1. A battery replacement control method is characterized by comprising the following steps:

when any wheel of the vehicle to be changed has a spare tire, determining the position of the spare tire;

controlling a clamping mechanism on one side, corresponding to the position of the spare tire, in the power replacing positioning device to act according to the position of the spare tire until the vehicle to be replaced is pushed to the place, and controlling the clamping mechanism on one side, corresponding to the position of the spare tire, to return to the initial position;

controlling one side clamping mechanism and the other side clamping mechanism corresponding to the position of the spare tire in the battery replacement positioning device to perform synchronous centering and clamping actions, and controlling the other group of clamping mechanisms in the battery replacement positioning device to stop acting when one group of clamping mechanisms in the direction opposite to the position of the spare tire is pushed to the right position;

and controlling the clamping mechanism corresponding to the position of the spare tire in the other group of clamping mechanisms to independently act until the spare tire is pushed to the position.

2. The battery replacement control method according to claim 1, wherein when the position of the spare tire is a left rear wheel of the electric vehicle to be replaced, the clamping mechanisms on one side of the battery replacement positioning device corresponding to the position of the spare tire are two clamping mechanisms corresponding to the left front wheel and the left rear wheel, the clamping mechanisms on the other side are two clamping mechanisms corresponding to the right front wheel and the right rear wheel, one group of clamping mechanisms in a direction opposite to the position of the spare tire are two clamping mechanisms corresponding to the left front wheel and the right front wheel, the other group of clamping mechanisms are two clamping mechanisms corresponding to the left rear wheel and the right rear wheel, and the clamping mechanisms in the other group of clamping mechanisms corresponding to the position of the spare tire are clamping mechanisms corresponding to the left rear wheel.

3. The battery replacement control method according to claim 1, wherein when the position of the spare tire is a left front wheel of the electric vehicle to be replaced, the clamping mechanisms on one side of the battery replacement positioning device corresponding to the position of the spare tire are two clamping mechanisms corresponding to the left front wheel and the left rear wheel, the clamping mechanisms on the other side are two clamping mechanisms corresponding to the right front wheel and the right rear wheel, one group of clamping mechanisms in a direction opposite to the position of the spare tire are two clamping mechanisms corresponding to the left rear wheel and the right rear wheel, the other group of clamping mechanisms are two clamping mechanisms corresponding to the left front wheel and the right front wheel, and the clamping mechanism corresponding to the position of the spare tire in the other group of clamping mechanisms is a clamping mechanism corresponding to the left front wheel.

4. The battery replacement control method according to claim 1, wherein when the position of the spare tire is a rear right wheel of the vehicle to be replaced, the clamping mechanism on one side of the battery replacement positioning device corresponding to the position of the spare tire is two clamping mechanisms corresponding to a front right wheel and a rear right wheel, the clamping mechanism on the other side is two clamping mechanisms corresponding to a front left wheel and a rear left wheel, one group of clamping mechanisms in a direction opposite to the position of the spare tire is two clamping mechanisms corresponding to a front left wheel and a front right wheel, the other group of clamping mechanisms is two clamping mechanisms corresponding to a rear left wheel and a rear right wheel, and the clamping mechanism corresponding to the position of the spare tire in the other group of clamping mechanisms is a clamping mechanism corresponding to a rear right wheel.

5. The battery replacement control method according to claim 1, wherein when the position of the spare tire is a front right wheel of the electric vehicle to be replaced, the clamping mechanism on one side of the battery replacement positioning device corresponding to the position of the spare tire is two clamping mechanisms corresponding to the front right wheel and the rear right wheel, the clamping mechanism on the other side is two clamping mechanisms corresponding to the front left wheel and the rear left wheel, one group of clamping mechanisms in a direction opposite to the position of the spare tire is two clamping mechanisms corresponding to the rear left wheel and the rear right wheel, the other group of clamping mechanisms is two clamping mechanisms corresponding to the front left wheel and the front right wheel, and the clamping mechanism corresponding to the position of the spare tire in the other group of clamping mechanisms is a clamping mechanism corresponding to the front right wheel.

6. The battery replacement control method according to any one of claims 1 to 5, wherein in the process of advancing the vehicle to be replaced in place, timing is further performed, and when the timing time reaches a first preset time, if the vehicle to be replaced is not advanced in place, the battery replacement positioning device is controlled to stop acting, and an alarm is performed.

7. The power change control method according to any one of claims 1 to 5, wherein in the process of pushing the group of clamping mechanisms opposite to the position of the spare tire to the proper position, timing is further carried out, and when the timing time reaches a second preset time, if the group of clamping mechanisms opposite to the position of the spare tire is not pushed to the proper position, the power change positioning device is controlled to stop acting, and an alarm is given.

8. A computer-readable storage medium, having a battery swapping control program stored thereon, which when executed by a processor implements the battery swapping control method according to any one of claims 1-7.

9. A control system of a swapping station, which is characterized by comprising a memory, a processor and a swapping control program which is stored on the memory and can run on the processor, wherein when the processor executes the swapping control program, the swapping control method according to any one of claims 1-7 is realized.

