Battery replacement station, battery replacement method, device and electronic equipment

Abstract

The embodiments of the present invention provide a battery swap station and a battery replacement method, device and electronic equipment, which relate to the field of automation technology. The battery swap station includes: a control device, a plurality of storage locations and a transfer platform; the transfer platform includes a walking mechanism, a transfer motor and a transfer device, and the transfer motor drives the transfer device to move. Each storage location is used to place a battery and charge the placed battery; after determining that the device to be replaced has entered a preset battery replacement area in the battery swap station, the control device selects a target battery that meets the preset conditions, and sends a battery replacement instruction to the transfer platform for indicating the target storage location where the target battery is located; the transfer platform is used to control the transfer motor to move according to the first calibration data; control the pick-and-place device for taking and placing the battery to obtain the target battery from the target storage location; and replace the battery to be charged in the device to be replaced with the target battery. Compared with the prior art, the application of the solution provided by the embodiment of the present invention can improve the actual utilization rate of the device to be replaced.

Description

Technical Field

[0001] The present invention relates to the field of automation technology, and in particular to a battery swap station and a battery replacement method, device and electronic equipment. Background Art

[0002] As people's living standards improve, devices that facilitate their lives are also developing. Robots, for example, include AGVs (Automated Guided Vehicles) used for transporting objects. Robots require batteries to provide power, enabling them to move and operate.

[0003] When the battery level of a robot is lower than a certain threshold, it indicates that the battery needs to be charged to maintain the normal operation of the robot. For robots that perform different tasks, for example, AGVs that carry large cargoes. In order to maintain normal operation, the battery capacity of this type of AGV is large, which results in a longer charging time for the battery of this type of AGV. Accordingly, since the work content of this type of AGV is to carry various types of large cargoes, the battery of this type of AGV consumes power quickly, resulting in a shorter working time of this type of AGV. In turn, the actual utilization rate of the AGV is low.

[0004] Based on this, how to improve the efficiency of battery replacement, thereby increasing the actual utilization rate of equipment to be replaced, has become an urgent problem that needs to be solved. Summary of the Invention

[0005] The purpose of the embodiments of the present invention is to provide a battery swap station and a battery swap method, device, and electronic device to improve the battery swap efficiency, thereby increasing the actual utilization rate of the device to be swapped. The specific technical solution is as follows:

[0006] In a first aspect, an embodiment of the present invention provides a battery swap station, comprising: a control device, a plurality of storage spaces, and a transfer platform; wherein the transfer platform comprises a traveling mechanism, a transfer motor, and a transfer device, wherein the transfer motor drives the transfer device to move;

[0007] Each storage location is used to place a battery and charge the placed battery;

[0008] The control device is used to determine the storage locations where batteries are placed and the power information of each placed battery; after determining that the device to be replaced has entered the preset battery replacement area in the battery replacement station, select the target battery whose storage location information and power information meet the preset conditions from the placed batteries, and send a battery replacement instruction to the transfer station to indicate the target storage location where the target battery is located;

[0009] The transfer platform is used to receive the battery replacement instruction; control the movement of the walking mechanism according to the arrangement position of the target storage position among the multiple storage positions, so that the transfer platform moves to the spatial position corresponding to the target storage position; control the transfer motor to move according to the pre-calibrated first calibration data corresponding to the target storage position, so that the transfer device moves from the preset zero position to the battery pick-up and placement position corresponding to the target storage position; control the pick-up and placement device for picking up and placing batteries in the transfer device to obtain the target battery from the target storage position; control the movement of the walking mechanism to move the transfer platform to the battery replacement area, and control the pick-up and placement device to replace the battery to be charged in the device to be replaced with the target battery; wherein the first calibration data corresponding to each storage position is calibrated by the transfer platform according to the arrangement position of the storage position among the multiple storage positions and the structural information and size information of each storage position, and the transfer motor drives the transfer device to move from the preset zero position to the movement data of the battery pick-up and placement position corresponding to the storage position.

[0010] Optionally, in a specific implementation,

[0011] The control device is further configured to determine a storage location to be used among the storage locations where no batteries are placed, and to send a battery charging instruction to the transfer station for indicating the storage location to be used;

[0012] The transfer platform is also used to receive the battery charging instruction; control the movement of the walking mechanism according to the arrangement position of the storage position to be used among the multiple storage positions, so that the transfer platform moves to the spatial position corresponding to the storage position to be used; control the transfer motor to move according to the pre-calibrated first calibration data corresponding to the storage position to be used, so that the transfer device moves from the preset zero position to the battery picking and placing position corresponding to the storage position to be used; control the picking and placing device to place the battery to be charged into the storage position to be used, so that the storage position to be used charges the battery to be charged.

[0013] Optionally, in a specific implementation,

[0014] The transfer platform includes: an image acquisition device, the transfer device includes: a battery platform for placing batteries and the pick-and-place device, the pick-and-place device includes: a push-pull rod, the transfer motor includes: a push-pull rod motor, a rotating motor, a lifting motor and a traverse motor, and the transfer platform is also used for:

[0015] Acquire structural information and size information of each storage location, and determine an arrangement position of each storage location among the plurality of storage locations according to the structural information;

[0016] Based on the structural information and the size information, calculating the nominal length of the push-pull rod when taking the battery out of each storage position;

[0017] For each storage location, based on the structural information, the size information and the arrangement position of the storage location, the movement of the walking mechanism, the traverse motor, the lifting motor and the rotary motor are controlled to move so that the battery platform and the push-pull rod are moved to the initial pick-up and placement position corresponding to the storage location; the image acquisition device is controlled to capture the graphic code set in the storage location, and based on the position deviation between the actual position of the graphic code in the captured image and the preset position, the movement of the traverse motor, the lifting motor and the rotary motor are controlled to make the position deviation between the actual position of the graphic code and the preset position in the image captured by the image acquisition device less than the preset deviation; based on the calibration length, the movement of the push-pull rod motor is controlled until a signal is received from the pressure sensor set on the rear side wall of the storage location regarding the squeezing of the push-pull rod; the push-pull rod motor, the rotary motor, the lifting motor and the traverse motor are reset so that the battery platform and the push-pull rod are moved to the preset zero position; the movement data of the push-pull rod motor, the rotary motor, the lifting motor and the traverse motor during the resetting process are determined as the first calibration data corresponding to the storage location.

[0018] Optionally, in a specific implementation,

[0019] The transfer motor further comprises: a block motor, and the transfer device further comprises: a block device; wherein the block device is located at the front end of the push-pull rod;

[0020] The transfer platform is also used to control the movement of the block motor when the push-pull rod takes or places the battery, so that the block device extends into the designated bayonet of the battery to be taken or placed, and rotates to a position where it blocks the designated bayonet.

[0021] Optionally, in a specific implementation,

[0022] The transfer platform is further configured to control the image acquisition device to acquire a graphic code set at the target storage location during the process of controlling the transfer motor to move according to the first calibration data corresponding to the pre-calibrated target storage location;

[0023] When the rotation motor, the lifting motor, and the traverse motor are controlled to move according to the calibration data corresponding to the pre-calibrated target storage position, and the push-pull rod motor is controlled to move so that the push-pull rod is extended to a preset length, the last frame of image captured by the image capture device between the capture start time and the current time is determined;

[0024] Calculate the target deviation between the battery placement position corresponding to the target storage location and the current position of the battery platform based on the position deviation between the actual position of the graphic code set at the target storage location in the last frame of the image and the preset position;

[0025] If the target deviation is not greater than the preset deviation threshold, controlling the push-pull rod motor to move according to the first calibration data corresponding to the target storage position until the movement is completed;

[0026] If the target deviation is greater than a preset deviation threshold, determining whether the adjustment times of the lifting motor, the traverse motor, and the rotation motor are all less than their own preset times thresholds;

[0027] If so, based on the target deviation, the movement of the lifting motor, the lateral motor and the rotating motor are controlled respectively to adjust the current position of the battery platform; and the step of determining the last frame of the image captured by the image acquisition device between the start time of acquisition and the current time is returned.

[0028] Optionally, in a specific implementation,

[0029] The transfer platform is further configured to: for each storage location, control the movement of the push-pull rod motor based on the calibration length until a signal is fed back from a pressure sensor provided on the rear side wall of the storage location regarding the squeezing of the push-pull rod, and then control the movement of the walking mechanism to move the transfer platform to a preset starting position, and in the process of moving the transfer platform to the preset starting position, the movement data of the walking mechanism is determined as the second calibration data corresponding to the storage location;

[0030] The transfer platform controls the movement of the walking mechanism according to the arrangement position of the target storage location among the plurality of storage locations, so as to move the transfer platform to the spatial position corresponding to the target storage location, including:

[0031] The transfer platform controls the walking mechanism to move according to the second calibration data corresponding to the target storage location, so that the transfer platform moves from the preset starting position to the spatial position corresponding to the target storage location.

[0032] Optionally, in a specific implementation,

[0033] The transfer platform is further configured to: determine whether all the transfer devices are at the preset zero position before controlling the transfer motor to move according to the first calibration data corresponding to the pre-calibrated target storage position;

[0034] If yes, controlling the transfer motor to move according to the first calibration data corresponding to the pre-calibrated target storage position;

[0035] Otherwise, the transfer motor is reset to restore the transfer device that is not at the preset zero position to the preset zero position, and the transfer motor is controlled to move according to the first calibration data corresponding to the pre-calibrated target storage position.

[0036] Optionally, in a specific implementation,

[0037] Each storage location is equipped with a battery detection device and a power detection device;

[0038] A battery detection device in each storage location is used to detect whether a battery is placed in the storage location, and when a battery is detected, sends a prompt message to the control device indicating that a battery is placed in the storage location;

[0039] The power detection device of each storage position is used to detect the power information of the battery placed in the storage position according to a preset period when a battery is placed in the storage position, and send the power information to the control device;

[0040] The control device determines each storage location where batteries are placed and the power level information of each placed battery, including:

[0041] Obtain the prompt information and the power information.

[0042] Optionally, in a specific implementation,

[0043] The battery detection device of each storage position is further used to send the battery identification of the battery placed in the storage position to the control device when a battery is placed in the storage position;

[0044] The control device is further configured to record the correspondence between the battery identification and the number of uses of each battery placed therein; receive the battery identification sent by the battery detection device of each storage location; and, for each storage location where a battery is placed, calculate, based on the amount of change in the power information sent by the power detection device of the storage location within each specified period, an update amount of the number of uses of the battery placed therein within each specified period, and update the number of uses of the battery placed therein according to the calculated update amount.

[0045] The control device selects a target battery whose storage location information and power information meet preset conditions from the placed batteries, including:

[0046] For each placed battery, calculate the battery performance score of the battery using the recorded battery power information and the number of times the battery has been used;

[0047] The location information and battery performance score of each battery are used to calculate the backup score of the battery, and the battery with the largest calculated backup score is determined as the target battery.

[0048] Optionally, in a specific implementation,

[0049] The control device is also used to: before the transfer platform controls the picking and placing device for picking and placing batteries in the transfer device to obtain the target battery from the target storage location, send a power-off instruction to the target storage location, so that the target storage location performs a power-off operation after receiving the power-off instruction.

[0050] Optionally, in a specific implementation,

[0051] Each storage location also includes an electronic lock; the electronic lock of each storage location is used to lock when a battery is placed in the storage location; and to open when an unlocking instruction sent by the control device is received.

[0052] The control device is further configured to send an unlocking instruction to the electronic lock of the target storage location after selecting the target battery, so that the electronic lock of the target storage location is opened.

[0053] Optionally, in a specific implementation, the battery swap station further includes auxiliary power supply equipment, and the transfer platform is further used to:

[0054] Before replacing the battery to be charged in the device to be replaced with the target battery, the device to be replaced is connected to the auxiliary power supply device, and after replacing the battery to be charged in the device to be replaced with the target battery, the auxiliary power supply device is disconnected.

[0055] In a second aspect, an embodiment of the present invention provides a battery replacement method, which is applied to a control device in a battery swap station, wherein the battery swap station also includes multiple storage spaces and a transfer platform; wherein the transfer platform includes a walking mechanism, a transfer motor and a transfer device, and the transfer motor drives the transfer device to move. The method includes:

[0056] After determining that the device to be replaced has entered the preset battery replacement area in the battery replacement station, based on the determined storage locations where batteries are placed and the battery information of each placed battery, select a target battery from the placed batteries whose storage location information and power information meet the preset conditions;

[0057] A battery replacement instruction for indicating the target storage location of the target battery is sent to the transfer platform, so that the transfer platform receives the battery replacement instruction and controls the movement of the walking mechanism according to the arrangement position of the target storage location among the multiple storage locations, so that the transfer platform moves to the spatial position corresponding to the target storage location; controls the transfer motor to move according to the pre-calibrated first calibration data corresponding to the target storage location, so that the transfer device moves from the preset zero position to the battery pick-up and placement position corresponding to the target storage location; controls the pick-up and placement device for picking up and placing batteries in the transfer device to obtain the target battery from the target storage location; controls the movement of the walking mechanism so that the transfer platform moves to the battery replacement area, and controls the pick-up and placement device to replace the battery to be charged in the device to be replaced with the target battery; wherein the first calibration data corresponding to each storage location is calibrated by the transfer platform according to the arrangement position of the storage location among the multiple storage locations and the structural information and size information of each storage location, and the transfer motor drives the transfer device to move from the preset zero position to the movement data of the battery pick-up and placement position corresponding to the storage location.

[0058] Optionally, in a specific implementation, the method further includes:

[0059] Determine a storage location to be used among all the storage locations where no battery is placed, and send a battery charging instruction for indicating the storage location to be used to the transfer platform, so that the transfer platform receives the battery charging instruction; control the movement of the walking mechanism according to the arrangement position of the storage location to be used among the multiple storage locations, so that the transfer platform moves to the spatial position corresponding to the storage location to be used; control the transfer motor to move according to the pre-calibrated first calibration data corresponding to the storage location to be used, so that the transfer device moves from the preset zero position to the battery picking and placing position corresponding to the storage location to be used; control the picking and placing device to place the battery to be charged into the storage location to be used, so that the storage location to be used charges the battery to be charged.

