阅读说明：本技术 换电站及换电方法 (Battery changing station and battery changing method ) 是由 陈卫 李想 徐旭海 王安沛 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、取电装置和AGV机器人,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所述电贩宝提供的电池的电池位,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。本申请还提供了一种换电方法,通过AGV机器人的导航模组主动识别车辆位置并进行换电操作,以降低对停车位置的需求。(A battery replacement station comprises a battery replacement parking space, a power vending machine, a power taking device and an AGV robot, 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 has and is used for bearing the battery position of the battery that the electricity vending treasure provided, including drive module and navigation module, can pass through drive module with the navigation module displacement arrives wait to trade the battery position of electric vehicle, and will battery in the battery position transmit extremely wait to trade the electric vehicle. The application also provides a battery replacement method, which is characterized in that the position of the vehicle is actively identified through the navigation module of the AGV robot, and the battery replacement operation is carried out, so that the requirement on the parking position is reduced.)

1. A power swapping station, comprising:

the battery replacing parking place 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 has and is used for bearing the battery position of the battery that the electricity vending is precious provides, including drive module and navigation module, can pass through drive module with the navigation module displacement arrives the battery position of the electric vehicle of awaiting changing, and will battery in the battery position transmit extremely the electric vehicle of awaiting changing.

2. The battery replacing method is characterized in that the battery replacing station as claimed in claim 1 is used for replacing batteries of vehicles to be replaced, and comprises the following steps:

the vehicle to be switched enters the battery switching parking place in any posture;

the power taking device takes out a first battery from the battery bin of the power vending machine;

the AGV robot receives the first battery of the power taking device to the battery position;

the AGV robot moves to a battery vacant position of the vehicle to be replaced through the driving module and the navigation module;

the AGV robot will in the battery position first battery transfer extremely the battery vacant position.

3. The battery swapping method of claim 2, before the step of receiving the first battery of the power taking device to the battery position by the AGV robot, further comprising:

the AGV robot moves to a battery loading position of the vehicle to be replaced through the driving module and the navigation module;

the AGV robot takes the second battery of the battery loading position to the battery position.

4. The battery swapping method of claim 3, further comprising, after the step of the AGV robot picking and placing the second battery in the battery loading position to the battery position:

the AGV robot shifts to the transfer position of storehouse, the transfer position of storehouse is received the battery position the second battery.

5. The battery replacing method according to claim 2, wherein in the step of displacing the AGV robot to the battery vacant position of the vehicle to be replaced through the driving module and the navigation module, the method comprises the following steps:

the navigation module shoots the appearance information of the electric vehicle to be replaced through the camera to provide a driving signal for the driving module.

6. The battery replacing method according to claim 5, wherein in the step of displacing the AGV robot to the battery vacant position of the vehicle to be replaced through the driving module and the navigation module, the method further comprises the following steps:

the navigation module is in butt joint with a positioning piece of the vehicle to be replaced through a laser positioning head;

when the laser positioning heads and the positioning pieces in a preset number on the navigation module are in a butt joint state at the same time, the AGV robot is in butt joint with the battery vacant position;

when the preset number of the laser positioning heads on the navigation module and the positioning piece cannot be in a butt joint state simultaneously, the AGV robot continuously adjusts the posture.

7. The battery replacing method according to claim 5, wherein in the step of displacing the AGV robot to the battery vacant position of the vehicle to be replaced through the driving module and the navigation module, the method further comprises the following steps:

the navigation module is in butt joint with a bulge of the electric vehicle to be replaced through a proximity switch;

when a preset number of proximity switches on the navigation module and the protrusions are in a butt joint state at the same time, the AGV robot is in butt joint with the battery vacant position;

when the last predetermined quantity of navigation module proximity switch with the bellying can't be in the butt joint state simultaneously, the AGV robot lasts the adjustment gesture.

8. The battery swapping method of claim 2, wherein the step of transferring the battery in the battery position to the battery empty position by the AGV robot comprises:

the AGV robot will through lifting the structure in the battery position first battery lift extremely in the battery vacant position, wait to trade electric vehicle locking in the battery vacant position first battery.