10. A battery replacement control device (100) comprising:

the device comprises a determining module (10) used for determining the position of a spare tire when the spare tire exists on any wheel of the vehicle to be changed;

and the control module (20) is used for controlling one side clamping mechanism corresponding to the position of the spare tire in the power replacing positioning device to act according to the position of the spare tire until the vehicle to be replaced is pushed to the position, controlling the one side clamping mechanism corresponding to the position of the spare tire to return to an initial position, controlling one side clamping mechanism corresponding to the position of the spare tire in the power replacing positioning device and the other side clamping mechanism to synchronously center and clamp, controlling the other group of clamping mechanisms in the power replacing positioning device to stop acting when one group of clamping mechanisms in the direction opposite to the position of the spare tire is pushed to the position, and controlling the other group of clamping mechanisms in the other group of clamping mechanisms to act independently until the clamping mechanisms in the position are pushed to the position.

Background

In the related art, when a battery pack of a vehicle is replaced by an existing battery replacement station, a tire state of the vehicle needs to be detected first, and when the tire state of the vehicle meets a battery replacement requirement of the vehicle, the battery replacement station can execute an automatic battery replacement program. When the tire state of the vehicle does not meet the power change requirement, for example, when one tire of the vehicle is a spare tire, the specification parameters of the spare tire are different from those of a normal tire, and the power change station cannot execute the automatic power change program. Moreover, for a vehicle with a tire state which does not meet the battery replacement requirement, a worker in the battery replacement station needs to manually replace a battery pack, so that the process of replacing the battery pack by the vehicle is complicated, and the efficiency of replacing the battery by the battery replacement station is reduced.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, an object of the present invention is to provide a battery replacement control method, which enables a battery replacement station to execute a battery replacement procedure on a vehicle using a spare tire, so as to reduce a process of manually replacing a battery pack by a worker in the battery replacement station, thereby improving efficiency of replacing a battery in the battery replacement station.

The invention further proposes a computer-readable storage medium.

The invention further provides a control system of the power swapping station.

The invention further provides a battery replacement control device.

The battery replacement control method comprises the following steps: when any wheel of the vehicle to be changed has a spare tire, determining the position of the spare tire; controlling a clamping mechanism on one side, corresponding to the position of the spare tire, in the power replacing positioning device to act according to the position of the spare tire until the vehicle to be replaced is pushed to the place, and controlling the clamping mechanism on one side, corresponding to the position of the spare tire, to return to the initial position; controlling one side clamping mechanism and the other side clamping mechanism corresponding to the position of the spare tire in the battery replacement positioning device to perform synchronous centering and clamping actions, and controlling the other group of clamping mechanisms in the battery replacement positioning device to stop acting when one group of clamping mechanisms in the direction opposite to the position of the spare tire is pushed to the right position; and controlling the clamping mechanism corresponding to the position of the spare tire in the other group of clamping mechanisms to independently act until the spare tire is pushed to the position.

According to the battery replacement control method provided by the invention, by using the battery replacement control method in the battery replacement station, when the battery replacement station replaces the battery for the vehicle using the spare tire, the battery replacement control method can enable the battery replacement station to perform centering action on the vehicle, so that the vehicle can smoothly execute a battery replacement program, the process of manually replacing a battery pack by a worker in the battery replacement station can be reduced, and the battery replacement efficiency of the battery replacement station can be improved.

In some examples of the invention, when the spare tire position is a left rear wheel of the electric vehicle to be replaced, the clamping mechanism on one side of the electrical replacement positioning device corresponding to the spare tire position is two clamping mechanisms corresponding to a left front wheel and a left rear wheel, the clamping mechanism on the other side is two clamping mechanisms corresponding to a right front wheel and a right rear wheel, one group of clamping mechanisms in a direction opposite to the spare tire position is two clamping mechanisms corresponding to the left front wheel and the right front wheel, the other group of clamping mechanisms is two clamping mechanisms corresponding to the left rear wheel and the right rear wheel, and the clamping mechanism corresponding to the spare tire position in the other group of clamping mechanisms is a clamping mechanism corresponding to the left rear wheel.

In some examples of the invention, when the spare tire position is a left front wheel of an electric vehicle to be replaced, one side clamping mechanism corresponding to the spare tire position in the electrical replacement positioning device is two clamping mechanisms corresponding to the left front wheel and the left rear wheel, the other side clamping mechanism is two clamping mechanisms corresponding to the right front wheel and the right rear wheel, one group of clamping mechanisms in a direction opposite to the spare tire position is two clamping mechanisms corresponding to the left rear wheel and the right rear wheel, the other group of clamping mechanisms is two clamping mechanisms corresponding to the left front wheel and the right front wheel, and the clamping mechanism corresponding to the spare tire position in the other group of clamping mechanisms is a clamping mechanism corresponding to the left front wheel.