[0060] Optionally, in a specific implementation, each storage location is provided with a battery detection device and a power detection device; the method further includes:

[0061] Obtain prompt information and power information for each storage location; wherein, the prompt information is information sent by the battery detection device in the storage location when a battery is detected, indicating that a battery is placed in the storage location; the power information is information sent by the power detection device in the storage location when a battery is placed in the storage location, detecting the power level of the battery placed in the storage location according to a preset period.

[0062] Optionally, in a specific implementation, the method further includes:

[0063] Recording the correspondence between the battery identification and the number of uses of each battery placed therein; receiving the battery identification of the battery placed therein, sent by the power detection device of each storage location; for each storage location where a battery is placed, calculating, based on the amount of change in the power information sent by the power detection device of the storage location within each specified period, an update amount of the number of uses of the battery placed therein within each specified period, and updating the number of uses of the battery placed therein according to the calculated update amount;

[0064] The step of selecting a target battery whose storage location information and power information meet preset conditions from the placed batteries includes:

[0065] For each placed battery, calculate the battery performance score of the battery using the recorded battery power information and the number of times the battery has been used;

[0066] The location information and battery performance score of each battery are used to calculate the backup score of the battery, and the battery with the largest calculated backup score is determined as the target battery.

[0067] Optionally, in a specific implementation, the method further includes:

[0068] Before the transfer platform controls the battery picking and placing device in the transfer device to obtain the target battery from the target storage location, a power-off instruction is sent to the target storage location so that the target storage location performs a power-off operation after receiving the power-off instruction.

[0069] Optionally, in a specific implementation, the method further includes:

[0070] After the target battery is selected, an unlocking instruction is sent to the electronic lock of the target storage location, so that the target storage location opens the electronic lock of the target storage location after receiving the unlocking instruction.

[0071] In a third aspect, an embodiment of the present invention provides another battery replacement method, which is applied to a transfer platform in a battery swap station, wherein the transfer platform also includes multiple storage locations and a control device; wherein the transfer platform includes a walking mechanism, a transfer motor and a transfer device, and the transfer motor drives the transfer device to move. The method includes:

[0072] Receive a battery replacement instruction; wherein the battery replacement instruction is an instruction sent by the control device to indicate the target storage location where the target battery is located. The target battery is selected from the placed batteries by the control device after determining that the device to be replaced has entered a preset battery replacement area in the battery replacement station, based on the determined storage locations where batteries are placed and the power information of each placed battery, and the battery whose storage location information and power information meet preset conditions;

[0073] According to the arrangement position of the target storage location among the multiple storage locations, the walking mechanism is controlled to move so that the transfer platform moves to the spatial position corresponding to the target storage location; the transfer motor is controlled to move according to the pre-calibrated first calibration data corresponding to the target storage location, so that the transfer device moves from the preset zero position to the battery pick-up and placement position corresponding to the target storage location; the pick-up and placement device for picking up and placing batteries in the transfer device is controlled to obtain the target battery from the target storage location; wherein the first calibration data corresponding to each storage location is calibrated according to the arrangement position of the storage location among the multiple storage locations and the structural information and size information of each storage location, and the transfer motor drives the transfer device to move from the preset zero position to the motion data of the battery pick-up and placement position corresponding to the storage location;

[0074] Control the movement of the walking mechanism to move the transfer platform to the battery replacement area, and control the picking and placing device to replace the battery to be charged in the device to be replaced with the target battery.

[0075] Receiving a battery charging instruction; wherein the battery replacement instruction is an instruction sent by the control device to indicate a storage location to be used among various storage locations where no battery is placed;

[0076] According to the arrangement position of the storage position to be used among the multiple storage positions, the movement of the walking mechanism is controlled to move the transfer platform to the spatial position corresponding to the storage position to be used; the transfer motor is controlled to move according to the first calibration corresponding to the pre-calibrated storage position to be used, so that the transfer device moves from the preset zero position to the storage position to be used, and places the battery to be charged into the battery picking and placing position corresponding to the storage position to be used; the picking and placing device is controlled to place the battery to be charged into the storage position to be used, so that the storage position to be used charges the battery to be charged.

[0077] Optionally, in a specific implementation, the transfer platform includes: an image acquisition device, the transfer device includes: a battery platform for placing batteries and the pick-and-place device, the pick-and-place device includes: a push-pull rod, and the transfer motor includes: a push-pull rod motor, a rotating motor, a lifting motor, and a transverse motor; the identification method of the calibration data corresponding to the position information of each storage location includes:

[0078] Acquire structural information and size information of each storage location, and determine an arrangement position of each storage location among the plurality of storage locations according to the structural information;

[0079] Based on the structural information and the size information, calculating the nominal length of the push-pull rod when taking the battery out of each storage position;

[0080] For each storage location, based on the structural information, the size information and the arrangement position of the storage location, the movement of the walking mechanism, the traverse motor, the lifting motor and the rotary motor are controlled to move so that the battery platform and the push-pull rod are moved to the initial pick-up and placement position corresponding to the storage location; the image acquisition device is controlled to capture the graphic code set in the storage location, and based on the position deviation between the actual position of the graphic code in the captured image and the preset position, the movement of the traverse motor, the lifting motor and the rotary motor are controlled to make the position deviation between the actual position of the graphic code and the preset position in the image captured by the image acquisition device less than the preset deviation; based on the calibration length, the movement of the push-pull rod motor is controlled until a signal is received from the pressure sensor set on the rear side wall of the storage location regarding the squeezing of the push-pull rod; the push-pull rod motor, the rotary motor, the lifting motor and the traverse motor are reset so that the battery platform and the push-pull rod are moved to the preset zero position; the movement data of the push-pull rod motor, the rotary motor, the lifting motor and the traverse motor during the resetting process are determined as the first calibration data corresponding to the storage location.

[0081] Optionally, in a specific implementation, the transfer motor further includes: a block motor, and the transfer device further includes: a block device; wherein the block device is located at the front end of the push-pull rod device;

[0082] The transfer platform is also used to control the movement of the block motor when the push-pull rod takes or places the battery, so that the block device extends into the designated bayonet of the battery to be taken or placed, and rotates to a position where it blocks the designated bayonet.

[0083] Optionally, in a specific implementation, the method further includes:

[0084] In the process of controlling the transfer motor to move according to the first calibration data corresponding to the pre-calibrated position information of the target storage location, controlling the image acquisition device to acquire the graphic code set at the target storage location;

[0085] When the rotation motor, the lifting motor, and the traverse motor are controlled to move according to the calibration data corresponding to the pre-calibrated target storage position, and the push-pull rod motor is controlled to move so that the push-pull rod is extended to a preset length, the last frame of image captured by the image capture device between the capture start time and the current time is determined;

[0086] Calculate the target deviation between the battery placement position corresponding to the target storage position and the current position of the battery platform based on the position deviation between the actual position of the graphic code set at the target storage position in the last frame of the image and the preset position;

[0087] If the target deviation is not greater than the preset deviation threshold, controlling the push-pull rod to move according to the first calibration data corresponding to the target storage position until the movement is completed;

[0088] If the target deviation is greater than a preset deviation threshold, determining whether the adjustment times of the lifting motor, the traverse motor, and the rotation motor are all less than their own preset times thresholds;

[0089] If so, based on the target deviation, the movement of the lifting motor, the lateral motor and the rotating motor are controlled respectively to adjust the current position of the battery platform; and the step of determining the last frame of the image captured by the image acquisition device between the start time of acquisition and the current time is returned.

[0090] Optionally, in a specific implementation, the method further includes:

[0091] For each storage location, based on the calibration length, the push-pull rod motor is controlled to move until a signal feedback from the pressure sensor provided on the rear side wall of the storage location regarding the squeezing of the push-pull rod is received, and then the walking mechanism is controlled to move so that the transfer platform moves to a preset starting position. In the process of moving the transfer platform to the preset starting position, the movement data of the walking mechanism is determined as the second calibration data corresponding to the storage location;

[0092] The controlling the movement of the walking mechanism according to the arrangement position of the target storage location among the plurality of storage locations so as to move the transfer platform to a spatial position corresponding to the target storage location includes:

[0093] The walking mechanism is controlled to move according to the second calibration data corresponding to the target storage location, so that the transfer platform moves from the preset starting position to the spatial position corresponding to the target storage location.

[0094] Optionally, in a specific implementation, the method further includes:

[0095] Before controlling the transfer motor to move according to the first calibration data corresponding to the pre-calibrated target storage position, determining whether the transfer devices are all at the preset zero position;

[0096] If yes, controlling the transfer motor to move according to the first calibration data corresponding to the pre-calibrated target storage position;

[0097] Otherwise, the transfer motor is reset to restore the transfer device that is not at the preset zero position to the preset zero position, and the transfer motor is controlled to move according to the first calibration data corresponding to the pre-calibrated target storage position.

[0098] Optionally, in a specific implementation, the battery swap station further includes auxiliary power supply equipment; and the method further includes:

[0099] Before replacing the battery to be charged in the device to be replaced with the target battery, the device to be replaced is connected to the auxiliary power supply device, and after replacing the battery to be charged in the device to be replaced with the target battery, the auxiliary power supply device is disconnected.

[0100] In a fourth aspect, an embodiment of the present invention provides a battery replacement device, which is applied to a control device in a battery swap station, wherein the battery swap station also includes multiple storage spaces and a transfer platform; wherein the transfer platform includes a walking mechanism, a transfer motor and a transfer device, and the transfer motor drives the transfer device to move; the device includes:

[0101] A target battery acquisition module is used to select a target battery whose storage location information and power information meet preset conditions from among the placed batteries based on the determined storage locations where batteries are placed and the battery information of each placed battery after determining that the device to be replaced has entered the preset battery replacement area in the battery replacement station;

[0102] A battery replacement module is used to send a battery replacement instruction indicating the target storage position where the target battery is located to the transfer platform, so that the transfer platform receives the battery replacement instruction and controls the movement of the walking mechanism according to the arrangement position of the target storage position in the multiple storage positions, so that the transfer platform moves to the spatial position corresponding to the target storage position; controls the transfer motor to move according to the pre-calibrated first calibration data corresponding to the target storage position, so that the transfer device moves from the preset zero position to the battery pick-up and placement position corresponding to the target storage position; controls the pick-up and placement device in the transfer device for picking up and placing batteries to obtain the target battery from the target storage position; controls the movement of the walking mechanism so that the transfer platform moves to the battery replacement area, and controls the pick-up and placement device to replace the battery to be charged in the device to be replaced with the target battery; wherein the first calibration data corresponding to each storage position is calibrated by the transfer platform according to the arrangement position of the storage position in the multiple storage positions and the structural information and size information of each storage position, and the transfer motor drives the transfer device to move from the preset zero position to the motion data of the battery pick-up and placement position corresponding to the storage position.

[0103] Optionally, in a specific implementation, the device further includes:

[0104] A battery charging module is used to determine a storage location to be used among the storage locations where no battery is placed, and to send a battery charging instruction for indicating the storage location to be used to the transfer platform, so that the transfer platform receives the battery charging instruction, and controls the movement of the walking mechanism according to the arrangement position of the storage location to be used among the multiple storage locations, so that the transfer platform moves to the spatial position corresponding to the storage location to be used; controls the transfer motor to move according to the pre-calibrated first calibration data corresponding to the storage location to be used, so that the transfer device moves from the preset zero position to the battery picking and placing position corresponding to the storage location to be used; controls the picking and placing device to place the battery to be charged into the storage location to be used, so that the storage location to be used charges the battery to be charged.

[0105] Optionally, in a specific implementation, each storage location is provided with a battery detection device and a power detection device; the device further includes:

[0106] An information acquisition module is used to obtain prompt information and power information of each storage location; wherein, the prompt information is information sent by the battery detection device in the storage location when a battery is detected to indicate that a battery is placed in the storage location; the power information is information sent by the power detection device in the storage location when a battery is placed in the storage location, detecting the power of the battery placed in the storage location according to a preset period.

[0107] Optionally, in a specific implementation, the device further includes:

[0108] The usage count updating module is configured to record the corresponding relationship between the battery identification and usage count of each battery placed therein; receive the battery identification of the battery placed therein, sent by the power detection device of each storage location; calculate, for each storage location where a battery is placed, an updated amount of the usage count of the battery placed therein within each specified period based on the amount of change in the power information sent by the power detection device of the storage location within each specified period, and update the usage count of the battery placed therein according to the calculated updated amount;

[0109] The target battery acquisition module is specifically used for:

[0110] For each placed battery, calculate the battery performance score of the battery using the recorded battery power information and the number of times the battery has been used;

[0111] The location information and battery performance score of each battery are used to calculate the backup score of the battery, and the battery with the largest calculated backup score is determined as the target battery.

[0112] Optionally, in a specific implementation, the device further includes:

[0113] The power-off module is used to send a power-off instruction to the target storage location before the transfer platform controls the pick-up and placement device for picking up and placing batteries in the transfer device to obtain the target battery from the target storage location, so that the target storage location performs a power-off operation after receiving the power-off instruction.

[0114] Optionally, in a specific implementation, the device further includes:

[0115] The unlocking module is used to send an unlocking instruction to the electronic lock of the target storage location after the target battery is selected, so that the target storage location opens the electronic lock of the target storage location after receiving the unlocking instruction.

[0116] In a fifth aspect, an embodiment of the present invention provides another battery replacement device, which is applied to a transfer platform in a battery swap station, wherein the battery swap station also includes multiple storage locations and control equipment; wherein the transfer platform includes a walking mechanism, a transfer motor and a transfer device, and the transfer motor drives the transfer device to move; the device includes:

[0117] An instruction receiving module, configured to receive a battery replacement instruction; wherein the battery replacement instruction is an instruction sent by the control device to indicate a target storage location where a target battery is located, and the target battery is a battery whose storage location information and power information meet preset conditions from among the placed batteries, based on the determined storage locations where batteries are placed and the power information of each placed battery, after the control device determines that the device to be replaced has entered a preset battery replacement area in the battery replacement station;

[0118] The target battery acquisition module controls the movement of the walking mechanism according to the arrangement position of the target storage location among the multiple storage locations, so that the transfer platform moves to the spatial position corresponding to the target storage location; controls the transfer motor to move according to the pre-calibrated first calibration data corresponding to the target storage location, so that the transfer device moves from the preset zero position to the battery pick-up and placement position corresponding to the target storage location; controls the pick-up and placement device for picking up and placing batteries in the transfer device to obtain the target battery from the target storage location; wherein the first calibration data corresponding to each storage location is calibrated according to the arrangement position of the storage location among the multiple storage locations and the structural information and size information of each storage location, and the transfer motor drives the transfer device to move from the preset zero position to the motion data of the battery pick-up and placement position corresponding to the storage location;

[0119] The battery replacement module is used to control the movement of the walking mechanism so that the transfer platform moves to the battery replacement area, and controls the picking and placing device to replace the battery to be charged in the device to be replaced with the target battery.