9. The battery swapping method of claim 2, after the step of the AGV robot transferring the first battery in the battery bay to the battery empty position, comprising:

the AGV robot sends to waiting to trade the electric vehicle and makes it locks to wait to trade the electric vehicle in the battery vacant position the locking signal of first battery.

10. The battery replacing method according to claim 2, wherein in the step of displacing the AGV robot to the battery vacant position of the vehicle to be replaced through the driving module and the navigation module, the method further comprises the following steps:

and the near field communication module of the AGV robot exchanges confirmation information with the vehicle to be switched, and the AGV robot judges whether the vehicle is close to the battery vacant position or not according to the confirmation information.

11. The battery replacement method is characterized in that the battery replacement station as claimed in claim 1 is used for replacing the battery of the vehicle to be replaced, and after the step of entering the battery replacement vehicle position in any posture, the subsequent steps are repeated until all batteries of the vehicle to be replaced are replaced completely:

the power taking device takes out a first battery from the battery bin of the power vending machine;

the AGV robot moves to a battery loading position of the vehicle to be replaced through the driving module and the navigation module;

the AGV robot takes the second battery at the battery loading position to the battery position;

the AGV robot moves to a transfer bin, and the transfer bin receives the second battery of the battery position;

the AGV robot receives the first battery of the power taking device to the battery position;

the AGV robot moves to a battery vacant position of the vehicle to be replaced through the driving module and the navigation module;

the AGV robot will in the battery position first battery transfer extremely the battery vacant position.

Technical Field

The application relates to a battery swapping station and a battery swapping method.

Background

The replacement of the battery is an important way for supplementing the electric energy of the electric vehicle, the existing automatic replacement technology of the replacement station needs to complete the replacement of the battery at the bottom of the vehicle, and certain requirements are met on site reconstruction, driver parking technology and the like. For example, some power conversion stations need drivers to drive the vehicles to the lifting machine, and the devices lift the vehicles to convert power after adjusting the postures of the vehicles; some trade power stations need drive the car to a trade on the electric overpass, have some direction and location structure on the bridge simultaneously, wait that the car stops accurately the back, the equipment trades the electric to the vehicle under the bridge. No matter which kind of mode, all there are processes such as accurate parking of driver, equipment adjustment vehicle gesture, have certain requirement to personnel's operation, equipment is also comparatively huge and complicated simultaneously.

Disclosure of Invention

In view of the above, it is desirable to provide a power swapping station and a power swapping method, which solve the problem that a vehicle to be swapped needs to enter a specified position in a fixed posture for power swapping.

The embodiment of the application provides a trade power station, including trading electric parking stall, electric vending treasure, getting electric installation and AGV robot. The battery replacing parking place is used for parking a vehicle to be replaced; the electric vending machine comprises a battery bin for accommodating a battery; the electricity taking device is used for taking out and conveying the batteries in the battery compartment; the AGV robot has the battery position that is used for bearing the battery that the electricity vending treasure provided, including drive module and navigation module, can pass through drive module with the navigation module displacement arrives wait to trade the battery position of electric vehicle, and will battery in the battery position transmit extremely wait to trade the electric vehicle.

The battery replacing station can provide batteries for the vehicles to be replaced and convey the batteries to the vehicles to be replaced, and the AGV robot is provided with the navigation module to drive the AGV robot to displace towards the battery position of the vehicles to be replaced, so that the vehicles to be replaced are parked without special limitation.

The embodiment of the application further provides a battery replacement method, and replacing a battery of a vehicle to be replaced by using the battery replacement station includes:

the vehicle to be switched enters the battery switching parking place in any posture;

the power taking device takes out a first battery from the battery bin of the power vending machine;

the AGV robot receives the first battery of the power taking device to the battery position;

the AGV robot moves to a battery vacant position of the vehicle to be replaced through the driving module and the navigation module;

the AGV robot will in the battery position first battery transfer extremely the battery vacant position.

The first battery is taken down from the power taking device through the AGV robot, the driving module is guided to operate through the navigation module, the first battery is conveyed to a battery vacant position of the vehicle to be replaced, and then the first battery is transmitted to the battery vacant position, so that the first battery is installed on the vehicle to be replaced. The navigation module and the drive module that whole process passed through AGV robot self carry out the affirmation of treating the electric vehicle position of trading for the AGV robot can find the electric vehicle of waiting to trading of trading arbitrary gesture on the parking stall, consequently does not have the restriction to the parking gesture of vehicle in this great region of trading the parking stall, as long as in trading the parking stall, the AGV robot can both initiatively go to look for the vehicle and match the parking gesture of vehicle.