In some examples of the invention, when the position of the spare tire is a right rear wheel of the electric vehicle to be replaced, the clamping mechanism on one side of the electric replacement positioning device corresponding to the position of the spare tire is two clamping mechanisms corresponding to a right front wheel and a right rear wheel, the clamping mechanism on the other side is two clamping mechanisms corresponding to a left front wheel and a left rear wheel, one group of clamping mechanisms in a direction opposite to the position of the spare tire is two clamping mechanisms corresponding to the left front wheel and the right front wheel, the other group of clamping mechanisms is two clamping mechanisms corresponding to the left rear wheel and the right rear wheel, and the clamping mechanism in the other group of clamping mechanisms corresponding to the position of the spare tire is a clamping mechanism corresponding to the right rear wheel.

In some examples of the invention, when the position of the spare tire is a front right wheel of the electric vehicle to be replaced, the clamping mechanism on one side of the electrical replacement positioning device corresponding to the position of the spare tire is two clamping mechanisms corresponding to the front right wheel and the rear right wheel, the clamping mechanism on the other side is two clamping mechanisms corresponding to the front left wheel and the rear left wheel, the clamping mechanism on the group opposite to the position of the spare tire is two clamping mechanisms corresponding to the rear left wheel and the rear right wheel, the clamping mechanism on the other group is two clamping mechanisms corresponding to the front left wheel and the front right wheel, and the clamping mechanism in the other group corresponding to the position of the spare tire is a clamping mechanism corresponding to the front right wheel.

In some examples of the invention, in the process of advancing the vehicle to be subjected to battery replacement in place, timing is further carried out, and when the timing time reaches a first preset time, if the vehicle to be subjected to battery replacement is not advanced in place, the battery replacement positioning device is controlled to stop acting, and an alarm is carried out.

In some examples of the invention, in the process of pushing the group of clamping mechanisms opposite to the position of the spare tire to the proper position, timing is further carried out, and when the timing time reaches a second preset time, if the group of clamping mechanisms opposite to the position of the spare tire is not pushed to the proper position, the power switching positioning device is controlled to stop acting, and an alarm is given.

According to the computer-readable storage medium of the present invention, a swap control program is stored thereon, and the swap control program realizes the swap control method described above when executed by a processor.

According to the computer-readable storage medium provided by the invention, when the battery replacement station replaces batteries for vehicles using spare tires, the stored battery replacement control program is executed by the processor, so that the battery replacement station can execute the battery replacement program, the process that a worker of the battery replacement station manually replaces a battery pack can be reduced, and the battery replacement efficiency of the battery replacement station can be improved.

The control system of the battery swapping station comprises a memory, a processor and a battery swapping control program which is stored on the memory and can run on the processor, wherein when the processor executes the battery swapping control program, the battery swapping control method is realized.

According to the control system of the battery replacement station, when the battery replacement station replaces the battery for the vehicle using the spare tire, the control system controls the processor to execute the battery replacement control program, so that the battery replacement station can center the vehicle to be replaced, the battery replacement program can be smoothly executed by the vehicle to be replaced, the process that a worker of the battery replacement station manually replaces a battery pack can be reduced, and the battery replacement efficiency of the battery replacement station can be improved.

The battery replacement control device according to the present invention includes: the determining module is used for determining the position of a spare tire when any wheel of the vehicle to be changed has the spare tire; and the control module is used for controlling one side clamping mechanism corresponding to the spare tire position in the power replacing positioning device to act according to the spare tire position until the vehicle to be replaced is pushed to the place, controlling one side clamping mechanism corresponding to the spare tire position to return to the initial position, controlling one side clamping mechanism corresponding to the spare tire position in the power replacing positioning device and the other side clamping mechanism to synchronously center and clamp, controlling the other group of clamping mechanisms in the power replacing positioning device to stop acting when one group of clamping mechanisms in the direction opposite to the spare tire position is pushed to the place, and controlling the other group of clamping mechanisms in the other group of clamping mechanisms to act independently until the clamping mechanisms are pushed to the place.

According to the battery replacement control device provided by the invention, the battery replacement control device is arranged in the battery replacement station, when the battery replacement station replaces the battery for the vehicle using the spare tire, the battery replacement control device can enable the battery replacement station to perform centering action on the vehicle, so that the vehicle can smoothly execute a battery replacement program, the process of manually replacing a battery pack by a worker in the battery replacement station can be reduced, and the battery replacement efficiency of the battery replacement station can be improved.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a flowchart of a power swapping control method according to an embodiment of the present invention;

FIG. 2 is a block diagram of a swapping control device according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a lift platform according to an embodiment of the invention.

Reference numerals:

a battery replacement control device 100;

a determination module 10; a control module 20; a clamping mechanism 30;

a lifting platform 40; a first lifting platform 41; a second lifting platform 42.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

A power swapping control method, a computer-readable storage medium, a control system of a power swapping station, and a power swapping control apparatus 100 according to embodiments of the present invention are described below with reference to fig. 1 and 2.

