CN113147491B - Battery replacement control method, battery replacement assembly and battery replacement station - Google Patents

Abstract

The invention discloses a power exchange control method, a power exchange assembly and a power exchange station, which are applied in the power exchange station. The power exchange station includes a shuttle car, a passage door, a power exchange position and an exchange position; the power exchange position is used for the shuttle car to disassemble and assemble the battery on the electric vehicle, and the exchange position is used for the shuttle car to exchange batteries with a battery operating device. The access door is arranged between the power-changing position and the switching position, and the shuttle car is set to reciprocate between the power-changing position and the swapping position; the above-mentioned control method includes controlling the access door to be opened when the shuttle car reciprocates, so as to make Shuttle rides through. The invention applies the control method of the linkage between the access door and the shuttle vehicle in the power exchange station, and uses the access door to be located on the reciprocating channel of the shuttle vehicle, so as to improve the independence and safety of the power exchange room and the charging room. When passing through the passage, the passage door is open, so as to cooperate with the power exchange operation of the shuttle.

Description

Power exchange control method, power exchange assembly and power exchange station

technical field

The invention relates to a control method of a power exchange station for electric vehicles, in particular to a power exchange control method, a power exchange assembly and a power exchange station.

Background technique

The power exchange station is used to exchange electricity for electric vehicles. The power exchange station includes a power exchange room, a charging room and power exchange equipment. The battery swapping room runs into the charging room to store the battery removed from the electric vehicle in the charging room.

The power exchange room and the charging room are separated to ensure safety. In order to realize the movement of the power exchange equipment between the power exchange room and the charging room, a channel is opened between the power exchange room and the charging room. However, it is urgent to propose a control relationship between the channel and the battery swapping device.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to provide a power exchange control method, a power exchange assembly and a power exchange station in order to overcome the above-mentioned defects in the prior art.

The present invention solves the above-mentioned technical problems through the following technical solutions:

A power exchange control method, applied to a power exchange station, is characterized in that: the power exchange station includes a shuttle car, a passage door, a power exchange position and an exchange position; the power exchange position is used for the shuttle car to connect an electric vehicle The battery on the battery is disassembled and assembled, the exchange position is used for the battery exchange between the shuttle and a battery transfer device, and the access door is set between the power exchange position and the exchange position; the shuttle the cart is configured to reciprocate between the power swap position and the swap position;

The control method includes controlling the access door to open when the shuttle reciprocates to allow the shuttle to travel.

Preferably, the access door is configured to perform an opening action according to a first control signal, and the shuttle is configured to drive from an exchange position to the power exchange position according to a second control signal.

Preferably, the first control signal and the second control signal are the same power exchange signal.

Preferably, the control method is configured to trigger the battery swap signal when it is detected that the electric vehicle is positioned at the battery swap position.

Preferably, the power exchange station includes a positioning sensor for detecting an electric vehicle driving into the power exchange position and triggering the power exchange signal.

Preferably, a ramp is provided between the power exchange position and the ground for the electric vehicle to drive into the power exchange position, and the control method is configured to trigger the power exchange signal when detecting that the electric vehicle enters the ramp.

Preferably, the swap station includes a drive-in detection sensor disposed on the ramp to detect whether the electric vehicle drives into the ramp.

Preferably, the control method is configured to trigger the power exchange signal after detecting the license plate of the electric vehicle.

Preferably, the swapping station includes a license plate recognition system for identifying electric vehicles that are about to enter the swapping station.

Preferably, the shuttle and the access door are configured to receive the power exchange signal and act simultaneously; or,

The access door is set to open at a first preset time interval after receiving the power exchange signal; the shuttle is set to operate at a second preset time interval after receiving the power exchange signal, so as to Drive into the battery swap position.

Preferably, the first control signal and the second control signal are different signals; the access door is configured to receive the first control signal to perform an opening action; the shuttle is configured to receive the The second control signal is used to drive into the power exchange room.