[0120] Optionally, in a specific implementation, the device further includes:

[0121] A charging module is used to receive a battery charging instruction; wherein, the battery replacement instruction is an instruction for indicating the storage position to be used sent by the control device after the control device determines the storage position to be used among the storage positions where no battery is placed; according to the arrangement position of the storage position to be used among the multiple storage positions, the movement of the walking mechanism is controlled to move the transfer platform to the spatial position corresponding to the storage position to be used; the transfer motor is controlled to move according to the first calibration corresponding to the pre-calibrated storage position to be used, so that the transfer device moves from the preset zero position to the storage position to be used, and places the battery to be charged into the battery picking and placing position corresponding to the storage position to be used; the picking and placing device is controlled to place the battery to be charged into the storage position to be used, so that the storage position to be used charges the battery to be charged.

[0122] Optionally, in a specific implementation, the transfer platform includes: an image acquisition device; the transfer device includes: a battery platform for placing batteries and the pick-and-place device; the pick-and-place device includes: a push-pull rod; the transfer motor includes: a push-pull rod motor, a rotation motor, a lifting motor, and a traverse motor; the device also includes:

[0123] a first calibration data determination module, configured to obtain structural information and size information of each storage location, and determine an arrangement position of each storage location among the plurality of storage locations according to the structural information;

[0124] Based on the structural information and the size information, calculating the nominal length of the push-pull rod when taking the battery out of each storage position;

[0125] For each storage location, based on the structural information, the size information and the arrangement position of the storage location, the movement of the walking mechanism, the traverse motor, the lifting motor and the rotary motor are controlled to move so that the battery platform and the push-pull rod are moved to the initial pick-up and placement position corresponding to the storage location; the image acquisition device is controlled to capture the graphic code set in the storage location, and based on the position deviation between the actual position of the graphic code in the captured image and the preset position, the movement of the traverse motor, the lifting motor and the rotary motor are controlled to make the position deviation between the actual position of the graphic code and the preset position in the image captured by the image acquisition device less than the preset deviation; based on the calibration length, the movement of the push-pull rod motor is controlled until a signal is received from the pressure sensor set on the rear side wall of the storage location regarding the squeezing of the push-pull rod; the push-pull rod motor, the rotary motor, the lifting motor and the traverse motor are reset so that the battery platform and the push-pull rod are moved to the preset zero position; the movement data of the push-pull rod motor, the rotary motor, the lifting motor and the traverse motor during the resetting process are determined as the first calibration data corresponding to the storage location.

[0126] Optionally, in a specific implementation, the transfer motor further includes: a block motor, and the transfer device further includes: a block device; wherein the block device is located at the front end of the push-pull rod device;

[0127] The block adjustment module is used to control the movement of the block motor when the push-pull rod takes or places the battery, so that the block device extends into the designated bayonet of the battery to be taken or placed, and rotates to a position where it blocks the designated bayonet.

[0128] Optionally, in a specific implementation, the device further includes:

[0129] an adjustment module, configured to control the image acquisition device to acquire a graphic code set at the target storage location during the process of controlling the transfer motor to move according to the first calibration data corresponding to the pre-calibrated position information of the target storage location;

[0130] When the rotation motor, the lifting motor, and the traverse motor are controlled to move according to the calibration data corresponding to the pre-calibrated target storage position, and the push-pull rod motor is controlled to move so that the push-pull rod is extended to a preset length, the last frame of image captured by the image capture device between the capture start time and the current time is determined;

[0131] Calculate the target deviation between the battery placement position corresponding to the target storage position and the current position of the battery platform based on the position deviation between the actual position of the graphic code set at the target storage position in the last frame of the image and the preset position;

[0132] If the target deviation is not greater than the preset deviation threshold, controlling the push-pull rod to move according to the first calibration data corresponding to the target storage position until the movement is completed;

[0133] If the target deviation is greater than a preset deviation threshold, determining whether the adjustment times of the lifting motor, the traverse motor, and the rotation motor are all less than their own preset times thresholds;

[0134] If so, based on the target deviation, the movement of the lifting motor, the lateral motor and the rotating motor are controlled respectively to adjust the current position of the battery platform; and the step of determining the last frame of the image captured by the image acquisition device between the start time of acquisition and the current time is returned.

[0135] Optionally, in a specific implementation, the device further includes:

[0136] A second calibration data determination module is used for controlling the movement of the push-pull rod motor for each storage location based on the calibration length until a signal is received from a pressure sensor provided on the rear side wall of the storage location regarding the squeezing of the push-pull rod, and then controlling the movement of the walking mechanism to move the transfer platform to a preset starting position. During the process of moving the transfer platform to the preset starting position, the movement data of the walking mechanism is determined as the second calibration data corresponding to the storage location.

[0137] The target battery acquisition module is specifically used for:

[0138] The walking mechanism is controlled to move according to the second calibration data corresponding to the target storage location, so that the transfer platform moves from the preset starting position to the spatial position corresponding to the target storage location.

[0139] Optionally, in a specific implementation, the device further includes:

[0140] a zeroing module, configured to determine whether the transfer devices are all at the preset zero position before controlling the transfer motor to move according to the first calibration data corresponding to the pre-calibrated target storage position;

[0141] If yes, controlling the transfer motor to move according to the first calibration data corresponding to the pre-calibrated target storage position;

[0142] Otherwise, the transfer motor is reset to restore the transfer device that is not at the preset zero position to the preset zero position, and the transfer motor is controlled to move according to the first calibration data corresponding to the pre-calibrated target storage position.

[0143] Optionally, in a specific implementation, the battery swap station further includes auxiliary power supply equipment; and the device further includes:

[0144] An auxiliary power supply module is used to connect the device to be replaced to the auxiliary power supply device before the battery to be charged in the device to be replaced is replaced by the target battery, and to disconnect the auxiliary power supply device after the battery to be charged in the device to be replaced is replaced by the target battery.

[0145] In a sixth aspect, an embodiment of the present invention provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus;

[0146] Memory for storing computer programs;

[0147] The processor is used to implement the steps of any battery replacement method provided in the second aspect when executing the program stored in the memory, and / or implement the steps of any battery replacement method provided in the third aspect.

[0148] In the seventh aspect, an embodiment of the present invention provides a computer-readable medium, which stores a computer program. When the computer program is executed by a processor, it implements the steps of any battery replacement method provided in the second aspect, and / or implements the steps of any battery replacement method provided in the third aspect.

[0149] In an eighth aspect, an embodiment of the present invention provides a computer program product comprising instructions, which, when run on a computer, enables the computer to execute the steps of any battery replacement method provided in the second aspect above, and / or the steps of any battery replacement method provided in the third aspect above.

[0150] Beneficial effects of the embodiments of the present invention:

[0151] As can be seen from the above, by applying the solution provided by the embodiment of the present invention, a battery swap station including a control device, a plurality of storage locations and a transfer platform can be set up, wherein the transfer platform includes a walking mechanism, a transfer motor and a transfer device, and the transfer motor drives the transfer device to move. Each storage location is used to place a battery and charge the placed battery. Before using the battery swap station to replace the battery of the battery swap equipment, the transfer platform can pre-calibrate the motion data of controlling the transfer motor to drive the transfer device from a preset zero position to the battery pick-up and placement position corresponding to each storage location based on the arrangement position of each storage location in the plurality of storage locations and the structural information and size information of each storage location in the battery swap station, so as to obtain the first calibration data corresponding to each storage location.

[0152] In this way, after determining that the device to be replaced has entered the preset battery replacement area in the battery replacement station, the control device can select the target battery whose storage location information and power information meet the preset conditions from the various placed batteries, and send a battery replacement instruction to the transfer platform to indicate the target storage location where the target battery is located. After receiving the above-mentioned battery replacement instruction, the transfer platform can control the movement of the above-mentioned walking mechanism according to the arrangement position of the above-mentioned target storage location in multiple storage locations, so that the above-mentioned transfer platform moves to the spatial position corresponding to the above-mentioned target storage location, and control the above-mentioned transfer device to move according to the first calibration data corresponding to the above-mentioned target storage location that is pre-calibrated, so that the above-mentioned transfer device moves from the above-mentioned preset zero position to the battery pick-up and placement position corresponding to the above-mentioned target storage location, and then control the pick-up and placement device for picking up and placing batteries in the above-mentioned transfer device to obtain the above-mentioned target battery from the above-mentioned target storage location, and then control the movement of the above-mentioned walking mechanism to move the above-mentioned transfer platform to the above-mentioned battery replacement area, and control the above-mentioned pick-up and placement device to replace the battery to be charged in the device to be replaced with the above-mentioned target battery.

[0153] Based on this, by applying the solution provided by the embodiment of the present invention, batteries with higher power can be placed in each storage space in the battery swap station. Thus, when the battery power of the device to be swapped is low, the battery with lower power of the device to be swapped can be directly replaced with a battery with higher power placed in the storage space of the battery swap station by using the control device and the transfer platform in the battery swap station. Thus, there is no need to wait for the battery with lower power of the device to be swapped to be charged, which can save the battery charging time of the device to be swapped, improve the battery replacement efficiency, and further improve the actual utilization rate of the device to be swapped.

[0154] Furthermore, by applying the solution provided by the embodiment of the present invention, the control device in the battery swap station can automatically select a suitable target battery to replace the battery to be charged in the device to be swapped based on the location information of each storage location where the battery is placed and the power level of the battery placed therein. This eliminates the need for the intervention of an additional cloud platform scheduling system, reduces the complexity of communication during the battery replacement process, and improves the intelligence of the battery swap station. In addition, the transfer station can automatically calibrate the calibration data corresponding to each storage location, avoiding the problems of cumbersome process, large errors, and difficult equipment maintenance caused by manual calibration of the calibration data corresponding to each storage location. BRIEF DESCRIPTION OF THE DRAWINGS

[0155] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0156] Figure 1 This is a structural diagram of a battery swap station according to an embodiment of the present invention;

[0157] Figure 2 This is a schematic diagram of signaling interaction in a battery swap station according to an embodiment of the present invention;

[0158] Figure 3 This is a schematic diagram of a storage arrangement according to an embodiment of the present invention;

[0159] Figure 4 A schematic flow chart of a battery replacement method provided in an embodiment of the present invention;

[0160] Figure 5 A schematic flow chart of another battery replacement method provided in an embodiment of the present invention;

[0161] Figure 6 A schematic structural diagram of a battery replacement device provided in an embodiment of the present invention;

[0162] Figure 7 A schematic structural diagram of another battery replacement device provided by an embodiment of the present invention;

[0163] Figure 8 A schematic structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0164] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field based on this application are within the scope of protection of the present invention.

[0165] At present, with the improvement of people's living standards, equipment that facilitates people's lives is also constantly developing, such as AGVs used for transportation. Among them, robots need batteries to provide power so that the robots can move and work. When the battery power of the robot is lower than a certain power threshold, it indicates that the battery needs to be charged to maintain the normal operation of the above-mentioned robot. For robots that perform different tasks, for example, AGVs that carry large goods. In order to maintain normal operation, the battery capacity of this type of AGV is large, which results in a longer charging time for the battery of this type of AGV. Correspondingly, since the work content of this type of AGV is to carry various types of large goods, the battery of this type of AGV consumes power quickly, resulting in a shorter working time of this type of AGV. In turn, the actual utilization rate of the AGV is low. Based on this, how to improve the efficiency of battery replacement, thereby increasing the actual utilization rate of the robot, has become a problem that urgently needs to be solved.

[0166] In order to solve the above technical problems, an embodiment of the present invention provides a battery swap station.

[0167] The battery swap station includes control equipment, multiple storage locations and a transfer platform, wherein the transfer platform includes a walking mechanism, a transfer motor and a transfer device, and the transfer motor drives the transfer device to move.

[0168] Among them, the battery swap station can replace batteries for various devices that use removable batteries, such as AGVs, electric bicycles, etc. The control equipment in the battery swap station can be various electronic devices such as servers that can exchange information. The transfer platform in the battery swap station can include a walking mechanism, various transfer motors and various transfer devices, wherein the transfer device moves under the drive of the transfer motor, and the transfer platform can move under the drive of the walking mechanism. For example, various transfer motors are used to enable the battery platform for placing batteries in the transfer platform to rotate, translate, move up and down, etc., and transfer motors are used to drive the extension and retraction of the pick-up and place device for picking up and placing batteries.

[0169] An embodiment of the present invention provides a battery swap station, wherein:

[0170] Each storage location is used to place a battery and charge the placed battery;

[0171] The control device is used to determine the storage locations where batteries are placed and the power information of each placed battery; after determining that the device to be replaced has entered the preset battery replacement area in the battery replacement station, select the target battery whose storage location information and power information meet the preset conditions from the placed batteries, and send a battery replacement instruction to the transfer station to indicate the target storage location where the target battery is located;

[0172] The transfer platform is used to receive the battery replacement instruction; control the movement of the walking mechanism according to the arrangement position of the target storage position among the multiple storage positions, so that the transfer platform moves to the spatial position corresponding to the target storage position; control the transfer motor to move according to the pre-calibrated first calibration data corresponding to the target storage position, so that the transfer motor moves from the preset zero position to the battery pick-up and placement position corresponding to the target storage position; control the pick-up and placement device for picking up and placing batteries in the transfer device to obtain the target battery from the target storage position; control the movement of the walking mechanism to move the transfer platform to the battery replacement area, and control the pick-up and placement device to replace the battery to be charged in the device to be replaced with the target battery;

[0173] Among them, the first calibration data corresponding to each storage location is calibrated by the transfer platform according to the arrangement position of the storage location among the multiple storage locations and the structural information and size information of each storage location, and the transfer motor drives the transfer device to move from the preset zero position to the motion data of the battery picking and placing position corresponding to the storage location.