As shown in fig. 2, the battery replacement control apparatus 100 according to the embodiment of the present invention includes: a determination module 10 and a control module 20. The determination module 10 is used for determining the position of a spare tire when the spare tire exists on any wheel of the vehicle to be changed. The control module 20 is configured to control the one-side clamping mechanism 30 corresponding to the spare tire position in the electrical replacement positioning device to operate according to the spare tire position until the vehicle to be replaced is pushed to the right position, control the one-side clamping mechanism 30 corresponding to the spare tire position to return to the initial position, control the one-side clamping mechanism 30 corresponding to the spare tire position in the electrical replacement positioning device and the other-side clamping mechanism 30 to perform synchronous centering and clamping operations, control the other-group clamping mechanism 30 in the electrical replacement positioning device to stop operating when one group of clamping mechanisms 30 opposite to the spare tire position is pushed to the right position, and control the other-group clamping mechanism 30 in the other-group clamping mechanism 30 corresponding to the spare tire position to individually operate until the other group of clamping mechanisms is pushed to the right position.

The determining module 10 may be connected to a terminal of a user, after the user stops the vehicle in the station, the user may input various parameters of the vehicle, where the various parameters of the vehicle include information of a vehicle type, whether the vehicle uses a spare tire, a position of the spare tire of the vehicle, and the like, the determining module 10 may determine whether the spare tire is used by the vehicle to be replaced according to the parameters input by the user, and the determining module 10 may also determine a position of the spare tire in the vehicle to be replaced using the spare tire according to the parameters input by the user.

According to some specific embodiments of the present invention, the operation effect of the battery swapping control apparatus 100 can also be achieved by the following implementation manners: a detection device may be disposed in the determination module 10, and the determination module 10 may detect whether a spare tire is present in the electric vehicle to be replaced and an installation position of the spare tire, for example, the spare tire may be a left front wheel of the electric vehicle to be replaced, a left rear wheel of the electric vehicle to be replaced, a right front wheel of the electric vehicle to be replaced, and a right rear wheel of the electric vehicle to be replaced. When the determining module 10 detects that a spare tire exists in the vehicle to be replaced, and the determining module 10 determines the position of the spare tire, and after the vehicle to be replaced completes all inspection items in the battery replacing station, the determining module 10 may generate a battery replacing instruction, the battery replacing instruction includes spare tire position information and information that the vehicle to be replaced is ready, the battery replacing instruction may be sent to the control module 20, the control module 20 may execute clamping and centering operation after receiving the battery replacing instruction, and the clamping and centering operation may move the vehicle to be replaced to a parking position that meets the requirement for replacing a battery pack.

Moreover, after receiving the power change instruction, the control module 20 may control the clamping mechanism 30 on one side corresponding to the position of the spare tire to act, the clamping mechanism 30 is disposed on the lifting platform 40, the lifting platform 40 includes a first lifting platform 41 and a second lifting platform 42, the first lifting platform 41 is used for supporting two front wheels of the vehicle, and the second lifting platform 42 is used for supporting two rear wheels of the vehicle. The first lifting platform 41 is further provided with two clamping mechanisms 30, the two clamping mechanisms 30 are respectively used for clamping two front wheels, the second lifting platform 42 is provided with two clamping mechanisms 30, and the two clamping mechanisms 30 are respectively used for clamping two rear wheels.

By operating the one-side clamping mechanism 30 corresponding to the spare tire position first, the one-side clamping mechanism 30 corresponding to the spare tire position can propel the vehicle to be changed toward the side opposite to the spare tire position, for example, when the spare tire is the left rear wheel of the vehicle to be changed, the clamping mechanism 30 on the left side of the electric change positioning device is operated first, and the clamping mechanism 30 on the left side of the vehicle to be changed can propel the vehicle to be changed toward the right. When the clamping mechanism 30 at one side corresponding to the position of the spare tire is pushed in place, the clamping mechanism 30 returns to the initial position, at the moment, the primary position adjustment of the side, corresponding to the position of the spare tire, of the electric vehicle to be replaced is completed, and the clamping mechanism 30 at one side corresponding to the position of the spare tire does not interfere with the subsequent position adjustment process of the electric vehicle to be replaced after returning.

After the preliminary position adjustment of the vehicle to be switched is completed, the control module 20 controls the clamping mechanisms 30 on the two sides of the vehicle to be switched to execute a centering clamping process, the clamping mechanisms 30 on the two sides of the vehicle to be switched can refer to the clamping mechanism 30 arranged on the left side of the vehicle to be switched and the clamping mechanism 30 arranged on the right side of the vehicle to be switched, the vehicle to be switched can be parked at a proper switching position under the combined action of the clamping mechanisms 30 on the two sides of the vehicle to be switched, and the parking position accuracy of the vehicle to be switched is higher.