Preferably, the power exchange station includes a charging room and a power exchange room, the power exchange position is located in the power exchange room, and the exchange position is located in the charging room; when the shuttle car located in the charging room At the first travel distance from the access door, if it is detected that the access door is not opened or not fully opened, the shuttle vehicle is set to stop driving into the power exchange room.

Preferably, the power exchange station includes an in-position detection sensor for detecting whether the access door is opened in place, and the in-position detection sensor determines whether the access door is opened in place by detecting the opening angle or lifting height of the access door.

Preferably, the power exchange station includes an in-position detection sensor for detecting whether the access door is opened, and determines whether the access door is opened by detecting the pressure of the access door to the power exchange station.

Preferably, the opening action of the access door is realized by a motor, and the motor outputs a detection signal of whether the access door is opened in place.

Preferably, the shuttle car drives into the power exchange position and returns to the exchange position after replacing the battery of the electric vehicle; the access door is also set to be used when the shuttle car enters the power exchange position from the power exchange position The exchange position is opened to allow the shuttle to travel.

Preferably, the shuttle is configured to drive into the charging chamber according to a third control signal.

Preferably, after the shuttle vehicle is driven from the exchange position to the power exchange position, the access door is closed, and the access door is set to perform an opening operation according to a fourth control signal, so that the access door is opened. The shuttle returns from the swap location to the swap location.

Preferably, the third control signal and the fourth control signal are the same control signal.

Preferably, the control method is configured to trigger the third control signal upon detecting that the shuttle vehicle has completed replacing the battery.

Preferably, when the shuttle vehicle returns to the exchange position, when the shuttle vehicle travels to a second distance from the access door, if the control system detects that the access door is not opened or not fully opened, then The shuttle is arranged to stop driving into the exchange position.

Preferably, the power exchange station includes a passage passing through the power exchange position and the exchange position, the shuttle car runs on the passage to drive into the power exchange position or into the exchange position, and the passage door controls on/off of the channel.

Preferably, the access door includes a door leaf provided on the power exchange station, and the door leaf is configured to control the opening and closing of the access by lifting or turning over.

The present invention also provides a power exchange assembly, which is applied in a power exchange station, and is characterized in that the power exchange assembly includes the power exchange control method according to any one of the above, wherein the power exchange assembly includes all The shuttle car, the access door, the power exchange position and the exchange position.

The present invention also provides a power exchange station, which is characterized in that it includes the power exchange assembly as described above.

On the basis of conforming to common knowledge in the art, the above preferred conditions can be combined arbitrarily to obtain preferred examples of the present invention.

The positive progressive effect of the present invention is:

In the present invention, the control method of the linkage between the access door and the shuttle car is applied to the power exchange station, and the access door is located on the reciprocating channel of the shuttle car to improve the independence and safety of the power exchange room and the charging room, and when the shuttle car needs When passing through the passage, the passage door is opened, so as to cooperate with the power exchange operation of the shuttle.

Description of drawings

FIG. 1 is a schematic diagram of a power exchange control method according to an embodiment of the present invention;

FIG. 2 is a flow chart of a power exchange control method according to an embodiment of the present invention;

FIG. 3 is a flow chart of a power exchange control method according to an embodiment of the present invention;

FIG. 4 is a flow chart of a power exchange control method according to an embodiment of the present invention;

FIG. 5 is a flow chart of a power exchange control method according to an embodiment of the present invention;

FIG. 6 is a flow chart of a power exchange control method according to an embodiment of the present invention;

FIG. 7 is a flow chart of a power exchange control method according to an embodiment of the present invention;

FIG. 8 is a flow chart of a power swap control method according to an embodiment of the present invention;

FIG. 9 is a flowchart of a method for controlling a power exchange according to an embodiment of the present invention.

Description of reference numbers:

battery swap room 1

Swap position 11

charging room 2

swap position 21

shuttle 3

Access door 4

Detailed ways

The present invention is further described below by means of examples, but the present invention is not limited to the scope of the following examples.