Further, in some embodiments of the present application, before the step that the AGV robot receives the first battery to the battery position of the power taking device, the AGV robot further includes:

the AGV robot moves to a battery loading position of the vehicle to be replaced through the driving module and the navigation module;

the AGV robot takes the second battery of the battery loading position to the battery position.

Before the first battery is conveyed to the vehicle to be replaced, the AGV robot is used for taking and placing the second battery to be taken down in the vehicle to be replaced, and after the operation, the original battery loading position for loading the second battery is converted into the battery empty position for loading the first battery.

Further, in some embodiments of the present application, after the step of the AGV robot taking the second battery of the battery loading position to the battery position, the AGV robot further includes:

the AGV robot shifts to the transfer position of storehouse, the transfer position of storehouse is received the battery position the second battery.

Temporary storage of the battery is achieved through the transfer bin position, and the battery position of the AGV robot can be left vacant to convey the follow-up first battery.

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

the navigation module shoots the appearance information of the electric vehicle to be replaced through the camera to provide a driving signal for the driving module.

The shape information obtained by the camera is used for navigation, so that the AGV robot can firstly sense the position of the vehicle and the approximate region where the battery is vacant when the AGV robot is far away from the battery vacant position, and accordingly guides the driving module to move to the approximate region where the battery is vacant.

Further, in some embodiments of the present application, in the step that the AGV robot is displaced to the battery empty position of the electric vehicle to be replaced by the driving module and the navigation module, the method further includes:

the navigation module is in butt joint with a positioning piece of the vehicle to be replaced through a laser positioning head;

when the laser positioning heads and the positioning pieces in a preset number on the navigation module are in a butt joint state at the same time, the AGV robot is in butt joint with the battery vacant position;

when the preset number of the laser positioning heads on the navigation module and the positioning piece cannot be in a butt joint state simultaneously, the AGV robot continuously adjusts the posture.

When the AGV robot is located in the approximate region where the battery idle position is located, the AGV robot and the battery idle position need to be precisely butted, so that the battery can be accurately placed in the battery control position. Through the butt joint of laser positioning head and setting element, can know whether butt joint of AGV robot and battery vacant position is accomplished, and through the butt joint state of laser positioning head and setting element on the AGV robot, can calculate the direction and the displacement volume that the AGV robot needs to carry out the fine tuning.

Further, in some embodiments of the present application, in the step that the AGV robot is displaced to the battery empty position of the electric vehicle to be replaced by the driving module and the navigation module, the method further includes:

the navigation module is in butt joint with a bulge of the electric vehicle to be replaced through a proximity switch;

when a preset number of proximity switches on the navigation module and the protrusions are in a butt joint state at the same time, the AGV robot is in butt joint with the battery vacant position;

when the last predetermined quantity of navigation module proximity switch with the bellying can't be in the butt joint state simultaneously, the AGV robot lasts the adjustment gesture.

Proximity switches have similar technical effects to the laser positioning heads described above, but require either the installation of protrusions on the vehicle that change shape, or the analysis of the existing shape of all vehicles to find inherent protrusions that have a fixed relationship to the battery empty position. On the other hand, the proximity switch has a lower failure rate, so that the navigation module can maintain normal operation for a long time without frequent maintenance and adjustment.

Further, in some embodiments of the present application, the step of the AGV robot transferring the battery in the battery position to the battery empty position includes:

the AGV robot will through lifting the structure in the battery position first battery lift extremely in the battery vacant position, wait to trade electric vehicle locking in the battery vacant position first battery.

The AGV robot lifts the first battery in the battery position to the battery vacant position through the lifting structure, and when the battery needs to be lifted, the lifting structure and the battery can be in lower positions, so that the AGV robot can enter the bottom of a vehicle with a lower chassis.

Further, in some embodiments of the present application, after the step of the AGV robot transferring the first battery in the battery position to the battery empty position, the AGV robot further includes:

the AGV robot sends to waiting to trade the electric vehicle and makes it locks to wait to trade the electric vehicle in the battery vacant position the locking signal of first battery.

