CN102152776B - Battery replacing system and battery replacing method of electromobile battery replacing station - Google Patents

Abstract

The invention discloses a battery replacement system of an electric vehicle battery replacement station, which includes a charging rack, stacking equipment, a temporary storage rack, battery replacement equipment, and a charger system, and is characterized in that: the stacking equipment is installed between the charging rack and the temporary storage rack The battery is moved between the storage rack and the electric vehicle, and the power exchange equipment is used to move the battery between the temporary storage rack and the electric vehicle. The stacking equipment has the functions of translation, lifting, and loading/unloading movement, and is responsible for moving the battery between the charging rack and the temporary storage rack. The battery replacement equipment has the functions of translation, lifting, rotation, tilt angle adjustment, and loading/unloading. It is responsible for moving the battery between the temporary storage rack and the electric vehicle. It scans the reflective triangular plate installed on the battery box frame of the electric vehicle through its own laser sensor to realize Accurate positioning of the battery box by the battery replacement equipment. The different designs of the charging rack and the temporary storage rack allow the stacking equipment and the battery replacement equipment to work in parallel, effectively improving the efficiency of battery replacement for electric vehicles.

Description

Battery replacement system and replacement method of electric vehicle battery replacement station

technical field

The invention belongs to the technical field of application of battery replacement stations for electric vehicles, and relates to a multi-machine fast battery replacement system for battery replacement stations for electric vehicles.

Background technique

Electric vehicle battery replacement station refers to a place that uses battery replacement to provide electric energy supply for electric vehicles. The station mainly includes power supply and distribution systems, charging systems, battery replacement systems, battery testing and maintenance systems, and battery replacement station monitoring systems. Among them, the battery replacement system is the core system of the electric vehicle battery replacement station, and its battery replacement efficiency determines the operating efficiency of the entire battery replacement station.

In the prior art, battery replacement of electric vehicles is mainly performed in a semi-automatic manner, that is, battery handling equipment is manually operated to replace batteries of electric vehicles. Although this method is easy to operate and the equipment cost is low, the handling process takes a long time due to manual intervention. In addition, the battery rack used for storage and charging and discharging management functions is generally large in size, and the battery replaced from the electric vehicle is directly transported to the charging rack, and the average moving distance is bound to be large. For electric vehicles using battery replacement, the battery replacement time is the most important indicator, so it is necessary to find a new method to increase the speed of battery replacement.

Contents of the invention

The technical problem to be solved by the present invention is to provide a battery replacement system of a battery replacement station, which can realize rapid battery replacement.

In order to solve the above technical problems, the present invention provides a battery replacement system for an electric vehicle battery replacement station, including a charging rack, a stacking device, a temporary storage rack, a battery replacement device, and a charger system, and is characterized in that: the stacking device is charging The battery is transported between the storage rack and the temporary storage rack, and the battery replacement equipment is used to transport the battery between the temporary storage rack and the electric vehicle.

The aforementioned battery replacement system of the electric vehicle battery replacement station is characterized in that the charging stand is a multi-layer and multi-row three-dimensional stand with charging interfaces, and integrates battery connectors, temperature and smoke alarm equipment, and battery status indicating equipment.

The aforementioned battery replacement system of the electric vehicle battery replacement station is characterized in that: the stacking device has the functions of translation, lifting, and loading/unloading movement, and is used to transport the battery between the charging rack and the temporary storage rack.

The aforementioned battery replacement system of the electric vehicle battery replacement station is characterized in that: the temporary storage rack is a layer of multi-row three-dimensional brackets, which serve as a buffer platform for stacking equipment and battery exchange equipment to exchange batteries.

The aforementioned battery replacement system at the battery replacement station for electric vehicles is characterized in that the battery replacement equipment has the functions of translation, lifting, rotation, tilt angle adjustment, loading/unloading, and is used to transport batteries between the temporary storage rack and the electric vehicle .