Referring to FIG. 1 , an embodiment of the present invention provides a power exchange control method, which is applied in a power exchange station. The swap station includes a shuttle car 3, an access door 4, a power swap position 11 and an swap position 21; the power swap position 11 is used for the shuttle car 3 to disassemble and assemble the battery on the electric vehicle, and the swap position 21 is used for the shuttle car 3 to connect with the battery. A battery operating device performs battery exchange; the access door 4 is set between the power exchange position 11 and the exchange position 21, and the shuttle 3 is set to reciprocate between the power exchange position 11 and the exchange position 21; the above-mentioned control method Including the control access door 4 is opened when the shuttle 3 reciprocates, so that the shuttle 3 passes through.

Specifically, the power exchange station includes a power exchange room 1 and a charging room 2, and the charging room 2 is provided with the above-mentioned battery operation device for storing the battery from the shuttle 3 on the corresponding equipment. The electric vehicle drives into the battery swapping room 1 and performs battery swapping in the battery swapping room 1 . The power exchange position 11 is the position where the electric vehicle is power exchanged, in other words, the power exchange position 11 is located in the power exchange room 1 . The charging chamber 2 has at least the function of storing batteries, and the shuttle 3 places the depleted batteries removed from the electric vehicle at the exchange position 21 for storage in the charging chamber 2 , in other words, the exchange position 21 is located in the charging chamber 2 . In addition, the power exchange position 11 and the exchange position 21 are spatial concepts, and both represent a spatial range.

There is a passage between the power exchange position 11 and the exchange position 21, and the shuttle 3 runs in this passage. The passage door 4 is arranged on the passage, and separates the power exchange room 1 and the charging room 2 to a certain extent. When the vehicle 3 travels back and forth between the battery exchange room 1 and the charging room 2, the access door 4 is in an open state.

During the power exchange process, in the disassembly link, the shuttle 3 drives from the charging room 2 into the power exchange room 1 and reaches the power exchange position 11, removes the depleted battery of the electric vehicle and returns it to the charging room 2 and places it at the exchange position 21; During the installation process, the shuttle 3 obtains a fully charged battery from the charging room 2 and drives into the battery swap room 1 again to install the fully charged battery on the electric vehicle. After completion, the shuttle 3 returns to the charging room 2.

In the embodiment of the present invention, the control method of the linkage between the access door 4 and the shuttle 3 is applied to the power exchange station, and the access door 4 is located on the reciprocating channel of the shuttle 3 to improve the independence of the power exchange room 1 and the charging room 2 and safety, and when the shuttle 3 needs to pass through the passage, the passage door 4 is opened, so as to cooperate with the power exchange operation of the shuttle 3 .

In the embodiment of the present invention, the access door 4 is set to open according to the first control signal, and the shuttle 3 is set to drive from the exchange position 21 to the power exchange position 11 according to the second control signal. In other words, both the access door 4 and the shuttle 3 are actuated by corresponding signals.

In one embodiment, the first control signal and the second control signal are the same power exchange signal, in other words, the opening operation of the access door 4 and the running action of the shuttle 3 are controlled by the same power exchange signal. Among them, the power exchange signal can be triggered in different ways. The following different triggering methods are described:

In the first manner, the control method is configured to trigger a power exchange signal when it is detected that the electric vehicle is positioned at the power exchange position 11 of the power exchange station. Please refer to FIG. 2 for understanding, this method includes three parts, firstly, the electric vehicle is detected in step 10 to be located, secondly, in step 20, a power exchange signal is triggered, and again in step 30, the access door is opened and the shuttle is started. In other words, the swap station has a positioning function for the electric vehicle that comes to swap, and the swap station has a means to detect whether the electric vehicle is positioned at the position defined by the swap station. When the detection result is "Yes", the battery swap signal is triggered.

