WO2023201508A1 - 电池换电的方法和换电系统 - Google Patents

电池换电的方法和换电系统 Download PDF

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Publication number
WO2023201508A1
WO2023201508A1 PCT/CN2022/087548 CN2022087548W WO2023201508A1 WO 2023201508 A1 WO2023201508 A1 WO 2023201508A1 CN 2022087548 W CN2022087548 W CN 2022087548W WO 2023201508 A1 WO2023201508 A1 WO 2023201508A1
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WO
WIPO (PCT)
Prior art keywords
battery
disassembly
disassembled
mobile device
assembly device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2022/087548
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English (en)
French (fr)
Inventor
何乐为
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Contemporary Amperex Energy Service Technology Ltd
Original Assignee
Contemporary Amperex Energy Service Technology Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Contemporary Amperex Energy Service Technology Ltd filed Critical Contemporary Amperex Energy Service Technology Ltd
Priority to CN202280034914.2A priority Critical patent/CN117295635A/zh
Priority to EP22937746.0A priority patent/EP4509351A4/en
Priority to PCT/CN2022/087548 priority patent/WO2023201508A1/zh
Publication of WO2023201508A1 publication Critical patent/WO2023201508A1/zh
Priority to US18/918,965 priority patent/US20250033521A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/80—Exchanging energy storage elements, e.g. removable batteries
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M50/00—Constructional details or processes of manufacture of the non-active parts of electrochemical cells other than fuel cells, e.g. hybrid cells
    • H01M50/20—Mountings; Secondary casings or frames; Racks, modules or packs; Suspension devices; Shock absorbers; Transport or carrying devices; Holders
    • H01M50/204—Racks, modules or packs for multiple batteries or multiple cells
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
    • B60K2001/0455—Removal or replacement of the energy storages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
    • B60K2001/0455—Removal or replacement of the energy storages
    • B60K2001/0461—Removal or replacement of the energy storages from the side

Definitions

  • the present application relates to the technical field of battery swapping, and in particular to a battery swapping method and a battery swapping system.
  • the batteries in electric vehicles can also be replaced through battery swap stations, which can quickly replenish energy for electric vehicles with insufficient energy, thereby avoiding Long term charging of the battery.
  • battery swap stations generally face the problem of long battery swap times.
  • Embodiments of the present application provide a battery swapping method and a battery swapping system, which can effectively reduce the battery swapping time of electric vehicles.
  • a method for battery replacement is provided.
  • the method is applied to a power replacement system.
  • the power replacement system includes a disassembly and assembly device and a moving device.
  • the disassembly and assembly device is arranged on a chassis corresponding to the electrical equipment. position, the moving device includes a first moving device and a second moving device, and the method includes: after the electrical equipment stops at a predetermined position, controlling the disassembly and assembly device to disassemble the electrical equipment.
  • Disassemble the battery and control the first moving device to transport the battery to be installed to the disassembly and assembly device; after the disassembly and assembly device disassembles the battery to be disassembled, control the disassembly and assembly device to transport the battery to be installed. It is installed on the electrical equipment and controls the second moving device to transport the battery to be disassembled from the disassembly and assembly device to the battery storage mechanism.
  • the first mobile device while controlling the disassembly and assembly device to disassemble the battery to be disassembled, the first mobile device is controlled to transport the battery to be installed, and while the disassembly and assembly device is controlled to install the battery to be installed on the electrical equipment, the second mobile device is controlled at the same time. Transport the removed battery to be removed to the battery storage facility. In other words, the entire power replacement process is carried out in parallel, which can effectively reduce the power replacement time and thereby improve the user experience.
  • the first mobile device and the second mobile device transport the battery to be installed and the battery to be removed respectively, thus avoiding the problem of mistaking the battery to be installed for the battery to be removed, or mistaking the battery to be removed for the battery to be installed.
  • the number of the first mobile devices is multiple.
  • the control of the first mobile device is The device transports the battery to be installed to the disassembly and assembly device, including: controlling at least part of each of the first mobile devices to transport the battery to be installed, wherein each first mobile device One battery to be installed is transported to the disassembly and assembly device, and at least part of the time at which at least two of the first mobile devices transport the battery to be installed overlaps.
  • a plurality of first mobile devices are provided, and the time for at least two first mobile devices among the plurality of first mobile devices to transport the battery to be installed overlaps. That is, the first mobile device also transports the batteries to be installed in parallel, which can further reduce the battery replacement time.
  • the number of the second mobile devices is multiple.
  • the control of the second movement is The device transports the battery to be disassembled from the disassembly and assembly device to a battery storage mechanism, including: controlling at least part of each of the second mobile devices to transport the battery to be disassembled to the storage mechanism, wherein , each of the second mobile devices transports one of the batteries to be disassembled to the battery storage mechanism at a time, and at least two of the second mobile devices transport the batteries to be disassembled to the battery storage mechanism. There is an overlap in timing for the battery storage mechanism.
  • a plurality of second mobile devices are provided, and the time for at least two second mobile devices among the plurality of second mobile devices to transport the battery to be disassembled overlaps. That is, the second mobile device also transports the batteries to be disassembled in parallel, which can further reduce the battery replacement time.
  • controlling the first mobile device to transport the battery to be installed to the disassembly and assembly device includes: controlling the first mobile device to transport the battery to the disassembly and assembly device through a first path.
  • controlling the second mobile device to transport the battery to be disassembled from the disassembly and assembly device to a battery storage mechanism includes: controlling the second mobile device to transport the battery to be disassembled through the second path.
  • the battery is disassembled and transported to the battery storage mechanism; wherein the first path and the second path are different.
  • the first mobile device and the second mobile device respectively transport the battery to be installed and the battery to be removed through different paths.
  • the control is simple, and on the other hand, the first mobile device and the second mobile device are avoided during transportation. Collisions and other unexpected situations occur during the process, thus effectively ensuring the normal progress of the battery replacement process.
  • the path through which the first mobile device transports the battery to be installed and the path through which the second mobile device transports the battery to be removed are both third paths, and the method further includes: controlling The first mobile device and the second mobile device time-share the third path.
  • the first mobile device and the second mobile device share a path to transport the battery to be installed and the battery to be removed respectively. This eliminates the need to set up other additional paths, saves the resources of the power replacement system, and reduces the cost of power replacement.
  • the method further includes: moving the first mobile device and the second mobile device The devices are respectively arranged on both sides of the disassembly and assembly device.
  • the first mobile device and the second mobile device are arranged on both sides of the disassembly and assembly device respectively. In this way, it is not easy to confuse the battery to be disassembled and the battery to be installed during the operation of the disassembly and assembly device. This not only improves the It improves the power exchange efficiency and ensures the normal progress of the power exchange process.
  • the method further includes: arranging the mobile devices in sequence, and the first The mobile device is arranged behind the second mobile device.
  • the mobile devices are arranged in sequence, so that the disassembly and assembly device can only be controlled to pick up and place the battery to one side, which is simple to control and can reduce the complexity of the disassembly and assembly device.
  • arranging the first mobile device behind the second mobile device facilitates the disassembly and assembly device to first disassemble the battery to be disassembled and then install the battery to be installed, thereby ensuring the normal progress of the battery replacement process.
  • the method before the electrical equipment stops at the predetermined position, the method further includes: arranging the disassembly and assembly device below the ground.
  • the disassembly and assembly device is arranged below the ground, and there is no need to lift the electrical equipment to an excessive height, thereby effectively ensuring the safety of the electrical equipment and improving user experience.
  • the power exchange system further includes a lifting device
  • the method further includes: controlling the lifting device to lift the electrical equipment to a predetermined height so that the disassembly and assembly device can disassemble all the electrical equipment.
  • the battery to be disassembled and the battery to be installed are installed on the electrical equipment; after the disassembly device installs the battery to be installed on the electrical equipment, the lifting device is controlled to move the The electrical equipment is lowered to the predetermined position.
  • the above technical solution lifts the electrical equipment when the disassembly and assembly device disassembles the battery to be disassembled and installs the battery to be installed. This can avoid the influence of the spring on the tire on the battery positioning, so that the disassembly and assembly device can accurately position the battery to be disassembled and installed. After disassembling the battery and removing the battery to be removed, the battery to be installed can be accurately installed on the electrical equipment, which effectively improves the efficiency of battery replacement.
  • the predetermined height is less than 50 cm.
  • the above technical solution has a predetermined height of less than 50 cm, that is, the lifting device lifts the electrical equipment lower. On the one hand, it can save the time of lifting the electrical equipment, thereby reducing the power replacement time; on the other hand, if the electrical equipment is used If the electrical equipment is lifted too high, the electrical equipment may fall down.
  • the predetermined height is less than 50 cm, which can avoid these situations and ensure the safety of the electrical equipment.
  • the battery to be installed includes a fully charged battery and a battery filling block, and the battery filling block does not include electric cores; wherein the total number of the fully charged battery and the battery filling block is equal to Describe the number of batteries to be removed.
  • the above technical solution by jointly installing the fully charged battery and the battery filling block to the position of the battery to be disassembled, can avoid the problem of the interface being exposed due to part of the position being left vacant after the battery to be disassembled, thereby improving the safety of electrical equipment. performance.
  • the battery to be disassembled includes a depleted battery and a battery filling block, and the battery filling block does not include a battery core; wherein the total number of the depleted battery and the battery filling block is equal to the total number of the depleted battery and the battery filling block. Describe the number of batteries to be installed.
  • the sum of the number of depleted batteries and battery filling blocks is equal to the number of batteries to be installed, that is, the number of "real" batteries on the electrical equipment after battery replacement is greater than the number of "real” batteries before battery replacement, and thus It can effectively improve the cruising range of electrical equipment.
  • a power replacement system including: a disassembly and assembly device, which is disposed at a position corresponding to the chassis of the electrical equipment, used to disassemble the battery to be removed of the electrical equipment, and install the battery to be installed on the electrical equipment.
  • a mobile device On the electrical equipment, a mobile device includes a first mobile device and a second mobile device. The first mobile device is used to move the battery to the disassembly and assembly device while the disassembly and assembly device is disassembling the battery to be disassembled. Transport the battery to be installed, and the second moving device is used to remove the battery to be installed from the disassembly and assembly device while the battery to be installed is installed on the electrical equipment. The battery is shipped to the battery storage facility.
  • the number of the first mobile devices is multiple.
  • the disassembly and assembly device disassembles the While the battery is to be disassembled, each first mobile device in at least part of the first mobile devices transports the battery to be installed, wherein each first mobile device transports one battery to the disassembly and assembly device at a time.
  • the battery to be installed at least part of the time at which at least two of the first mobile devices transport the battery to be installed overlaps.
  • the number of the second mobile devices is multiple. In the case where the number of batteries to be disassembled by the disassembly and assembly device is multiple, at least some of the second mobile devices Each of the second mobile devices transports the battery to be disassembled, wherein each of the second mobile devices transports the battery to be disassembled one at a time to the battery storage mechanism, and at least part of the second mobile devices The time when the two second moving devices transport the battery to be disassembled to the battery storage mechanism overlaps.