The aforementioned battery replacement system at the battery replacement station for electric vehicles is characterized in that a laser sensor is provided on the battery replacement equipment, and two horizontal triangular reflectors are installed on the outer frame of the battery of the electric vehicle. An angle calculation program is set to calculate the angle offset of the electric vehicle in the left-right direction and the front-rear direction.

A battery replacement method for an electric vehicle battery replacement station, characterized in that it comprises the following steps:

1) After the electric vehicle enters the battery replacement station, it first identifies the RFID that identifies the vehicle battery information, and searches for the corresponding type of battery on the charging rack;

2) The battery to be charged of the electric vehicle is transported from the vehicle to the temporary storage rack by the battery exchange equipment, and is transported from the temporary storage rack to the charging rack by the stacking equipment for battery charging; at the same time, the fully charged battery on the charging rack is transported by the stacking equipment Transfer from the charging rack to the temporary storage rack, and transfer the battery swapping equipment from the temporary storage rack to the electric vehicle;

In the step 2), a positioning program is set in the stacking equipment to quickly identify the battery through the set position relationship. Quickly move the battery between.

In the step 2), when the battery replacement equipment is transporting the battery between the electric vehicle and the temporary storage rack, the laser scanning ranging sensing method is used to determine the parking position of the electric vehicle, thereby determining the position of the battery on the electric vehicle, specifically The method is as follows: the laser sensor installed on the battery exchange equipment scans the battery frame of the electric vehicle. There are two horizontal triangular reflectors installed on the outer frame, so as to realize the accurate positioning of the battery when the battery exchange equipment loads/unloads the battery box.

，通过式5）进行计算： By calculating the angular offset of the left and right directions and the front and rear directions of the electric vehicle, the corresponding tray angle of the power exchange equipment is adjusted accordingly, so as to accurately identify the position of the electric vehicle battery. The offset of the left and right directions of the electric vehicle is measured by two triangle reflections Calculate the rotation offset angle of the electric vehicle in the left and right directions based on the respective distances from the board to the power exchange equipment; for the front and rear angle offset of the electric vehicle caused by the inconsistent tire pressure of the front and rear tires of the electric vehicle

, calculated by formula 5):

                   式5）

Formula 5)

The beneficial effect that the present invention reaches:

The multi-machine rapid battery replacement scheme of the electric vehicle battery replacement station of the present invention has a working mode that better solves the problem of rapid replacement of electric vehicle batteries. Since the charging rack and the temporary storage rack are fixed objects, the stacking equipment can quickly identify the battery only by inputting the positioning program in advance, and there is no rotation and tilt angle adjustment movement, and the stacking equipment can be quickly moved between the charging rack and the temporary storage rack Battery. The battery replacement equipment uses its own laser sensor to scan the triangular reflector installed on the battery frame of the electric vehicle to achieve accurate positioning when loading/unloading batteries at different vehicle positions. In the solution of the present invention, the volume of the charging rack is large, the volume of the temporary storage rack is small, the stacking equipment has a long moving distance but the positioning time is short, the battery replacement equipment has a long positioning time but the moving distance is short, and multiple machines work at the same time. Effectively improve the efficiency of electric vehicle battery replacement.

Description of drawings

Fig. 1 is the schematic diagram of the battery replacement system of the electric vehicle battery replacement station of the present invention;

Figure 2 is a flow chart of electric vehicle battery replacement;

Figure 3 is a schematic diagram of an electric vehicle battery box;

Figure 4 is a schematic diagram of the size of the laser scanning reflective triangle.

Detailed ways

The following will be further described in detail in conjunction with the accompanying drawings.

The battery replacement system of the electric vehicle battery replacement station includes: charging racks, stacking equipment, temporary storage racks, battery replacement equipment, and charger systems. The stacking equipment carries batteries between the charging rack and temporary storage racks. Handling batteries between temporary storage racks and electric vehicles.

