 2, wherein in the battery-unloading process:

the AGV robot passes through drive module and navigation module displacement and arrives the position of first battery.

8. The box-splitting and battery-swapping method according to claim 7, wherein in the step of displacing the AGV robot to the position of the first battery through the driving module and the navigation module, the method further comprises:

the battery box positioning device comprises a battery box, a positioning piece, an AGV robot and a battery replacement vehicle, wherein the battery box is provided with a positioning hole, the positioning piece is arranged in the battery box, the battery replacement vehicle transmits position information of the positioning piece of the battery box to the AGV robot, and the AGV robot enables a laser positioning head to be in butt joint with the corresponding positioning piece according to the position information.

9. The box-splitting and battery-swapping method according to claim 7, wherein in the step of displacing the AGV robot to the position of the first battery through the driving module and the navigation module, the method further comprises:

the AGV robot shoots through the camera treat trading the image of electric vehicle, the navigation module passes through image positioning the AGV robot with treat trading the relative position of electric vehicle.

10. The box-splitting battery-swapping method according to claim 2, further comprising, after the battery-feeding process:

the AGV robot sends a locking signal to the vehicle to be replaced through the near-field communication module;

and after the vehicle to be charged obtains the locking signal, locking the second battery in the battery vacant position.

Technical Field

The application relates to a power conversion station and a box-splitting power conversion method.

Background

The battery replacement is an important mode for supplementing the electric energy of the electric vehicle, a battery replacement mode which is put on the market at present mainly uses the whole chassis package battery replacement as a main mode, namely, the electric vehicle chassis is provided with a replaceable large battery package, and the battery replacement equipment completes the supplement of the electric energy of the electric vehicle by replacing the whole bottom battery package. Because vehicles of different grades such as A0 grade, A grade, B grade, C grade and the like have different battery capacity requirements and different chassis spaces, electric vehicles of different grades are difficult to adapt to a whole package with uniform size, the standardization of a battery replacement system cannot be realized, and the development of the whole battery replacement industry is further influenced.

Disclosure of Invention

In view of the above situation, it is necessary to provide a battery swapping station and a box separation battery swapping method to solve the problems of difficult replacement of vehicle batteries of different grades and large occupied area of the battery swapping station.

The embodiment of the application provides a battery replacement station which comprises a battery replacement parking place, a cloud control module, a power vending device, a power taking device and an AGV robot; the battery replacing parking place is used for parking a vehicle to be replaced, and a first battery is arranged in a battery box of the vehicle to be replaced; the cloud control module is used for sending a battery replacement signal for replacing a first battery of the vehicle to be replaced when detecting that the vehicle to be replaced enters the battery replacement parking space; the electric vending machine comprises a battery compartment for accommodating a second battery; the power taking device can take out a second battery in the power vending bank when receiving the battery replacement signal; AGV robot has the battery position that is used for bearing the weight of the battery, including drive module, navigation module and lifting mechanism, drive module is used for making AGV robot removes, the navigation module can be set for AGV robot moving route, AGV robot can receive pass through after trading electric signal drive module with the navigation module displacement arrives wait to trade the battery box below of electric vehicle, and can pass through lifting mechanism can lift off first battery extremely the battery position, can also pass through lifting mechanism will the second battery is packed into because of being taken out of battery box in first battery and formation battery vacancy position.

Through this kind of trade power station, can make to wait to trade the automatic start power vending treasured after the vehicle gets into trades the electric parking stall, get electric installation and AGV robot, wherein the AGV robot can be at power vending treasured and wait to trade the back and forth operation between the vehicle to the change of a plurality of batteries in the electric vehicle is waited to trade in the realization.