Further, the control module 20 controls a group of the clamping mechanisms 30 opposite to the spare tire position to continue to maintain the clamping state, and it should be noted that the clamping state of the clamping mechanism 30 includes the clamping position of the clamping mechanism 30 and the clamping force of the clamping mechanism 30. And the control module 20 controls a plurality of clamping mechanisms 30 in a set of clamping mechanisms 30 oriented in the same direction as the position of the spare tire to adjust the clamping state independently of each other. The clamping mechanisms 30 in the group opposite to the position of the spare tire and the clamping mechanisms 30 in the same direction as the position of the spare tire are arranged at intervals in the front-rear direction of the electric vehicle to be replaced, the clamping mechanisms 30 in the group 30 in the same direction as the position of the spare tire comprise two clamping mechanisms 30, and the two clamping mechanisms 30 can be arranged at intervals on the left side and the right side of the electric vehicle to be replaced. Two clamping mechanisms 30 are included in the set of clamping mechanisms 30 in the opposite direction to the position of the spare tire, and the two clamping mechanisms 30 can be arranged at intervals on the left and right sides of the vehicle to be powered. The clamping mechanism 30 corresponding to the position of the spare tire in the two clamping mechanisms 30 in the same direction as the position of the spare tire can independently propel the spare tire of the vehicle to be replaced, and when the clamping mechanism 30 corresponding to the position of the spare tire propels the position of the spare tire in place and the pretightening force applied to the wheel by the clamping mechanism 30 corresponding to the position of the spare tire reaches a threshold value, the vehicle to be replaced is proved to be propelled in place. After the battery replacement vehicle is pushed in place, the subsequent battery replacement action of the battery replacement vehicle can be executed.

Therefore, by arranging the battery replacement control device 100 in the battery replacement station, when the battery replacement station replaces a battery for a vehicle to be replaced using a spare tire, the battery replacement control device 100 can enable the battery replacement station to center the vehicle to be replaced, so that the vehicle to be replaced can smoothly execute a battery replacement program, the process of manually replacing a battery pack by a worker of the battery replacement station can be reduced, and the efficiency of replacing the battery by the battery replacement station can be improved.

As shown in fig. 1, the battery swapping control method according to the embodiment of the present invention includes the following steps:

and S1, when any wheel of the vehicle to be changed has a spare tire, determining the position of the spare tire. It should be noted that the power swapping control method may determine the position of the spare tire through the determination module in the above embodiment.

And S2, controlling a clamping mechanism on one side corresponding to the position of the spare tire in the power replacing positioning device to act according to the position of the spare tire until the vehicle to be replaced is pushed to the right position, and controlling the clamping mechanism on one side corresponding to the position of the spare tire to return to the initial position.

And S3, controlling one clamping mechanism corresponding to the position of the spare tire in the battery replacement positioning device and the other clamping mechanism to perform synchronous centering and clamping actions, and controlling the other clamping mechanism in the battery replacement positioning device to stop acting when one group of clamping mechanisms in the direction opposite to the position of the spare tire is pushed to the right position.

And S4, controlling the clamping mechanism corresponding to the position of the spare tire in the other group of clamping mechanisms to independently act until the spare tire is pushed to the position.

The battery swapping control method may be used in a battery swapping station provided with a battery swapping control device, the battery swapping control device may be the battery swapping control device in the embodiment, the battery swapping control device includes a determination module and a control module, and the control module may execute the steps from the second step to the fourth step in the battery swapping control method. When the determining module detects that a spare tire exists in tires of the vehicle to be replaced, the battery replacement control method can detect the position of the spare tire through the determining module, and after all detection items of the vehicle to be replaced are detected, the battery replacement control method can generate a battery replacement instruction through the determining module, the battery replacement instruction comprises spare tire position information and information that the vehicle to be replaced is prepared, the battery replacement instruction can be sent to the control module, the control module can execute clamping centering operation after receiving the battery replacement instruction, and the clamping centering operation can enable the vehicle to be replaced to move to a parking position meeting the requirement for replacing a battery pack.

The control module may control the clamping mechanism to operate after receiving the power replacing instruction, and when the spare tire is a left front wheel of the vehicle to be replaced, the clamping mechanism corresponding to the position of the spare tire operates, and it should be noted that the clamping mechanism corresponding to the position of the spare tire may refer to a clamping mechanism of the power replacing positioning device, which is disposed on the left side of the vehicle to be replaced. Similarly, when the spare tire is a left rear wheel of the vehicle to be replaced, the clamping mechanism on the side of the battery replacing positioning device corresponding to the position of the spare tire can refer to the clamping mechanism on the left side of the vehicle to be replaced of the battery replacing positioning device. When the spare tire is the right front wheel of the vehicle to be replaced, the clamping mechanism on the side, corresponding to the position of the spare tire, of the battery replacing positioning device can refer to the clamping mechanism, arranged on the right side of the vehicle to be replaced, of the battery replacing positioning device. When the spare tire is the right rear wheel of the vehicle to be replaced, the clamping mechanism on the side, corresponding to the position of the spare tire, of the battery replacing positioning device can refer to the clamping mechanism, arranged on the right side of the vehicle to be replaced, of the battery replacing positioning device.