The charging stand is a multi-layer and multi-column three-dimensional support with a charging interface, and integrates a battery connector to realize charging, communication, and control functions for the battery on the battery stand. In addition, it integrates temperature and smoke alarm equipment and battery status indication equipment. The temporary storage rack is a one-layer multi-row three-dimensional support, which serves as a buffer platform for stacking equipment and battery exchange equipment to exchange batteries, effectively reducing the average mobile displacement of the battery exchange equipment during the process of handling batteries.

The charger system performs centralized charging management on the batteries on the charging rack. Communicate with the battery management system through the CAN interface to obtain battery parameters and state parameters of the rechargeable battery, and upload them to the battery replacement station monitoring system. At the same time, it accepts instructions from the monitoring system to control the charging behavior of the battery.

The stacking equipment has the functions of translation, lifting, and loading/unloading movement, and is used to move the battery between the charging rack and the temporary storage rack, that is, to move the fully charged battery from the charging rack to the temporary storage rack, and to transfer the battery to be charged from the temporary storage rack. Transport to the charging stand.

The power exchange equipment has the functions of translation, lifting, rotation, tilt angle adjustment, and loading/unloading. Fully charged batteries are moved from the temporary storage rack to the electric vehicle.

Figure 2 is a flow chart of electric vehicle battery replacement. After the electric vehicle enters the battery replacement station, it first identifies the RFID that identifies the vehicle battery information to find the corresponding type of battery on the charging rack. The battery to be charged of the electric vehicle is transported from the vehicle to the temporary storage rack by the battery replacement equipment, and is transported from the temporary storage rack to the charging rack by the stacking equipment for battery charging. At the same time, the fully charged batteries on the charging rack are transported from the charging rack to the temporary storage rack by the stacking equipment, and are transported from the temporary storage rack to the electric vehicle by the battery replacement equipment.

Since the charging rack and the temporary storage rack are fixed objects, the stacking equipment can quickly identify the battery only by inputting the positioning program in advance, and there is no rotation and tilt angle adjustment movement, and the stacking equipment can be quickly moved between the charging rack and the temporary storage rack Battery.

，采用如下的方法计算： The battery replacement equipment transports the battery between the electric vehicle and the temporary storage rack. Since the parking position of the electric vehicle will deviate, the laser scanning ranging sensor technology is considered for battery positioning on the electric vehicle. The laser sensor scans the two horizontal triangular reflectors installed on the battery frame of the electric vehicle (as shown in Figure 3) to achieve accurate positioning of the target when the battery replacement equipment is loaded/unloaded. For the offset of the electric vehicle in the left and right directions, by measuring the distances from the two triangular reflectors to the power exchange equipment, the rotation offset angle in the left and right directions of the electric vehicle can be calculated. For the front and rear angle offset caused by the inconsistent tire pressure of the front and rear electric vehicles

, calculated as follows:

为第一块三角反光板的激光扫描波形脉宽，

为第二块三角反光板的激光扫描波形脉宽，

为两块反光三角板间距的激光扫描脉宽，

为两个反光三角板的车身水平安装距离。由三角形余弦定理： Combined with Figure 4,

is the pulse width of the laser scanning waveform of the first triangular reflector,

is the pulse width of the laser scanning waveform of the second triangular reflector,

is the laser scanning pulse width of the distance between two reflective triangular plates,

It is the horizontal installation distance of the two reflective triangles on the vehicle body. From the triangle cosine law:

Formula 1

                             式2

Formula 2

From Formula 1 and Formula 2, it can be deduced that:

                                    式3

Formula 3

According to the triangle relationship:

                                 式4

Formula 4

According to Formula 2, Formula 3 and Formula 4, calculate the front and rear angle offset of the electric vehicle:

                   式5

Formula 5

Calculate the angular offset of the electric vehicle in the left and right direction and the front and rear direction through the laser scanning ranging sensing technology, and adjust the corresponding tray angle of the battery replacement equipment accordingly, so as to accurately identify the position of the electric vehicle battery and perform loading/unloading operations.