[0174] As can be seen from the above, by applying the solution provided by the embodiment of the present invention, a battery swap station including a control device, a plurality of storage locations and a transfer platform can be set up, wherein the transfer platform includes a walking mechanism, a transfer motor and a transfer device, and the transfer motor drives the transfer device to move. Each storage location is used to place a battery and charge the placed battery. Before using the battery swap station to replace the battery of the battery swap equipment, the transfer platform can pre-calibrate the motion data of controlling the transfer motor to drive the transfer device from a preset zero position to the battery pick-up and placement position corresponding to each storage location based on the arrangement position of each storage location in the plurality of storage locations and the structural information and size information of each storage location in the battery swap station, so as to obtain the first calibration data corresponding to each storage location.

[0175] In this way, after determining that the device to be replaced has entered the preset battery replacement area in the battery replacement station, the control device can select the target battery whose storage location information and power information meet the preset conditions from the various placed batteries, and send a battery replacement instruction to the transfer platform to indicate the target storage location where the target battery is located. After receiving the above-mentioned battery replacement instruction, the transfer platform can control the movement of the above-mentioned walking mechanism according to the arrangement position of the above-mentioned target storage location in multiple storage locations, so that the above-mentioned transfer platform moves to the spatial position corresponding to the above-mentioned target storage location, and control the above-mentioned transfer device to move according to the first calibration data corresponding to the above-mentioned target storage location that is pre-calibrated, so that the above-mentioned transfer device moves from the above-mentioned preset zero position to the battery pick-up and placement position corresponding to the above-mentioned target storage location, and then control the pick-up and placement device for picking up and placing batteries in the above-mentioned transfer device to obtain the above-mentioned target battery from the above-mentioned target storage location, and then control the movement of the above-mentioned walking mechanism to move the above-mentioned transfer platform to the above-mentioned battery replacement area, and control the above-mentioned pick-up and placement device to replace the battery to be charged in the device to be replaced with the above-mentioned target battery.

[0176] Based on this, by applying the solution provided by the embodiment of the present invention, batteries with higher power can be placed in each storage space in the battery swap station. Thus, when the battery power of the device to be swapped is low, the battery with lower power of the device to be swapped can be directly replaced with a battery with higher power placed in the storage space of the battery swap station by using the control device and the transfer platform in the battery swap station. Thus, there is no need to wait for the battery with lower power of the device to be swapped to be charged, which can save the battery charging time of the device to be swapped, improve the battery replacement efficiency, and further improve the actual utilization rate of the device to be swapped.

[0177] Furthermore, by applying the solution provided by the embodiment of the present invention, the control device in the battery swap station can automatically select a suitable target battery to replace the battery to be charged in the device to be swapped based on the location information of each storage location where the battery is placed and the power level of the battery placed therein. This eliminates the need for the intervention of an additional cloud platform scheduling system, reduces the complexity of communication during the battery replacement process, and improves the intelligence of the battery swap station. In addition, the transfer station can automatically calibrate the calibration data corresponding to each storage location, avoiding the problems of cumbersome process, large errors, and difficult equipment maintenance caused by manual calibration of the calibration data corresponding to each storage location.

[0178] A battery swap station provided by an embodiment of the present invention is described in detail below with reference to the accompanying drawings.

[0179] Figure 1 A schematic diagram of a battery swap station provided by an embodiment of the present invention is shown in FIG. Figure 1As shown, the battery swap station 101 may include a control device 102, multiple storage locations 103 and a transfer platform 104. The transfer platform 104 includes a walking mechanism, a transfer motor and a transfer device. The transfer motor drives the transfer device to move.

[0180] Each storage location 103 is used to place a battery and charge the placed battery;

[0181] The control device 102 is used to determine the storage locations 103 where batteries are placed and the power information of each battery placed therein; after determining that the device to be replaced has entered the preset battery replacement area in the battery replacement station 101, the control device 102 selects the target battery whose location information and power information of the storage location 103 meet the preset conditions from the placed batteries, and sends a battery replacement instruction indicating the target storage location 103 where the target battery is located to the transfer station 104;

[0182] The transfer platform 104 is used to receive a battery replacement instruction; according to the arrangement position of the target storage position 103 in the multiple storage positions 103, the walking mechanism is controlled to move so that the transfer platform 104 moves to the spatial position corresponding to the target storage position 103; the transfer device is controlled according to the first calibration data corresponding to the pre-calibrated target storage position 103, so that the transfer device moves from a preset zero position to a battery pick-up and placement position corresponding to the target storage position 103; the pick-up and placement device for picking up and placing batteries in the transfer device is controlled to obtain the target battery from the target storage position 103; the walking mechanism is controlled to move so that the transfer platform 104 moves to the battery replacement area, and the pick-up and placement device is controlled to replace the battery to be charged in the device to be replaced with the target battery;

[0183] Among them, the first calibration data corresponding to each storage location 103 is calibrated by the transfer platform 104 according to the arrangement position of the storage location 103 among multiple storage locations 103 and the structural information and size information of each storage location 103, and the transfer motor drives the transfer device to move from the preset zero position to the motion data of the battery picking and placing position corresponding to the storage location 103.

[0184] Next, in conjunction with the signaling interaction process between the control device 102 and the transfer station 104, Figure 1 A battery swap station provided by the embodiment of the present invention is specifically described.

[0185] Figure 2 A signaling interaction diagram of a battery swap station provided by an embodiment of the present invention is shown in FIG. Figure 2 As shown, the signaling interaction process between the control device 102 and the transfer platform 104 may include the following steps S201-S205.

[0186] S201: The control device 102 determines each storage location 103 where batteries are placed and the power level information of each placed battery.

[0187] In order to facilitate the replacement of batteries in the battery-changing device, the control device 102 can select batteries from the batteries placed in each storage position 103. The control device 102 can determine the power information of each storage position 103 in the battery exchange station 101 and the batteries placed in each storage position 103.

[0188] Optionally, in a specific implementation, each storage location 103 may be provided with a battery detection device and a power detection device.

[0189] The battery detection device of each storage location 103 is used to detect whether a battery is placed in the storage location 103, and when a battery is detected, sends a prompt message to the control device 102 indicating that a battery is placed in the storage location 103;

[0190] The power detection device of each storage position 103 is used to detect the power information of the battery placed in the storage position 103 according to a preset period when a battery is placed in the storage position 103, and send the power information to the control device 102.

[0191] Accordingly, in this specific implementation, the above step S201 may include the following step 2011:

[0192] Step 2011: Acquire the prompt information sent by the battery detection device of each storage location 103 and the power information sent by the power detection device of each storage location 103.

[0193] In this specific implementation, each storage location may be provided with a battery detection device and a power detection device.

[0194] For each storage location 103, a battery detection device of the storage location 103 can be used to detect whether a battery is placed in the storage location 103. When a battery is detected, the battery detection device can send a prompt message to the control device 102 indicating that a battery is placed in the storage location 103. Optionally, the battery detection device of each storage location 103 is a pressure sensor.

[0195] The prompt information sent by the battery detection device of each storage location 103 may include one or more types of signals such as color signals, text signals, etc. This embodiment of the present invention does not specifically limit this.

[0196] Furthermore, since the power information of the battery placed in each storage position 103 changes as the charging time increases during the charging process, the power information of the battery placed in the storage position 103 will maintain a fixed data until the battery is fully charged. Therefore, for each storage position 103, the power detection device of the storage position 103 can detect the power information of the battery placed in the storage position 103 according to a preset period when a battery is placed in the storage position 103, and send the power information to the control device 102. Optionally, the power detection device of each storage position 103 is a power sensor.

[0197] In this way, the control device 102 can obtain the above-mentioned prompt information and the above-mentioned power information respectively sent by the battery detection device and the power detection device of each storage position 103. Therefore, since the above-mentioned prompt information can indicate the storage position 103 where the battery is placed, and the control device can know the source of each power information, that is, the power detection device that sends each power information, it can determine the storage position where the battery with each power information is placed according to the preset correspondence between the power detection device and each storage position 103. Therefore, it is possible to determine the power information of each storage position 103 where the battery is placed and each battery placed in each storage position 103 of the battery swap station.

[0198] For example, a pressure sensor, a power sensor, a charging cable, and a communication cable are provided in each storage location 103, wherein the pressure sensor is located behind the side wall of the storage location 103. For each storage location 103, if there is a battery in the storage location 103, when the battery is placed in the storage location 103, the friction between the battery and the rear side wall of the storage location 103 will trigger the pressure sensor behind the side wall of the storage location 103, causing the pressure sensor to send a prompt message to the control device 102 indicating that a battery is placed in the storage location 103. While each battery is placed in the storage location 103, the charging cable can be used to charge the battery, and the power information of the battery can be detected using the power sensor. Then, the power information detected by the power sensor is sent to the control device 102 using the communication cable.

[0199] S202: After determining that the device to be battery-exchanged enters the preset battery replacement area in the battery exchange station 101, the control device 102 selects a target battery whose location information and power information of the storage position 103 meet the preset conditions from the various placed batteries.

[0200] In order to prevent the device to be replaced from stopping operation due to battery exhaustion during normal operation, or stopping movement due to battery exhaustion when returning to the battery swap station 101 for battery replacement, a low battery threshold can be set in advance. When the battery level of the device to be replaced reaches the low battery threshold, the device to be replaced enters the battery swap station 101 for battery replacement.

[0201] When the device to be replaced arrives at the battery replacement station 101, a battery replacement area is set up in advance to facilitate the transfer platform 104 to replace the battery for the device to be replaced. After it is determined that the above-mentioned device to be replaced enters the above-mentioned battery replacement area, the control device 102 can select the target battery whose storage position 103 location information and power information meet the preset conditions from the various placed batteries.

[0202] Optionally, a graphic code for storing the location information of the battery replacement area can be set in the battery replacement area. After the device to be replaced enters the above-mentioned battery replacement area, the image acquisition device located at the bottom of the device to be replaced can be used to identify the above-mentioned graphic code to obtain the location information of the above-mentioned battery replacement area. Thus, the location information of the above-mentioned battery replacement area and its own location information can be used to determine whether it is in a position convenient for battery replacement. If it is not in a position convenient for battery replacement, adjust its own position so that the device to be replaced is in a position convenient for battery replacement. In addition, after the adjustment is completed, the device to be replaced can send a battery replacement request to the control device 102, so that the control device 102 responds to the battery replacement request after receiving the above-mentioned battery replacement request. That is to say, after receiving the above-mentioned battery replacement request, the control device 102 selects the target battery whose location information and power information of the storage position 103 meet the preset conditions from the various batteries placed.

[0203] Among them, the control device 102 can determine the distance between each storage location 103 where the battery is placed and the current location of the transfer platform 104 based on the location information of each storage location 103 where the battery is placed, and then, based on the above distance and the power information of each placed battery, select the target battery whose storage location information and power information meet the preset conditions, so as to avoid the power of the selected target battery being insufficient to maintain the normal operation of the equipment to be replaced, and the battery replacement time being longer and the energy consumption of the transfer platform 104 being higher due to the long distance between the target storage location where the selected target battery is located and the current location of the above transfer platform 104, thereby saving battery replacement time and improving the efficiency of battery replacement.

[0204] For example, the storage location 103 where the power information of the placed battery is higher than the preset high power threshold is determined as the initial storage location to be selected; based on the distance between each initial storage location 103 to be selected and the transfer platform 104, among each initial storage location to be selected, the battery placed in the initial storage location 103 to be selected that is closest to the current position of the transfer platform 104 is selected as the target battery.

[0205] For another example, based on the location information of each storage location 103 where the battery is placed, the distance between each storage location 103 where the battery is placed and the current location of the transfer platform 104 is determined. Then, based on the preset distance weight and power weight, for each placed battery, the product of the power of the battery and the above-mentioned power weight, as well as the product of the distance from the storage location 103 where the battery is placed to the current location of the transfer platform 104 and the distance weight are calculated. The sum of the above two products is further calculated to obtain the weight sum of the battery, and thus the battery with the largest weight sum is taken as the target battery.

[0206] Typically, a battery is factory-set with a set total number of uses, etc. Therefore, when the battery's usage times do not reach that total number, the battery can maintain a good power supply capability. However, when the battery's usage times exceed that total number, the battery's power supply capability will weaken. Furthermore, to ensure that the battery maintains a good power supply capability, the battery in the battery swap station can be replaced when its service life reaches the set service life. Based on this, in order to ensure that each battery placed in the battery swap station can be fully utilized, the usage times of the batteries placed in the battery swap station can be balanced.

[0207] Optionally, in a specific implementation,

[0208] The battery detection device of each storage position 103 is further configured to send a battery identification of the battery placed in the storage position 103 to the control device 102 when a battery is placed in the storage position 103;

[0209] The control device 102 is further used to record the correspondence between the battery identification and the number of uses of each battery placed therein; receive the battery identification sent by the battery detection device of each storage position 103; for each storage position 103 where a battery is placed, based on the change in the power information sent by the power detection device of the storage position 103 obtained within each specified period, calculate the update amount of the number of uses of the battery placed in the storage position 103 within each specified period; and update the number of uses of the battery placed in the storage position 103 according to the calculated update amount.

[0210] Accordingly, in this specific implementation, the above step S202, in which the control device 102 selects a target battery whose location information and power information of the target storage location 103 meet the preset conditions from the placed batteries, may include steps 2021-2022:

[0211] Step 2021: For each placed battery, calculate the battery performance score of the battery using the recorded battery power information and the number of times the battery has been used;

[0212] Step 2022: Calculate the backup score of each battery using the location information and battery performance score of the battery, and determine the battery with the largest calculated backup score as the target battery.

[0213] In this specific implementation, in order to balance the usage times of each battery in the above-mentioned battery swap station 101 so that each battery can be fully utilized, the control device 102 can select the above-mentioned target battery according to the usage times of each placed battery.

[0214] For each storage position 103, when a battery is placed in the storage position 103, the battery detection device of the storage position 103 can detect the battery identification of the battery and send the battery identification to the control device 102; and the storage position 103 can charge the battery, so that the power detection device of the storage position 103 can detect the power information of the battery according to a preset period and send the power information to the control device 102.