By making the clamping mechanism on the side corresponding to the position of the spare tire of the battery replacement positioning device act firstly, specifically, the clamping mechanism on the side corresponding to the position of the spare tire can push the vehicle to be replaced to the side opposite to the position of the spare tire. When the clamping mechanism on one side corresponding to the position of the spare tire is pushed in place, the clamping mechanism returns to the initial position, at the moment, the side, corresponding to the position of the spare tire, of the electric vehicle to be replaced completes initial position adjustment, and after the clamping mechanism on one side corresponding to the position of the spare tire returns, interference with the subsequent position adjustment process of the electric vehicle to be replaced is avoided.

After the preliminary position adjustment of the vehicle to be switched is completed, the power switching control method controls the clamping mechanisms on the two sides of the vehicle to be switched to execute a centering clamping process, the clamping mechanisms on the two sides of the vehicle to be switched can refer to the clamping mechanism arranged on the left side of the vehicle to be switched and the clamping mechanism arranged on the right side of the vehicle to be switched, under the combined action of the clamping mechanisms on the two sides of the vehicle to be switched, the vehicle to be switched can be parked at a proper power switching position, and the parking position accuracy of the vehicle to be switched is higher.

Further, the power switching control method controls a group of clamping mechanisms in the direction opposite to the position of the spare tire to continuously maintain the clamping state, and it should be noted that the clamping state of the clamping mechanisms includes the clamping position of the clamping mechanism and the clamping force of the clamping mechanism. And the battery replacement control method controls a plurality of clamping mechanisms in a group of clamping mechanisms in the same direction as the position of the spare tire to be capable of adjusting the clamping state independently.

It should be noted that, a group of clamping mechanisms in the opposite direction to the position of the spare tire and a group of clamping mechanisms in the same direction as the position of the spare tire are arranged at intervals in the front-rear direction of the vehicle to be replaced, and a group of clamping mechanisms in the same direction as the position of the spare tire includes two clamping mechanisms, which may be arranged at intervals on the left and right sides of the vehicle to be replaced. The group of clamping mechanisms opposite to the position of the spare tire comprises two clamping mechanisms, and the two clamping mechanisms can be arranged on the left side and the right side of the electric vehicle to be replaced at intervals.

The clamping mechanism corresponding to the position of the spare tire in the two clamping mechanisms in the same direction as the position of the spare tire can independently propel the spare tire of the vehicle to be replaced, and when the clamping mechanism corresponding to the position of the spare tire propels the position of the spare tire in place and the pretightening force applied to the wheel by the clamping mechanism corresponding to the position of the spare tire reaches a threshold value, the vehicle to be replaced is proved to be propelled in place. After the battery replacement vehicle is pushed in place, the subsequent battery replacement action of the battery replacement vehicle can be executed.

Therefore, by using the battery replacement control method in the battery replacement station, when the battery replacement station replaces the battery for the vehicle to be replaced using the spare tire, the battery replacement control method can enable the battery replacement station to perform centering action on the vehicle to be replaced, so that the vehicle to be replaced can smoothly execute a battery replacement program, the process that a worker of the battery replacement station manually replaces a battery pack can be reduced, and the efficiency of replacing the battery by the battery replacement station can be improved.

In some embodiments of the present invention, when the position of the spare tire is a left rear wheel of the electric vehicle to be replaced, one side clamping mechanism of the electrical replacement positioning device corresponding to the position of the spare tire may be two clamping mechanisms corresponding to the left front wheel and the left rear wheel, the other side clamping mechanism may be two clamping mechanisms corresponding to the right front wheel and the right rear wheel, one group of clamping mechanisms in a direction opposite to the position of the spare tire may be two clamping mechanisms corresponding to the left front wheel and the right front wheel, the other group of clamping mechanisms may be two clamping mechanisms corresponding to the left rear wheel and the right rear wheel, and the clamping mechanism corresponding to the position of the spare tire in the other group of clamping mechanisms may be a clamping mechanism corresponding to the left rear wheel. Specifically, when the position of the spare tire is the left rear wheel of the vehicle to be replaced, the battery replacement control method can control the clamping mechanism on the left side of the vehicle to be replaced to act first through the control module, the clamping mechanism on the left side of the vehicle to be replaced can push the vehicle to be replaced to the right, and the battery replacement control method can control the clamping mechanism on the left side of the vehicle to return to the initial position until the vehicle to be replaced is pushed to the right.

And the power switching control method can control the clamping mechanism on the left side of the vehicle and the clamping mechanism on the right side of the vehicle to perform synchronous centering and clamping actions, and can control the clamping mechanism on the left rear wheel of the vehicle and the clamping mechanism on the right rear wheel of the vehicle to stop acting when the clamping mechanism on the left front wheel of the vehicle and the clamping mechanism on the right front wheel of the vehicle push the vehicle to be switched to the right. And finally, the battery replacement control method can control the clamping mechanism of the left rear wheel of the vehicle to independently propel the vehicle to be replaced, and when the clamping mechanism of the left rear wheel of the vehicle propels the position of the spare tire in place and the pretightening force exerted on the wheel by the clamping mechanism of the left rear wheel of the vehicle reaches a threshold value, the vehicle to be replaced is proved to be propelled in place. After the battery replacement vehicle is pushed in place, the subsequent battery replacement action of the battery replacement vehicle can be executed.

