The present invention relates to a method for replacing one or more batteries in a battery-powered vehicle, as well as a device for automatically performing such a battery replace ^¬ ment .

A system is previously known for replacement of electric batteries for cars, for example from EP 2231447 Bl . In such systems, after the car has been driven up on a ramp similar to those used for greasing pits, an arrangement emerges be ^¬ neath the car and replaces a discharged battery with a new one, from below. This solution requires that the battery replacement device is buried in the floor and/or that the car is raised up substantially, which is a considerable disad ^¬ vantage because such a facility, in addition to being expen ^¬ sive, also is bulky and therefore difficult to integrate into existing infrastructure such as gas stations. Moreover, it is difficult to provide such equipment outdoors, especially in the open air, due to problems with contamination and so on.

Furthermore, EP 2340951 A2 describes a device for, in a vehi ^¬ cle, receiving and accommodating a battery entering the vehicle from below, vertically upwards. This device can be used with a system as described in EP 2231447 Bl, above.

It is also known, from SE 1050656 Al and SE 1250388, to re ^¬ place batteries in vehicles by bringing batteries in and out, respectively, through both a vertically disposed door in the car's vertical side and through a horizontally disposed door in the car's undercarriage. Therein, a device is described comprising a support plane which is displaceable in the lon ^¬ gitudinal direction of the vehicle and is arranged to act along the width of the vehicle. To compensate for an angle difference between the device and the vehicle, the base of the plane is rotatable in the horizontal plane.

The present invention offers a system which is arranged above ground, which automatically and reliably can replace batter ^¬ ies in a vehicle, and which in a better way compensates for an inaccurate location of the vehicle in relation to the system, especially when handling heavy batteries with a total weight of for example at least 100 kg.

Hence, the invention relates to a device for battery replace ^¬ ment in a vehicle, which vehicle is arranged with a storage space arranged to receive and accommodate a battery for use in movement operation of the vehicle, which device comprises a transporting device arranged at least partially above ground, arranged for the automatic transport of a first bat ^¬ tery out of and away from the storage space and a second battery up to and into the storage space, wherein the trans ^¬ porting device is associated with a horizontal width direc- tion, substantially parallel to the parked vehicle's longitu ^¬ dinal direction, and a horizontal depth direction, which is perpendicular to the width direction, wherein the device is arranged to sense a position for the storage space in rela ^¬ tion to the transporting device, wherein the transporting device comprises a first pushing device, which is displacea- ble in a first direction, and a second pushing device, which is displaceable in a second direction, said first pushing device being arranged, when displaced in the first direction, to bring with it the second pushing device in the first di- rection, and the second pushing device being arranged to support the battery, and is characterized in that a horizon ^¬ tal projection of the first direction is parallel to the depth direction, in that a horizontal projection of the second direction is parallel to the width direction, in that the second pushing device is pivotable in relation to the first pushing device in a plane spanned by the first and second directions, in that the device comprises means for adjusting the angular position of the second pushing device and its position in the second direction, in relation to the first pushing device, as well as means for displacing the first pushing device in the first direction towards the vehicle, so that the battery which is supported by the second pushing device thereby is brought to the storage space.

The invention also relates to a method for battery replace ^¬ ment using such a device.

The invention will now be described in detail, with reference to exemplary embodiments of the invention and to the accompa ^¬ nying drawings, wherein:

Figures la and lb illustrate two different alternative embod ^¬ iments of a device according to the present invention, as seen from above;

Figures 2a and 2b partially illustrate the device of figure la from the side, where a pushing device 180 is disposed in two respective positions; and

Figure 3 shows a pusher according to the invention.

All figures share the same reference numerals for correspond ^¬ ing parts. In figures la and lb, the rail 131c is not shown with corresponding carriages 180, 181, and in figures la and lb, the battery 160 is arranged on the pushing device 150 (see below) .

A vehicle 100 is equipped with a storage space 103 alterna ^¬ tively 106 (see Figure 2) for a battery 160, which storage space 103, 106 is arranged to receive and accommodate the battery 160, which battery 160 in terms of capacity is adapted for use in movement operation of the vehicle, in other words the vehicle 100 uses energy from the battery for its forward propulsion.

A device 110 according to the present invention for battery replacement in the vehicle 100, as well as in other, similar, vehicles, is also shown in the figures, which device 110 comprises a transporting device 130 which is at least par- tially, and preferably substantially completely, installed above ground 111, and which is arranged to automatically transport a first battery out and away from the storage space 103, 106, as well as a second battery 160 up to and into the storage space 103, 106. Typically, the first battery is a discharged battery, and the second battery is a fully charged battery of the same or equivalent type, which will replace the discharged battery for further operation of the vehicle 100. In the figures, the illustrated battery 160 is the sec ^¬ ond battery.