The embodiment of the application further provides a box separation battery replacing method, in which the battery replacing station is used for replacing a first battery in a battery box of a vehicle to be replaced, and the method includes the following steps:

in the detection process, after detecting that an electric vehicle to be changed enters an electric changing parking space, a cloud control module sends electric changing signals to an electric dealer, the electric taking device and the AGV robot;

the battery unloading process comprises the steps that an AGV robot moves to the position below a battery box of a vehicle to be replaced after receiving a battery replacing signal, a lifting mechanism of the AGV robot takes out a first battery in the battery box and places the first battery to a battery position of the AGV robot, and the AGV robot moves to a position where a power vending machine with a second battery is stored;

the battery taking process comprises the steps that after receiving a battery replacement signal, the power taking device takes out the second battery from a power vendor and conveys the second battery to an unloading position, and the AGV robot takes the second battery at the unloading position and puts the second battery into the battery position;

a battery feeding process, wherein the AGV robot moves to a position below a battery box of the battery replacing vehicle, and the second battery is loaded into a battery empty position of the battery box formed by taking out the first battery through the lifting mechanism;

and a judging process, wherein the battery replacing station or the vehicle to be replaced judges the condition of the battery box:

if all the first batteries to be replaced in the battery box are replaced, the AGV robot moves to a position far away from the vehicle to be replaced; if the first battery to be replaced still exists in the battery box, the AGV robot returns to execute the battery unloading process.

Through repeating the battery unloading process, the battery taking process and the battery feeding process, the replacement of a plurality of batteries to be replaced in the vehicles to be replaced can be realized through the repeated operation of one AGV robot. The reduction of AGV robot quantity can reduce the crowded degree of trading the power station, has also avoided the conflict of a plurality of AGV robot strokes. The interaction between the cloud control module and the battery replacing vehicle provides a calculation basis for path planning of the AGV robot, and other modules of the battery replacing station can maintain a standby low power consumption mode when the battery replacing is not performed. In addition, the box distribution battery replacement method does not need to move through an AGV robot to unlock the first battery, the first battery can be unlocked only by enabling the locking head of the vehicle to be replaced to leave the first battery, and the locking of the second battery can be locked only by extending out of the locking head of the vehicle to be replaced.

Further, in some embodiments of the present application, after the battery unloading process, a battery temporary storage process is further included:

the AGV robot is with first battery transmission is to transfer position in order vacating the battery position.

Through the battery temporary storage process, the AGV robot for replacing the first batteries to be replaced with the same specifications has the battery position for accommodating only one battery, the size of the AGV robot can be further reduced, and therefore the battery replacement station for replacing the plurality of first batteries can have a smaller occupied area.

Further, in some embodiments of the present application, after the battery taking process, a battery storage process is further included:

the electricity taking device conveys the first battery of the transfer bin position to the battery bin of the electric vending machine for storage.

The battery is deposited the setting of flow for the battery in the transfer position of storehouse can be transported to the electricity vending treasured and deposit for a long time.

Further, in some embodiments of the present application, the battery compartment of the second battery is taken out in the battery taking process, and the battery compartment of the first battery is stored by the battery taking device in the battery storing process.

The battery compartment with the second battery taken out is in an idle state after the electricity taking process, so the battery compartment can be directly used as a battery compartment for storing the first battery. And can make the battery compartment one-to-one of first battery and second battery like this, also the first battery carries out the position exchange with the second battery one-to-one in the electric vending treasure, can save the step of getting the electric installation and look for the interior battery compartment position of electric vending treasure alone.

Further, in some embodiments of the present application, after the cloud control module detects that the vehicle to be replaced enters the battery replacement space, the method further includes:

the vehicle waiting to swap electricity transmits electricity swapping requirement information to the cloud control module, and the electricity swapping requirement information comprises:

the first battery to be replaced is arranged at the position of the battery box.

If the to-be-replaced vehicle does not need to replace all batteries, the battery replacement requirement needs to be actively transmitted to the cloud control module, so that the AGV robot is prevented from operating the batteries which do not need to be replaced.

Further, in some embodiments of the present application, in the battery unloading procedure:

the AGV robot passes through drive module and navigation module displacement and arrives the position of first battery.

Carry out the displacement of AGV robot through drive module and navigation module for the AGV robot can initiatively match the position of waiting to trade electric vehicle, and navigation module discernment vehicle position back calculates the AGV robot and waits to trade the relative position of electric vehicle, thereby the accurate relative position of waiting to trade electric vehicle, and the location waits to trade electric vehicle on wait to trade electric vehicle the position of first battery.