The specific implementation means, for example, the power exchange station includes a positioning sensor for detecting the electric vehicle driving into the above-mentioned power-exchange position 11 and triggering the above-mentioned power-exchange signal. Please refer to FIG. 3 for further understanding, this method includes three parts. First, in step 101, the positioning sensor detects the electric vehicle driving into the power exchange position, then in step 20, the power exchange signal is triggered, and finally in step 30, the access door is opened and the shuttle is started. .

Among them, the positioning sensor can be a pressure sensor based on pressure detection, and the positioning sensor can be arranged on the parts used for positioning the electric vehicle in the power exchange station. To determine whether the electric vehicle is positioned, it is true that the pressure sensor does not limit the scope of protection of the present invention. As an alternative technical means, the positioning sensor can also be a distance-based ranging sensor or other sensors that can be used to detect the arrival of the electric vehicle at the power exchange station. position sensor. The power exchange station can preset the threshold value of the positioning sensor, and the positioning sensor is also set to compare the actual measured value with the preset threshold value. When the actual measured value of the positioning sensor reaches the threshold value, an alarm is triggered, or when the actual measured value reaches the threshold value and The alarm is triggered when the threshold is maintained at or above the threshold for a certain period of time. It is true that the above two methods of triggering the alarm of the positioning sensor are only for illustration, and other methods to trigger the alarm are also within the protection scope of the present invention.

In the second method, a ramp is provided between the power exchange position 11 and the ground to allow the electric vehicle to drive into the power exchange position 11 , and the control method is set to trigger the power exchange signal when detecting that the electric vehicle enters the ramp. Please refer to FIG. 4 for understanding, the method includes three parts. First, in step 102, it is detected that the electric vehicle enters the ramp, in step 20, a power exchange signal is triggered, and in step 30 again, the access door is opened and the shuttle is started.

Among them, the ramp can be understood as a part of the power exchange station, which has a slope inclined relative to the horizontal plane, and the ramp gradually extends from the outside to the power exchange room 1, so that the two ends of the slope are connected to the ground and the power exchange room 1 respectively. , so that the electric vehicle enters the battery swap room 1 stably along the ramp. The swap station has a means to detect whether the electric vehicle has entered the ramp, and when the detection result is "yes", the battery swap signal is triggered.

For example, the specific implementation means: the power exchange station includes a drive-in detection sensor arranged on the ramp to detect whether the electric vehicle drives into the ramp. Wherein, the drive-in detection sensor may be a pressure sensor based on pressure detection, which detects the pressure of the electric vehicle on the ramp; it is true that the drive-in detection sensor may also adopt other types of sensors. The drive-in detection sensor can be preset with a threshold value, and when the measured value reaches the threshold value, the power exchange signal is triggered, or when the measured value reaches the threshold value and remains above the threshold value and above the threshold value for a certain period of time, the power exchange signal is triggered.

In the third mode, the control method is set to trigger a battery swap signal after detecting the license plate of the electric vehicle. Please refer to FIG. 5 for further understanding, this method includes three parts: firstly, the license plate of the electric vehicle is detected in step 103, secondly, the power exchange signal is triggered in step 20, and finally, in step 30, the access door is opened and the shuttle is started.

Among them, the power exchange station includes a license plate recognition system, which is used to identify the electric vehicles that will enter the power exchange station. When the license plate recognition system detects the license plate, the power exchange signal is triggered, or the power exchange signal is triggered after a certain period of time after the license plate is detected. The license plate recognition system can be realized by using the existing technology, and its principle and structure will not be described in detail here.

The three ways to trigger the power exchange signal are described above, which are only used as examples to illustrate the possible means of triggering the power exchange signal, and are not intended to limit the protection scope of the present invention.

The shuttle car 3 and the access door 4 operate after receiving the power exchange signal, but they may have different modes in terms of time sequence. The following two modes are used for description.

In one way, the shuttle 3 and the access door 4 are configured to receive the power-changing signal and act simultaneously, in other words, the power-changing signal directly and simultaneously triggers the operation of starting and running the shuttle 3 and the opening of the access door 4 .