The transporting device 110 is associated with a horizontal width direction B, which is substantially parallel to the longitudinal direction of the parked vehicle 100, and a hori ^¬ zontal depth direction D, which is perpendicular to the width direction B.

The device 110 is arranged with as such conventional means (not shown) for sensing a position of the storage space 103, 106 in relation to the transporting device 110. Such means may for example be comprised by optical means, possibly image processing means, which optionally cooperate with optical markers attached at predetermined positions on the vehicle 100, or by interacting signaling means of transponder type, arranged both on the vehicle 100 and on the device 110. It is noted that the sensing means, in the exemplifying case in which they consist of an imaging device in the device 110 whose digital output image is processed for identification of certain characteristic parts of the vehicle, does not neces- sarily require special means mounted on the vehicle 100. What is important is that the sensing means enable the device 110 to determine a relative position between an opening 101, 104 of the vehicle 100 storage space 103, 106 and the transport ^¬ ing device 130, so that the movement of the battery to and from the storage space 103, 106 can automatically take place to and from the correct position.

The transporting device 130 comprises a first pushing device 140, which is displaceable in a first direction Rl, and a second pushing device 150, which is displaceable in a second direction R2. When the first pushing device 140 is displaced in the first direction Rl, it is arranged to bring with it the second pushing device 150 in the first direction Rl . Thus, the two pushing devices 140, 150 are arranged to engage with each other. The second pushing device 150 is in turn arranged to support the battery 160.

According to the invention, a horizontal projection of the first direction Rl is parallel to the depth direction D. This is shown particularly clearly in figures 2a and 2b, from which it can be seen that the first direction Rl can be sloped or straight in relation to the horizontal plane, or both sloped and straight along different sections of the first path of the first pushing device 140 (as in figures 2a and 2b), as long as the horizontal projection of the direc ^¬ tion Rl is parallel to the depth direction D, so that the first pushing device can be displaced in a direction substantially towards and away from, respectively, the side of the vehicle 100. Correspondingly, a horizontal projection of the second direction R2 is parallel to the width direction B, so that the second pushing device can be displaced substantially along the side of the vehicle 100. Furthermore, the second pushing device 150 is pivotable in relation to the first pushing device 140, in a plane spanned by the first Rl and second R2 directions, which plane may thus, but need not, be horizontal .

Hence, the first pushing device 140 is reciprocally displace- able in the first direction Rl, in the embodiment illustrated in figures la and lb by the first pushing device 140 being in the form of a slide provided with front 141a, 141b and back 142a, 142b wheel sets, arranged to roll on a pair of rails 131a, 131b extending in the depth direction D. It will be appreciated that the first pushing device 140 may also be supported by wheels that roll directly on the ground 111.

The second pushing device 150 is displaceable in relation to the first pushing device 140 in the second direction Rl, in the present embodiment by it being in the form of a slide which is supported by the first pushing device 140, and which is slidable in the width direction B. It will be appreciated that the second pushing device 150 may also be supported by another structure, such as the ground 111, on which it may for instance roll by means of wheels.

The second pushing device 150 is preferably pivotable in relation to the first pushing device 140 over an angular range T of at least 5, preferably at least 10, angular de- grees in said plane spanned by directions Rl, R2. The second pushing device 150 may rest freely on the first pushing de ^¬ vice 140 or the ground 111, in order to meet these mobility requirements, but it is preferred that, as illustrated in the figures and described below, the first pushing device 140 engages with the second pushing device 150 in a manner so that the freedom of movement of the second pushing device 150 in relation to the first pushing device 140 is limited to such displacement and such pivotability.

According to the invention, the device 110 further comprises means for, in relation to the first pushing device 140, ad ^¬ justing the angular position and the position in the second direction R2 of the second pushing device 150, and means for displacing the first pushing device 140 in the first direc ^¬ tion Rl in the depth direction D towards the vehicle 100, so that the battery 160 which is supported by the second pushing device 150 is thus brought forward towards and up to the storage space 103, 106.

Such a device, with two pushing devices 140, 150 that are movable in relation one to the other, wherein the first pushing device 140 is movable in the depth direction D and the second pushing device 150 is adjustable in the angular and width B directions, achieves a very simple and hence cost effective and robust way of transporting a battery out of, away from, up to and into a storage space in a vehicle 100, parked next to the device 110. The device can be designed to work correctly even with imprecise parking and with very heavy batteries. Additionally, the device 110 can be arranged substantially or entirely above ground, since no equipment for the movement of the vehicle 100 itself is required.