[0215] Thus, for each storage location 103, when a battery is placed in the storage location 103, the control device 102 can receive the battery identification and power information of the battery placed in the storage location 103. Furthermore, the control device 102 can calculate the updated number of times the battery placed in the storage location has been used in each specified period based on the change in the acquired power information in each specified period. Then, the control device 102 can update the number of times the battery placed in the storage location 103 has been used according to the calculated updated number. In other words, the control device 102 can determine the corresponding relationship between the battery identification and the updated power of each placed battery.

[0216] The designated period may be the same as or different from the preset period, and when the designated period is different from the preset period, the duration corresponding to the designated period is greater than the duration corresponding to the preset period.

[0217] Based on this, since the control device 102 can record the correspondence between the battery identification and the number of uses of each placed battery, then, when the control device 102 can determine the correspondence between the battery identification and the update amount of each placed battery, for each placed battery, the control device 102 can use the correspondence between the battery identification and the update amount of each battery to update the number of uses corresponding to the battery identification in the correspondence between the battery identification and the number of uses of each battery, thereby completing the update of the number of uses of each placed battery.

[0218] For each placed battery, the control device 102 may update the recorded usage count of the battery every time an update amount is calculated according to the above-specified period.

[0219] Optionally, for each battery, the ratio of the amount of power increase of the battery in each specified cycle to the total power of the battery after it is fully charged can be used as the updated amount of the number of times the battery is used in the specified cycle.

[0220] For example, within a specified period, the proportion of the power of a placed battery to the total power of the battery after it is fully charged increases from 50% to 90%, then it can be determined that the update amount of the battery usage count is 0.4; further, assuming that before the start of the specified period, the control device 102 recorded the battery usage count as 0.8, then after the end of the specified period, the control device 102 will update the recorded battery usage count to: 1.2.

[0221] In this way, when the control device 102 selects the target battery whose location information and power information of the storage position 103 meet the preset conditions from the placed batteries, it can calculate the battery performance score of each placed battery using the recorded power information of the battery and the number of times the battery is used. Therefore, the backup score of each battery can be calculated using the location information and battery performance score of the battery, and then the battery with the largest calculated backup score can be determined as the target battery.

[0222] Optionally, the battery performance score of each battery can be calculated using the following formula:

[0223] B i =αb sohi (y)+βb sohi (y)

[0224] Among them, B i Characterizes the battery performance score of the i-th battery, b sohi (y) represents the power information of the i-th battery, b sohi(y) represents the number of times the i-th battery is used, α represents the coefficient for calculating the power information of the i-th battery, and β represents the coefficient for calculating the number of times the i-th battery is used.

[0225] Then, the obtained location information of the storage location 103 of the battery and the battery performance score can be used to calculate the backup score of the battery, so that the battery with the largest calculated backup score can be determined as the target battery.

[0226] In this way, the control device 102 can comprehensively consider the power information, usage times and storage location information of each battery and select a target battery from the placed batteries.

[0227] Optionally, the following formula may be used to calculate the reserve fraction of each placed battery. The above formula is expressed as:

[0228] F i =G i (x)+H i +B i

[0229] Among them, F i Characterizes the spare fraction of the placed i-th battery, G i (x) represents the Euclidean distance from the storage location 103 corresponding to the i-th battery to the current location of the transfer platform 104, H i The Manhattan distance between the storage location 103 corresponding to the i-th battery and the current location of the transfer station 104 is represented by B i Characterizes the battery performance score of the i-th battery.

[0230] The so-called Euclidean distance refers to the straight-line distance between two points in m-dimensional space.

[0231] The so-called Manhattan distance is the sum of the distances between the projections of the line segment formed by two points on the axis in a fixed rectangular coordinate system in Euclidean space. It is important to note that the Manhattan distance depends on the rotation of the coordinate system, not the translation or mapping of the system on the coordinate axis.

[0232] Optionally, when each storage position 103 is provided with a power detection device that detects the power information of the battery placed in the storage position according to a preset period and sends the detected power information to the control device 102, then, when the control device 102 calculates the battery performance score of each placed battery using the power information of the battery and the number of times the battery has been used, the power information of the battery used is the latest power information of the battery obtained from the power detection device set in the storage position 103 where the battery is placed.

[0233] S203: The control device 102 sends a battery replacement instruction to the transfer platform 104, indicating the target storage location 103 where the target battery is located.

[0234] After determining the target battery, the control device 102 can send a battery replacement instruction to the transfer station 104 to indicate the target storage location 103 where the target battery is located, so that the transfer station can obtain the target battery from the target storage location 103 after receiving the battery replacement instruction.

[0235] S204: The transfer platform 104 receives a battery replacement instruction; according to the arrangement position of the target storage position 103 among the multiple storage positions 103, the walking mechanism is controlled to move, so that the transfer platform 104 moves to the spatial position corresponding to the target storage position 103; the transfer motor is controlled to move according to the first calibration data corresponding to the pre-calibrated target storage position 103, so that the transfer device moves from the preset zero position to the battery pick-up and placement position corresponding to the target storage position 103; the pick-up and placement device for picking up and placing batteries in the transfer device is controlled to obtain the target battery from the target storage position 103.

[0236] Among them, the first calibration data corresponding to each storage location 103 is calibrated by the transfer platform 104 according to the arrangement position of the storage location 103 among multiple storage locations 103 and the structural information and size information of each storage location. The transfer motor drives the transfer device to move from the preset zero position to the motion data of the battery picking and placing position corresponding to the storage location 103.

[0237] The transfer platform 104 can pre-calibrate the motion data of the transfer motor controlled by the transfer platform 104 to drive the transfer device from a preset zero position to the battery pick-up and placement position corresponding to the storage location 103 according to the arrangement position of each storage location 103 in multiple storage locations 103 and the structural information and size information of each storage location, thereby obtaining the first calibration data corresponding to each storage location 103.

[0238] Furthermore, after the transfer platform 104 receives the battery replacement instruction sent by the control device 102 to indicate the target storage location 103 where the target battery is located, the transfer platform 104 can control the movement of the transfer platform's walking mechanism according to the arrangement position of the above-mentioned target storage location 103 among multiple storage locations 103, so as to move the transfer platform to the spatial position corresponding to the above-mentioned target storage location 103.

[0239] Among them, the so-called spatial position corresponding to the target storage location 103 refers to: in the spatial area where the battery swap station is located, in front of the battery access port of the target storage location 103, so that the transfer device can align with the position of the target storage location 103.

[0240] Thus, after the transfer platform moves to the spatial position corresponding to the above-mentioned target storage location 103, the transfer platform 104 can control the transfer motor of the transfer platform 104 to move according to the pre-calibrated first calibration data corresponding to the above-mentioned target storage location 103, so that the transfer device can move from the preset zero position to the battery picking and placing position corresponding to the above-mentioned target storage location 103, and then, the transfer platform 104 can use the picking and placing device for picking and placing batteries in the transfer device to obtain the target battery from the above-mentioned target storage location 103.

[0241] When the transfer device is located at the battery pick-up and placement position corresponding to the target storage location 103 , the transfer device can be aligned with the target storage location 103 so that the pick-up and placement device can take out the battery from the target storage location 103 .

[0242] For example, the first calibration data corresponding to each storage location 103 obtained by pre-calibration of the transfer platform 104 is γ. After the transfer platform 104 receives the battery replacement instruction for indicating the target storage location 103, it can search for the first calibration data D corresponding to the target storage location 103 in the first calibration data γ. Thus, the transfer platform 104 can control the movement of the travel mechanism of the transfer platform according to the arrangement position of the target storage location 103 in the multiple storage locations 103, so that the transfer platform moves to the spatial position corresponding to the target storage location 103. Thus, the transfer motor of the transfer platform 104 can be controlled to move according to the pre-calibrated first calibration data D corresponding to the target storage location 103, so that the transfer device can move from the preset zero position to the battery pick-up and placement position corresponding to the target storage location 103. Then, the transfer platform 104 can use the pick-up and placement device for picking up and placing batteries in the transfer device to obtain the target battery from the target storage location 103.

[0243] During the long-term use of the battery swap station 101, mechanical wear and tear may cause mechanical errors in the various transfer devices in the battery swap station during mechanical movement, resulting in deviations between actual operating data and calibration data. Therefore, when taking and placing batteries, the taking and placing device may collide with the storage position 103.

[0244] Based on this, optionally, each storage location 103 is provided with a graphic code, and the transfer station 104 further includes an image acquisition device;

[0245] The image acquisition device is used to acquire images including the graphic codes set for each storage location, and send the acquired images to the transfer platform 104.

[0246] Accordingly, the transfer platform 104 can obtain the image captured by the image acquisition device, including the graphic code set at the target storage location 103.

[0247] In this specific implementation, a graphic code is set in each storage location 103. Therefore, the transfer platform 104 controls the movement of the walking mechanism according to the arrangement position of the target storage location 103 among the multiple storage locations 103, so that the transfer platform 104 moves to the spatial position corresponding to the target storage location 103, and controls the transfer motor to move according to the first calibration data corresponding to the pre-calibrated target storage location 103. Then, the image acquisition device can be used to capture the graphic code set in the target storage location 103.

[0248] Among them, for each storage position 103, since the set graphic code can be used to locate the storage position 103, when the transfer device is located at the battery pick-up and placement position corresponding to the storage position 103, in the image captured by the image acquisition device, the graphic code set for the storage position 103 should be located at a preset position in the image. For example, in the image captured by the image acquisition device, the graphic code set for the storage position 103 should be located at the center of the image.

[0249] Therefore, for the target storage location 103, when there is a deviation between the actual position of the graphic code set at the target storage location 103 in the image captured by the image acquisition device and the preset position, it can be considered that the transfer device has not moved to the battery pick-up and placement position corresponding to the target storage location 103. Therefore, based on the position deviation between the actual position of the graphic code in the captured image and the preset position, the movement of the transverse motor, the lifting motor and the rotating motor can be controlled to make the position deviation between the actual position of the graphic code in the image captured by the image acquisition device and the preset position smaller than the preset deviation, so that the battery platform and the push-pull rod of the transfer platform 104 are in a position convenient for obtaining the target battery.

[0250] In addition, when the control device 102 takes and places batteries in each storage location 103, the operation of each transfer device in the transfer platform 104 may cause each storage location 103 to shake, thereby causing the batteries to fall over and cause damage to the batteries. Therefore, the batteries placed in each storage location 103 can be fixed to prevent the batteries from falling over.

[0251] Based on this, optionally, in a specific implementation, each storage location 103 further includes an electronic lock;

[0252] The electronic lock of each storage location 103 is used to lock when a battery is placed in the storage location 103 ; and to open when an unlocking instruction sent by the control device 102 is received.

[0253] Accordingly, in this specific implementation, the control device 102 is further configured to, after selecting the target battery, send an unlocking instruction to the electronic lock of the target storage location, so that the electronic lock of the target storage location is opened.

[0254] In this specific implementation, each storage location 103 further includes an electronic lock, which is configured to close when a battery is placed in the storage location 103. Thus, closing the electronic lock secures the battery placed in the storage location 103. Furthermore, after selecting the battery placed in the storage location 103 as a target battery, the control device 102 can send an unlock instruction to the electronic lock of the target storage location where the target battery is located. Thus, upon receiving the unlock instruction sent by the control device 102, the electronic lock of the target storage location can be opened, allowing the pick-and-place device of the transfer platform 104 to remove the target battery.

[0255] Correspondingly, optionally, for each storage location 103, when no battery is placed in the storage location 103, the electronic lock provided for the storage location 103 is in an open state, and when the transfer platform 104 places a battery into the storage location 103, when the battery is placed and disconnected from the placement device of the transfer platform 104, the electronic lock of the storage location is locked.

[0256] Since the battery swap station 101 may experience equipment wear during long-term use, the accuracy of mechanical movement in the battery swap station 101 may be reduced. As a result, when the transfer platform 104 is acquiring the target battery, it may fail to acquire the target battery after executing the action of acquiring the target battery.

[0257] Therefore, optionally, after the transfer station 104 completes the operation of obtaining the target battery from the target storage location 103, it can detect whether the target battery has been obtained. If the target battery has not been obtained, the step of obtaining the target battery from the target storage location 103 is re-executed. In this way, it can be ensured that the transfer station 104 obtains the target battery from the target storage location 103, thereby avoiding invalid operations of the transfer station 104.

[0258] For the safe use of each device in the battery swap station 101, before the transfer platform 104 controls the battery picking and placing device in the transfer device to obtain the target battery from the target storage location 103, the target storage location 103 where the target battery is located needs to be in a power-off state.

[0259] Optionally, in a specific implementation, the control device 102 is also used to send a power-off instruction to the target storage location 103 before the transfer platform 104 controls the pick-and-place device for picking up and placing batteries in the transfer device to obtain the target battery from the target storage location 103, so that the target storage location 103 performs a power-off operation after receiving the power-off instruction.

[0260] In this specific implementation, for the safe use of various devices in the battery swap station 101, the control device 102 can send a power-off instruction to the target storage location 103 before the transfer platform 104 controls the pick-up and placement device for picking up and placing batteries in the transfer device to obtain the target battery from the target storage location 103, so that the target storage location 103 performs a power-off operation after receiving the power-off instruction.

[0261] S205: The transfer platform 104 controls the movement of the walking mechanism to move the transfer platform 104 to the battery replacement area, and controls the pick-and-place device to replace the battery to be charged in the device to be replaced with the target battery.

[0262] After obtaining the target battery, the transfer platform 104 can control the movement of the walking mechanism to move the transfer platform 104 to the preset battery replacement area, and control the picking and placing device of the transfer platform 104 to replace the battery to be charged in the above-mentioned device to be replaced with the above-mentioned target battery, thereby completing the battery replacement of the device to be replaced.

[0263] Optionally, a graphic code is set on the side of the preset battery replacement area, and the graphic code stores basic position information of the position of the transfer platform 104 in the battery replacement area when the battery is replaced. After obtaining the target battery, the transfer platform 104 can use the stored position information of the preset battery replacement area and the position information of the device to be replaced sent by the control device 102 to carry the target battery to the battery replacement area. Then, the image acquisition device in the transfer platform 104 is used to identify the graphic code located on the side of the battery replacement area. Therefore, based on the above basic position information and the current position information of the transfer platform 104, it can be determined whether the transfer platform 104 is located in a position convenient for battery replacement. If not, the transfer platform 104 adjusts its own position so that it is in a position convenient for battery replacement, and then replaces the battery to be charged in the device to be replaced with the target battery.