After the first battery is transferred to the battery empty position, the battery needs to be fixed in the position, so the AGV robot needs to interact with the vehicle to be replaced to inform the vehicle to be replaced that the battery is conveyed in place. And after the vehicle receives the locking signal, the locking mechanism is started to lock the battery at the battery idle position.

Further, in some embodiments of the present application, in the step that the AGV robot is displaced to the battery empty position of the electric vehicle to be replaced by the driving module and the navigation module, the method further includes:

and the near field communication module of the AGV robot exchanges confirmation information with the vehicle to be switched, and the AGV robot judges whether the vehicle is close to the battery vacant position or not according to the confirmation information.

The AGV robot judges that the error rate still exists in the traveling direction of the robot through the camera, whether the traveling direction of the AGV robot is correct or not can be judged through the butt joint of the near-field communication module and the vehicle, and if the near-field communication module and the vehicle are successfully butt jointed, the fact that the AGV robot has the correct traveling direction is shown, and the AGV robot travels to the position close to the vacant position of the battery.

The embodiment of the application further provides a battery replacement method, the battery replacement station is used for replacing batteries of a vehicle to be replaced, after the step of entering the battery replacement parking space in any posture, the subsequent steps are repeated until all batteries of the vehicle to be replaced are replaced:

the power taking device takes out a first battery from the battery bin of the power vending machine;

the AGV robot moves to a battery loading position of the vehicle to be replaced through the driving module and the navigation module;

the AGV robot takes the second battery at the battery loading position to the battery position;

the AGV robot moves to a transfer bin, and the transfer bin receives the second battery of the battery position;

the AGV robot receives the first battery of the power taking device to the battery position;

the AGV robot moves to a battery vacant position of the vehicle to be replaced through the driving module and the navigation module;

the AGV robot will in the battery position first battery transfer extremely the battery vacant position.

The method comprises the steps of conveying the battery of the vehicle to be subjected to battery replacement to a transfer bin position and conveying the battery of the power taking device to the vehicle to be subjected to battery replacement by repeating the AGV robot, and accordingly completing the battery replacement operation of the vehicle to be subjected to battery replacement, wherein the vehicle to be subjected to battery replacement is required to be replaced by a plurality of batteries.

Drawings

Fig. 1 is a schematic flow chart of a power swapping method in an embodiment of the present application.

Fig. 2 is a schematic structural diagram of a swapping station in an embodiment of the present application.

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

FIG. 4 is a schematic diagram of an AGV robot lifting configuration according to one embodiment of the present application with a battery in place in the battery bay.

FIG. 5 is a schematic diagram of an AGV robot lifting configuration to lift a battery out of a battery position according to an embodiment of the present application.

FIG. 6 is a schematic diagram of an AGV robot in one embodiment of the present application with the lifting structure extending out of the battery position.

FIG. 7 is a schematic diagram of an AGV robot in an embodiment of the present application with the lifting structure located within the battery bay.

Description of the main elements

Battery replacement station 001

Battery replacement vehicle 100

Battery changing parking place 200

Electronic vendor 300

Electricity-taking device 400

AGV robot 500

Battery compartment 310

Battery position 510

Transfer position 600

Laser positioning head 530

Camera 550

Lifting structure 570

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. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

The embodiment of the application provides a trade power station, including trading electric parking stall, electric vending treasure, getting electric installation and AGV robot. The battery replacing parking place is used for parking a vehicle to be replaced; the electric vending machine comprises a battery bin for accommodating a battery; the electricity taking device is used for taking out and conveying the batteries in the battery compartment; the AGV robot has the battery position that is used for bearing the battery that the electricity vending treasure provided, including drive module and navigation module, can pass through drive module with the navigation module displacement arrives wait to trade the battery position of electric vehicle, and will battery in the battery position transmit extremely wait to trade the electric vehicle.

The battery replacing station can provide batteries for the vehicles to be replaced and convey the batteries to the vehicles to be replaced, and the AGV robot is provided with the navigation module to drive the AGV robot to displace towards the battery position of the vehicles to be replaced, so that the vehicles to be replaced are parked without special limitation.