It is preferred that a control device 112 is arranged to control the various actuators in the device 110 as required, in order to move the different parts in relation to each other, and is optionally also arranged to continuously moni ^¬ tor the state of the device 110 in a way which is convention ^¬ al as such. The control device 112 may be connected to the actuators, sensors and the like in a way which is convention ^¬ al per se, such as through a cable connection or wirelessly.

For example, the movement of the first pushing device 140 along the the rails 131a, 131b may be driven and operated by a suitable drive device 132a, 132b, which may comprise an electric motor coupled to appropriate transmission means, such as a belt drive or the like. It is further preferred that a control device is arranged to adjust the position in the width direction B and the angle A of the second pushing device 150 in relation to the pushing device 140. According to a preferred embodiment, which is illustrated in figure la, the said control device comprises two pusher means, each comprising a respective electrical linear motor 144, 145 and a respective drive rod 146, 147, arranged to linearly displace, in relation to the first pushing device, each respective 153, 154 of two different points on the sec ^¬ ond pushing device 150 in a manner wherein the respective linear displacement of the two sliding bodies 144, 146; 145, 147 are substantially mutually independent. In other words, the point 153 on the second pushing device 150 is displacea- ble substantially independently of the point 154 on the sec ^¬ ond pushing device 150. "Substantially independently" shall herein be construed to mean that one point can be displaced a certain distance independently of if the second point is also displaced, with the result that the second pushing device 150 is rotated in relation to the first pushing device 140 if one of said points is displaced to a greater or lesser extent than the said second point. It will be appreciated that such a rotation can also lead to the points being moved in a di- rection perpendicular to that which is achieved using the motors 144, 145.

Hence, it is preferred that the pusher means 144, 146; 145, 147 comprise a respective electric motor 144, 145 each, which may be fixedly disposed at the first pushing device 140, and arranged to transfer a respective linear motion to a respec ^¬ tive point 153, 154 on the second pushing device 150. It will be appreciated that the linearly displacing force may also be transmitted to the points 153, 154 in other ways, such as via a gear arrangement, using hydraulics, and so on.

It is preferred that, as illustrated in figure la, the two linear movements are directed substantially in parallel and substantially in the second direction R2.

Such an arrangement for adjusting the position of the second pushing device 150 in relation to the first pushing device 140 will cause both the width direction B and angular A posi- tion to be easily and reliably adjusted, by adjusting the respective position along the width direction B of the two points 153, 154.

A suitable engagement for the second pushing device 150 in relation to the first pushing device 140 is illustrated in figure la, and comprises a groove 143 in which a pin 151 runs along the width direction B, whereby the second pushing device 150 otherwise runs freely over the surface of the first pushing device 140, such as via a low friction contact or by means of wheels (not shown) between the first 140 and the second 150 pushing devices.

An alternative embodiment for achieving control of the second pushing device 150 in relation to the first pushing device 140 is illustrated in figure lb, wherein only one linear motor 192 is shown, which via a rod 190 is arranged to line ^¬ arly displace a point 155 on the second pushing device 150, preferably a journalled point 155 which represents the center of rotation as the second pushing device 150 rotates in rela ^¬ tion to the first pushing device 140. The linear drive is then combined with a rotational drive, for example comprising an electric motor 193 arranged to rotate the second pushing device 150 in relation to the first pushing device 140 at the point 155. The groove 143 and the pin 151 are advantageously used also in this alternative embodiment, in order to control the movement of the second pushing device 150 in relation to the first pushing device 140. According to a preferred embodiment, the transporting device 110 further comprises pushers 170, 171, arranged to push the second battery 160 from a position adjacent the storage space 103, 106, where the second battery is supported by the second pushing device 150, to a position wherein the second battery instead is supported by the vehicle 100, such as by a device connected to the storage space 103, 106, such as a door 102, 105 to storage space 103, 106. The battery 160 is preferably arranged to be able to slide over a top surface of the second pushing device 150, such as via a ball transfer surface or a material with low surface friction.

The pushers 170, 171 are preferably arranged to be able to bring the battery 160 linearly along the second pushing device 150, and may for example comprise electrically driven blocks 170, 171, guided in grooves 152a, 152b, such as is illustrated in figures la and lb. The blocks 170, 171 may for example comprise a respective individual electric motor each, or be driven by an individual or common electric motor which is fixedly arranged on the second pushing device 150. Figure 3 shows one such block 170 in magnification.