Further, in some embodiments of the present application, in the step of displacing the AGV robot to the position of the first battery through the driving module and the navigation module, the AGV robot further includes:

the battery box positioning device comprises a battery box, a positioning piece, an AGV robot and a battery replacement vehicle, wherein the battery box is provided with a positioning hole, the positioning piece is arranged in the battery box, the battery replacement vehicle transmits position information of the positioning piece of the battery box to the AGV robot, and the AGV robot enables a laser positioning head to be in butt joint with the corresponding positioning piece according to the position information.

Wait to trade electric vehicle and transmit the information of the setting element that first battery corresponds to AGV robot to make AGV robot with wait to trade electric vehicle butt joint back, the first battery that waits to trade the electricity can be aimed at to the battery position, and can not go to aim at the position of other batteries, can avoid AGV robot to send wrong counterpoint information, make wait to trade the locking piece of the battery that electric vehicle unblock does not correspond with the battery position, lead to this battery directly to fall the damage.

Further, in some embodiments of the present application, in the step of displacing the AGV robot to the position of the first battery through the driving module and the navigation module, the AGV robot further includes:

the AGV robot shoots through the camera treat trading the image of electric vehicle, the navigation module passes through image positioning the AGV robot with treat trading the relative position of electric vehicle.

The AGV robot can realize remote location through the camera to make the AGV robot can set for a route that is close to waiting to trade electric vehicle at a long distance.

Further, in some embodiments of the present application, after the determining process, the method includes:

the AGV robot sends a locking signal to the vehicle to be replaced through the near-field communication module;

and after the vehicle to be charged obtains the locking signal, locking the second battery in the battery vacant position.

Carry out the AGV robot through near field communication module and wait to trade real-time communication of electric vehicle, can reduce the communication on the one hand and postpone, on the other hand when the AGV robot is inaccurate with waiting to trade electric vehicle counterpoint, the AGV robot has sufficient distance with waiting to trade electric vehicle and makes near field communication module can't carry out data interchange, can avoid waiting to trade electric vehicle mistake ground and emit the locking head this moment.

Drawings

Fig. 1 is a schematic flow chart of a box separation and battery swapping method in an embodiment of the present application.

Fig. 2 is a schematic structural diagram of a power swapping station when swapping a battery for a vehicle to be swapped in one embodiment of the application.

Fig. 3 is a schematic structural diagram of an electric vending machine, a transfer bin, and a power supply device according to an embodiment of the present application.

FIG. 4 is a schematic diagram of an AGV robot in one embodiment of the present application.

Fig. 5 is a schematic structural view of a battery box in an embodiment of the present application.

Description of the main elements

Battery replacement station 010

Waiting-to-replace electric vehicle 030

Electronic vendor 100

Battery changing parking place 200

Electricity taking device 300

AGV robot 400

Battery compartment 110

Battery box 600

Locking head 610

Lifting mechanism 410

Laser positioning head 450

Camera 470

Battery position 430

Transfer bin 500

Battery empty position 630

The following detailed description will further illustrate the present application in conjunction with the above-described figures.

Detailed Description

The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments.

It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

The embodiment of the application provides a battery replacement station which comprises a battery replacement parking place, a cloud control module, a power vending device, a power taking device and an AGV robot; the battery replacing parking place is used for parking a vehicle to be replaced, and a first battery is arranged in a battery box of the vehicle to be replaced; the cloud control module is used for sending a battery replacement signal for replacing a first battery of the vehicle to be replaced when detecting that the vehicle to be replaced enters the battery replacement parking space; the electric vending machine comprises a battery compartment for accommodating a second battery; the power taking device can take out a second battery in the power vending bank when receiving the battery replacement signal; AGV robot has the battery position that is used for bearing the weight of the battery, including drive module, navigation module and lifting mechanism, drive module is used for making AGV robot removes, the navigation module can be set for AGV robot moving route, AGV robot can receive pass through after trading electric signal drive module with the navigation module displacement arrives wait to trade the battery box below of electric vehicle, and can pass through lifting mechanism can lift off first battery extremely the battery position, can also pass through lifting mechanism will the second battery is packed into because of being taken out of battery box in first battery and formation battery vacancy position.