The embodiment of the application further provides a battery replacement method, and replacing a battery of a vehicle to be replaced by using the battery replacement station includes:

the vehicle to be switched enters the battery switching parking place in any posture;

the power taking device takes out a first battery from the battery bin of the power vending machine;

the AGV robot receives the first battery of the power taking device to the battery position;

the AGV robot moves to a battery vacant position of the vehicle to be replaced through the driving module and the navigation module;

the AGV robot will in the battery position first battery transfer extremely the battery vacant position.

The embodiment of the application further provides a battery replacement method, the battery replacement station is used for replacing batteries of a vehicle to be replaced, after the step of entering the battery replacement parking space in any posture, the subsequent steps are repeated until all batteries of the vehicle to be replaced are replaced:

the power taking device takes out a first battery from the battery bin of the power vending machine;

the AGV robot moves to a battery loading position of the vehicle to be replaced through the driving module and the navigation module;

the AGV robot takes the second battery at the battery loading position to the battery position;

the AGV robot moves to a transfer bin, and the transfer bin receives the second battery of the battery position;

the AGV robot receives the first battery of the power taking device to the battery position;

the AGV robot moves to a battery vacant position of the vehicle to be replaced through the driving module and the navigation module;

the AGV robot will in the battery position first battery transfer extremely the battery vacant position.

The method comprises the steps of conveying the battery of the vehicle to be subjected to battery replacement to a transfer bin position and conveying the battery of the power taking device to the vehicle to be subjected to battery replacement by repeating the AGV robot, and accordingly completing the battery replacement operation of the vehicle to be subjected to battery replacement, wherein the vehicle to be subjected to battery replacement is required to be replaced by a plurality of batteries.

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

Example one

Referring to fig. 2 and 3, a first embodiment of the present application provides a battery replacement station 001 for providing a battery for a vehicle 100 to be replaced and storing the removed battery on the vehicle 100 to be replaced. This trades power station 001 includes trades power car position 200, electric dealer treasured 300, gets electric installation 400 and AGV robot 500. The battery replacement parking place 200 is used for parking the vehicle 100 to be replaced; power vendor 300 includes a battery compartment 310 for housing a battery; the electricity taking device 400 is used for taking out and conveying the batteries in the battery compartment 310; the AGV robot 500 has a battery position 510 for carrying a battery provided by a power vending device 300, and includes a driving module and a navigation module, and can move to the battery position 510 of the electric vehicle 100 to be replaced through the driving module and the navigation module, and transmit the battery in the battery position 510 to the electric vehicle 100 to be replaced.

The battery is provided by the electric vending machine 300, the electric power taking device 400 takes out and places the battery of the electric vending machine 300 to the battery seat 510 of the AGV robot 500, and the AGV robot 500 delivers the battery to the electric vehicle 100 to be replaced. Because the AGV robot 500 has a navigation module to drive the AGV robot 500 to displace to the battery position 510 of the electric vehicle 100 to be replaced, there is no special limitation on the parking of the electric vehicle 100 to be replaced, and after the electric vehicle 100 to be replaced is parked in place, the AGV robot 500 actively identifies the vehicle position to perform navigation driving.

Example two

Referring to fig. 1, 2 and 3, a second embodiment of the present application provides a battery replacement method for replacing a battery of a vehicle 100 to be replaced. The method for replacing batteries of the vehicle 100 to be replaced by using the battery replacement station 001 provided in the first embodiment includes:

s101: the vehicle 100 to be switched enters the battery switching parking place 200 in any posture;

s301: the electricity taking device 400 takes out the first battery from the battery compartment 310 of the power vending apparatus 300;

s302: the AGV robot 500 receives a first battery of the power taking device 400 to a battery position 510;

s303: the AGV robot 500 moves to a battery vacant position of the electric vehicle 100 to be replaced through the driving module and the navigation module;

s304: the AGV robot 500 transfers the first battery in the battery position 510 to a battery empty position;

s401: the standby electric vehicle 100 locks the first battery.