Figures 2a and 2b illustrate, in addition to the first 140 and second 150 pushing device, also a first 180 and a second 181 pushing device in the form of slides, which may be iden ^¬ tical to the pushing devices 140, 150. The pushing device 180 is arranged on a rail 131c similar to the rails 131a, 131b, but which comprises an angled section 131d arranged to guide the first pushing device 180 up towards a storage space 106 arranged with an opening 104 underneath, at the vehicle 100 body bottom. In figure 2a, a position for the first pushing device 180 is illustrated in which the battery 160 has just been handed over from a logistical device 120 (see below) to the pushing device 180. Figure 2b illustrates a position of the pushing device 180 in which the battery 160 is in the process of being delivered to the storage space 106. As is clearly illustrated in figure 2b, the pusher has been acti ^¬ vated, so that the battery 160 has been brought obliquely upwards in the direction Rl, in the depth direction D, across the upper surface of the second pushing device 181 in a di ^¬ rection towards the opening 104, up onto the upper surface of the door 105. Once in this position, the pusher 170 can bring the battery 160 further forward, whereby an engagement means (not shown) of the vehicle 100 engages with and retains the battery 100, after which the first pushing device 180 can again be brought back to the position illustrated in Figure 2a. It is preferred that the angled section 131d is substan ^¬ tially parallel to the door 105 in the folded out position of the latter, whereby the battery 160 is advanced up to and along the door 105 in a direction substantially parallel to the main plane of the door 105. Figure 3 illustrates the pusher 170 in closer detail, specif ^¬ ically, a pusher block of the pusher 170 which is arranged to push the battery (the battery is indicated by dashed lines in figure 3) in the depth direction D. It is preferred that the pusher 170 comprises intercepting means (in figure 3 exemplified using dashed surfaces formed in absorbing material, such as rubber) , arranged to gently receive and support the first battery when the first battery is brought from the storage space 103, 106 to the transporting device 130. The pusher 170 also comprises an engagement member 172, arranged to be acti ^¬ vated to engage with and retain the first battery when it is to be withdrawn from the vehicle 100 in the depth direction D. As is illustrated by the lower pushing device pair 180, 181 in figures 2a and 2b, according to a preferred embodiment the first pushing device 180 is displaceable along an at least partially angled path 131c, running in the depth direction D and also being inclined upwardly in relation to the horizon- tal plane from the device 110 to the vehicle 100, and which is arranged to run towards the storage space 106 in the parked vehicle 100 which has an opening 104 below the vehicle body 100. In this case, when the battery 160 is inserted into an opening 104 in an upwards rather than a sideways direc- tion, the height position of the battery 160 must be adjusted once it has arrived at the opening 104. According to this embodiment, the transporting device 130 is arranged to per ^¬ form such height adjustment of the position of the battery 160 in relation to the opening 104, when the battery 160 is moved forward by the second pushing device 181 to a position adjacent the opening 104, by adjusting the position of the first pushing device 180 along the oblique portion 131d of the path 131c, so that the battery 160 can be brought into a correct position adjacent to the opening 104 for further transfer into engagement with the vehicle 100 in connection to the storage space 106. In order to provide simultaneous adjustment of the vertical height and position in the depth direction D of the battery 160 in relation to the opening 104, it is preferred that the position of the oblique portion 131d of the path 131c is adjusted in the depth direction D, for example via the control device 132c.

The upper pushing device pair 140, 150 in figures 2a and 2b illustrate an alternative embodiment, wherein the first push ^¬ ing device 140 is displaceable along a substantially horizon ^¬ tal path 131a, which is arranged to run towards a storage space 103 in the parked vehicle 100 having an opening 101 in the side of the vehicle 100.

In this latter case, the height position of the battery 160 is adjusted by the vertical position of an attachment point of the path 131a to a logistic device 120 (see below) being adjusted, for example via the control device 132a.

In other words, the position of the battery 160 in relation to the storage space 103, 106 will be adjusted by means of the rail track 131a, 131b, 131c being adjusted in the height and/or depth direction D, by the first pushing device 140, 180 being moved along said rail path, the second pushing device 150, 181 being moved in the width direction B and rotated in relation to the first pushing device, and the battery 160 being translated in relation to the second pushing device in a direction which is substantially parallel to the depth direction D.