[0264] In some cases, the battery of the device to be replaced needs to be replaced while performing a task. However, after the power is cut off, the device to be replaced will lose its task information, path information and other information related to its own task.

[0265] Based on this, optionally, in a specific implementation, the battery swap station 101 further includes auxiliary power supply equipment;

[0266] Accordingly, in this specific implementation, the transfer station 104 is also used to:

[0267] Before replacing the battery to be charged in the device to be replaced with the target battery, connect the auxiliary power supply device to the device to be replaced, and after replacing the battery to be charged in the device to be replaced with the target battery, disconnect the auxiliary power supply device.

[0268] In this specific implementation, after the transfer platform 104 carries the target battery to the battery replacement area and before removing the battery to be charged in the device to be replaced, it can connect the device to be replaced with an auxiliary power supply device to ensure that the device to be replaced is not powered off, and avoid the situation where the device to be replaced loses its own task information, path information and other information related to its own task. Then, the transfer platform 104 can remove the battery to be charged in the device to be replaced, and install the target battery to the above-mentioned device to be replaced. After that, the transfer platform 104 can disconnect the above-mentioned auxiliary power supply device.

[0269] The auxiliary power supply device may be a small power generation device with an external power line, or a battery device with an external power line, etc. This is not specifically limited in the embodiment of the present invention.

[0270] In addition to obtaining the target battery from the target storage location 103, the battery swap station 101 can also place the battery to be charged in the device to be swapped into the storage location 103 where no battery is stored to charge the battery to be charged.

[0271] Optionally, in a specific implementation, the control device 102 is further configured to determine a storage location 103 to be used among the storage locations 103 where no battery is placed, and to send a battery charging instruction indicating the storage location 103 to be used to the transfer station 104;

[0272] The transfer platform 104 is also used to receive battery charging instructions; according to the arrangement position of the storage position 103 to be used among the multiple storage positions 103, the movement of the walking mechanism is controlled to move the transfer platform 104 to the spatial position corresponding to the storage position 103 to be used; the movement of the first calibration data of the storage position 103 to be used pre-calibrated by the transfer motor is controlled to move the transfer device from the preset zero position to the battery picking and placing position corresponding to the storage position 103 to be used; the picking and placing device is controlled to place the battery to be charged into the storage position 103 to be used, so that the storage position 103 to be used can charge the battery to be charged.

[0273] In this specific implementation, the control device 102 may determine a storage location 103 to be used among the storage locations 103 where no battery is placed, and then send a battery charging instruction indicating the storage location 103 to be used to the transfer station 104 .

[0274] Optionally, after the transfer station 104 replaces the battery to be charged in the device to be replaced with the target battery, the transfer station 104 can send a storage location selection instruction to the control device 102 after carrying the above-mentioned battery to be charged, so that the control device 102 can determine the storage location 103 to be used in each storage location 103 where no battery is placed after receiving the above-mentioned storage location selection instruction, and then send a battery charging instruction for indicating the storage location 103 to be used to the transfer station 104.

[0275] Considering that after the transfer station 104 replaces the battery for the device to be replaced, the replaced battery to be charged can be placed in the storage position 103 for charging. Therefore, optionally, after the control device 102 selects the above-mentioned target battery from the placed batteries, it can immediately determine the storage position 103 to be used in the storage positions 103 where no battery is placed, and then send a battery charging instruction for indicating the storage position 103 to be used to the transfer station 104.

[0276] In this way, after receiving the battery charging instruction, the transfer platform 104 can determine the storage position 103 to be used, and thus, according to the arrangement position of the storage position 103 to be used in the plurality of storage positions 103, control the movement of the traveling mechanism to move the transfer platform 104 to the spatial position corresponding to the storage position 103 to be used. Then, the first calibration data corresponding to the storage position 103 to be used can be determined from the first calibration data corresponding to each storage position 103 obtained in advance, so that the transfer platform 104 can control the transfer motor to move according to the first calibration data corresponding to the storage position 103 to be used, so that the transfer device moves from the preset zero position to the battery pick-up and placement position corresponding to the storage position 103 to be used, and control the pick-up and placement device to place the battery to be charged into the storage position 103 to be used, so that the battery to be charged in the storage position 103 to be used can be charged.

[0277] Similar to the process of the transfer platform 104 obtaining the target battery from the target storage location 103, mechanical errors may occur in the battery swap station 101 during long-term use, resulting in deviations between actual operating data and calibration data. Therefore, when taking and placing batteries, the taking and placing device may collide with the storage location 103.

[0278] Based on this, optionally, each storage location 103 is provided with a graphic code, and the transfer station 104 further includes an image acquisition device;

[0279] The image acquisition device is used to acquire images including the graphic codes set for each storage location, and send the acquired images to the transfer platform 104.

[0280] Accordingly, the transfer station 104 can obtain the image captured by the image capture device, including the graphic code set at the storage location 103 to be used.

[0281] In this specific implementation, a graphic code is set in each storage position 103. Therefore, the transfer platform 104 controls the movement of the walking mechanism according to the arrangement position of the storage position 103 to be used among the multiple storage positions 103, so that the transfer platform 104 moves to the spatial position corresponding to the storage position 103 to be used, and controls the transfer motor to move according to the first calibration data corresponding to the pre-calibrated storage position 103 to be used. After that, the graphic code set in the storage position 103 to be used can be captured by the image acquisition device.

[0282] Among them, for each storage position 103, since the set graphic code can be used to locate the storage position 103, when the transfer device is located at the battery pick-up and placement position corresponding to the storage position 103, in the image captured by the image acquisition device, the graphic code set for the storage position 103 should be located at a preset position in the image. For example, in the image captured by the image acquisition device, the graphic code set for the storage position 103 should be located at the center of the image.

[0283] Therefore, for the storage position 103 to be used, when there is a deviation between the actual position of the graphic code set at the storage position 103 to be used in the image captured by the image acquisition device and the preset position, it can be considered that the transfer device has not moved to the battery pick-up and placement position corresponding to the storage position 103 to be used. Therefore, based on the position deviation between the actual position of the graphic code in the captured image and the preset position, the movement of the transverse motor, the lifting motor and the rotating motor can be controlled to make the position deviation between the actual position of the graphic code in the image captured by the image acquisition device and the preset position smaller than the preset deviation, so that the battery platform and the push-pull rod of the transfer platform 104 are in a position convenient for placing the battery to be charged.

[0284] Similarly, similar to the process of the transfer platform 104 obtaining the target battery from the target storage location 103, for safety reasons, before the transfer platform 104 controls the battery picking and placing device in the transfer device to place the battery to be charged into the storage location 103 to be used, the storage location 103 to be used needs to be in a power-off state.

[0285] Based on this, optionally, after determining the above-mentioned storage space 103 to be used, the control device 102 can immediately determine whether the storage space 103 to be used is in a power-off state.

[0286] If the unused storage location 103 is in a charging state, the control device 102 can issue a power-off instruction to the unused storage location 103, causing the unused storage location 103 to perform a power-off operation. Thus, after the power-off operation is completed, the unused storage location 103 is in a power-off state. Furthermore, after the transfer platform 104 controls the battery placement device in the transfer device to place the uncharged battery in the unused storage location 103, the unused storage location 103 can automatically return to a charging state and charge the uncharged battery.

[0287] And, optionally, when each storage position 103 is provided with a power detection device, when the storage position 103 to be used is in a power-off state, the power detection device of the storage position 103 to be used is in a power-off state, and thus, power information monitoring cannot be performed, and information interaction with the control device 102 cannot be performed. Then, the control device 102 can delete the recorded power information of the previous battery placed in the storage position 103 to be used, thereby avoiding errors in the power information of the new battery placed in the storage position 103 to be used.

[0288] Optionally, the transfer platform 104 controls the transfer device for taking and placing batteries. After placing the battery to be charged into the storage position 103 to be used, each transfer device can be reset, thereby returning itself to a preset zero position.

[0289] As can be seen from the above, by applying the solution provided by the embodiment of the present invention, a battery swap station including a control device, a plurality of storage locations and a transfer platform can be set up, wherein the transfer platform includes a walking mechanism, a transfer motor and a transfer device, and the transfer motor drives the transfer device to move. Each storage location is used to place a battery and charge the placed battery. Before using the battery swap station to replace the battery of the battery swap equipment, the transfer platform can pre-calibrate the motion data of controlling the transfer motor to drive the transfer device from a preset zero position to the battery pick-up and placement position corresponding to each storage location based on the arrangement position of each storage location in the plurality of storage locations and the structural information and size information of each storage location in the battery swap station, so as to obtain the first calibration data corresponding to each storage location.

[0290] In this way, after determining that the device to be replaced has entered the preset battery replacement area in the battery replacement station, the control device can select the target battery whose storage location information and power information meet the preset conditions from the various placed batteries, and send a battery replacement instruction to the transfer platform to indicate the target storage location where the target battery is located. After receiving the above-mentioned battery replacement instruction, the transfer platform can control the movement of the above-mentioned walking mechanism according to the arrangement position of the above-mentioned target storage location in multiple storage locations, so that the above-mentioned transfer platform moves to the spatial position corresponding to the above-mentioned target storage location, and control the above-mentioned transfer device to move according to the first calibration data corresponding to the above-mentioned target storage location that is pre-calibrated, so that the above-mentioned transfer device moves from the above-mentioned preset zero position to the battery pick-up and placement position corresponding to the above-mentioned target storage location, and then control the pick-up and placement device for picking up and placing batteries in the above-mentioned transfer device to obtain the above-mentioned target battery from the above-mentioned target storage location, and then control the movement of the above-mentioned walking mechanism to move the above-mentioned transfer platform to the above-mentioned battery replacement area, and control the above-mentioned pick-up and placement device to replace the battery to be charged in the device to be replaced with the above-mentioned target battery.

[0291] Based on this, by applying the solution provided by the embodiment of the present invention, batteries with higher power can be placed in each storage space in the battery swap station. Thus, when the battery power of the device to be swapped is low, the battery with lower power of the device to be swapped can be directly replaced with a battery with higher power placed in the storage space of the battery swap station by using the control device and the transfer platform in the battery swap station. Thus, there is no need to wait for the battery with lower power of the device to be swapped to be charged, which can save the battery charging time of the device to be swapped, improve the battery replacement efficiency, and further improve the actual utilization rate of the device to be swapped.

[0292] Furthermore, by applying the solution provided by the embodiment of the present invention, the control device in the battery swap station can automatically select a suitable target battery to replace the battery to be charged in the device to be swapped based on the location information of each storage location where the battery is placed and the power level of the battery placed therein. This eliminates the need for the intervention of an additional cloud platform scheduling system, reduces the complexity of communication during the battery replacement process, and improves the intelligence of the battery swap station. In addition, the transfer station can automatically calibrate the calibration data corresponding to each storage location, avoiding the problems of cumbersome process, large errors, and difficult equipment maintenance caused by manual calibration of the calibration data corresponding to each storage location.

[0293] In order to facilitate the battery replacement of the battery swapping equipment at the battery swapping station 101, the transfer platform 104 can pre-calibrate the motion data of the transfer motor of the transfer platform 104 driving the transfer device from the preset zero position to the battery pick-up and placement position corresponding to the storage location 103 based on the arrangement position of each storage location 103 among multiple storage locations 103 and the structural information and size information of each storage location 103.

[0294] Based on this, optionally, the transfer platform includes: an image acquisition device, the transfer device includes: a battery platform for placing batteries and the pick-and-place device, the pick-and-place device includes: a push-pull rod, and the transfer motor includes: a push-pull rod motor, a rotating motor, a lifting motor and a traverse motor. Then the transfer platform 104 is further used for:

[0295] Acquire structural information and size information of each storage location 103, and determine the arrangement position of each storage location 103 in the plurality of storage locations 103 according to the structural information;

[0296] Based on the structural information and the size information, the nominal length of the push-pull rod when taking the battery out of each storage position 103 is calculated;

[0297] For each storage location 103, according to the structural information, size information and arrangement position of the storage location 103, the movement of the walking mechanism, the lateral movement motor, the lifting motor and the rotating motor are controlled to move so that the battery platform and the push-pull rod are moved to the initial pick-up and placement position corresponding to the storage location 103; the image acquisition device is controlled to acquire the graphic code set in the storage location, and based on the position deviation between the actual position of the graphic code in the acquired image and the preset position, the movement of the lateral movement motor, the lifting motor and the rotating motor are controlled to make the position deviation between the actual position of the graphic code and the preset position in the image acquired by the image acquisition device less than the preset deviation; based on the calibration length, the movement of the push-pull rod motor is controlled until a signal feedback from the pressure sensor set on the rear side wall of the storage location 103 on the push-pull rod is received; the push-pull rod motor, the rotating motor, the lifting motor and the lateral movement motor are reset to move the battery platform and the push-pull rod to the preset zero position; the movement data of the push-pull rod motor, the rotating motor, the lifting motor and the lateral movement motor during the resetting process are determined as the first calibration data corresponding to the storage location 103.

[0298] In order to facilitate understanding of this specific implementation, Figure 3 The specific implementation method is described by taking the storage arrangement diagram shown in FIG.

[0299] Among them, such as Figure 3 As shown, the side view of each storage location 103 arranged in a 5×5 matrix is ​​shown, i.e., arranged in five rows and five columns. Furthermore, from bottom to top, each row is sequentially arranged as the first to fifth rows, and from right to left, each column is sequentially arranged as the first to fifth columns. Furthermore, the arrangement position of each storage location 103 within the plurality of storage locations 103 can be determined based on the row and column number of each storage location 103.

[0300] Furthermore, since the push-pull rod of the transfer platform 104 is used to take and place batteries, and the push-pull rod can only be extended and retracted in the horizontal direction, but cannot be extended and retracted in the inclined direction at a certain angle to the horizontal direction, the transfer platform 104 can first calculate the calibrated length of the push-pull rod extended when the transfer platform 104 uses the push-pull rod to take and place batteries in each storage location 103 based on the structural information and size information of each storage location 103. When the transfer platform 104 is located directly opposite each storage location 103 and the extension and retraction direction of the push-pull rod is perpendicular to the specified plane of the storage location 103 parallel to the translation direction of the transfer platform 104, the transfer platform 104 uses the push-pull rod to take and place batteries in each storage location 103.