  • the first path and the second path are different, wherein the first path is used by the first mobile device to transport the battery to be installed from the battery storage mechanism to the predetermined location.
  • Path the second path is a path for the second mobile device to transport the battery to be disassembled from the predetermined position to the battery storage mechanism.
  • the path through which the first mobile device transports the battery to be installed and the path through which the second mobile device transports the battery to be removed are both third paths, and the first mobile device The third path is time-shared with the second mobile device.
  • the first mobile device and the second mobile device are respectively arranged at the disassembly and assembly device. mount both sides of the device.
  • the mobile devices are arranged in sequence, and the first mobile device is arranged on the first mobile device. After two mobile devices.
  • the disassembly and assembly device is provided below the ground.
  • the method further includes: a lifting device for lifting the electrical equipment to a predetermined height, so that the disassembly and assembly device can disassemble the battery to be disassembled and install the battery to be installed on on the electrical equipment; the lifting device is also used to lower the electrical equipment to the predetermined position after the battery to be installed is installed on the electrical equipment by the disassembly and assembly device.
  • the predetermined height is less than 50 cm.
  • the battery to be installed includes a fully charged battery and a battery filling block, and the battery filling block does not include electric cores; wherein the total number of the fully charged battery and the battery filling block is equal to Describe the number of batteries to be removed.
  • the battery to be disassembled includes a depleted battery and a battery filling block, and the battery filling block does not include a battery core; wherein the total number of the depleted battery and the battery filling block is equal to the total number of the depleted battery and the battery filling block. Describe the number of batteries to be installed.
  • Figure 1 is a schematic structural diagram of a power swap system according to an embodiment of the present application.
  • Figure 2 is a schematic structural diagram of a power exchange platform according to an embodiment of the present application.
  • Figure 3 is a schematic flow chart of a battery replacement method according to an embodiment of the present application.
  • Figure 4 is a schematic diagram of the steps of a power exchange process according to an embodiment of the present application.
  • FIG. 5 is a schematic diagram of the steps of a power exchange process according to an embodiment of the present application.
  • FIG. 6 is a schematic diagram of the steps of a power exchange process according to an embodiment of the present application.
  • FIG. 7 is a schematic diagram of the steps of a power exchange process according to an embodiment of the present application.
  • FIG. 8 is a schematic diagram of the steps of a power exchange process according to an embodiment of the present application.
  • Figure 9 is a schematic diagram of the steps of a power exchange process according to an embodiment of the present application.
  • FIG. 10 is a schematic block diagram of the power exchange system according to the embodiment of the present application.
  • an embodiment means that a particular feature, structure or characteristic described in connection with the embodiment may be included in at least one embodiment of the application.
  • the appearances of this phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.
  • batteries With the development of new energy technology, the application fields of batteries are becoming more and more extensive. For example, they can be used as a power source to power vehicles and reduce the use of non-renewable resources.
  • charging equipment such as charging piles can be used to charge the vehicle, that is, to charge the battery in the vehicle to realize the cycle of charging and discharging the battery.
  • battery charging takes a long time, which limits the vehicle's endurance.
  • Battery swapping technology adopts the method of "vehicle battery separation", which can provide battery replacement services for vehicles through battery swapping stations, that is, the battery can be quickly removed or installed from the vehicle.
  • the battery removed from the vehicle can be placed in the battery storage mechanism of the battery swap station for charging in preparation for battery swapping for subsequent vehicles entering the battery swap station.
  • the actions of removing batteries to be removed from electrical equipment, installing batteries to be installed to electrical equipment, and transporting batteries to be removed and batteries to be installed are all performed by rail guided vehicles (RGV). .
  • RGV rail guided vehicles
  • the RGV first removes the battery to be removed from the electrical equipment. Then, move to the vicinity of the battery storage mechanism and place the battery to be removed into the battery storage mechanism. Next, obtain the battery to be installed and transport the battery to be installed under the electrical equipment. After that, RGV installs the battery to be installed on the electrical equipment.
  • the RGV works serially during the entire working process. This working method takes a long time, which in turn results in a longer battery replacement time for the vehicle and affects the user experience.
  • embodiments of the present application provide a method for battery replacement by arranging a disassembly and assembly device for installing and disassembling the battery and a first and second moving device for transporting the battery, so that when the disassembly and assembly device While disassembling the battery to be disassembled, the first mobile device is controlled to transport the battery to be installed, and while the disassembly and assembly device is controlled to install the battery to be installed on the electrical equipment, the second mobile device is controlled to transport the disassembled battery to be disassembled to the battery. storage facility. In other words, the entire power replacement process is carried out in parallel, which can effectively reduce the power replacement time and thereby improve the user experience.
  • Figure 1 shows a schematic diagram of a power swap system according to an embodiment of the present application.
  • the battery replacement method in the embodiment of the present application can be applied to the power replacement system.
  • the electrical equipment is a battery exchange vehicle.
  • the battery replacement system 100 may include a battery storage mechanism 101 .
  • the battery storage mechanism 101 may be configured with multiple batteries.
  • the battery storage mechanism 101 may include a battery charging compartment and a battery cache device.
  • the battery can be stored in the battery charging compartment so that the battery can be charged.
  • the battery cache device can be used to temporarily store batteries to be removed for vehicle replacement.
  • the battery replacement system 100 may also include a stacker 102, a moving device, and a disassembly and assembly device (not shown in FIG. 1 ).
  • the moving device includes a first moving device 110 and a second moving device 120 .
  • the disassembly and assembly device can disassemble the battery to be disassembled in the battery swap vehicle 1, and while the disassembly and assembly device disassembles the battery to be disassembled, the stacker 102 can also transport the battery to be installed on the battery storage mechanism 101 to the first mobile device 110.
  • the first mobile device 110 carries the battery to be installed and moves to the battery replacement vehicle 1 .
  • the disassembly and assembly device can also install the battery to be installed on the battery replacement vehicle 1.
  • the second mobile device 120 can transport the battery to be removed from the battery replacement vehicle 1 to the battery cache device, and the stacker 102 can transport the battery to the battery cache.
  • the battery to be disassembled in the battery cache device is transported to the battery storage mechanism 101, so that the battery storage mechanism 101 charges the battery to be disassembled.
  • the power swap station 100 may also include a power swap platform 200 .
  • FIG. 2 shows a schematic diagram of the battery swapping vehicle 1 traveling on the battery swapping platform 200 .
  • the disassembly and assembly device can replace the battery on the battery swap vehicle 1.
  • the X direction in FIGS. 1 and 2 may be the traveling direction of the battery swapping vehicle 1 on the battery swapping platform 200
  • the Y direction may be the traveling direction of the first mobile device and the second mobile device on the battery swapping platform 200 .
  • the first mobile device 110 can move to the vicinity of the battery swap vehicle 1 along the Y direction through the guide rails on the battery swap platform 200 .
  • the power exchange platform 200 may include a front ramp 104 , a front wheel positioning roller 106 , a rear ramp 103 , and a rear wheel positioning roller 105 .
  • the battery-swapping vehicle 1 can travel from the rear ramp 103 toward the front ramp 104, as shown in Figure 2.
  • the front wheel positioning roller 106 and the rear wheel positioning roller 105 may be located between the front ramp 104 and the rear ramp 103 .
  • the front wheel positioning roller 106 can be disposed close to the front ramp 104
  • the rear wheel positioning roller 105 can be disposed close to the rear ramp 103 .
  • the front wheel positioning roller 106 may be used to position the front wheels of the vehicle 1 .
  • the rear wheel positioning roller 105 may be used to position the rear wheels of the vehicle 1 .
  • the battery swap platform 200 can position the battery swap vehicle 1 in the X direction and the Y direction through the front wheel positioning roller 106 and the rear wheel positioning roller 105, so that the battery swap vehicle 1 can be fixed relative to the battery swap platform 200. After the battery swap platform 200 completes the positioning of the battery swap vehicle 1, the disassembly device can disassemble the battery to be disassembled in the vehicle.
  • a locking mechanism can also be provided in the chassis of the battery swapping vehicle 1, and a locking portion corresponding to the locking mechanism is provided in the battery.
  • the locking mechanism can be used to lock the locking portion, so that the battery It can be locked and installed on the chassis of the battery swap vehicle 1.
  • the locking structure can also be configured to unlock the locking portion, so that the battery can be unlocked and removed from the chassis of the battery swap vehicle 1 .
  • the disassembly and assembly device can press the battery upward to realize the unlocking and locking of the locking part in the battery and the locking mechanism in the battery swap vehicle 1, thereby completing the battery disassembly and installation.
  • the disassembly and assembly device can also realize unlocking and locking of the locking portion and the locking mechanism through bolts and other other methods.
  • the battery in the above content can be a sodium-ion battery, etc., which is not specifically limited in the embodiments of the present application.
  • the power battery in the embodiment of the present application can be a cell/battery cell, or a battery module or a battery pack, which is not specifically limited in the embodiment of the present application.
  • the battery can also provide power to the gas-powered devices in the battery-swapping vehicle 1 .
  • batteries can power car air conditioners, car players, etc. In layman's terms, the batteries in the above context could be "real" batteries.
  • the battery in the above content can be a battery filling block similar to the battery.
  • the battery filling block can have the same casing as the battery, that is, the battery filling block can also be installed on the vehicle, but the battery filling block does not include a battery. core and cannot provide electrical energy to the vehicle.
  • battery filler blocks can be called "fake" batteries.
  • Battery filler blocks can also be placed in the battery storage mechanism.
  • a battery charging compartment can be divided into two parts. One part is a charging compartment for placing a "real" battery, which can be charged. The other part is a charging compartment for placing the battery filling block, and is not used for charging the battery filling block.
  • the charging compartment used to place the battery filling block may also have no charging function and only serve as an accommodation function.
  • FIG. 3 shows a schematic flow chart of a battery replacement method 300 according to an embodiment of the present application.
  • Method 300 can be applied to a power swap system.
  • the power exchange system may be, for example, the power exchange system 100 shown in FIG. 1 .
  • the power exchange system includes a disassembly and assembly device and a moving device.
  • the disassembly and assembly device is arranged at a position corresponding to the chassis of the electrical equipment.
  • the moving device includes a first moving device and a second moving device.
  • Method 300 can also be executed by a control unit in the power exchange system, such as a station control system. Method 300 may include at least some of the following.
  • S320 After the disassembly and assembly device disassembles the battery to be disassembled, the disassembly and assembly device is controlled to install the battery to be installed on the electrical equipment, and the second mobile device is controlled to transport the battery to be disassembled and removed by the disassembly and assembly device to the battery storage mechanism. .
  • the first mobile device while controlling the disassembly and assembly device to disassemble the battery to be disassembled, the first mobile device is controlled to transport the battery to be installed, and while the disassembly and assembly device is controlled to install the battery to be installed on the electrical equipment, the second mobile device is controlled at the same time. Transport the removed battery to be removed to the battery storage facility.