To allow some tolerance for malpositioning, it is preferred that a suspension of the first pushing device 140, 180 and/or a suspension of the first pushing device 140, 180 and/or a suspension of the path 131a, 131b, 131c along which the first pushing device 140, 180 is arranged to be guided, comprises spring means arranged to allow the battery 160 to move to some extent relative to the storage space 103, 106. Thereby, the battery 160 can be directed into the opening 101, 104 while any errors in the positioning of the battery 160 in relation to the opening 101, 104 are compensated for by the spring action of said spring means. The logistics device 120 preferably communicates with both an angled path 131c and a horizontal path 131a, 131b, as illus ^¬ trated in figures 2a and 2b, whereby the battery 160 may be brought to a respective pushing device 140, 150 alternatively 180, 181 on either of these paths, depending on whether the opening 101, 104 is present in the side or in the bottom of the vehicle 100. The distribution of the battery 160 to the right pushing device pair may, for example, be administered using a carrying plane 123 which is vertically translatable along vertical rods 121, 122, on which the battery 160 can be transported to the correct height, and further with the help of engagement means 124 in cooperation with the battery 160, which means 124 are driven by an electrically operated con ^¬ trol device 126 in combination with a pusher rod 125. Such a logistics device 120 is preferably connected to a storage (not shown) for discharged and charged batteries, and is preferably controlled by a central computer to automatically bring discharged batteries from pushing device pairs 140, 150; 180, 181 to a charging station in the storage, and to bring charged batteries to appropriate pushing device pairs 140, 150; 180, 181 for further transport to and into the storage spaces 103, 106 in vehicles 100. Such a combined arrangement is facilitated in the case where both the angled pushing device pair and the horizontal pushing device pair are arranged according to the invention, since the rods 121 may then be fixedly disposed.

A method for battery replacement in a vehicle 100 according to the invention thus proceeds as follows.

First, the vehicle 100 is parked next to a transporting de ^¬ vice 130 as described above. The vehicle 100 may be parked at approximately the correct position, but the method is capable of battery replacement even for slightly erroneous or aslant parking of vehicles, even with heavy batteries. A position is detected of the storage space 103, 106 in relation to the transporting device 130, by the device, and the transporting device 130 brings the first battery out of and away from the vehicle 100. Before this, a door 102, 105 may have been opened, preferably at the command of the vehicle 100, such as via a control means which is activatable by the driver of the vehicle 100. The battery can be loosened from its position in the storage space 103, 106 by a deactivation means at the pushers 170, 171, which is arranged to cooperate with the battery 160 or the storage space 103, 106, such as by the battery being initially pressed inwards and towards the vehi ^¬ cle by the pushers 170, 171, which results in that an engage ^¬ ment between the battery and the storage space 103, 106 is released and the battery slides out from the storage space 103, 106.

Next, the transporting device brings a second, charged, bat ^¬ tery 160 up to and into the vehicle 100 storage space 103, 106, in the above described manner, by means of a first push ^¬ ing device 140 which is displaceable in the direction Rl and a second pushing device 150 which is displaceable in the direction R2, wherein the first pushing device 140 is arranged to bring with it the second pushing device 150 in the direction Rl, and the second pushing device 150 in turn being arranged to support the battery 160. In the above described manner, the second pushing device 150 is preferably pivotable in relation to the first pushing device 140 over an angular range T of at least 5, preferably at least 10, angular de ^¬ grees in the plane spanned by directions Rl, R2.

The transporting of the first battery out and away suitably takes place by the help of the same pushing device pair 140, 150; 180, 181.

According to the invention, the second battery 160 is positioned in a position where it is supported by the second pushing device 150, 181, after which the angular- and width direction positions, in relation to the vehicle, of the sec ^¬ ond pushing device 150, 181 are adjusted, in the manner de ^¬ scribed above, by the second pushing device 150, 181 automat ^¬ ically being rotated and displaced in relation to the first pushing device 140, 180, and by the first pushing device 140, 180 automatically being displaced in a direction towards the vehicle 100 so that the second battery 160 is advanced to ^¬ wards the storage space 103, 106.

Above, preferred embodiments have been described. However, it is apparent to the skilled person that many modifications can be made to the disclosed embodiments without departing from the basic idea of the invention.

For example, the above-described electric motors that drive the various moving parts of the device 110 may be designed in many different ways which are in themselves conventional within the field of automation, such as by direct electric power via electric stepping motors or the like; by indirect electrical power through belt, chain or gear arrangements; or by hydraulic power.

The above described slides, provided with wheels or sliding surfaces, may have other mechanisms for being displaced in the directions Rl and R2. Examples include endless conveyor belts .

It is further understood that the details of the engagement of the battery with the vehicle, the handover between vehicle and transporting device, the logistics device, and so on, may vary .

Thus, the invention is not to be limited to the embodiments described, but can be varied within the scope of the enclosed claims .