In some embodiments of the present invention, when the position of the spare tire is a left front wheel of the electric vehicle to be replaced, one side clamping mechanism corresponding to the position of the spare tire in the replacement positioning device may be two clamping mechanisms corresponding to the left front wheel and the left rear wheel, the other side clamping mechanism may be two clamping mechanisms corresponding to the right front wheel and the right rear wheel, one group of clamping mechanisms opposite to the position of the spare tire may be two clamping mechanisms corresponding to the left rear wheel and the right rear wheel, the other group of clamping mechanisms may be two clamping mechanisms corresponding to the left front wheel and the right front wheel, and the clamping mechanism corresponding to the position of the spare tire in the other group of clamping mechanisms may be a clamping mechanism corresponding to the left front wheel. Specifically, when the position of the spare tire is the left front wheel of the vehicle to be replaced, the power replacing control method can control the clamping mechanism on the left side of the vehicle to be replaced to act first through the control module, the clamping mechanism on the left side of the vehicle to be replaced can push the vehicle to be replaced to the right, and the power replacing control method can control the clamping mechanism on the left side of the vehicle to return to the initial position until the vehicle to be replaced is pushed to the right.

And the power switching control method can control the clamping mechanism on the left side of the vehicle and the clamping mechanism on the right side of the vehicle to perform synchronous centering and clamping actions, and can control the clamping mechanism on the left front wheel of the vehicle and the clamping mechanism on the right front wheel of the vehicle to stop acting when the clamping mechanism on the left rear wheel of the vehicle and the clamping mechanism on the right rear wheel of the vehicle push the vehicle to be switched to the right. And finally, the battery replacement control method can control the clamping mechanism of the left front wheel of the vehicle to independently propel the vehicle to be replaced, and when the clamping mechanism of the left front wheel of the vehicle propels the position of the spare tire in place and the pretightening force exerted on the wheel by the clamping mechanism of the left front wheel of the vehicle reaches a threshold value, the vehicle to be replaced is proved to be propelled in place. After the battery replacement vehicle is pushed in place, the subsequent battery replacement action of the battery replacement vehicle can be executed.

In some embodiments of the present invention, when the position of the spare tire is the right rear wheel of the electric vehicle to be replaced, the clamping mechanism on one side of the electrical replacement positioning device corresponding to the position of the spare tire may be two clamping mechanisms corresponding to the right front wheel and the right rear wheel, the clamping mechanism on the other side may be two clamping mechanisms corresponding to the left front wheel and the left rear wheel, the clamping mechanism in the group opposite to the position of the spare tire may be two clamping mechanisms corresponding to the left front wheel and the right front wheel, the clamping mechanism in the other group may be two clamping mechanisms corresponding to the left rear wheel and the right rear wheel, and the clamping mechanism in the other group corresponding to the position of the spare tire may be a clamping mechanism corresponding to the right rear wheel. Specifically, when the position of the spare tire is the right rear wheel of the vehicle to be replaced, the power replacing control method can control the clamping mechanism on the right side of the vehicle to be replaced to act first through the control module, the clamping mechanism on the right side of the vehicle to be replaced can push the vehicle to be replaced to the left, and the power replacing control method can control the clamping mechanism on the right side of the vehicle to return to the initial position until the vehicle to be replaced is pushed to the right.

And the power switching control method can control the clamping mechanism on the left side of the vehicle and the clamping mechanism on the right side of the vehicle to perform synchronous centering and clamping actions, and can control the clamping mechanism on the left rear wheel of the vehicle and the clamping mechanism on the right rear wheel of the vehicle to stop acting when the clamping mechanism on the left front wheel of the vehicle and the clamping mechanism on the right front wheel of the vehicle push the vehicle to be switched to the right. And finally, the battery replacement control method can control the clamping mechanism of the right rear wheel of the vehicle to independently propel the vehicle to be replaced, and when the clamping mechanism of the right rear wheel of the vehicle propels the position of the spare tire in place and the pretightening force applied to the wheel by the clamping mechanism of the right rear wheel of the vehicle reaches a threshold value, the vehicle to be replaced is proved to be propelled in place. After the battery replacement vehicle is pushed in place, the subsequent battery replacement action of the battery replacement vehicle can be executed.