  • the entire power swapping process is carried out in parallel, which can improve the power swapping efficiency, effectively reduce the power swapping time, and thereby improve the user experience.
  • the first mobile device and the second mobile device transport the battery to be installed and the battery to be removed respectively, thus avoiding the problem of mistaking the battery to be installed for the battery to be removed, or mistaking the battery to be removed for the battery to be installed.
  • the first mobile device and the second mobile device may be RGVs, or they may be automated guided vehicles (AGVs). Of course, they may also be other mobile devices.
  • RGVs RGVs
  • AGVs automated guided vehicles
  • they may also be other mobile devices.
  • the disassembly and assembly device may be, but is not limited to, a device with a mechanical arm.
  • the electrical equipment may be, but is not limited to, a power exchange vehicle, and the predetermined location may be, for example, the power exchange platform shown in FIG. 2 .
  • the number of batteries included in the electrical device may be equal to the number of batteries to be removed.
  • the electrical equipment includes K batteries, and the number of batteries to be removed and the number of batteries to be installed are also K.
  • the powered device may include a greater number of batteries than the number of batteries to be removed.
  • the electrical equipment includes K batteries, the number of batteries to be removed and the number of batteries to be installed are L, L ⁇ K. That is, only some batteries in the electrical equipment are replaced.
  • the batteries to be removed can all be depleted batteries, and the batteries to be installed can be fully charged batteries.
  • the battery to be removed and the battery to be installed include cells.
  • the battery to be removed and the battery to be installed are "real" batteries.
  • the batteries to be disassembled may be battery filling blocks and/or some of the batteries to be installed may be battery filling blocks.
  • the batteries to be installed may include fully charged batteries and battery filling blocks, and the sum of the numbers of fully charged batteries and battery filling blocks is equal to the number of batteries to be disassembled.
  • the battery to be removed includes 4 discharged batteries
  • the battery to be installed includes 3 fully charged batteries and 1 battery filling block.
  • the battery to be disassembled may include a depleted battery and a battery filling block, and the sum of the number of depleted batteries and battery filling blocks is equal to the number of batteries to be installed.
  • the battery to be removed includes 2 fully charged batteries and 2 battery filling blocks, and the battery to be installed includes 4 fully charged batteries.
  • the sum of the number of dead batteries and battery filling blocks is equal to the number of batteries to be installed, that is, the number of "real" batteries on the electrical equipment after the battery replacement is greater than the number of "real" batteries before the battery replacement, and thus It can effectively improve the cruising range of electrical equipment.
  • the batteries to be disassembled can also include abnormal batteries, such as batteries that have experienced thermal runaway, or batteries that have deformed shape.
  • both the battery to be removed and the battery to be installed can include a battery filling block.
  • the battery to be removed includes 2 discharged batteries and 2 battery filling blocks
  • the battery to be installed includes 2 fully charged batteries and 2 battery filling blocks.
  • the number of battery filling blocks included in the battery to be disassembled and the number of battery filling blocks included in the battery to be installed may or may not be equal, and this is not specifically limited in the embodiments of the present application.
  • the first mobile device may transport one battery to be installed at a time.
  • multiple batteries to be installed may be transported at one time.
  • the first mobile device may be provided with multiple bins, each bin being used to place one battery to be installed.
  • the second mobile device may transport one battery to be disassembled or multiple batteries to be disassembled at a time.
  • the number of first mobile devices may be one.
  • S310 may specifically include: controlling the disassembly and assembly device to disassemble the battery to be disassembled, and controlling the first mobile device to disassemble the battery.
  • the installation device transports the first battery to be installed among the plurality of batteries to be installed.
  • the disassembly and assembly device installs the first battery to be installed
  • the first mobile device returns to the battery storage mechanism and transports the plurality of batteries to be installed to the disassembly and assembly device.
  • the second battery is to be installed. This cycle repeats until the disassembly and assembly device installs multiple batteries to be installed on the electrical equipment.
  • the number of the second mobile device may also be one.
  • S320 may specifically include: controlling the disassembly and assembly device to install the battery to be installed on the electrical equipment, and controlling The second mobile device transports the first battery to be disassembled among the plurality of batteries to be disassembled to the battery storage mechanism, and then controls the second mobile device to return to a predetermined position, and controls the second mobile device to transport the first battery among the plurality of batteries to be disassembled.
  • the second battery to be removed is transported to the battery storage mechanism. This cycle repeats until the second mobile device transports all the batteries to be disassembled to the battery storage mechanism.
  • controlling the first mobile device to transport the batteries to be installed to the disassembly and assembly device may specifically include: controlling each first mobile device in at least part of the first mobile devices to One battery to be installed is transported to the disassembly and assembly device at a time, wherein the time at which at least two of at least some of the first mobile devices transport the battery to be installed overlaps.
  • a plurality of first mobile devices are provided, and the time at which at least two of the plurality of first mobile devices transport the battery to be installed overlaps. That is, the first mobile device also transports the batteries to be installed in parallel, which can further reduce the battery replacement time.
  • each first mobile device among all the first mobile devices can be controlled to transport a battery to be installed to the disassembly and assembly device. If the number of batteries to be installed is less than the number of first mobile devices, some of the first mobile devices can be controlled to transport one battery to be installed to the disassembly and assembly device at a time.
  • At least part of the first mobile devices may be controlled to simultaneously transport the batteries to be installed to the disassembly and assembly device.
  • at least one of the first mobile devices may be controlled to transport the battery to be installed to the disassembly and assembly device every preset time period.
  • the embodiment of the present application does not specifically limit the preset time period.
  • the preset time period may be 5 seconds.
  • the preset time period may be determined based on the distance between the first moving device and the disassembly and assembly device.
  • the number of second mobile devices can also be multiple.
  • the second mobile device is controlled to transport the batteries to be disassembled and disassembled by the disassembly and assembly device to the battery storage mechanism.
  • It may include: controlling each second mobile device in at least some of the second mobile devices to transport one battery to be disassembled to the battery storage mechanism at a time, wherein at least two of the second mobile devices in at least some of the second mobile devices will be disassembled. There is an overlap in the delivery of batteries to the battery storage facility.
  • a plurality of second mobile devices are provided, and the time at which at least two second mobile devices among the plurality of second mobile devices transport the battery to be disassembled overlaps. That is, the second mobile device also transports the batteries to be disassembled in parallel, which can further reduce the battery replacement time.
  • each second mobile device in all the second mobile devices can be controlled to transport one battery to be disassembled to the battery storage mechanism. If the number of batteries to be disassembled is less than the number of second mobile devices, some of the second mobile devices can be controlled to transport one battery to be disassembled to the battery storage mechanism at a time.
  • At least part of the second mobile device may be controlled to simultaneously transport the battery to be disassembled to the battery storage mechanism.
  • at least one of the second mobile devices may be controlled to transport the battery to be disassembled to the battery storage mechanism every preset time period.
  • the embodiment of the present application does not specifically limit the preset time period.
  • the preset time period may be 5 seconds.
  • the preset time period may be determined based on the distance between the second mobile device and the battery storage mechanism.
  • the preset time period can be determined based on the time when the disassembly and assembly device disassembles a battery to be disassembled, that is, each time the disassembly and assembly device disassembles a battery to be disassembled, a second mobile device transports a battery to be disassembled.
  • controlling the first mobile device to transport the battery to be installed to the disassembly and assembly device may include: controlling the first mobile device to transport the battery to be installed to the disassembly and assembly device through the first path.
  • Controlling the second moving device to transport the battery to be disassembled by the disassembly device to the battery storage mechanism may include: controlling the second mobile device to transport the battery to be disassembled to the battery storage mechanism through the second path. Wherein, the first path and the second path are different.
  • the embodiment of the present application does not specifically limit the first path and the second path.
  • the first path may be a path from the left side of the electrical equipment to the battery storage mechanism, and the second path may be a path from the right side of the electrical equipment to the battery storage mechanism.
  • the first path may be a path from the front of the electric equipment to the battery storage mechanism, and the second path may be a path from the rear of the electric equipment to the battery storage mechanism.
  • the first mobile device and the second mobile device respectively transport the battery to be installed and the battery to be removed through different paths.
  • the control is simple, and on the other hand, the first mobile device and the second mobile device are avoided during transportation. Collisions and other unexpected situations occur during the process, thus effectively ensuring the normal progress of the battery replacement process.
  • the path through which the first mobile device transports the battery to be installed and the path through which the second mobile device transports the battery to be removed are both third paths.
  • the method 300 may further include: controlling the first mobile device and the second mobile device. Time sharing the third path.
  • the first mobile device and the second mobile device can be controlled to alternately transport the battery to be installed and the battery to be removed through the third path.
  • the first mobile device and the second mobile device are controlled according to the first first mobile device, the first second mobile device, the second first mobile device, the second second mobile device...the last first The mobile device, the last second mobile device, sequentially transports the battery to be installed and the battery to be removed.
  • the first mobile device and the second mobile device are controlled according to the first first mobile device, the second first mobile device, the first second mobile device, the second second mobile device... and finally the second mobile device. The second mobile device and the last second mobile device sequentially transport the battery to be installed and the battery to be removed.
  • the second mobile device can be controlled to transport the battery to be removed; or, after the second mobile device has completed transporting the battery to be removed, the first mobile device can be controlled to transport the battery to be installed. Battery.
  • the first mobile device and the second mobile device share a path to transport the battery to be installed and the battery to be removed respectively. This eliminates the need to set up other additional paths, saves the resources of the power replacement system, and reduces the cost of power replacement.
  • the path by which the first mobile device transports the battery to be installed to the disassembly and assembly device may be the same as or may be different from the path by which the first mobile device transports the battery to the original position from the disassembly and assembly device.
  • the path taken by the second mobile device to transport the battery to be disassembled to the battery storage mechanism and the path taken from the original position to the disassembly and assembly device may be the same or different.
  • the original position in the above content may refer to the position of the first mobile device and the second mobile device when there is no power exchange with the electrical equipment.
  • the number of batteries to be removed and the number of batteries to be installed are both 2, 2a and 2b are the second mobile devices, 1a and 1b are the first mobile devices, and the 4 ovals are for use.
  • R is the disassembly and assembly device.
  • the first moving devices 1a and 1b transport the battery to be installed to the disassembly and assembly device along the path M, and the second moving devices 2a and 2b also move along the path M from the original position to the disassembly and assembly device.
  • the second mobile devices 2a and 2b each transport one battery to be disassembled, and transport the battery to be disassembled to the battery storage via path N. mechanism.
  • the first mobile device 1a and 1b both move one step forward, so that the disassembly and assembly device can install the battery to be installed transported by the first moving device 1b on the electrical equipment. After that, the first mobile devices 1a and 1b return to the original position along the path M.
  • the path of the first mobile device to transport the battery to be disassembled to the disassembly and assembly device is the same as the path from the disassembly and assembly device to the original position.
  • the path of the second mobile device to transport the battery to be disassembled to the battery storage mechanism is the same as the path from the original position to the disassembly.