Through this kind of trade power station, can make to wait to trade the automatic start power vending treasured after the vehicle gets into trades the electric parking stall, get electric installation and AGV robot, wherein the AGV robot can be at power vending treasured and wait to trade the back and forth operation between the vehicle to the change of a plurality of batteries in the electric vehicle is waited to trade in the realization.

The embodiment of the application further provides a box separation battery replacing method, in which the battery replacing station is used for replacing a first battery in a battery box of a vehicle to be replaced, and the method includes the following steps:

in the detection process, after detecting that an electric vehicle to be changed enters an electric changing parking space, a cloud control module sends electric changing signals to an electric dealer, the electric taking device and the AGV robot;

the battery unloading process comprises the steps that an AGV robot moves to the position below a battery box of a vehicle to be replaced after receiving a battery replacing signal, a lifting mechanism of the AGV robot takes out a first battery in the battery box and places the first battery to a battery position of the AGV robot, and the AGV robot moves to a position where a power vending machine with a second battery is stored;

the battery taking process comprises the steps that after receiving a battery replacement signal, the power taking device takes out the second battery from a power vendor and conveys the second battery to an unloading position, and the AGV robot takes the second battery at the unloading position and puts the second battery into the battery position;

a battery feeding process, wherein the AGV robot moves to a position below a battery box of the battery replacing vehicle, and the second battery is loaded into a battery empty position of the battery box formed by taking out the first battery through the lifting mechanism;

and a judging process, wherein the battery replacing station or the vehicle to be replaced judges the condition of the battery box:

if all the first batteries to be replaced in the battery box are replaced, the AGV robot moves to a position far away from the vehicle to be replaced; if the first battery to be replaced still exists in the battery box, the AGV robot returns to execute the battery unloading process.

Through repeating the battery unloading process, the battery taking process and the battery feeding process, the replacement of a plurality of batteries to be replaced in the vehicles to be replaced can be realized through the repeated operation of one AGV robot. The reduction of AGV robot quantity can reduce the crowded degree of trading the power station, has also avoided the conflict of a plurality of AGV robot strokes. The interaction between the cloud control module and the battery replacing vehicle provides a calculation basis for path planning of the AGV robot, and other modules of the battery replacing station can maintain a standby low power consumption mode when the battery replacing is not performed. In addition, the box distribution battery replacement method does not need to move through an AGV robot to unlock the first battery, the first battery can be unlocked only by enabling the locking head of the vehicle to be replaced to leave the first battery, and the locking of the second battery can be locked only by extending out of the locking head of the vehicle to be replaced.

Embodiments of the present application will be further described with reference to the accompanying drawings.

Example one

Referring to fig. 2 and fig. 3, a battery replacement station 010 according to a first embodiment of the present application is provided for replacing a plurality of first batteries to be replaced in the same specification of a vehicle 030 to be replaced. The battery replacing station 010 comprises a battery replacing parking space 200, a cloud control module, a power vending machine 100, a power taking device 300 and an AGV robot 400; the battery replacement parking place 200 is used for parking a vehicle to be replaced 030, and a first battery is arranged in a battery box 600 of the vehicle to be replaced 030; the cloud control module is used for sending a battery replacement signal for replacing a first battery of the battery replacement vehicle 030 when the battery replacement vehicle 030 is detected to enter the battery replacement parking place 200; the vending machine 100 includes a battery compartment for housing a second battery; the electricity taking device 300 can take out the second battery in the power vending machine 100 when receiving the electricity changing signal; referring to fig. 4, the AGV robot 400 has a battery position 430 for carrying a battery, and includes a driving module, a navigation module and a lifting mechanism, the driving module is used for moving the AGV robot 400, the navigation module can set a moving route of the AGV robot 400, the AGV robot 400 can move to a position below a battery box 600 of the vehicle 030 to be replaced through the driving module and the navigation module after receiving the battery replacement signal, and can detach the first battery to the battery position 430 through the lifting mechanism, and can also mount the second battery into the battery box 600 to form a battery empty position due to the first battery being taken out.