[0301] Accordingly, since the push-pull rod can only be extended and retracted in the horizontal direction, and the above-mentioned calibrated length is determined when the extension and retraction direction of the push-pull rod is perpendicular to the designated plane of the above-mentioned storage position 103, when taking and placing batteries in each storage position 103, the push-pull rod of the transfer platform 104 can be adjusted to a position suitable for each storage position 103 by moving the rotating motor, lifting motor and transverse motor of the transfer platform 104.

[0302] For example, for a certain storage location 103, the transfer platform 104 can be moved to the opposite side of the column where the storage location 103 is located by moving the transverse motor; the plane where the extension and retraction direction of the push-pull rod of the transfer platform 104 is located can be raised or lowered to the same height as the pick-up and placement position of the battery placed in the storage location 103 by moving the lifting motor; the extension and retraction direction of the push-pull rod of the transfer platform 104 can be adjusted to a direction perpendicular to the designated plane of the storage location 103 by moving the rotating motor, etc.

[0303] Based on this, during the calibration process, for the above-mentioned storage position Q, the transfer platform 104 controls the movement of the walking mechanism, the transverse motor, the lifting motor and the rotating motor to move the battery platform and the push-pull rod to the initial pick-up and placement position corresponding to the storage position Q. Thus, the image acquisition device can be controlled to collect the graphic code set at the storage position Q, so that the transfer platform 104 controls the movement of the transverse motor, the lifting motor and the rotating motor based on the position deviation between the actual position of the above-mentioned graphic code in the image captured by the image acquisition device and the preset position.

[0304] For example, in the captured image, if there is a deviation in the height position of the lifting motor, the lifting motor is controlled to move up to a height corresponding to the deviation or down to a height corresponding to the deviation; if there is a deviation in the lateral position of the lateral motor, the lateral motor is controlled to translate to the left a distance corresponding to the deviation or to the right a distance corresponding to the deviation; if there is a deviation in the basic angle position of the rotating motor, the rotating motor is controlled to rotate clockwise an angle corresponding to the deviation or counterclockwise an angle corresponding to the deviation.

[0305] After the control of the lifting motor, transverse motor and rotation motor is adjusted, when the position deviation between the actual position of the graphic code and the preset position in the captured image is less than the preset deviation, the push-pull rod motor can be controlled to move based on the calibrated length until the pressure sensor set on the rear side wall of the storage position Q receives a feedback signal regarding the extrusion of the push-pull rod.

[0306] At this point, the transfer platform 104 can determine that the push-pull rod motor, the lifting motor, the traverse motor, and the rotation motor are in positions capable of placing and removing batteries from the storage location Q. The push-pull rod motor, the rotation motor, the lifting motor, and the traverse motor can then be reset so that the battery platform and the push-pull rods can return to the preset zero position.

[0307] In this way, when the push-pull rod motor, rotating motor, lifting motor and transverse movement motor move in the opposite direction according to the motion data during the reset process, the push-pull rod motor, rotating motor, lifting motor and transverse movement motor of the transfer platform 104 can be moved again to the above-mentioned battery picking and placing position where the battery can be picked up and placed in the storage position Q. Therefore, the motion data of the push-pull rod motor, rotating motor, lifting motor and transverse movement motor during the reset process can be determined as the first calibration data corresponding to the storage position Q.

[0308] For the storage position P, the transfer platform 104 controls the movement of the walking mechanism, the transverse motor, the lifting motor and the rotating motor to move the battery platform and the push-pull rod to the initial pick-up and placement position corresponding to the storage position P. Thus, the image acquisition device can be controlled to acquire the graphic code set at the storage position P, so that the transfer platform 104 controls the movement of the transverse motor, the lifting motor and the rotating motor based on the position deviation between the actual position of the above-mentioned graphic code in the image captured by the image acquisition device and the preset position.

[0309] For example, in the captured image, if there is a deviation in the height position of the lifting motor, the lifting motor is controlled to move up to a height corresponding to the deviation or down to a height corresponding to the deviation; if there is a deviation in the lateral position of the lateral motor, the lateral motor is controlled to translate to the left a distance corresponding to the deviation or to the right a distance corresponding to the deviation; if there is a deviation in the basic angle position of the rotating motor, the rotating motor is controlled to rotate clockwise an angle corresponding to the deviation or counterclockwise an angle corresponding to the deviation.

[0310] After the control of the lifting motor, transverse motor and rotation motor is adjusted, when the position deviation between the actual position of the graphic code and the preset position in the captured image is less than the preset deviation, the push-pull rod motor can be controlled to move based on the calibrated length until the pressure sensor set on the rear side wall of the storage position P receives the feedback signal regarding the extrusion of the push-pull rod.

[0311] At this point, the transfer platform 104 can determine that the push-pull rod motor, the lifting motor, the traverse motor, and the rotation motor are in positions capable of taking and placing batteries in the storage location P. Then, the push-pull rod motor, the rotation motor, the lifting motor, and the traverse motor can be reset so that the battery platform and the push-pull rod can return to the preset zero position.

[0312] In this way, when the push-pull rod motor, rotating motor, lifting motor and transverse movement motor move in the opposite direction according to the motion data during the reset process, the push-pull rod motor, rotating motor, lifting motor and transverse movement motor of the transfer platform 104 can be moved again to the above-mentioned battery picking and placing position where the battery can be picked up and placed in the storage position P. Therefore, the motion data of the push-pull rod motor, rotating motor, lifting motor and transverse movement motor during the reset process can be determined as the first calibration data corresponding to the storage position P.

[0313] Repeat in sequence until the calibration of the first calibration data corresponding to each storage location 103 in the battery swap station 101 is completed.

[0314] Optionally, in a specific implementation, in order to simplify the displacement of the transfer platform 104 during the calibration process and save the movement resources of the transfer platform 104, such as electricity, when calibrating the first calibration data corresponding to each storage location 103, the calibration order of each storage location 103 can be determined according to the arrangement position of each storage location 103.

[0315] by Figure 3 Taking the storage position arrangement diagram shown as an example, the storage position 103 located in the first column and the first row can be set as the first, the storage position 103 located in the second column and the first row can be set as the second, the storage position 103 located in the third column and the first row can be set as the third, the storage position 103 located in the fourth column and the first row can be set as the fourth, the storage position 103 located in the fifth column and the first row can be set as the fifth, the storage position 103 located in the first column and the second row can be set as the sixth, and so on, to set the calibration order of each storage position 103.

[0316] Furthermore, if Figure 3 As shown, storage location Q is the first storage location 103. Furthermore, for the above storage location Q, the transfer platform 104 controls the movement of the walking mechanism, the traverse motor, the lifting motor, and the rotating motor to move the battery platform and the push-pull rod from the preset starting position to the initial pick-up and placement position corresponding to the storage location Q. Thus, the image acquisition device can be controlled to capture the graphic code set for the storage location Q, so that the transfer platform 104 controls the movement of the traverse motor, the lifting motor, and the rotating motor based on the position deviation between the actual position of the graphic code in the image captured by the image acquisition device and the preset position.

[0317] After the control of the lifting motor, transverse motor and rotation motor is adjusted, when the position deviation between the actual position of the graphic code and the preset position in the captured image is less than the preset deviation, the push-pull rod motor can be controlled to move based on the calibrated length until the pressure sensor set on the rear side wall of the storage position Q receives a feedback signal regarding the extrusion of the push-pull rod.

[0318] At this point, the transfer platform 104 can determine that the push-pull rod motor, the lifting motor, the traverse motor, and the rotation motor are in positions capable of placing and removing batteries from storage location Q. The push-pull rod motor, the rotation motor, the lifting motor, and the traverse motor can then be reset so that the battery platform and the push-pull rods return to their preset zero positions, and the transfer platform 104 returns to its preset starting position.

[0319] In this way, when the push-pull rod motor, rotating motor, lifting motor and transverse movement motor move in the opposite direction according to the motion data during the reset process, the push-pull rod motor, rotating motor, lifting motor and transverse movement motor of the transfer platform 104 can be moved again to the above-mentioned position where the battery can be taken and placed in the storage position Q. Therefore, the motion data of the push-pull rod motor, rotating motor, lifting motor and transverse movement motor during the reset process can be determined as the first calibration data corresponding to the storage position Q.

[0320] Furthermore, if Figure 3 As shown, storage position P is the second storage position 103; for storage position P, the transfer platform 104 controls the walking mechanism, the transverse motor, the lifting motor and the rotating motor to move according to the first calibration data corresponding to storage position Q, so that the battery platform and the push-pull rod move from the preset starting position to the initial pick-and-place position corresponding to the storage position P; at this time, the battery platform of the transfer platform 104 is located at the battery pick-and-place position corresponding to storage position Q, and the push-pull rod of the transfer platform 104 is located at the preset zero position.

[0321] Furthermore, for the storage location P, the image acquisition device can be controlled to capture the graphic code set at the storage location P, so that the transfer platform 104 controls the movement of the transverse motor, lifting motor and rotating motor based on the position deviation between the actual position of the above graphic code in the image captured by the image acquisition device and the preset position.

[0322] After the control of the lifting motor, transverse motor and rotation motor is adjusted, when the position deviation between the actual position of the graphic code and the preset position in the captured image is less than the preset deviation, the push-pull rod motor can be controlled to move based on the calibrated length until the pressure sensor set on the rear side wall of the storage position P receives the feedback signal regarding the extrusion of the push-pull rod.

[0323] At this point, the transfer platform 104 can determine that the push-pull rod motor, the lifting motor, the traverse motor, and the rotation motor are in positions capable of taking and placing batteries in the storage location P. Then, the push-pull rod motor, the rotation motor, the lifting motor, and the traverse motor can be reset so that the battery platform and the push-pull rod can return to the preset zero position, and the transfer platform 104 can return to the preset starting position. In addition, the push-pull rod motor, the rotation motor, and the lift motor can all return to the zero position.

[0324] In this way, when the push-pull rod motor, rotating motor, lifting motor and transverse movement motor move in the opposite direction according to the motion data during the reset process, the push-pull rod motor, rotating motor, lifting motor and transverse movement motor of the transfer platform 104 can be moved again to the above-mentioned position where the battery can be taken and placed in the storage position P. Therefore, the motion data of the push-pull rod motor, rotating motor, lifting motor and transverse movement motor during the reset process can be determined as the second calibration data p corresponding to the storage position P.

[0325] Repeat in sequence until the calibration data corresponding to each storage location 103 in the battery swap station 101 is calibrated.

[0326] That is to say, in this specific implementation, for each storage position 103 except the first storage position 103, after the transfer platform 104 controls the walking mechanism, the transverse motor, the lifting motor and the rotating motor to move according to the first calibration data corresponding to the previous storage position 103 of the storage position 103, the position of the battery platform of the transfer platform 104 is used as the initial pick-up and placement position corresponding to the storage position 103, and at this time, the push-pull rod of the transfer platform 104 is located at the preset zero position.

[0327] Accordingly, optionally, in a specific implementation, the transfer platform 104 is further used to:

[0328] For each storage location 103, based on the calibration length, the push-pull rod motor is controlled to move until a signal is received from the pressure sensor provided on the rear side wall of the storage location 103 regarding the squeezing of the push-pull rod. Then, the walking mechanism is controlled to move so that the transfer platform 104 moves to the preset starting position. During the process of moving the transfer platform 104 to the preset starting position, the movement data of the walking mechanism is determined as the second calibration data corresponding to the storage location 103.

[0329] The transfer platform 104 controls the movement of the walking mechanism according to the arrangement position of the target storage location 103 in the plurality of storage locations 103 so as to move the transfer platform 104 to the spatial position corresponding to the target storage location 103, including:

[0330] The transfer platform 104 controls the walking mechanism to move according to the second calibration data corresponding to the target storage location 103 , so that the transfer platform 104 moves from a preset starting position to a spatial position corresponding to the target storage location 103 .

[0331] In this specific implementation, a preset starting position for the transfer platform 104 can be pre-set. That is, each time the transfer platform 104 receives a command from the control device 102 to place or retrieve a battery from a specific storage location 103, it starts from the preset starting position. Thus, the motion data of the transfer platform 104's travel mechanism moving from the preset starting position to the spatial position corresponding to each storage location 103 can be pre-calibrated.

[0332] Therefore, for each storage position 103, the movement of the push-pull rod motor is controlled based on the calibrated length until the signal feedback from the pressure sensor set on the rear side wall of the storage position 103 regarding the extrusion of the push-pull rod is received. Then, the transfer platform 104 can control the movement of the walking mechanism to move the transfer platform 104 to the preset starting position. Therefore, the movement data of the walking mechanism during the process of moving the transfer platform 104 to the preset starting position can be determined as the second calibration data corresponding to the storage position 103.

[0333] That is to say, compared with the above-mentioned first calibration data, the above-mentioned second calibration data calibrates the motion data of: the walking mechanism of the transfer platform 104 drives the transfer platform 104 to move from the preset starting position to the spatial position corresponding to each storage position 103; and the above-mentioned first calibration data calibrates the motion data of: the transfer motor drives the transfer device to move from the preset zero position to the battery picking and placing position corresponding to each storage position 103.

[0334] Optionally, the transfer station 104 may update the calibration data corresponding to each storage location 103 in the battery swap station 101 according to a predetermined period, and access the battery based on the updated calibration data.

[0335] In order to fix the batteries placed in each storage position 103 on the push-pull rod when the batteries are stored and retrieved on the transfer platform 104, a stopper device can be provided at the front end of the push-pull rod.

[0336] Therefore, optionally, in a specific implementation, the transfer motor further includes: a block motor, and the transfer device further includes: a block device, wherein the block device is located at the front end of the push-pull rod device; then the transfer platform 104 is further used for:

[0337] When the push-pull rod is used to take or place the battery, the stopper motor is controlled to move so that the stopper device extends into the designated bayonet of the battery to be taken or placed, and rotates to a position where it blocks the designated bayonet.

[0338] In this specific implementation, a stopper device can be provided at the front end of the push-pull rod. Therefore, when the push-pull rod of the transfer platform 104 is removing or placing batteries, the stopper motor can be controlled to move so that the stopper device extends into the designated slot of the battery being removed or placed. The stopper device is then rotated to a position that engages the designated slot, securing the battery being removed or placed on the push-pull rod. This prevents the battery from falling off the push-pull rod and causing damage to the battery when the push-pull rod is removing or placing batteries.