In another way, as an alternative to the previous way, the access door 4 is set to open at a first preset time interval after receiving the power exchange signal, and the shuttle 3 is set to receive the power exchange signal After a second preset time interval, it moves to enter the battery swap room 1 . Please refer to FIG. 6 for further understanding, the power exchange signal is triggered in step 20, and then, on the one hand, in step 401, the first preset time interval is followed, and then the access door is opened in step 301; on the other hand, in step 402, the second preset time interval is interval. , followed by the shuttle action in step 302 .

Specifically, in this embodiment, the first preset time and the second preset time are used to distinguish the different movement times of the access door 4 and the shuttle 3, but the magnitudes of the two preset time values are not limited, as long as the two preset time values are It is within the protection scope of the present invention to set the time so that when the shuttle 3 passes through the passage, the passage door 4 has been opened.

It should be noted that the above-mentioned power exchange control method of the present invention has been described from the trigger form of the power exchange signal and the action sequence of the access door 4 and the shuttle 3, wherein, the above examples are based on the first control signal and the second control signal. Based on the same power exchange signal.

In another embodiment, the first control signal and the second control signal are different signals, the access door 4 is set to open after receiving the first control signal, and the shuttle 3 is set to receive the second control signal And drive into the power exchange room 1. In other words, the access door 4 and the shuttle 3 are controlled by different signals. Wherein, the first control signal and the second control signal in this embodiment may adopt a combination of any two of the three methods for triggering the power exchange signal listed in the foregoing embodiment.

In one embodiment of the present invention, when the shuttle 3 in the charging room 2 reaches the first distance from the access door 4, the control method is set to stop the shuttle 3 if it is detected that the access door 4 is not opened or is fully opened Drive into changing room 1. Please refer to FIG. 7 for understanding. In step 50, the shuttle car runs to the first distance from the access door. In step 60, it is detected whether the access door is open or fully opened. When the access door is fully opened, step 702 is entered, and the shuttle car continues to drive to the power exchange position. , otherwise go to step 702, the shuttle stops moving.

Specifically, during the power exchange process, the power exchange station detects the access door 4 to ensure that the access door 4 is open when the shuttle 3 travels to the space near the access door 4 . When the detection result is "Yes", the shuttle 3 continues the journey and enters the swap station; when the detection result is "No", the shuttle 3 stops running and waits for a new start command.

Among them, if it is detected that the access door 4 is not opened, the detection result is "No"; if it is detected that the access door 4 is open, but not fully opened, the detection result is also "No"; only when the access door 4 is opened in place. When the test result is "Yes".

In addition, the first trip is a preset distance. When the distance between the shuttle 3 and the access door 4 is the first trip, the swap station starts to detect the access door 4 .

In one embodiment of the present invention, the power exchange station includes an in-position detection sensor for detecting whether the access door 4 is fully opened, and whether the access door 4 is fully opened is determined by detecting the opening angle or the lifting height of the access door 4 .

Wherein, the access door 4 includes a door leaf set on the power exchange station. When the door leaf is rotatably connected to the power exchange station and controls the opening and closing of the passage through the rotary motion, the in-position detection sensor detects the rotation angle of the access door 4, and when the measured value reaches the preset value The result is "Yes" when the angle is set, otherwise "No" is output.

When the door leaf controls the opening and closing of the passage by lifting, the in-position detection sensor detects the lift height of the passage door 4, and outputs "Yes" when the measured value reaches the preset height, otherwise, outputs "No".

In an embodiment of the present invention, the opening action of the access door 4 is realized by a motor, and the motor outputs a detection signal of whether the access door 4 is opened in place.

In one embodiment of the present invention, the power exchange station includes a sensor for detecting whether the access door 4 is open, and determines whether the access door 4 is open by detecting the pressure of the access door 4 on the power exchange station. Wherein, the sensor here is arranged at the position of the access door 4 in contact with other components of the power exchange station, and generates pressure on the components in contact with the access door 4 when the access door 4 is closed. If the pressure measured by the sensor here reaches the preset value, it will output "No", otherwise it will output "Yes".