Through this kind trade power station 010, can make and wait to trade electric vehicle 030 get into trade electric parking stall 200 after automatic start electric dealer treasured 100, get electric installation 300 and AGV robot 400, wherein AGV robot 400 can make a round trip to operate between electric dealer treasured 100 and waiting to trade electric vehicle 030 to the change of a plurality of batteries in the electric vehicle 030 of waiting to trade is realized.

Example two

Referring to fig. 1, a box separation battery swapping method is provided in the second embodiment of the present application, and a first battery to be swapped on a battery swapping vehicle 030 is operated by using a battery swapping station 010 provided in the first embodiment. The method comprises the following steps:

s101: the cloud control module detects that a vehicle 030 to be replaced enters the battery replacing parking space 200, and sends a battery replacing signal to a battery dealer 100, a power taking device 300 and the AGV robot 400;

s102: in the battery unloading process, the AGV robot 400 moves to the lower part of the battery box 600 of the vehicle to be replaced 030, the vehicle to be replaced 030 retracts the locking head 610 corresponding to the first battery, the lifting mechanism 410 of the AGV robot 400 takes out the first battery in the battery box 600 to the battery position 430, and the position where the battery box 600 is taken out of the first battery forms a battery vacant position 630;

s104: a battery taking process, in which the power taking device 300 takes out a second battery from the power vending machine 100 and transports the second battery to an unloading position, and the AGV robot 400 puts the second battery in the unloading position into the battery position 430;

s106: in the battery sending process, the AGV robot 400 moves to the position below the battery box 600 of the vehicle to be powered on and off 030, the lifting mechanism 410 loads the second battery into the battery vacant position 630, and the vehicle to be powered on and off 030 locks the position of the second battery through the locking head 610;

s107: judging the flow, the battery replacing station 010 or the to-be-replaced vehicle 030 judges the condition of the battery box 600:

if all the first batteries to be replaced in the battery box 600 are replaced, the AGV robot 400 moves to a position far away from the vehicle to be replaced 030; if the first battery to be replaced still exists in the battery box 600, the AGV robot 400 returns to execute the battery unloading process S102.

Referring to fig. 5, different numbers of batteries with the same specification are arranged on vehicles of different grades, and the batteries with the same specification enable the AGV robot 400 to have a battery position 430 with a fixed specification to accommodate and transport the batteries. Therefore, the first battery and the second battery mentioned in the present application should be batteries of the same type, and here, for convenience of description, a battery that needs to be removed from the electric vehicle 030 to be replaced is named as a first battery, and a battery that needs to be mounted on the electric vehicle 030 to be replaced is named as a second battery.

Whether the vehicle 030 to be replaced enters the battery replacing parking space 200 is monitored through the cloud control module, specifically, whether the vehicle 030 to be replaced enters the battery replacing parking space 200 can be monitored through the monitoring camera, or an entrance signal is actively sent to the cloud control system through a terminal device on the vehicle 030 to be replaced so as to inform the motion control module. Since the electric vehicle 030 to be replaced has a plurality of first batteries to be replaced, the AGV robot 400 is required to perform a cyclic operation to achieve detachment of the plurality of first batteries and installation of the second batteries.

Here, whether the AGV robot 400 needs to return to the battery unloading process again for a cycle operation may be determined by the battery replacement vehicle 030, and then the battery replacement station 010 is notified of whether the first battery is replaced, or the battery replacement station 010 determines according to the implemented battery replacement times after the first information exchange between the battery replacement vehicle and the cloud control system.

The AGV robot 400 only needs to be in butt joint with the corresponding position of the vehicle 030 where the battery is to be replaced or send out the battery, the locking of the battery is achieved through the locking head 610 on the vehicle 030 where the battery is to be replaced, the AGV robot 400 does not need extra action, so that the internal structure of the AGV robot 400 is simplified, the height of the AGV robot 400 is further reduced, and the space below the chassis of the vehicle 030 where the battery is to be replaced can be freely accessed.