In the solution of the present invention, the volume of the charging rack is large, the volume of the temporary storage rack is small, the moving distance of the stacking equipment is long but the positioning time is short, and the positioning time of the battery replacement equipment is long but the moving distance is short. The different designs of the charging rack and the temporary storage rack allow the stacking equipment and the battery replacement equipment to work in parallel, effectively improving the efficiency of battery replacement for electric vehicles.

The above has disclosed the present invention with preferred embodiments, but it is not intended to limit the present invention, and all technical solutions obtained by adopting equivalent replacement or equivalent transformation methods fall within the protection scope of the present invention.

Claims (2)

1. A battery replacement system for an electric vehicle battery replacement station, comprising a charging rack, stacking equipment, a temporary storage rack, battery replacement equipment, and a charger system, characterized in that: the stacking equipment is between the charging rack and the temporary storage rack The battery is transported, and the battery replacement equipment is used to transport the battery between the temporary storage rack and the electric vehicle. The charging rack is a multi-layer multi-row three-dimensional bracket with a charging interface, and integrates battery connectors, temperature and smoke alarm equipment, and battery status indication equipment. , the stacking equipment has the functions of translation, lifting, and loading/unloading movement, and is used to transport batteries between the charging rack and the temporary storage rack. A buffer platform for exchanging batteries for electric equipment. The electric exchange equipment has the functions of translation, lifting, rotation, tilt angle adjustment, loading/unloading, and is used to carry batteries between the temporary storage rack and electric vehicles. The laser sensor, two horizontal triangular reflectors are installed on the outer frame of the battery of the electric vehicle, and the angle calculation program is set in the control program of the power exchange equipment, which is used to calculate the angular offset of the left and right directions and the front and rear directions of the electric vehicle. 2. A battery replacement method at an electric vehicle battery replacement station, comprising the following steps: 1) After the electric vehicle enters the battery replacement station, it first identifies the RFID that identifies the vehicle battery information, and searches for the corresponding type of battery on the charging rack; 2) The battery to be charged of the electric vehicle is transported from the vehicle to the temporary storage rack by the battery exchange equipment, and is transported from the temporary storage rack to the charging rack by the stacking equipment for battery charging; at the same time, the fully charged battery on the charging rack is transported by the stacking equipment It is transported from the charging rack to the temporary storage rack, and the battery replacement equipment is transported from the temporary storage rack to the electric vehicle, In the step 2), a positioning program is set in the stacking equipment to quickly identify the battery through the set position relationship. During the process of moving the battery between the electric vehicle and the temporary storage rack, the battery replacement equipment uses the laser scanning ranging sensing method to determine the parking position of the electric vehicle, so as to determine the battery position on the electric vehicle. The specific method is as follows: The laser sensor set on the battery replacement equipment scans the battery frame of the electric vehicle. There are two horizontal triangular reflectors installed on the battery box to realize the accurate positioning of the battery when the battery replacement equipment loads/unloads the battery box. By calculating the left and right directions of the electric vehicle and For the angle offset in the front and rear directions, adjust the corresponding tray angle of the power exchange equipment accordingly, so as to accurately identify the position of the battery of the electric vehicle. , to calculate the rotation offset angle of the left and right directions of the electric vehicle; for the front and rear angle offset ∝ of the electric vehicle caused by the inconsistent tire pressure of the front and rear tires of the electric vehicle, it is calculated by formula 5): $\∝=\arccos \frac{3w+\sqrt{4{(w_2+w_3)}^2-3w^2}}{4(w_2+w_3)}$ Formula 5) Among them, w ₁ is the pulse width of the laser scanning waveform of the first triangular reflector, w ₃ is the pulse width of the laser scanning waveform of the second triangular reflector, w ₂ is the laser scanning pulse width of the distance between the two reflective triangles, and w is The horizontal installation distance of the two reflective triangles on the vehicle body.

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