In some embodiments of the present invention, when the position of the spare tire is the right front wheel of the electric vehicle to be replaced, one side clamping mechanism corresponding to the position of the spare tire in the electrical replacement positioning device may be two clamping mechanisms corresponding to the right front wheel and the right rear wheel, the other side clamping mechanism may be two clamping mechanisms corresponding to the left front wheel and the left rear wheel, one group of clamping mechanisms opposite to the position of the spare tire may be two clamping mechanisms corresponding to the left rear wheel and the right rear wheel, the other group of clamping mechanisms may be two clamping mechanisms corresponding to the left front wheel and the right front wheel, and the clamping mechanism corresponding to the position of the spare tire in the other group of clamping mechanisms may be a clamping mechanism corresponding to the right front wheel. Specifically, when the position of the spare tire is the right front wheel of the vehicle to be switched, the power switching control method can control the clamping mechanism on the right side of the vehicle to be switched to act first through the control module, the clamping mechanism on the right side of the vehicle to be switched can push the vehicle to be switched to the left, and the power switching control method can control the clamping mechanism on the right side of the vehicle to return to the initial position until the vehicle to be switched is pushed to the right.

And the power switching control method can control the clamping mechanism on the left side of the vehicle and the clamping mechanism on the right side of the vehicle to perform synchronous centering and clamping actions, and can control the clamping mechanism on the left front wheel of the vehicle and the clamping mechanism on the right front wheel of the vehicle to stop acting when the clamping mechanism on the left rear wheel of the vehicle and the clamping mechanism on the right rear wheel of the vehicle push the vehicle to be switched to the right. Finally, the battery replacement control method can control the clamping mechanism of the right front wheel of the vehicle to independently propel the vehicle to be replaced, and when the clamping mechanism of the right front wheel of the vehicle propels the position of the spare tire in place and the pretightening force applied to the wheel by the clamping mechanism of the right front wheel of the vehicle reaches a threshold value, the fact that the vehicle to be replaced propels in place is proved. After the battery replacement vehicle is pushed in place, the subsequent battery replacement action of the battery replacement vehicle can be executed.

Further, in the process of advancing the vehicle to be replaced in place, the battery replacement control method can also perform timing, and when the timing time reaches a first preset time, if the vehicle to be replaced is not advanced in place, the battery replacement control method can control the battery replacement positioning device to stop acting, and can perform alarming. The battery replacement positioning device can be a control module of a battery replacement station and a clamping mechanism controlled by the control module, when a vehicle to be replaced is not pushed in place after a first preset time, the pushing process of the clamping mechanism is proved to be wrong, and the battery replacement positioning device is controlled to stop acting, so that the problems that the clamping mechanism scratches the vehicle and the like when the battery replacement control device controls the clamping mechanism to push the vehicle to be replaced can be avoided, the danger of a subsequent battery replacement procedure can also be avoided, and the battery replacement safety in the battery replacement station can be improved. When the battery replacement control method controls the battery replacement positioning device to stop acting after the timing time reaches the first preset time, a worker can check errors, and when the errors are eliminated, the vehicle advancing and timing processes are repeated until the battery replacement vehicle advances to the place before the timing time reaches the first preset time, and the battery replacement control method can carry out the next step.

Further, in the process of pushing the group of clamping mechanisms opposite to the position of the spare tire to the proper position, timing is carried out, and when the timing time reaches second preset time, if the group of clamping mechanisms opposite to the position of the spare tire is not pushed to the proper position, the power replacing positioning device is controlled to stop acting, and an alarm is given. When the vehicle to be switched is not pushed in place after the second preset time, the pushing process of the clamping mechanism is proved to be wrong, the battery switching positioning device is controlled to stop acting, the problems that the clamping mechanism scratches the vehicle and the like when the battery switching control device controls the clamping mechanism to push the vehicle to be switched can be avoided, the danger of a subsequent battery switching program can be avoided, and the battery switching safety in the battery switching station can be improved. When the battery replacement control method controls the battery replacement positioning device to stop acting after the timing time reaches the second preset time, the staff can check errors, and when the errors are eliminated, the vehicle advancing and timing processes are repeated until the battery replacement vehicle advances to the place before the timing time reaches the second preset time, the battery replacement control method can carry out the next step.

In order to implement the foregoing embodiment, the present invention further provides a computer-readable storage medium, on which a swapping control program is stored, and when the swapping control program is executed by a processor, the swapping control method can be implemented.

According to the computer-readable storage medium provided by the embodiment of the invention, when the battery replacement station replaces batteries for vehicles using spare tires, the stored battery replacement control program is executed by the processor, so that the battery replacement station can execute the battery replacement program, the process that a worker of the battery replacement station manually replaces a battery pack can be reduced, and the battery replacement efficiency of the battery replacement station can be improved.

In order to implement the foregoing embodiment, the present invention further provides a control system of a swapping station, where the control system includes a memory, a processor, and a swapping control program stored in the memory and capable of running on the processor, and when the processor executes the swapping control program, the swapping control method is implemented.

According to the battery replacement control device provided by the embodiment of the invention, the battery replacement control device is arranged in the battery replacement station, when the battery replacement station replaces the battery for the vehicle using the spare tire, the battery replacement control device can enable the battery replacement station to perform centering action on the vehicle, so that the vehicle can smoothly execute a battery replacement program, the process of manually replacing a battery pack by a worker in the battery replacement station can be reduced, and the battery replacement efficiency of the battery replacement station can be improved.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.