The sub-box can realize the replacement of a plurality of first batteries to be replaced in the vehicle 030 to be replaced through the repeated operation of one AGV robot 400 by repeating the battery unloading process, the battery taking process and the battery feeding process. The reduction of the number of the AGV robots 400 can reduce the crowdedness of the battery replacement station 010, and also avoid the conflict of the strokes of the AGV robots 400. The interaction between the cloud control module and the battery swapping vehicle 030 provides a calculation basis for path planning of the AGV robot 400, and other modules of the battery swapping station 010 can maintain a standby low power consumption mode when power is not swapped. In addition, according to the box distribution battery replacement method, the unlocking of the first battery is achieved without the action of the AGV robot 400, the first battery can be achieved only by the fact that the locking head 610 of the battery replacement vehicle 030 leaves the first battery, and the locking of the second battery can be achieved only by the fact that the locking head 610 on the battery replacement vehicle 030 extends out.

Although S104 constitutes a battery-taking process as a whole, it is specifically divided into step S1041 at the power-taking device 300 side and step S1042 at the AGV robot 400 side.

S1041: the power-taking device 300 takes out the second battery from the shoe vending machine 100 and transports the second battery to the unloading position.

S1042: the AGV robot 400 places the second battery in the unload position in the battery station 430.

In order to further reduce the volume of the AGV robot 400 itself, so that the battery position 430 of the AGV robot 400 only has a space for bearing one battery, a transfer bin 500 is provided in the battery replacing station 010 for temporarily storing the battery, so that after the AGV robot 400 transports the first battery on the vehicle 030 to be replaced to the power taking device 300, the battery can be temporarily stored in the transfer bin 500 to realize the vacant position of the battery position 430 for bearing the second battery. Therefore, after the battery unloading process S102, the method further includes the steps of:

s103: in the battery temporary storage process, the AGV robot 400 transfers the first battery to the transfer bay 500 to empty the battery bay 430.

After the first battery is temporarily stored in the transfer bin 500, the first battery needs to be taken out from the transfer bin 500 to be stored in a safe position, so as to realize long-term storage of the battery. The battery compartment 110 of the power vending machine 100 is a place for storing batteries for a long time in the battery replacement station 010. The first battery of the transfer bin 500 is stored in the battery compartment 110 with the help of the power-taking device 300, so that after the power-taking device 300 transfers the second battery to the battery compartment 430, the power-taking device 300 is empty to transfer the first battery on the transfer bin 500 to the battery compartment 110. Specifically, after the battery obtaining process S104, the method further includes the steps of:

s105: in the battery storage process, the power taking device 300 transports the first battery in the transfer bin 500 to the battery compartment 110 of the power vending machine 100 for storage.

Here, the battery compartment 110 storing the first battery in the transfer position 500 may be the battery compartment 110 from which the second battery is taken out in the battery taking process S104. The battery compartment 110 is empty because the second battery is taken out, and can be used for placing the first battery of the transfer bin 500. Moreover, due to the storage, the power taking device 300 or the power vending device 100 does not need to search for an empty battery bin 110, and the whole computing power of the power exchanging station 010 can be saved.

Since the electric vehicle 030 to be replaced may not need to update all the batteries, but has a special replacement requirement, for example, the electric vehicle 030 to be replaced has three batteries, but only two batteries need to be replaced, and at this time, all the batteries of the electric vehicle 030 to be replaced cannot be directly replaced in a general manner only by judging the type of the vehicle through the cloud control module. Therefore, after step S101, the method further includes:

s101 a: wait to trade electric vehicle 030 and trade electric demand information to high in the clouds control module transmission, trade electric demand information includes: the first battery to be replaced is at the position of the battery box 600.

When the battery replacement vehicle 030 does not need to replace all batteries, battery replacement demand information is actively transmitted to the cloud control module, so that the battery replacement station 010 obtains the position of the battery to be replaced, and the battery at the corresponding position is replaced. To avoid replacement to batteries that would otherwise not need replacement.