The driver or the unmanned vehicle 100 to be switched drives into the battery changing parking space 200, and the battery changing parking space 200 has surplus space after the vehicle 100 to be switched is parked. The battery replacing vehicle space 200 can reduce the technical requirements of the driver because a larger space is provided for parking the vehicle 100 to be replaced, and can also reduce the manual intelligent calculation amount when the vehicle 100 to be replaced is an unmanned vehicle. The vehicle 100 to be switched does not have specific parking requirements in the battery switching space 200, and only needs to enter the battery switching space 200, and the battery switching station 001 can be started to switch the battery when the vehicle 100 to be switched is parked in any posture on the battery switching space 200.

After the battery replacing station 001 is started to perform battery replacing operation, the AGV robot 500 takes down the first battery from the power taking device 400, guides the driving module to operate through the navigation module, conveys the first battery to the battery vacant position of the vehicle 100 to be replaced, and transmits the first battery to the battery vacant position, so that the vehicle 100 to be replaced has the first battery installed. The navigation module and the drive module of AGV robot 500 self are passed through in whole process and are treated the affirmation of trading electric vehicle 100 position for AGV robot 500 can find the electric vehicle 100 that waits to trade of arbitrary gesture on trading electric parking stall 200, consequently has no restriction to the parking gesture of vehicle in this great region of trading electric parking stall 200, as long as in trading electric parking stall 200, AGV robot 500 can both initiatively go to look for the vehicle and match the parking gesture of vehicle.

If the location where the first battery needs to be installed on the electric vehicle 100 to be replaced already has the second battery, the second battery on the electric vehicle 100 to be replaced also needs to be taken down, so the method further comprises the following steps before step S202:

s201: the AGV robot 500 moves to a battery loading position of the electric vehicle 100 to be replaced through the driving module and the navigation module; and the combination of (a) and (b),

s202: the AGV robot 500 takes the second battery from the battery loading position to the battery station 510.

The navigation module and the driving module of the AGV robot confirm the position of the vehicle 100 to be replaced, so that the AGV robot 500 can find the vehicle 100 to be replaced in any posture on the battery replacing vehicle space 200 and butt-joint the battery loading position of the vehicle 100 to be replaced. After the AGV robot 500 completes docking with the battery loading position, the AGV robot 500 takes out the second battery at the battery loading position.

In order to further reduce the size of the AGV robot 500, the AGV robot 500 only has one battery position 510, and the size reduction of the robot can make the AGV robot 500 move in a narrower place, but the AGV robot 500 having only one battery position 510 cannot simultaneously carry the first battery and the second battery. Therefore, after step S202, the method further includes the steps of:

s203: the AGV robot 500 moves to the transfer bay 600 and the transfer bay 600 receives the second battery from the battery bay 510.

Temporary storage of the battery is achieved by the transfer bin 600, and the battery 510 of the AGV robot 500 can be left empty for subsequent first battery transportation.

In order to provide a straight path as much as possible while the AGV robot 500 is displacing to the battery empty position of the vehicle 100 to be changed, it is necessary that the AGV robot 500 have an overall path plan. For this purpose, step S303 specifically includes the steps of:

s303 a: the navigation module shoots the appearance information of the electric vehicle 100 to be replaced through the camera 550 to provide a driving signal for the driving module.

The camera 550 is used for shooting the shape information of the electric vehicle 100 to be replaced to determine the approximate range of the battery vacant position, so as to provide a straight path for the driving module to approach the approximate range of the determined battery vacant position.

After the AGV robot 500 approaches the approximate range of the battery empty position, the AGV robot 500 needs to perform fine adjustment again to dock the battery position 510 with the battery empty position, and therefore the step S303 specifically further includes:

s303 b: the navigation module is butted with a positioning piece of the vehicle 100 to be changed through the laser positioning head 530;

s303 c: when the laser positioning heads 530 with the preset number on the navigation module and the positioning pieces are in a butt joint state at the same time, the AGV robot 500 is in butt joint with the vacant battery position;

s303 d: when the laser positioning heads 530 and the positioning members in the preset number on the navigation module cannot be in the butt joint state at the same time, the AGV robot 500 continuously adjusts the posture.

Wherein, the steps S303c and S303d include a determination behavior, and the AGV robot 500 repeatedly performs S303d to approach the implementation condition of S303c before implementing S303c in the fine adjustment process.