The above describes the detection of whether the access door 4 is opened in place and whether it is opened respectively through different embodiments.

The related control methods for the shuttle vehicle 3 driving from the charging room 2 into the power exchange room 1 have been described above through different embodiments, and the present invention will be further described below in conjunction with the return operation of the shuttle vehicle 3 .

In an embodiment of the present invention, the shuttle 3 drives into the battery exchange room 1 to replace the battery of the electric vehicle and then returns to the charging room 2. The access door 4 is set so that when the shuttle 3 drives from the battery exchange room 1 into the charging room 2 open to allow the shuttle 3 to pass through.

Further, the shuttle 3 is configured to drive into the charging chamber 2 according to a third control signal. The third control signal can be triggered via the shuttle 3 to remove the battery from the electric vehicle, or via the shuttle 3 to install the battery to the electric vehicle. Please refer to FIG. 8 for further understanding. In step 80, the electric vehicle is replaced by the shuttle, then the process goes to step 90, the third control signal is triggered, and finally the process goes to step 100, the shuttle returns to the exchange position.

In one mode, the access door 4 is closed after the shuttle vehicle 3 enters the power exchange chamber 1 from the charging room 2 . In this mode, the access door 4 is set to open according to the fourth control signal, so that the shuttle The car 3 returns from the battery swap room 1 to the charging room 2 . The fourth control signal here may be the same control signal as the third control signal.

In one embodiment of the present invention, when the shuttle 3 returns to the charging room 2, when the shuttle 3 in the battery swap room 1 is at a second distance from the access door 4, if the battery swap station detects that the access door 4 is not opened or not fully opened , the shuttle 3 is set to stop driving into the charging room 2 . Please refer to FIG. 9 for further understanding. In step 110, the shuttle runs to the second distance from the access door, and then proceeds to step 120 to detect whether the access door is open or fully opened. If it is detected that the access door is fully opened, then enter step 1302, shuttle The car continues to drive to the exchange position, otherwise it goes to step 1301, and the shuttle car stops moving.

The means for realizing whether the access door 4 is open and whether it is in place is the same as that in the above-mentioned embodiment, that is, during the process of entering the charging room 2 of the shuttle car 3 into the power exchange room 1 and driving from the power exchange room 1 into the charging room 2, the The detection means of the door 4 are the same.

An embodiment of the present invention further provides a power exchange assembly, which is applied in a power exchange station and includes the power exchange control method of any one of the above embodiments, wherein the power exchange assembly includes the above-mentioned shuttle 3, the above-mentioned channel Door 4 , the above-mentioned power exchange position 11 and the above-mentioned exchange position 21 .

The above-mentioned other embodiments have already described the power exchange control method in detail, which will not be repeated here.

The embodiment of the present invention also provides a power exchange station, which includes the above power exchange assembly.

Although the specific embodiments of the present invention are described above, those skilled in the art should understand that this is only an illustration, and the protection scope of the present invention is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principle and essence of the present invention, but these changes and modifications all fall within the protection scope of the present invention.

Claims (18)

1. A battery replacement control method is applied to a battery replacement station and is characterized in that: the battery replacement station comprises a shuttle car, a passage door, a battery replacement position and an exchange position; the battery replacing position is used for dismounting and mounting a battery on the electric automobile by the shuttle car, the exchanging position is used for exchanging the battery between the shuttle car and a battery transferring device, and the passage door is arranged between the battery replacing position and the exchanging position; the shuttle car is arranged to reciprocate between the battery changing position and the exchanging position; the passage door is set to open according to a first control signal, the shuttle car is set to drive from an exchange position to the power exchange position according to a second control signal, and the first control signal and the second control signal are the same power exchange signal;

the control method comprises controlling the access door to be opened when the shuttle car reciprocates so as to enable the shuttle car to pass;

the shuttle car drives into the battery replacement position, replaces a battery of the electric car and returns to the exchange position; the access door is further arranged to be opened when the shuttle car enters the exchange position from the battery replacement position so as to enable the shuttle car to pass; the shuttle car is set to carry out the action of driving to the exchange position according to a third control signal; after the shuttle car enters the swap position from the swap position, the access door is closed, and the access door is set to be opened according to a fourth control signal, so that the shuttle car returns to the swap position from the swap position, and the third control signal and the fourth control signal are the same control signal.