When the AGV robot 400 performs the battery unloading process S102, it is necessary to locate the first battery to be replaced on the vehicle 030 to be replaced, which is close to the vehicle 030 to be replaced, so as to correspond the position of the battery box 600 corresponding to the first battery to the battery position 430 of the AGV robot 400. Here, the AGV robot 400 is actively navigated to correspond to the battery box 600 of the vehicle to be exchanged 030. Specifically, the battery unloading process S102 includes a step S102': the AGV robot 400 is displaced to the position of the first battery by the drive module and the navigation module. The module that the installation was used for fixing a position AGV robot 400 and the battery case 600 relative position of waiting to trade electric vehicle 030 on the AGV robot 400 is navigated to the module, and drive module is the module of ordering about whole AGV robot 400 displacement, and AGV robot 400 obtains AGV robot 400's positional information through the navigation module to a planning movement route is in order to guide the motion of drive module.

Correspondingly, in the battery feeding process S106, it is also necessary to position the first battery to be replaced on the vehicle 030 to be replaced near the vehicle 030 to be replaced, so as to correspond the position of the battery box 600 corresponding to the first battery to the battery position 430 of the AGV robot 400. Therefore, in the battery taking process S106, the same as the battery unloading process S102 includes the step S106': the AGV robot 400 is displaced to the position of the first battery by the drive module and the navigation module. The module that the installation was used for fixing a position AGV robot 400 and the battery case 600 relative position of waiting to trade electric vehicle 030 on the AGV robot 400 is navigated to the module, and drive module is the module of ordering about whole AGV robot 400 displacement, and AGV robot 400 obtains AGV robot 400's positional information through the navigation module to a planning movement route is in order to guide the motion of drive module.

In order to realize that the AGV robot 400 approaches the position of the battery box 600 of the vehicle to be changed 030, a route needs to be planned to guide the operation of the driving module, and therefore, the navigation module includes the camera 470, and in step S102', the navigation module specifically includes step S102 a: the AGV robot 400 shoots the image of the electric vehicle 030 to be changed through the camera 470, and the navigation module positions the relative position of the AGV robot 400 and the electric vehicle 030 to be changed through the image.

Correspondingly, in step S106', the method specifically includes step S106 a: the AGV robot 400 shoots the image of the electric vehicle 030 to be changed through the camera 470, and the navigation module positions the relative position of the AGV robot 400 and the electric vehicle 030 to be changed through the image.

Step S102a can only realize that the AGV robot 400 is as close as possible to the corresponding position of the battery box 600 on the electric vehicle 030 to be replaced, but it is difficult to realize accurate docking of the AGV robot 400 with the corresponding position of the battery box 600, and in order to realize accurate alignment of the replacement potential with the battery box 600 of the electric vehicle 030 to be replaced, in step S102', the method specifically includes step S102 b: the vehicle to be replaced 030 transmits the position information of the positioning pieces of the battery box 600 to the AGV robot 400, and the AGV robot 400 enables the laser positioning heads 450 to be in butt joint with the corresponding positioning pieces according to the position information. After all the designated laser positioning heads 450 on the AGV robot 400 are butted with the corresponding positioning pieces, it can be determined that the AGV robot 400 is butted with the position corresponding to the battery box 600 on the vehicle to be replaced 030, and at this time, the first battery can be taken out, that is, the vehicle to be replaced 030 can unlock the first battery so that the first battery enters the replacement potential.

Correspondingly, step S106a can only realize that the AGV robot 400 is as close as possible to the corresponding position of the battery box 600 on the electric vehicle 030 to be replaced, but it is difficult to realize accurate docking of the AGV robot 400 with the corresponding position of the battery box 600, and in order to realize accurate alignment of the replacement potential with the battery box 600 of the electric vehicle 030 to be replaced, in step S106', the method specifically includes step S106 b: the vehicle to be replaced 030 transmits the position information of the positioning pieces of the battery box 600 to the AGV robot 400, and the AGV robot 400 enables the laser positioning heads 450 to be in butt joint with the corresponding positioning pieces according to the position information. After all the designated laser positioning heads 450 on the AGV robot 400 are butted with the corresponding positioning pieces, it can be determined that the AGV robot 400 is butted with the position corresponding to the battery box 600 on the vehicle to be changed 030, and at this time, the second battery in the battery position 430 can be conveyed to the battery vacant position 630.