  • the path to install the device is different.
  • the method 300 may further include: arranging the first mobile device and the second mobile device on both sides of the disassembly and assembly device respectively.
  • the first mobile device and the second mobile device are arranged on both sides of the disassembly and assembly device respectively. In this way, it is not easy to confuse the battery to be disassembled and the battery to be installed during the operation of the disassembly and assembly device. This not only improves the It improves the power exchange efficiency and ensures the normal progress of the power exchange process.
  • the mobile devices are arranged in sequence, with the first mobile device being arranged after the second mobile device.
  • the first mobile device and the second mobile device are arranged in sequence and the first mobile device is arranged behind the second mobile device.
  • the mobile devices are arranged in sequence, so that the disassembly and assembly device can only be controlled to pick up and place the battery to one side.
  • the control is simple and can reduce the complexity of the disassembly and assembly device.
  • arranging the first mobile device behind the second mobile device facilitates the disassembly and assembly device to first disassemble the battery to be disassembled and then install the battery to be installed, thereby ensuring the normal progress of the battery replacement process.
  • the method 300 may further include: before the electrical equipment stops at the predetermined position, disposing the disassembly and assembly device below the predetermined position.
  • the disassembly and assembly device can be set on the ground. .
  • the disassembly and assembly device can also be arranged below the ground.
  • a space capable of accommodating the disassembly and assembly device is provided under the ground in advance. This space is used to place the disassembly and assembly device.
  • the tires of electrical equipment are generally equipped with springs. If the tires come into contact with a predetermined position, the presence of the spring may affect the positioning of the battery, causing the disassembly and assembly device to disassemble the battery to be disassembled and install the battery to be installed. It is difficult to operate the battery, which seriously affects the battery replacement efficiency.
  • the power exchange system may also include a lifting device, such as the lifting device 300 in Figures 1 and 2 .
  • the method 300 may also include: controlling the lifting device to lift the electrical equipment to a predetermined height, so that the disassembly and assembly device can disassemble the battery to be disassembled and install the battery to be installed on the electrical equipment; After the battery to be installed is installed on the electrical equipment, the lifting device is controlled to lower the electrical equipment to a predetermined position.
  • This technical solution lifts the electrical equipment when the disassembly and assembly device disassembles the battery to be disassembled and installs the battery to be installed. This can avoid the influence of the spring on the tire on the battery positioning, so that the disassembly and assembly device can accurately position the battery to be disassembled and installed. After disassembling the battery and removing the battery to be removed, the battery to be installed can be accurately installed on the electrical equipment, which effectively improves the efficiency of battery replacement.
  • the predetermined height may be less than 50 cm.
  • the lifting device can be controlled to lift the electrical equipment until the tires of the electrical equipment have just lifted off the ground.
  • the predetermined height is less than 50 cm, that is, the lifting device lifts the electrical equipment lower. On the one hand, it can save the time of lifting the electrical equipment, thereby reducing the power replacement time; on the other hand, if the electrical equipment is lifted If it is too high, electrical equipment may fall down.
  • the predetermined height is less than 50 cm, which can avoid these situations and ensure the safety of electrical equipment.
  • the electrical equipment may not be lifted, that is, the predetermined height is 0.
  • the size of the serial numbers of the above-mentioned processes does not mean the order of execution.
  • the execution order of each process should be determined by its functions and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. .
  • FIG 10 shows a schematic block diagram of a power swap system 1000 according to an embodiment of the present application.
  • the power exchange system 1000 may include:
  • the disassembly and assembly device 1010 is fixed at a position corresponding to the chassis of the electrical equipment and is used to remove the battery to be removed from the electrical equipment and install the battery to be installed on the electrical equipment;
  • the mobile device 1020 includes a first mobile device and a second mobile device.
  • the first mobile device is used to transport the battery to be installed to the disassembly and assembly device 1010 while the battery to be disassembled is disassembled.
  • the second mobile device is used to transport the battery to the disassembly and assembly device 1010.
  • the disassembly and assembly device 1010 installs the battery to be installed on the electrical equipment and at the same time transports the battery to be disassembled and disassembled by the disassembly and assembly device 1010 to the battery storage mechanism.
  • the disassembly and assembly device 1010 disassembles the batteries to be disassembled,