Similarly, in order to provide a path as straight as possible while the AGV robot 500 is moving to the battery loading position of the vehicle 100 to be replaced, it is necessary that the AGV robot 500 have an overall path plan. For this purpose, step S201 specifically includes the steps of:

s201 a: the navigation module shoots the appearance information of the electric vehicle 100 to be replaced through the camera 550 to provide a driving signal for the driving module.

The camera 550 is used for shooting the shape information of the electric vehicle 100 to be replaced to determine the approximate range of the battery vacant position, so as to provide a straight path for the driving module to approach the approximate range of the determined battery vacant position.

After the AGV robot 500 approaches the approximate range of the battery empty position, the AGV robot 500 needs to perform fine adjustment again to dock the battery position 510 with the battery empty position, and therefore the step S303 specifically further includes:

s201 b: the navigation module is butted with a positioning piece of the vehicle 100 to be changed through the laser positioning head 530;

s201 c: when the laser positioning heads 530 with the preset number on the navigation module and the positioning pieces are in a butt joint state at the same time, the AGV robot 500 is in butt joint with the battery loading position;

s201 d: when the laser positioning heads 530 and the positioning members in the preset number on the navigation module cannot be in the butt joint state at the same time, the AGV robot 500 continuously adjusts the posture.

Wherein, the steps S201c and S201d include a determination behavior, and the AGV robot 500 repeatedly performs S201d to approach the implementation condition of S201c before implementing S201c in the fine adjustment process.

It should be noted that, in other embodiments, after the AGV robot 500 and the vehicle 100 to be powered off are docked once in step S201, the path in step S201 is used in step S303 without performing navigation again, but in this way, there is a case where the path is changed due to other circumstances, for example, when the AGV robot 500 executes step S303, the power change car space 200 enters a dynamic object to block the movement of the AGV robot 500, so that the path is changed.

In order to reduce the overall thickness of the AGV robot 500 and enable the AGV robot 500 to perform a battery replacement operation for a vehicle with a lower chassis, please refer to fig. 4, 5, 6 and 7, a lifting mechanism is installed in the AGV robot 500 to lift the battery in the battery position 510, so that the step S304 includes the steps of:

s304 a: the AGV robot 500 lifts the first battery in the battery bay 510 into a battery empty position via the lifting structure 570.

After the first battery is transferred to the battery empty position, the vehicle 100 to be powered off needs to lock the first battery to drive the first battery to move synchronously. The electric vehicle 100 to be replaced needs to be locked after confirming that the first battery has entered the battery empty position and can be locked, and therefore, after step S304, the method further includes the steps of:

s305: the AGV robot 500 sends a locking signal to the vehicle 100 to be replaced, so that the vehicle 100 to be replaced locks the first battery in the battery empty position.

In order to confirm whether the path of the AGV robot 500 is correct, the end of the electric vehicle 100 to be replaced needs to confirm the path, and for this reason, the electric vehicle 100 to be replaced needs to exchange information with the AGV robot 500, specifically, the step S303 further includes:

s303 e: the near field communication module of the AGV robot 500 exchanges the confirmation information to the vehicle 100 to be changed, and the AGV robot 500 determines whether to approach the battery vacant position according to the confirmation information.

Whether the traveling direction of the AGV robot 500 is correct or not can be judged by docking the near field communication module with the vehicle, and if the near field communication module is successfully docked with the vehicle, it is indicated that the AGV robot 500 has the correct traveling direction and has traveled to the vicinity of the battery vacant position.

In summary, the overall process of the battery swapping method provided in this embodiment includes:

the vehicle 100 to be switched enters the battery switching parking place 200 in any posture;

the navigation module of the AGV robot 500 shoots the appearance information of the vehicle 100 to be replaced through the camera 550 to provide a driving signal for the driving module, and the driving module drives the AGV robot 500 to be close to the battery loading position of the vehicle 100 to be replaced; the near-field communication module of the AGV robot 500 exchanges confirmation information to the vehicle 100 to be switched, and the AGV robot 500 judges whether the battery is close to the vacant position according to the confirmation information;

the navigation module is butted with a positioning piece of the vehicle 100 to be changed through the laser positioning head 530;

when the laser positioning heads 530 with the preset number on the navigation module and the positioning pieces are in a butt joint state at the same time, the AGV robot 500 is in butt joint with the battery loading position; or, when the laser positioning heads 530 and the positioning members in the preset number on the navigation module cannot be in the butt joint state at the same time, the AGV robot 500 continuously adjusts the posture;