2. The battery swap control method of claim 1, wherein the control method is configured to trigger the battery swap signal when detecting that an electric vehicle is positioned at the battery swap position.

3. The battery replacement control method according to claim 2, wherein the battery replacement station comprises a positioning sensor for detecting an electric vehicle entering the battery replacement position and triggering the battery replacement signal.

4. The battery replacement control method according to claim 1, wherein a ramp is arranged between the battery replacement position and the ground for the electric vehicle to enter the battery replacement position, and the control method is configured to trigger the battery replacement signal when the electric vehicle is detected to enter the ramp.

5. The battery replacement control method according to claim 4, wherein the battery replacement station comprises a drive-in detection sensor arranged on the ramp to detect whether the electric vehicle drives into the ramp.

6. The battery swap control method according to claim 1, wherein the control method is configured to trigger the battery swap signal after detecting a license plate of an electric vehicle.

7. The battery swapping control method of claim 6, wherein the battery swapping station comprises a license plate recognition system for recognizing an electric vehicle that is about to enter the battery swapping station.

8. The battery replacement control method according to claim 1, characterized in that:

the shuttle car and the access door are arranged to receive the battery replacement signal and act simultaneously; or,

the channel door is set to be opened at an interval of first preset time after receiving the battery replacement signal; the shuttle car is set to act at an interval of second preset time after receiving the battery replacement signal so as to drive into the battery replacement position.

9. The battery replacement control method of claim 1, wherein the battery replacement station comprises a charging room and a battery replacement room, the battery replacement position is located in the battery replacement room, and the exchange position is located in the charging room; when the shuttle car located in the charging chamber reaches a first stroke away from the access door, if the access door is not opened or is not opened in place, the shuttle car is set to stop driving into the battery replacement chamber.

10. The battery replacement control method as claimed in claim 9, wherein the battery replacement station comprises a position detection sensor for detecting whether the access door is opened in position, and the position detection sensor determines whether the access door is opened in position by detecting an opening angle or a lifting height of the access door.

11. The power swapping control method of claim 9, wherein the power swapping station comprises an in-position detection sensor for detecting whether the access door is opened, and the access door is determined to be opened by detecting the pressure of the access door to the power swapping station.

12. The battery replacement control method as claimed in claim 9, wherein the opening of the access door is performed by a motor that outputs a detection signal indicating whether the access door is opened in place.

13. The battery replacement control method as claimed in claim 1, wherein the control method is configured to trigger the third control signal when the shuttle vehicle detects that the battery replacement is completed.

14. The battery swapping control method as claimed in claim 1, wherein when the shuttle vehicle returns to the swap position, and when the shuttle vehicle travels to a second stroke away from the aisle door, if the control system detects that the aisle door is not opened or is not opened in place, the shuttle vehicle is set to stop driving into the swap position.

15. The battery replacement control method according to any one of claims 1 to 14, wherein the battery replacement station comprises a passage penetrating between a battery replacement position and an exchange position, the shuttle car runs on the passage to drive into the battery replacement position or drive into the exchange position, and the passage controls on and off of the passage.

16. The battery replacement control method according to claim 15, wherein the passage door comprises a door leaf arranged on the battery replacement station, and the door leaf is arranged to control the passage to be opened or closed by lifting or turning.

17. An electricity swapping assembly applied to an electricity swapping station, wherein the electricity swapping assembly executes the electricity swapping control method as claimed in any one of claims 1 to 16, and the electricity swapping assembly comprises the shuttle car, the access door, the electricity swapping position and the exchange position.

18. A charging station comprising the charging assembly of claim 17.

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