  • Each first mobile device in at least some of the first mobile devices transports a battery to be installed, wherein each first mobile device transports one battery to be installed to the disassembly and assembly device at a time, and at least two of at least some of the first mobile devices There is an overlap in the time when the first mobile device transports the battery to be installed.
  • the number of second mobile devices is multiple.
  • the number of batteries to be disassembled by the disassembly and assembly device 1010 is multiple, at least part of each of the second mobile devices
  • the second mobile device transports the battery to be disassembled, wherein each second mobile device transports one battery to be disassembled to the battery storage mechanism at a time, and at least two second mobile devices in at least some of the second mobile devices transport the battery to be disassembled to There is an overlap in timing for the battery storage mechanism.
  • the first path and the second path are different, wherein the first path is the path through which the first mobile device transports the battery to be installed from the battery storage mechanism to the predetermined location, and the second path is the path through which the first mobile device transports the battery to be installed from the battery storage mechanism to the predetermined location.
  • the second mobile device transports the battery to be disassembled from a predetermined position to the path of the battery storage mechanism.
  • the path through which the first mobile device transports the battery to be installed and the path through which the second mobile device transports the battery to be disassembled are both third paths, and the first mobile device and the second mobile device share time Reuse the third path.
  • the first mobile device and the second mobile device are arranged on both sides of the disassembly and assembly device 1010 respectively.
  • the mobile devices 1020 are arranged in sequence, and the first mobile device is arranged after the second mobile device.
  • the disassembly and assembly device 1010 is provided below the ground.
  • it also includes: a lifting device for lifting the electrical equipment to a predetermined height, so that the disassembly and assembly device 1010 can disassemble the battery to be removed and install the battery to be installed on the electrical equipment. ;
  • the lifting device is also used to lower the electrical equipment to a predetermined position after the disassembly and assembly device 1010 installs the battery to be installed on the electrical equipment.
  • the predetermined height is less than 50 cm.
  • the battery to be installed includes a fully charged battery and a battery filling block, and the battery filling block does not include electric cores; wherein the total number of fully charged batteries and battery filling blocks is equal to the number of batteries to be disassembled.
  • the battery to be disassembled includes a depleted battery and a battery filling block, and the battery filling block does not include electric cores; wherein the total number of depleted batteries and battery filling blocks is equal to the number of the battery to be installed. quantity.
  • the power exchange system 1000 can implement the corresponding operations in the method 300, which will not be described again for the sake of simplicity.

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Abstract

本申请实施例提供了一种电池换电的方法和换电系统，能够有效减小电动车辆的换电时间。所述方法应用于换电系统，所述换电系统包括拆装装置和移动装置，所述拆装装置固定在与用电设备的底盘对应的位置，所述移动装置包括第一移动装置和第二移动装置，所述方法包括：在所述用电设备停驻在所述预定位置之后，控制所述拆装装置拆卸所述用电设备的待拆卸电池，且控制所述第一移动装置向所述拆装装置运送待安装电池；在所述拆装装置将所述待拆卸电池拆卸下来后，控制所述拆装装置将所述待安装电池安装在所述用电设备上，且控制所述第二移动装置将所述拆装装置拆卸下来的所述待拆卸电池运送至电池存放机构。

Description

电池换电的方法和换电系统 技术领域
本申请涉及换电技术领域，特别是涉及一种电池换电的方法和换电系统。
背景技术
节能减排是汽车产业可持续发展的关键。在这种情况下，电动车辆由于其节能环保的优势成为汽车产业可持续发展的重要组成部分。而对于电动车辆而言，电池的充换电技术又是关乎其发展的一项重要因素。
目前，除了可通过充电装置对电动车辆中的电池进行充电以保证电动车辆的持续运行以外，还可通过换电站更换电动车辆中的电池，能够快速给为能量不足的电动车辆补给能量，从而避免电池的长时间充电。然而，目前的换电站普遍存在着换电时间较长的问题。
发明内容
本申请实施例提供一种电池换电的方法和换电系统，能够有效减小电动车辆的换电时间。
第一方面，提供了一种电池换电的方法，所述方法应用于换电系统，所述换电系统包括拆装装置和移动装置，所述拆装装置设置于与用电设备的底盘对应的位置，所述移动装置包括第一移动装置和第二移动装置，所述方法包括：在所述用电设备停驻在预定位置之后，控制所述拆装装置拆卸所述用电设备的待拆卸电池，且控制所述第一移动装置向所述拆装装置运送待安装电池；在所述拆装装置将所述待拆卸电池拆卸下来后，控制所述拆装装置将所述待安装电池安装在所述用电设备上，且控制所述第二移动装置将所述拆装装置拆卸下来的所述待拆卸电池运送至电池存放机构。
本申请实施例，在控制拆装装置拆卸待拆卸电池的同时，控制第一移动装置运送待安装电池，并且在控制拆装装置将待安装电池安装在用电设备的同时，控制第二移动装置将拆卸下来的待拆卸电池运送至电池存放机构。也就是说，整个换电过程是并行进行的，从而能够有效减小换电时间，进而提高用户体验。
进一步地，第一移动装置和第二移动装置分别运送待安装电池和待拆卸电池，避免了将待安装电池误认为待拆卸电池，或者将待拆卸电池误认为待安装电池的问题。
在一些可能的实现方式中，所述第一移动装置的数量为多个，在所述用电设备更换的所述待安装电池的数量为多个的情况下，所述控制所述第一移动装置向所述拆装装置运送待安装电池，包括：控制至少部分所述第一移动装置中的每个第一移动装置运送所述待安装电池，其中，所述每个第一移动装置每次向所述拆装装置运送一个所述待安装电池，至少部分所述第一移动装置中的至少两个第一移动装置运送所述待 安装电池的时间有重叠。
上述技术方案，将第一移动装置设置为多个，且多个第一移动装置中的至少两个第一移动装置运送待安装电池的时间有重叠。即第一移动装置运送待安装电池也是并行进行的，如此能够进一步减小换电时间。
在一些可能的实现方式中，所述第二移动装置的数量为多个，在所述拆装装置拆卸的所述待拆卸电池的数量为多个的情况下，所述控制所述第二移动装置将所述拆装装置拆卸下来的所述待拆卸电池运送至电池存放机构，包括：控制至少部分所述第二移动装置中的每个第二移动装置运送所述待拆卸电池存放机构，其中，所述每个第二移动装置每次运送一个所述待拆卸电池至电池存放机构，至少部分所述第二移动装置中的至少两个第二移动装置将所述待拆卸电池运送至所述电池存放机构的时间有重叠。
上述技术方案，将第二移动装置设置为多个，且多个第二移动装置中的至少两个第二移动装置运送待拆卸电池的时间有重叠。即第二移动装置运送待拆卸电池也是并行进行的，如此能够进一步减小换电时间。
在一些可能的实现方式中，所述控制所述第一移动装置向所述拆装装置运送待安装电池，包括：控制所述第一移动装置通过第一路径向所述拆装装置运送所述待安装电池；所述控制所述第二移动装置将所述拆装装置拆卸下来的所述待拆卸电池运送至电池存放机构，包括：控制所述第二移动装置通过第二路径将所述待拆卸电池运送至所述电池存放机构；其中，所述第一路径和所述第二路径不同。
上述技术方案，第一移动装置和第二移动装置通过不同的路径分别运送待安装电池和待拆卸电池，一方面，控制简单，另一方面，避免了第一移动装置和第二移动装置在运送过程中发生碰撞等意外情况，从而有效保证了换电过程的正常进行。
在一些可能的实现方式中，所述第一移动装置运送所述待安装电池的路径和所述第二移动装置运送所述待拆卸电池的路径均为第三路径，所述方法还包括：控制所述第一移动装置和所述第二移动装置分时复用所述第三路径。
上述技术方案，第一移动装置和第二移动共用一条路径分别运送待安装电池和待拆卸电池，这样不用再额外设置其他路径，节省了换电系统的资源，减小了换电成本。
在一些可能的实现方式中，在所述第一移动装置将所述待安装电池运送至所述拆装装置处后，所述方法还包括：将所述第一移动装置和所述第二移动装置分别排列在所述拆装装置的两侧。