the AGV robot 500 takes and places the second battery from the battery loading position to the battery position 510;

the AGV robot 500 moves to the transfer bin 600, and the transfer bin 600 receives the second battery of the battery level 510;

the electricity taking device 400 takes out the first battery from the battery compartment 310 of the power vending apparatus 300;

the AGV robot 500 receives a first battery of the power taking device 400 to a battery position 510;

the navigation module of the AGV robot 500 shoots the appearance information of the vehicle 100 to be replaced through the camera 550 to provide a driving signal for the driving module, and the driving module drives the AGV robot 500 to be close to the vacant position of the battery of the vehicle 100 to be replaced; the near-field communication module of the AGV robot 500 exchanges confirmation information to the vehicle 100 to be switched, and the AGV robot 500 judges whether the battery is close to the vacant position according to the confirmation information;

the navigation module is butted with a positioning piece of the vehicle 100 to be changed through the laser positioning head 530;

when the laser positioning heads 530 with the preset number on the navigation module and the positioning pieces are in a butt joint state at the same time, the AGV robot 500 is in butt joint with the vacant battery position; or, when the laser positioning heads 530 and the positioning members in the preset number on the navigation module cannot be in the butt joint state at the same time, the AGV robot 500 continuously adjusts the posture;

the AGV robot 500 transfers the first battery in the battery position 510 to a battery empty position;

the AGV robot 500 lifts the first battery in the battery position 510 into a battery empty position through the lifting structure 570;

the AGV robot 500 sends a locking signal to the vehicle 100 to be charged so that the vehicle 100 to be charged locks the first battery in the battery empty position, and the vehicle 100 to be charged locks the first battery.

It should be noted that, in the present embodiment, the docking with the vehicle 100 to be powered is realized by the laser positioning head 530, and in other embodiments, the docking with the vehicle 100 to be powered may also be realized by using a proximity switch, where steps S303b, S303c, and S303d are changed to:

s303 b': the navigation module is butted with a bulge of the vehicle 100 to be changed through the proximity switch;

s303 c': when the proximity switches and the protrusions in the preset number on the navigation module are in a butt joint state at the same time, the AGV robot 500 is in butt joint with the battery vacant position;

s303 d': when the proximity switches and the protrusions of the preset number on the navigation module cannot be in a butt joint state at the same time, the AGV robot 500 continuously adjusts the posture.

Proximity switches have similar technical effects to the laser positioning head 530 described above, but require either the installation of a contoured protrusion on the vehicle or the analysis of the existing contour of all vehicles to find an inherent protrusion that has a fixed relationship to the battery empty location. On the other hand, the proximity switch has a lower failure rate, so that the navigation module can maintain normal operation for a long time without frequent maintenance and adjustment.

EXAMPLE III

Referring to fig. 1, a third embodiment of the present application provides a battery replacement method for replacing batteries of a vehicle 100 to be replaced, in which a plurality of batteries need to be replaced. The difference between the battery replacement method and the second embodiment is only that the following steps need to be repeated until all batteries of the electric vehicle 100 to be replaced are replaced:

the electricity taking device 400 takes out the first battery from the battery compartment 310 of the power vending apparatus 300;

the AGV robot 500 moves to a battery loading position of the electric vehicle 100 to be replaced through the driving module and the navigation module;

the AGV robot 500 takes and places the second battery from the battery loading position to the battery position 510;

the AGV robot 500 moves to the transfer bin 600, and the transfer bin 600 receives the second battery of the battery level 510;

the AGV robot 500 receives a first battery of the power taking device 400 to a battery position 510;

the AGV robot 500 moves to a battery vacant position of the electric vehicle 100 to be replaced through the driving module and the navigation module;

the AGV robot 500 transfers the first battery in the battery bay 510 to a battery empty position.

The battery replacement operation of the electric vehicle 100 to be replaced requiring replacement of a plurality of batteries is completed by repeating the steps of conveying the batteries of the electric vehicle 100 to be replaced to the transfer station 600 by the AGV robot 500 and conveying the batteries of the power taking device 400 to the electric vehicle 100 to be replaced.

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.