After the AGV robot 400 transports the second battery to the battery box 600 of the vehicle to be replaced 030, the vehicle to be replaced 030 needs to extend out of the locking head 610 to lock the second battery. The standby electric vehicle 030 may employ its own sensing system to sense the state of the battery box 600 to achieve the protrusion of the locking head 610, but this case easily causes erroneous judgment. In order to reduce the misjudgment, the method for switching power in different boxes adopts a form that the AGV robot 400 communicates with the vehicle to be switched 030 to notify the vehicle to be switched 030 to extend out of the locking head 610 to lock the second battery, and specifically, in the battery feeding process S106, the method further includes the steps of:

s106': the AGV robot 400 sends a locking signal to the vehicle to be powered 030 through the near field communication module; after the battery replacement vehicle 030 obtains the locking signal, the locking head 610 extends out, and the second battery is locked in the battery empty position 630.

The real-time communication between the AGV robot 400 and the vehicle to be replaced 030 is carried out through the near-field communication module, so that on one hand, communication delay can be reduced, on the other hand, when the AGV robot 400 and the vehicle to be replaced 030 are not aligned, the AGV robot 400 and the vehicle to be replaced 030 have enough distance to enable the near-field communication module to not carry out data exchange, and at the moment, the vehicle to be replaced 030 can be prevented from mistakenly releasing the locking head 610.

In summary, a relatively complete box-dividing and battery-replacing method includes the following steps:

s101: the cloud control module detects that a vehicle 030 to be replaced enters the battery replacing parking space 200, the vehicle 030 to be replaced transmits battery replacing demand information comprising the position of a first battery to be replaced in the battery box 600 to the cloud control module, and the cloud control module sends a battery replacing signal to the electric vending machine 100, the power taking device 300 and the AGV robot 400;

s102: the battery unloading process includes that an AGV robot 400 shoots an image of a vehicle 030 to be replaced through a camera 470, a navigation module positions the relative position of the AGV robot 400 and the vehicle 030 to be replaced through the image to guide a driving module to drive the AGV robot 400 to be close to the vehicle 030 to be replaced, the vehicle 030 to be replaced transmits position information of a positioning piece of a battery box 600 to the AGV robot 400, the AGV robot 400 enables a laser positioning head 450 to be in butt joint with the corresponding positioning piece according to the position information, the vehicle 030 to be replaced withdraws a locking head 610 corresponding to a first battery, a lifting mechanism 410 of the AGV robot 400 bears the first battery to a battery position 430, and the position where the battery box 600 is taken out of the first battery forms a battery empty position 630;

s103: in the battery temporary storage process, the AGV robot 400 transfers the first battery to the transfer bay 500 to empty the battery bay 430.

S104: a battery taking process, in which the power taking device 300 takes out a second battery from the power vending machine 100 and transports the second battery to an unloading position, and the AGV robot 400 puts the second battery in the unloading position into the battery position 430;

s105: in the battery storage process, the power taking device 300 transports the first battery in the transfer bin 500 to the battery compartment 110 of the power vending machine 100 for storage.

S106: battery feeding process, the AGV robot 400 shoots the image of the vehicle 030 to be replaced through the camera 470, the navigation module guides the driving module to drive the AGV robot 400 to be close to the vehicle 030 to be replaced through the relative position of the image positioning AGV robot 400 and the vehicle 030 to be replaced, the vehicle 030 to be replaced transmits the position information of the positioning piece of the battery box 600 to the AGV robot 400, the AGV robot 400 enables the laser positioning head 450 to be butted with the corresponding positioning piece according to the position information, the AGV robot 400 loads the second battery into the battery vacant position 630 through the lifting mechanism 410, the AGV robot 400 sends a locking signal to the vehicle 030 to be replaced through the near field communication module, the vehicle 030 to be replaced stretches out the locking head 610 after obtaining the locking signal, and the condition of the battery box 600 is judged by the vehicle 030 to be replaced or the battery replacing station 010:

if all the first batteries to be replaced in the battery box 600 are replaced, the AGV robot 400 moves to a position far away from the vehicle to be replaced 030; if the first battery to be replaced still exists in the battery box 600, the AGV robot 400 returns to execute the battery unloading process S102.

In addition, other changes may be made by those skilled in the art within the spirit of the present application, and it is understood that such changes are encompassed within the scope of the present disclosure.