上述技术方案，将第一移动装置和第二移动装置分别排列在拆装装置的两侧，这样，在拆装装置工作过程中不容易发生将待拆卸电池和待安装电池混淆的情况，不仅提高了换电效率而且保证了换电过程的正常进行。
在一些可能的实现方式中，在所述第一移动装置将所述待安装电池运送至所述拆装装置处后，所述方法还包括：将所述移动装置依次排列，且所述第一移动装置排列在所述第二移动装置之后。
上述技术方案，移动装置依次排列，这样可以只控制拆装装置朝一侧取放电池， 控制简单且能够降低拆装装置的复杂度。另外，将第一移动装置排列在第二移动装置之后，方便拆装装置先拆卸待拆卸电池再安装待安装电池，从而保证换电过程的正常进行。
在一些可能的实现方式中，在所述用电设备停驻在所述预定位置之前，所述方法还包括：将所述拆装装置设置在所述地面下方。
上述技术方案，将拆装装置设置在地面下方，不需要将用电设备举升至过高的高度，从而能够有效保证用电设备的安全性并且还能提高用户体验。
在一些可能的实现方式中，所述换电系统还包括升降装置，所述方法还包括：控制所述升降装置将所述用电设备举升至预定高度，以使所述拆装装置拆卸所述待拆卸电池且将所述待安装电池安装在所述用电设备上；在所述拆装装置将所述待安装电池安装在所述用电设备上之后，控制所述升降装置将所述用电设备降至所述预定位置。
上述技术方案，在拆装装置拆卸待拆卸电池和安装待安装电池时，将用电设备举升起来，如此可以避免轮胎上的弹簧对电池定位的影响，使得拆装装置可以准确地定位到待拆卸电池并在将待拆卸电池拆卸下来后，能够准确地将待安装电池安装到用电设备上，有效提高了换电效率。
在一些可能的实现方式中，所述预定高度小于50厘米。
上述技术方案，预定高度小于50厘米，即升降装置将用电设备举升的较低，一方面，能够节省举升用电设备的时间，进而减小换电时间；另一方面，若将用电设备举升的太高，可能会出现用电设备掉落下来等情况，预定高度小于50厘米，能够避免这些情况的发生，保证了用电设备的安全。
在一些可能的实现方式中，所述待安装电池包括满电电池和电池填充块，所述电池填充块不包括电芯；其中，所述满电电池和所述电池填充块的数量总和等于所述待拆卸电池的数量。
上述技术方案，通过将满电电池和电池填充块共同安装到待拆卸电池的位置，可以避免将待拆卸电池拆卸下来后，部分位置空置导致接口暴露在外的问题，从而可以提高用电设备的安全性能。
在一些可能的实现方式中，所述待拆卸电池包括亏电电池和电池填充块，所述电池填充块不包括电芯；其中，所述亏电电池和所述电池填充块的数量总和等于所述待安装电池的数量。
上述技术方案，亏电电池和电池填充块的数量总和等于待安装电池的数量，即经过换电后的用电设备上的“真”电池的数量大于换电前“真”电池的数量，进而能够有效提高用电设备的续航里程。
第二方面，提供了一种换电系统，包括：拆装装置，设置于与用电设备的底盘对应的位置，用于拆卸所述用电设备的待拆卸电池，以及将待安装电池安装在所述用电设备上；移动装置，包括第一移动装置和第二移动装置，所述第一移动装置用于在所述拆装装置拆卸所述待拆卸电池的同时，向所述拆装装置运送所述待安装电池，所述第二移动装置用于在所述拆装装置将所述待安装电池安装在所述用电设备的同时，将所述拆装装置拆卸下来的所述待拆卸电池运送至电池存放机构。
在一些可能的实现方式中，所述第一移动装置的数量为多个，在所述用电设备更换的所述待安装电池的数量为多个的情况下，所述拆装装置拆卸所述待拆卸电池的同时，至少部分所述第一移动装置中的每个第一移动装置运送所述待安装电池，其中，所述每个第一移动装置每次向所述拆装装置运送一个所述待安装电池，至少部分所述第一移动装置中的至少两个第一移动装置运送所述待安装电池的时间有重叠。
在一些可能的实现方式中，所述第二移动装置的数量为多个，在所述拆装装置拆卸的所述待拆卸电池的数量为多个的情况下，至少部分所述第二移动装置中的每个第二移动装置运送所述待拆卸电池，其中，所述每个第二移动装置每次运送一个所述待拆卸电池至电池存放机构，至少部分所述第二移动装置中的至少两个第二移动装置将所述待拆卸电池运送至所述电池存放机构的时间有重叠。
在一些可能的实现方式中，第一路径和第二路径不同，其中，所述第一路径为所述第一移动装置将所述待安装电池从所述电池存放机构运送至所述预定位置的路径，所述第二路径为所述第二移动装置将所述待拆卸电池从所述预定位置运送至所述电池存放机构的路径。
在一些可能的实现方式中，所述第一移动装置运送所述待安装电池的路径和所述第二移动装置运送所述待拆卸电池的路径均为第三路径，且所述第一移动装置和所述第二移动装置分时复用所述第三路径。
在一些可能的实现方式中，在所述第一移动装置将所述待安装电池运送至所述拆装装置处后，所述第一移动装置和所述第二移动装置分别排列在所述拆装装置的两侧。
在一些可能的实现方式中，在所述第一移动装置将所述待安装电池运送至所述拆装装置处后，所述移动装置依次排列，且所述第一移动装置排列在所述第二移动装置之后。
在一些可能的实现方式中，所述拆装装置设置在地面下方。
在一些可能的实现方式中，还包括：升降装置，用于将所述用电设备举升至预定高度，以使所述拆装装置拆卸所述待拆卸电池且将所述待安装电池安装在所述用电设备上；所述升降装置还用于，在所述拆装装置将所述待安装电池安装在所述用电设备上之后，将所述用电设备降至所述预定位置。
在一些可能的实现方式中，所述预定高度小于50厘米。
在一些可能的实现方式中，所述待安装电池包括满电电池和电池填充块，所述电池填充块不包括电芯；其中，所述满电电池和所述电池填充块的数量总和等于所述待拆卸电池的数量。
在一些可能的实现方式中，所述待拆卸电池包括亏电电池和电池填充块，所述电池填充块不包括电芯；其中，所述亏电电池和所述电池填充块的数量总和等于所述待安装电池的数量。
附图说明
为了更清楚地说明本申请实施例的技术方案，下面将对本申请实施例中所需要使用的附图作简单地介绍，显而易见地，下面所描述的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据附图获得其他的附图。
图1是本申请实施例的一种换电系统的结构示意图。
图2是本申请实施例的一种换电平台的结构示意图。
图3是本申请实施例的一种电池换电的方法的示意性流程图。
图4是本申请实施例的一种换电过程的步骤示意性图。
图5是本申请实施例的一种换电过程的步骤示意性图。
图6是本申请实施例的一种换电过程的步骤示意性图。
图7是本申请实施例的一种换电过程的步骤示意性图。
图8是本申请实施例的一种换电过程的步骤示意性图。
图9是本申请实施例的一种换电过程的步骤示意性图。
图10是本申请实施例的换电系统的示意性框图。
在附图中，附图并未按照实际的比例绘制。
具体实施方式
下面结合附图和实施例对本申请的实施方式作进一步详细描述。以下实施例的详细描述和附图用于示例性地说明本申请的原理，但不能用来限制本申请的范围，即本申请不限于所描述的实施例。
在本申请的描述中，需要说明的是，除非另有说明，“多个”的含义是两个以上；术语“上”、“下”、“左”、“右”、“内”、“外”等指示的方位或位置关系仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，术语“第一”、“第二”、“第三”等仅用于描述目的，而不能理解为指示或暗示相对重要性。“垂直”并不是严格意义上的垂直，而是在误差允许范围之内。“平行”并不是严格意义上的平行，而是在误差允许范围之内。
下述描述中出现的方位词均为图中示出的方向，并不是对本申请的具体结构进行限定。在本申请的描述中，还需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是直接相连，也可以通过中间媒介间接相连。对于本领域的普通技术人员而言，可视具体情况理解上述术语在本申请中的具体含义。
本申请中术语“和/或”，仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本申请中字符“/”，一般表示前后关联对象是一种“或”的关系。
除非另有定义，本申请所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同；本申请中在申请的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本申请；本申请的说明书和权利要求书 及上述附图说明中的术语“包括”和“具有”以及它们的任何变形，意图在于覆盖不排他的包含。本申请的说明书和权利要求书或上述附图中的术语“第一”、“第二”等是用于区别不同对象，而不是用于描述特定顺序或主次关系。
在本申请中提及“实施例”意味着，结合实施例描述的特定特征、结构或特性可以包含在本申请的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例，也不是与其它实施例互斥的独立的或备选的实施例。本领域技术人员显式地和隐式地理解的是，本申请所描述的实施例可以与其它实施例相结合。
随着新能源技术的发展，电池的应用领域越来越广泛，如可作为动力源为车辆提供动力，减少不可再生资源的使用。在车辆中电池的电量不足以支持车辆继续行驶的情况下，可利用充电桩等充电设备对车辆进行充电，即对车辆中的电池进行充电，以实现电池的充、放电循环使用。但电池充电需要花费较长时间，限制了车辆的续航使用。
为了提高车辆的续航使用率，换电技术应运而生。换电技术采用“车电分离”的方式，可以通过换电站为车辆提供电池更换服务，即电池可以从车辆上快速取下或者安装。从车辆上取下的电池可以放入换电站的电池存放机构中进行充电，以备为后续进入换电站的车辆进行换电。
在目前常规技术中，拆卸用电设备上的待拆卸电池、向用电设备安装待安装电池、运送待拆卸电池和待安装电池的动作均是由轨制导车辆(rail guided vehicle，RGV)执行的。具体来说，在用电设备停驻在换电平台上之后，RGV先将待拆卸电池从用电设备上拆卸下来。然后，再移动至电池存放机构附近，将待拆卸电池放到电池存放机构。接下来，获取到待安装电池，并将待安装电池运送至用电设备下方。之后，RGV将待安装电池安装到用电设备上。
显然，RGV在整个工作过程中是串行工作的，这种工作方式所需的时间较长，进而导致车辆的换电时间较长，影响用户体验。
基于此，本申请实施例提供了一种电池换电的方法，通过设置用于安装和拆卸电池的拆装装置以及用于运送电池的第一移动装置和第二移动装置，使得在拆装装置拆卸待拆卸电池的同时，控制第一移动装置运送待安装电池，并且在控制拆装装置将待安装电池安装在用电设备的同时，控制第二移动装置将拆卸下来的待拆卸电池运送至电池存放机构。也就是说，整个换电过程是并行进行的，从而能够有效减小换电时间，进而提高用户体验。
图1示出了本申请实施例的一种换电系统的示意性图。其中，本申请实施例的电池换电的方法可以应用于该换电系统。从图1可以看出，用电设备为换电车辆。
如图1所示，换电系统100可以包括电池存放机构101。电池存放机构101可以配置有多个电池。电池存放机构101可以包括电池充电仓和电池缓存装置。电池可以存储在电池充电仓内，以使得该电池可以被充电。电池缓存装置可以用于暂时存储从而车辆更换下来的待拆卸电池。
除电池架电池存放机构以外，换电系统100还可以包括码垛机102、移动装置和拆装装置(图1未示出)，移动装置包括第一移动装置110和第二移动装置120。拆 装装置可以拆卸换电车辆1的待拆卸电池，并且在拆装装置拆卸待拆卸电池的同时，码垛机102还可将电池存放机构101上的待安装电池运输至第一移动装置110，第一移动装置110携带待安装电池移动至换电车辆1处。另外，拆装装置还可将待安装电池安装于换电车辆1，同时第二移动装置120可将从换电车辆1上更换下来的待拆卸电池运输至电池缓存装置，码垛机102将该电池缓存装置中的待拆卸电池运输至电池存放机构101，从而使得电池存放机构101对该待拆卸电池进行充电。
换电站100还可以包括换电平台200。图2示出了换电车辆1在换电平台200上行驶的示意图。在换电平台200上，拆装装置可以对换电车辆1上的电池进行更换。图1和图2中的X方向可以是换电车辆1在换电平台200上的行驶方向，Y方向可以是第一移动装置和第二移动装置在换电平台200上的行驶方向。示例性地，第一移动装置110可以通过换电平台200上的导轨，沿Y方向移动至换电车辆1附近。
作为示例，在图1和图2所示的实施例中，换电平台200可包括前坡道104、前轮定位滚筒106、后坡道103、后轮定位滚筒105。换电车辆1可以从后坡道103朝向前坡道104行驶，如图2所示。沿换电车辆1的行驶方向，前轮定位滚筒106和后轮定位滚筒105可以位于前坡道104和后坡道103之间。前轮定位滚筒106可以靠近前坡道104设置，后轮定位滚筒105可以靠近后坡道103设置。前轮定位滚筒106可以用于定位车辆1的前轮。后轮定位滚筒105可以用于定位车辆1的后轮。换电平台200通过前轮定位滚筒106和后轮定位滚筒105，可以在X方向和Y方向上对换电车辆1定位，以使得换电车辆1可以相对于换电平台200固定。当换电平台200完成换电车辆1定位后，拆卸装置可将车辆中的待拆卸电池拆卸下来。
可选地，换电车辆1的底盘中还可以设置有锁止机构，电池中设置有与该锁止机构对应的锁止部，锁止机构可用于对锁止部进行锁止，以使得电池可锁定安装于换电车辆1的底盘。对应地，锁止结构还可被配置为解除对锁止部的锁止，以使得电池可从换电车辆1的底盘中解锁拆卸。在上述拆装装置拆卸电池和安装电池的过程中，拆装装置可将电池向上顶压，以实现电池中的锁止部与换电车辆1中锁止机构的解锁和锁止，从而完成电池的拆卸和安装。应理解，除了顶压的方式之外，拆装装置还可以通过螺栓等其他方式实现锁止部与锁止机构的解锁和锁止。
