The invention discloses a heavy
truck battery automatic battery replacing method and
system based on an AGV forklift, and relates to the technical field of energy automobiles, and the method comprises the steps that the AGV forklift travels to a coarse positioning
pose preposition point of a heavy
truck battery pack, and a
tail end operation
sensing system of the AGV forklift obtains an unloading task issued by an AGV dispatching
system; the
tail end operation
sensing system collects an image of a battery compartment area of the heavy
truck, calculates a fine positioning
pose of a
battery pack of the heavy truck according to the image, and feeds back the fine positioning
pose to the AGV forklift; the AGV forklift generates a collision-free local path with the aim that the AGV forklift directly faces the
battery pack according to the current position, the fine positioning posture of the battery pack and the environment map, and the AGV forklift moves to the fine positioning posture of the battery pack of the heavy truck to take out the battery pack of the heavy truck and places the battery pack on a storage frame; the AGV forklift receives a loading task issued by the AGV dispatching
system, takes away the fully-charged battery from the storage rack and installs the fully-charged battery into a heavy truck battery bin; according to the method, the problem of
millimeter-level accurate
butt joint between the heavy truck battery and the vehicle battery compartment is solved, and high efficiency, reliability and safety in the battery replacement process are realized.