上述内容中的电池可以为或者钠离子电池等，在本申请实施例中不做具体限定。从电池规模而言，本申请实施例中的动力电池可以是电芯/电池单体，也可以是电池模组或电池包，在本申请实施例中不做具体限定。电池除了可作为动力源为换电车辆1的电机供电，还可为换电车辆1中的气体用电器件供电。例如，电池可为车内空调、车载播放器等供电。通俗地讲，上述内容中的电池可以为“真”电池。
或者，上述内容中的电池可以为与电池相似的电池填充块，该电池填充块可以具有与电池相同的外壳，即该电池填充块也能够安装到车辆上，但该电池填充块并不包括电芯，无法为车辆提供电能。通俗地讲，电池填充块可以称为“假”电池。电池填充块也可以放置在电池存放机构中。例如，电池充电仓可以分为两部分，一部分为用于放置“真”电池的充电仓，可以对电池进行充电。另一部分为用于放置电池填充块的充电仓，不用于对电池填充块进行充电。可选地，用于放置电池填充块的充电仓也可 以没有充电作用，只是起到容纳作用。
图3示出了本申请实施例的一种电池换电的方法300的示意性流程图。方法300可以应用于换电系统。该换电系统例如可以为图1所示的换电系统100。换电系统包括拆装装置和移动装置，拆装装置设置于与用电设备的底盘对应的位置，移动装置包括第一移动装置和第二移动装置。
方法300还可以由换电系统中的控制单元执行，如由站控系统执行。方法300可以包括以下内容中的至少部分内容。
S310：在用电设备停驻在预定位置之后，控制拆装装置拆卸用电设备的待拆卸电池，并且控制第一移动装置向拆装装置运送待安装电池。
S320：在拆装装置将待拆卸电池拆卸下来后，控制拆装装置将待安装电池安装在用电设备上，且控制第二移动装置将拆装装置拆卸下来的待拆卸电池运送至电池存放机构。
本申请实施例，在控制拆装装置拆卸待拆卸电池的同时，控制第一移动装置运送待安装电池，并且在控制拆装装置将待安装电池安装在用电设备的同时，控制第二移动装置将拆卸下来的待拆卸电池运送至电池存放机构。也就是说，整个换电过程是并行进行的，从而能够提高换电效率，有效减小换电时间，进而提高用户体验。
进一步地，第一移动装置和第二移动装置分别运送待安装电池和待拆卸电池，避免了将待安装电池误认为待拆卸电池，或者将待拆卸电池误认为待安装电池的问题。
可选地，第一移动装置和第二移动装置可以为RGV，或者，也可以为自动制导车辆(automated guided vehicle，AGV)，当然，也可以是其他能够移动的装置。
可选地，拆装装置可以为但不限于具有机械臂的装置。用电设备可以为但不限于换电车辆，预定位置例如可以为图2所示的换电平台。
可选地，用电设备包括的电池数量可以与待拆卸电池的数量相等。例如，用电设备包括K个电池，待拆卸电池的数量和待安装电池的数量也为K个。或者，用电设备包括的电池数量可以大于待拆卸电池的数量。例如，用电设备包括K个电池，待拆卸电池的数量和待安装电池的数量为L个，L＜K。即仅更换用电设备中的部分电池。
待拆卸电池可以均为亏电电池，待安装电池可以均为满电电池。换言之，待拆卸电池和待安装电池包括电芯。通俗地讲，待拆卸电池和待安装电池为“真”电池。
或者，在待拆卸电池的数量和待安装电池的数量为多个时，部分待拆卸电池可以为电池填充块和/或部分待安装电池可以为电池填充块。具体而言，待安装电池可以包括满电电池和电池填充块，满电电池和电池填充块的数量总和等于待拆卸电池的数量。例如，待拆卸电池包括4个亏电电池，待安装电池包括3个满电电池和1个电池填充块。通过将满电电池和电池填充块共同安装到待拆卸电池的位置，可以避免将待拆卸电池拆卸下来后，部分位置空置导致接口暴露在外的问题，从而可以提高用电设备的安全性能。
或者，待拆卸电池可以包括亏电电池和电池填充块，亏电电池和电池填充块的数量总和等于待安装电池的数量。例如，待待拆卸电池包括2个满电电池和2个电池填充块，待安装电池包括4个满电电池。换言之，换电前，2个电池向用电设备供电，换 电后，4个电池向用电设备供电。该技术方案，亏电电池和电池填充块的数量总和等于待安装电池的数量，即经过换电后的用电设备上的“真”电池的数量大于换电前“真”电池的数量，进而能够有效提高用电设备的续航里程。
待拆卸电池除了可以包括亏电电池和电池填充块之外，还可以包括异常电池，如发生热失控的电池，或者形状出现变形的电池等。
当然，待拆卸电池和待安装电池都可以包括电池填充块。如待拆卸电池包括2个亏电电池和2个电池填充块，待安装电池包括2个满电电池和2个电池填充块。
需要说明的是，待拆卸电池包括的电池填充块的数量和待安装电池包括的电池填充块的数量可以相等，也可以不相等，本申请实施例对此不作具体限定。
可选地，第一移动装置一次可以运送一个待安装电池。或者，一次也可以运送多个待安装电池，此时，示例性地，第一移动装置可以设置有多个仓位，每个仓位用于放置一个待安装电池。类似地，第二移动装置一次可以运送一个待拆卸电池或多个待拆卸电池。
作为一种示例，第一移动装置的数量可以为一个。当用电设备需要更换的待安装电池的数量为多个且第一移动装置一次运送一个待安装电池时，S310具体可以包括：控制拆装装置拆卸待拆卸电池，且控制第一移动装置向拆装装置运送多个待安装电池中的第一个待安装电池，在拆装装置安装第一个待安装电池时，第一移动装置返回至电池存放机构并向拆装装置运送多个待安装电池中的第二个待安装电池。如此循环往复，直至拆装装置将多个待安装电池均安装于用电设备上。
第二移动装置的数量也可以为一个。当拆装装置需要拆卸的待拆卸电池的数量为多个且第二移动装置一次运送一个待拆卸电池时，S320具体可以包括：控制拆装装置将待安装电池安装在用电设备上，且控制第二移动装置将多个待拆卸电池中的第一个待拆卸电池运送至电池存放机构，之后，控制第二移动装置返回至预定位置，并控制第二移动装置将多个待拆卸电池中的第二个待拆卸电池运送至电池存放机构。如此循环往复，直至第二移动装置将所有的待拆卸电池均运送至电池存放机构。
作为另一种示例，第一移动装置的数量可以为多个。当用电设备更换的待安装电池的数量为多个时，控制第一移动装置向拆装装置运送待安装电池，具体可以包括：控制至少部分第一移动装置中的每个第一移动装置每次向拆装装置运送一个待安装电池，其中，至少部分第一移动装置中的至少两个第一移动装置运送待安装电池的时间有重叠。
该技术方案，将第一移动装置设置为多个，且多个第一移动装置中的至少两个第一移动装置运送待安装电池的时间有重叠。即第一移动装置运送待安装电池也是并行进行的，如此能够进一步减小换电时间。
若待安装电池的数量与第一移动装置的数量相等，则可以控制所有的第一移动装置中的每个第一移动装置向拆装装置运送一个待安装电池。若待安装电池的数量小于第一移动装置的数量，则可以控制部分第一移动装置每次向拆装装置运送一个待安装电池。
在控制至少部分第一移动装置运送待安装电池时，可以控制至少部分第一移动 装置同时向拆装装置运送待安装电池。或者，可以每隔预设时间段控制至少部分第一移动装置中的一个第一移动装置向拆装装置运送待安装电池。本申请实施例对预设时间段不作具体限定，例如，预设时间段可以为5s。再例如，可以根据第一移动装置与拆装装置之间的距离确定预设时间段。
第二移动装置的数量也可以为多个，当拆装装置拆卸的待拆卸电池的数量为多个时，控制第二移动装置将拆装装置拆卸下来的待拆卸电池运送至电池存放机构，具体可以包括：控制至少部分第二移动装置中的每个第二移动装置每次运送一个待拆卸电池至电池存放机构，其中，至少部分第二移动装置中的至少两个第二移动装置将待拆卸电池运送至电池存放机构的时间有重叠。
该技术方案，将第二移动装置设置为多个，且多个第二移动装置中的至少两个第二移动装置运送待拆卸电池的时间有重叠。即第二移动装置运送待拆卸电池也是并行进行的，如此能够进一步减小换电时间。
若待拆卸电池的数量与第二移动装置的数量相等，则可以控制所有的第二移动装置中的每个第二移动装置向电池存放机构运送一个待拆卸电池。若待拆卸电池的数量小于第二移动装置的数量，则可以控制部分第二移动装置每次向电池存放机构运送一个待拆卸电池。
在控制至少部分第二移动装置运送待拆卸电池时，可以控制至少部分第二移动装置同时向电池存放机构运送待拆卸电池。或者，可以每隔预设时间段控制至少部分第二移动装置中的一个第二移动装置向电池存放机构运送待拆卸电池。本申请实施例对预设时间段不作具体限定，例如，预设时间段可以为5s。再例如，可以根据第二移动装置与电池存放机构之间的距离确定预设时间段。再例如，可以根据拆装装置拆卸待拆卸电池的时间确定预设时间段，即拆装装置每拆卸下来一个待拆卸电池，一个第二移动装置运送一个待拆卸电池。
在一个实施例中，控制第一移动装置向拆装装置运送待安装电池，可以包括：控制第一移动装置通过第一路径向拆装装置运送待安装电池。控制第二移动装置将拆卸装置拆卸下来的待拆卸电池运送至电池存放机构，可以包括：控制第二移动装置通过第二路径将待拆卸运送至电池存放机构。其中，第一路径和第二路径不同。
本申请实施例对第一路径和第二路径不作具体限定。示例性地，第一路径可以为从用电设备的左边到电池存放机构之间的路径，第二路径可以为从用电设备的右边到电池存放机构之间的路径。再示例性地，第一路径可以为从用电设备的车头到电池存放机构之间的路径，第二路径可以为从用电设备的车尾到电池存放机构之间的路径。
上述技术方案，第一移动装置和第二移动装置通过不同的路径分别运送待安装电池和待拆卸电池，一方面，控制简单，另一方面，避免了第一移动装置和第二移动装置在运送过程中发生碰撞等意外情况，从而有效保证了换电过程的正常进行。
在另一个实施例中，第一移动装置运送待安装电池的路径和第二移动装置运送待拆卸电池的路径均为第三路径，方法300还可以包括：控制第一移动装置和第二移动装置分时复用第三路径。
可选地，可以控制第一移动装置和第二移动装置通过第三路径交替运送待安装 电池和待拆卸电池。比如，控制第一移动装置和第二移动装置按照第一个第一移动装置、第一个第二移动装置、第二个第一移动装置、第二个第二移动装置……最后一个第一移动装置、最后一个第二移动装置的顺序运送待安装电池和待拆卸电池。再例如，控制第一移动装置和第二移动装置按照第一个第一移动装置、第二个第一移动装置、第一个第二移动装置、第二个第二移动装置……最后第二个第二移动装置、最后一个第二移动装置的顺序运送待安装电池和待拆卸电池。
可选地，可以控制第一移动装置运送完待安装电池后，第二移动装置再运送待拆卸电池；或者，可以控制第二移动装置运送完待拆卸电池后，第一移动装置再运送待安装电池。
上述技术方案，第一移动装置和第二移动共用一条路径分别运送待安装电池和待拆卸电池，这样不用再额外设置其他路径，节省了换电系统的资源，减小了换电成本。
应理解，在本申请实施例中，“第一”、“第二”和“第三”仅仅为了区分不同的对象，但并不对本申请实施例的范围构成限制。
在一些实施例中，第一移动装置向拆装装置运送待安装电池的路径与从拆装装置返回原始位置的路径可以相同也可以不同。类似地，第二移动装置向电池存放机构运送待拆卸电池的路径和从原始位置到拆装装置的路径可以相同也可以不同。
需要说明的是，上述内容中的原始位置可以指在没有用电设备换电的时候，第一移动装置和第二移动装置所处的位置。
比如，如图4-图9所示，待拆卸电池的数量和待安装电池的数量均为2个，2a和2b为第二移动装置，1a和1b为第一移动装置，4个椭圆为用电设备的轮胎，R为拆装装置。从图4可以看出，第一移动装置1a和1b沿路径M将待安装电池运送至拆装装置处，第二移动装置2a和2b同样沿路径M从原始位置移动至拆装装置处。从图5-图9可以看出，在拆装装置将待2个拆卸电池拆卸下来后，第二移动装置2a和2b各运送一个待拆卸电池，且通过路径N将待拆卸电池运送至电池存放机构。从图7-图9可以看出，在拆装装置将用电设备上的待拆卸电池拆卸下来并且将第一移动装置1a运送的待安装电池安装在用电设备上之后，第一移动装置1a和1b均向前移动一步，以使拆装装置将第一移动装置1b运送的待安装电池安装在用电设备上。之后，第一移动装置1a和1b沿路径M返回至原始位置。
可以看出，第一移动装置向拆装装置运送待安装电池的路径与从拆装装置返回原始位置的路径相同，第二移动装置向电池存放机构运送待拆卸电池的路径和从原始位置到拆装装置的路径不同。
在一些实施例中，在第一移动装置将待安装电池运送至拆装装置处后，方法300还可以包括：将第一移动装置和第二移动装置分别排列在拆装装置的两侧。
该技术方案，将第一移动装置和第二移动装置分别排列在拆装装置的两侧，这样，在拆装装置工作过程中不容易发生将待拆卸电池和待安装电池混淆的情况，不仅提高了换电效率而且保证了换电过程的正常进行。
或者，将移动装置依次排列，且第一移动装置排列在第二移动装置之后。例如， 再次参考图4，在第一移动装置和第二移动装置均到达拆装装置处后，第一移动装置和第二移动装置依次排列且第一移动装置排列在第二移动装置后面。
该技术方案，移动装置依次排列，这样可以只控制拆装装置朝一侧取放电池，控制简单且能够降低拆装装置的复杂度。另外，将第一移动装置排列在第二移动装置之后，方便拆装装置先拆卸待拆卸电池再安装待安装电池，从而保证换电过程的正常进行。
由于本申请实施例中，拆装装置仅用于拆卸待拆卸电池和安装待安装电池，不用如常规技术手段那样还需要运送待拆卸电池和待安装电池。因此，方法300还可以包括：在用电设备停驻在预定位置之前，将拆装装置设置在预定位置下方。
应理解，本申请实施例的“下”表示与重力方向相同的方向。
可选地，再次参考图2，若预定位置为换电平台且换电平台如图2所示包括坡道，即换电平台和地面之间具有空隙，则可以将拆装装置设置在地面上。
可选地，也可以将拆装装置设置在地面下方。比如，在与用电设备的底盘对应的位置处，提前在地面下方设置一个能够容纳拆装装置的空间，该空间用于放置拆装装置。将拆装装置设置在地面下方，不需要将用电设备举升至过高的高度，从而能够有效保证用电设备的安全性并且还能提高用户体验。
由于考虑到避震的原因，用电设备的轮胎上一般设置有弹簧，若轮胎与预定位置接触，则弹簧的存在可能会影响到电池的定位，使得拆装装置拆卸待拆卸电池和安装待安装电池的动作比较困难，严重影响换电效率。
基于此，换电系统还可以包括升降装置，如图1和图2中的升降装置300。在这种情况下，方法300还可以包括：控制升降装置将用电设备举升至预定高度，以使拆装装置拆卸待拆卸电池且将待安装电池安装在用电设备上；在拆装装置将待安装电池安装在用电设备上之后，控制升降装置将用电设备降至预定位置。
该技术方案，在拆装装置拆卸待拆卸电池和安装待安装电池时，将用电设备举升起来，如此可以避免轮胎上的弹簧对电池定位的影响，使得拆装装置可以准确地定位到待拆卸电池并在将待拆卸电池拆卸下来后，能够准确地将待安装电池安装到用电设备上，有效提高了换电效率。
可选地，预定高度可以小于50厘米。比如，可以控制升降装置将用电设备举升至用电设备的轮胎刚刚离地。
预定高度小于50厘米，即升降装置将用电设备举升的较低，一方面，能够节省举升用电设备的时间，进而减小换电时间；另一方面，若将用电设备举升的太高，可能会出现用电设备掉落下来等情况，预定高度小于50厘米，能够避免这些情况的发生，保证了用电设备的安全。
当然，本申请实施例也可以不举升用电设备，即预定高度为0。
在本申请实施例中，上述各过程的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本申请实施例的实施过程构成任何限定。
并且，在不冲突的前提下，本申请描述的各个实施例和/或各个实施例中的技 术特征可以任意的相互组合，组合之后得到的技术方案也应落入本申请的保护范围。
上文详细描述了本申请实施例的电池换电的方法，下面将描述本申请实施例的换电系统。
图10示出了本申请实施例的换电系统1000的示意性框图。如图10所示，该换电系统1000可以包括：
拆装装置1010，固定在与用电设备的底盘对应的位置，用于拆卸用电设备的待拆卸电池，以及将待安装电池安装在用电设备上；
移动装置1020，包括第一移动装置和第二移动装置，第一移动装置用于在拆装装置1010拆卸待拆卸电池的同时，向拆装装置1010运送待安装电池，第二移动装置用于在拆装装置1010将待安装电池安装在用电设备的同时，将拆装装置1010拆卸下来的待拆卸电池运送至电池存放机构。
可选地，在本申请实施例中，第一移动装置的数量为多个，在用电设备更换的待安装电池的数量为多个的情况下，拆装装置1010拆卸待拆卸电池的同时，至少部分第一移动装置中的每个第一移动装置运送待安装电池，其中，每个第一移动装置每次向拆装装置运送一个待安装电池，至少部分第一移动装置中的至少两个第一移动装置运送待安装电池的时间有重叠。
可选地，在本申请实施例中，第二移动装置的数量为多个，在拆装装置1010拆卸的待拆卸电池的数量为多个的情况下，至少部分第二移动装置中的每个第二移动装置运送待拆卸电池，其中，每个第二移动装置每次运送一个待拆卸电池至电池存放机构，至少部分第二移动装置中的至少两个第二移动装置将待拆卸电池运送至电池存放机构的时间有重叠。
可选地，在本申请实施例中，第一路径和第二路径不同，其中，第一路径为第一移动装置将待安装电池从电池存放机构运送至预定位置的路径，第二路径为第二移动装置将待拆卸电池从预定位置运送至电池存放机构的路径。
可选地，在本申请实施例中，第一移动装置运送待安装电池的路径和第二移动装置运送待拆卸电池的路径均为第三路径，且第一移动装置和第二移动装置分时复用第三路径。
可选地，在本申请实施例中，在第一移动装置将待安装电池运送至拆装装置1010处后，第一移动装置和第二移动装置分别排列在拆装装置1010的两侧。
可选地，在本申请实施例中，在第一移动装置将待安装电池运送至拆装装置1010处后，移动装置1020依次排列，且第一移动装置排列在第二移动装置之后。
可选地，在本申请实施例中，拆装装置1010设置地面下方。
可选地，在本申请实施例中，还包括：升降装置，用于将用电设备举升至预定高度，以使拆装装置1010拆卸待拆卸电池且将待安装电池安装在用电设备上；升降装置还用于，在拆装装置1010将待安装电池安装在用电设备上之后，将用电设备降至预定位置。
可选地，在本申请实施例中，预定高度小于50厘米。
可选地，在本申请实施例中，待安装电池包括满电电池和电池填充块，电池填 充块不包括电芯；其中，满电电池和电池填充块的数量总和等于待拆卸电池的数量。
可选地，在本申请实施例中，所述待拆卸电池包括亏电电池和电池填充块，电池填充块不包括电芯；其中，亏电电池和电池填充块的数量总和等于待安装电池的数量。
应理解，该换电系统1000可以实现方法300中的相应操作，为了简洁，在此不再赘述。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换，但这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围。

Claims (24)

  1. 一种换电的方法，其特征在于，所述方法应用于换电系统，所述换电系统包括拆装装置和移动装置，所述拆装装置设置于与用电设备的底盘对应的位置，所述移动装置包括第一移动装置和第二移动装置，所述方法包括：
    在所述用电设备停驻在预定位置之后，控制所述拆装装置拆卸所述用电设备的待拆卸电池，且控制所述第一移动装置向所述拆装装置运送待安装电池；
    在所述拆装装置将所述待拆卸电池拆卸下来后，控制所述拆装装置将所述待安装电池安装在所述用电设备上，且控制所述第二移动装置将所述拆装装置拆卸下来的所述待拆卸电池运送至电池存放机构。
  2. 根据权利要求1所述的方法，其特征在于，所述第一移动装置的数量为多个，在所述用电设备更换的所述待安装电池的数量为多个的情况下，所述控制所述第一移动装置向所述拆装装置运送待安装电池，包括：
    控制至少部分所述第一移动装置中的每个第一移动装置运送所述待安装电池，其中，所述每个第一移动装置每次向所述拆装装置运送一个所述待安装电池，至少部分所述第一移动装置中的至少两个第一移动装置运送所述待安装电池的时间有重叠。
  3. 根据权利要求1或2所述的方法，其特征在于，所述第二移动装置的数量为多个，在所述拆装装置拆卸的所述待拆卸电池的数量为多个的情况下，所述控制所述第二移动装置将所述拆装装置拆卸下来的所述待拆卸电池运送至电池存放机构，包括：
    控制至少部分所述第二移动装置中的每个第二移动装置运送所述待拆卸电池，其中，所述每个第二移动装置每次运送一个所述待拆卸电池至所述电池存放机构，至少部分所述第二移动装置中的至少两个第二移动装置将所述待拆卸电池运送至所述电池存放机构的时间有重叠。
  4. 根据权利要求1至3中任一项所述的方法，其特征在于，所述控制所述第一移动装置向所述拆装装置运送待安装电池，包括：
    控制所述第一移动装置通过第一路径向所述拆装装置运送所述待安装电池；
    所述控制所述第二移动装置将所述拆装装置拆卸下来的所述待拆卸电池运送至电池存放机构，包括：
    控制所述第二移动装置通过第二路径将所述待拆卸电池运送至所述电池存放机构；
    其中，所述第一路径和所述第二路径不同。
  5. 根据权利要求1至3中任一项所述的方法，其特征在于，所述第一移动装置运送所述待安装电池的路径和所述第二移动装置运送所述待拆卸电池的路径均为第三路径，所述方法还包括：
    控制所述第一移动装置和所述第二移动装置分时复用所述第三路径。
  6. 根据权利要求1至5中任一项所述的方法，其特征在于，在所述第一移动装置将所述待安装电池运送至所述拆装装置处后，所述方法还包括：
    将所述第一移动装置和所述第二移动装置分别排列在所述拆装装置的两侧。
  7. 根据权利要求1至5中任一项所述的方法，其特征在于，在所述第一移动装置将所述待安装电池运送至所述拆装装置处后，所述方法还包括：
    将所述移动装置依次排列，且所述第一移动装置排列在所述第二移动装置之后。
  8. 根据权利要求1至7中任一项所述的方法，其特征在于，在所述用电设备停驻在所述预定位置之前，所述方法还包括：
    将所述拆装装置设置在地面下方。
  9. 根据权利要求1至8中任一项所述的方法，其特征在于，所述换电系统还包括升降装置，所述方法还包括：
    控制所述升降装置将所述用电设备举升至预定高度，以使所述拆装装置拆卸所述待拆卸电池且将所述待安装电池安装在所述用电设备上；
    在所述拆装装置将所述待安装电池安装在所述用电设备上之后，控制所述升降装置将所述用电设备降至所述预定位置。
  10. 根据权利要求9所述的方法，其特征在于，所述预定高度小于50厘米。
  11. 根据权利要求1至10中任一项所述的方法，其特征在于，所述待安装电池包括满电电池和电池填充块，所述电池填充块不包括电芯；
    其中，所述满电电池和所述电池填充块的数量总和等于所述待拆卸电池的数量。
  12. 根据权利要求1至11中任一项所述的方法，其特征在于，所述待拆卸电池包括亏电电池和电池填充块，所述电池填充块不包括电芯；
    其中，所述亏电电池和所述电池填充块的数量总和等于所述待安装电池的数量。
  13. 一种换电系统，其特征在于，包括：
    拆装装置，设置于与用电设备的底盘对应的位置，用于拆卸所述用电设备的待拆卸电池，以及将待安装电池安装在所述用电设备上；
    移动装置，包括第一移动装置和第二移动装置，所述第一移动装置用于在所述拆装装置拆卸所述待拆卸电池的同时，向所述拆装装置运送所述待安装电池，所述第二移动装置用于在所述拆装装置将所述待安装电池安装在所述用电设备的同时，将所述拆装装置拆卸下来的所述待拆卸电池运送至电池存放机构。
  14. 根据权利要求13所述的换电系统，其特征在于，所述第一移动装置的数量为多个，在所述用电设备更换的所述待安装电池的数量为多个的情况下，所述拆装装置拆卸所述待拆卸电池的同时，至少部分所述第一移动装置中的每个第一移动装置运送所述待安装电池，其中，所述每个第一移动装置每次向所述拆装装置运送一个所述待安装电池，至少部分所述第一移动装置中的至少两个第一移动装置运送所述待安装电池的时间有重叠。
  15. 根据权利要求13或14所述的换电系统，其特征在于，所述第二移动装置的数量为多个，在所述拆装装置拆卸的所述待拆卸电池的数量为多个的情况下，至少部分所述第二移动装置中的每个第二移动装置运送所述待拆卸电池，其中，所述每个第二移动装置每次运送一个所述待拆卸电池至所述电池存放机构，至少部分所述第二移动装置中的至少两个第二移动装置将所述待拆卸电池运送至所述电池存放机构的时间 有重叠。
  16. 根据权利要求13至15中任一项所述的换电系统，其特征在于，第一路径和第二路径不同，其中，所述第一路径为所述第一移动装置将所述待安装电池从所述电池存放机构运送至所述预定位置的路径，所述第二路径为所述第二移动装置将所述待拆卸电池从所述预定位置运送至所述电池存放机构的路径。
  17. 根据权利要求13至15中任一项所述的换电系统，其特征在于，所述第一移动装置运送所述待安装电池的路径和所述第二移动装置运送所述待拆卸电池的路径均为第三路径，且所述第一移动装置和所述第二移动装置分时复用所述第三路径。
  18. 根据权利要求13至17中任一项所述的换电系统，其特征在于，在所述第一移动装置将所述待安装电池运送至所述拆装装置处后，所述第一移动装置和所述第二移动装置分别排列在所述拆装装置的两侧。
  19. 根据权利要求13至17中任一项所述的换电系统，其特征在于，在所述第一移动装置将所述待安装电池运送至所述拆装装置处后，所述移动装置依次排列，且所述第一移动装置排列在所述第二移动装置之后。
  20. 根据权利要求13至19中任一项所述的换电系统，其特征在于，所述拆装装置设置在地面下方。
  21. 根据权利要求13至20中任一项所述的换电系统，其特征在于，还包括：
    升降装置，用于将所述用电设备举升至预定高度，以使所述拆装装置拆卸所述待拆卸电池且将所述待安装电池安装在所述用电设备上；
    所述升降装置还用于，在所述拆装装置将所述待安装电池安装在所述用电设备上之后，将所述用电设备降至所述预定位置。
  22. 根据权利要求21所述的换电系统，其特征在于，所述预定高度小于50厘米。
  23. 根据权利要求13至22中任一项所述的换电系统，其特征在于，所述待安装电池包括满电电池和电池填充块，所述电池填充块不包括电芯；
    其中，所述满电电池和所述电池填充块的数量总和等于所述待拆卸电池的数量。
  24. 根据权利要求13至22中任一项所述的换电系统，其特征在于，所述待拆卸电池包括亏电电池和电池填充块，所述电池填充块不包括电芯；
    其中，所述亏电电池和所述电池填充块的数量总和等于所述待安装电池的数量。
PCT/CN2022/087548 2022-04-19 2022-04-19 电池换电的方法和换电系统 Ceased WO2023201508A1 (zh)

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