[0339] In addition, since the various devices in the battery swap station 101 will experience varying degrees of wear and tear during long-term use, the operating accuracy of each device will decrease during operation. For example, after each transfer device performs different actions, it cannot return to zero position when reset. Then, the next time the transfer platform 104 takes and places batteries, because the various transfer devices have not returned to zero position, the transfer platform 104 controls the transfer motor to move according to the pre-calibrated first calibration data, and cannot move the transfer device from the preset zero position to the battery placement position corresponding to the target storage position 103, thereby reducing the battery placement efficiency.

[0340] Based on this, optionally, in a specific implementation, the transfer platform 104 is further used to:

[0341] Before controlling the transfer motor to move according to the first calibration data corresponding to the pre-calibrated target storage position 103, determining whether the transfer devices are all at the preset zero position;

[0342] If yes, the transfer motor is controlled to move according to the first calibration data corresponding to the pre-calibrated target storage position 103;

[0343] Otherwise, the transfer motor is reset to restore the transfer device that is not at the preset zero position to the preset zero position, and the transfer motor is controlled to move according to the first calibration data corresponding to the pre-calibrated target storage position 103.

[0344] In this specific implementation, before the transfer platform 104 controls the transfer motor to move according to the first calibration data corresponding to the pre-calibrated target storage position 103, the transfer device is at the preset zero position, so as to facilitate subsequent operations of the transfer platform 104. Before the transfer platform 104 controls the transfer motor to move according to the first calibration data corresponding to the pre-calibrated target storage position 103, the transfer platform 104 may first determine whether all the transfer devices are at the preset zero position.

[0345] If the transfer devices are all at zero position, the transfer platform 104 can control the transfer motor to move according to the first calibration data corresponding to the pre-calibrated target storage position 103.

[0346] If there is a transfer device that is not at the preset zero position, the transfer platform 104 can restore the transfer device that is not at the zero position to the zero position. After that, the transfer sleeve 104 can control the transfer motor to move according to the first calibration data corresponding to the pre-calibrated target storage position 103.

[0347] In this way, it is possible to avoid the deviation between the actual operating data and the calibration data caused by the loss of the above-mentioned battery swap station 101 during long-term use, which makes the battery swap station 101 less efficient in acquiring batteries.

[0348] Optionally, in a specific implementation, the transfer platform 104 is further used to:

[0349] After moving to the battery replacement area and replacing the battery to be charged in the device to be replaced with the target battery, the transfer device is controlled to return to the preset zero position.

[0350] Optionally, in a specific implementation, the transfer platform 104 is further used to:

[0351] After the battery to be charged is placed in the storage position 103 to be used, the transfer device is controlled to return to the preset zero position.

[0352] As mentioned above, each storage location 103 may be provided with a graphic code; and the transfer station 104 further includes an image acquisition device.

[0353] Based on this, since the image acquisition device can capture images of each storage location 103 during the process of the transfer platform 104 taking and placing batteries in each storage location 103, the transfer platform 104 can obtain the image captured by the image acquisition device and fine-tune the transfer motor of the transfer platform 104 according to the relative position of each storage location 103 and the battery platform in the image, so as to avoid the failure of battery taking and placing due to mechanical errors formed in the long-term use of the transfer device, or even collision with the storage location 103.

[0354] Based on this, optionally, taking the process of the transfer station 104 obtaining batteries from the target storage location 103 as an example, the transfer station 104 is also used to:

[0355] In the process of controlling the transfer motor to move according to the first calibration data corresponding to the pre-calibrated target storage position 103, the image acquisition device is controlled to acquire the graphic code set at the target storage position 103;

[0356] After the rotation motor, the lifting motor, and the traverse motor are controlled to move according to the calibration data corresponding to the pre-calibrated target storage position 103, and the push-pull rod motor is controlled to move so that the push-pull rod is extended to a preset length, the last frame of image captured by the image capture device between the capture start time and the current time is determined;

[0357] Based on the position deviation between the actual position of the graphic code set at the target storage location 103 in the last frame image and the preset position, calculate the target deviation between the battery placement position corresponding to the target storage location 103 and the current position of the battery platform;

[0358] If the target deviation is not greater than the preset deviation threshold, the push-pull rod is controlled to move according to the first calibration data corresponding to the target storage position until the movement is completed;

[0359] If the target deviation is greater than the preset deviation threshold, determine whether the adjustment times of the lifting motor, the traverse motor and the rotation motor are all less than their own preset times thresholds;

[0360] If so, based on the target deviation, the lifting motor, the lateral motor and the rotation motor are controlled to move respectively to adjust the current position of the battery platform; and the step of returning to determining the last frame of the image captured by the image acquisition device between the start time of acquisition and the current time is returned.

[0361] In this specific implementation, while controlling the transfer motor to move according to the first calibration data corresponding to the pre-calibrated target storage position 103, the transfer platform 104 controls the image acquisition device to capture the image of the graphic code set at the target storage position 103, and the image acquisition device can send the captured image to the transfer platform 104.

[0362] The transfer platform 104 controls the rotation motor, the lifting motor and the transverse movement motor to complete the movement according to the first calibration data corresponding to the pre-calibrated target storage position 103, and controls the movement of the push-pull rod motor so that the push-pull rod extends to a preset length, thereby obtaining the last frame of the image captured by the image acquisition device between the start time of acquisition and the current time.

[0363] In this way, the target deviation between the battery placement position corresponding to the target storage position 103 and the current position of the battery platform can be calculated based on the position deviation between the actual position of the graphic code set at the target storage position 103 in the last frame image and the preset position;

[0364] If the target deviation is not greater than the preset deviation threshold, it indicates that based on the target deviation, the push-pull rod is controlled to move according to the first calibration data corresponding to the target storage position 103 until the movement is completed.

[0365] If the target deviation is greater than the preset deviation threshold, it is determined whether the adjustment times of the lifting motor, the traverse motor and the rotation motor are all less than their own preset times thresholds.

[0366] If the adjustment times of the lifting motor, traverse motor and rotation motor are not greater than their own preset times threshold, then based on the target deviation, the lifting motor, traverse motor and rotation motor are controlled to move respectively to adjust the current position of the battery platform.

[0367] Since in the above process, the image acquisition device is always acquiring the image of the graphic code set at the target storage location 103, after controlling the movement of the lifting motor, the lateral motor and the rotating motor respectively to adjust the current position of the battery platform, it is possible to return to the step of obtaining the last frame of the image acquired by the image acquisition device between the start time of acquisition and the current time, thereby calculating the new target deviation between the current position of the adjusted battery platform and the position information of the graphic code set at the target storage location 103 based on the last frame of the image acquired.

[0368] Optionally, if the number of adjustments of at least one of the lifting motor, traverse motor, and rotation motor exceeds a preset threshold, the transfer platform 104 stops the movement of each transfer motor and sends a message indicating a failure to obtain the target battery to the control device 102. The control device 102 can then input the above message to remind the user to perform manual processing.

[0369] Optionally, if the number of adjustments of at least one of the lifting motor, the traverse motor, and the rotation motor exceeds a preset threshold, the transfer platform 104 stops the movement of each transfer motor and sends a message to the control device 102 indicating a failure to obtain the target battery and requesting a new target storage location. Furthermore, upon receiving the above information, the control device 102 can select a new target battery from the placed batteries and send a battery replacement instruction to the transfer platform 104 indicating the target storage location 103 where the new target battery is located.

[0370] Optionally, the adjustment times of the lifting motor, the traverse motor and the rotation motor may be the same or different.

[0371] Similar to the process in which the transfer platform 104 controls the battery pick-up and placement device in the transfer device to retrieve batteries from the target storage location 103, during the process in which the transfer platform 104 controls the battery pick-up and placement device in the transfer device to place the batteries to be charged into the unused storage location 103, the transfer motor of the transfer platform 103 can be fine-tuned using an image of the graphic code set in the unused storage location 103 captured by the image capture device of the transfer platform 103 in the same manner as described above. This will not be further described here.

[0372] Corresponding to the above-mentioned battery swap station, an embodiment of the present invention also provides a battery replacement method, which is applied to the control equipment in the above-mentioned battery swap station. The above-mentioned battery swap station also includes multiple storage locations and transfer platforms, wherein the transfer platform includes a walking mechanism, a transfer motor and a transfer device, and the transfer motor drives the transfer device to move.

[0373] Figure 4 A flowchart of a battery replacement method provided by an embodiment of the present invention is shown as follows: Figure 4 As shown, the method may include the following steps S401-S402.

[0374] S401: After determining that the device to be replaced has entered a preset battery replacement area in the battery replacement station, based on the determined storage locations where batteries are placed and the battery information of each placed battery, select a target battery from the placed batteries whose storage location information and power information meet preset conditions;

[0375] S402: Sending a battery replacement instruction for indicating the target storage location where the target battery is located to the transfer platform, so that the transfer platform receives the battery replacement instruction, and controls the movement of the walking mechanism according to the arrangement position of the target storage location among the multiple storage locations, so that the transfer platform moves to the spatial position corresponding to the target storage location; controls the transfer motor to move according to the pre-calibrated first calibration data corresponding to the target storage location, so that the transfer device moves from a preset zero position to a battery pick-up and placement position corresponding to the target storage location; controls the pick-up and placement device for picking up and placing batteries in the transfer device to obtain the target battery from the target storage location; controls the movement of the walking mechanism to move the transfer platform to the battery replacement area, and controls the pick-up and placement device to replace the battery to be charged in the device to be replaced with the target battery;

[0376] Among them, the first calibration data corresponding to each storage location is calibrated by the transfer platform according to the arrangement position of the storage location among the multiple storage locations and the structural information and size information of each storage location, and the transfer motor drives the transfer device to move from the preset zero position to the motion data of the battery picking and placing position corresponding to the storage location.

[0377] Based on this, by applying the solution provided by the embodiment of the present invention, batteries with higher power can be placed in each storage space in the battery swap station. Thus, when the battery power of the device to be swapped is low, the battery with lower power of the device to be swapped can be directly replaced with a battery with higher power placed in the storage space of the battery swap station by using the control device and the transfer platform in the battery swap station. Thus, there is no need to wait for the battery with lower power of the device to be swapped to be charged, which can save the battery charging time of the device to be swapped, improve the battery replacement efficiency, and further improve the actual utilization rate of the device to be swapped.

[0378] Furthermore, by applying the solution provided by the embodiment of the present invention, the control device in the battery swap station can automatically select a suitable target battery to replace the battery to be charged in the device to be swapped based on the location information of each storage location where the battery is placed and the power level of the battery placed therein. This eliminates the need for the intervention of an additional cloud platform scheduling system, reduces the complexity of communication during the battery replacement process, and improves the intelligence of the battery swap station. In addition, the transfer station can automatically calibrate the calibration data corresponding to each storage location, avoiding the problems of cumbersome process, large errors, and difficult equipment maintenance caused by manual calibration of the calibration data corresponding to each storage location.

[0379] Optionally, in a specific implementation, the method further includes:

[0380] Determine a storage location to be used among all the storage locations where no battery is placed, and send a battery charging instruction for indicating the storage location to be used to the transfer platform, so that the transfer platform receives the battery charging instruction; control the movement of the walking mechanism according to the arrangement position of the storage location to be used among the multiple storage locations, so that the transfer platform moves to the spatial position corresponding to the storage location to be used; control the transfer motor to move according to the pre-calibrated first calibration data corresponding to the storage location to be used, so that the transfer device moves from the preset zero position to the battery picking and placing position corresponding to the storage location to be used; control the picking and placing device to place the battery to be charged into the storage location to be used, so that the storage location to be used charges the battery to be charged.

[0381] Optionally, in a specific implementation, each storage location is provided with a battery detection device and a power detection device; the method further includes:

[0382] Obtain prompt information and power information for each storage location; wherein, the prompt information is information sent by the battery detection device in the storage location when a battery is detected, indicating that a battery is placed in the storage location; the power information is information sent by the power detection device in the storage location when a battery is placed in the storage location, detecting the power level of the battery placed in the storage location according to a preset period.

[0383] Optionally, in a specific implementation, the method further includes:

[0384] Recording the correspondence between the battery identification and the number of uses of each battery placed therein; receiving the battery identification of the battery placed therein, sent by the power detection device of each storage location; for each storage location where a battery is placed, calculating, based on the amount of change in the power information sent by the power detection device of the storage location within each specified period, an update amount of the number of uses of the battery placed therein within each specified period, and updating the number of uses of the battery placed therein according to the calculated update amount;

[0385] The step of selecting a target battery whose storage location information and power information meet preset conditions from the placed batteries includes:

[0386] For each placed battery, calculate the battery performance score of the battery using the recorded battery power information and the number of times the battery has been used;

[0387] The location information and battery performance score of each battery are used to calculate the backup score of the battery, and the battery with the largest calculated backup score is determined as the target battery.

[0388] Optionally, in a specific implementation, the method further includes:

[0389] Before the transfer platform controls the battery picking and placing device in the transfer device to obtain the target battery from the target storage location, a power-off instruction is sent to the target storage location so that the target storage location performs a power-off operation after receiving the power-off instruction.

[0390] Optionally, in a specific implementation, the method further includes:

[0391] After the target battery is selected, an unlocking instruction is sent to the electronic lock of the target storage location, so that the target storage location opens the electronic lock of the target storage location after receiving the unlocking instruction.

[0392] Corresponding to the above-mentioned battery swap station, an embodiment of the present invention also provides a battery replacement method, which is applied to a transfer platform in the battery swap station. The above-mentioned battery swap station also includes multiple storage locations and control equipment; wherein, the transfer platform includes a walking mechanism, a transfer motor and a transfer device, and the transfer motor drives the transfer device to move.

[0393] Figure 5 Another battery replacement method provided by an embodiment of the present invention is as follows: Figure 5 As shown, the method may include the following steps S501-S503.

[0394] S501: Receive a battery replacement instruction; wherein the battery replacement instruction is an instruction sent by the control device to indicate the target storage location where the target battery is located. The target battery is selected from the placed batteries by the control device after determining that the device to be replaced has entered a preset battery replacement area in the battery replacement station, based on the determined storage locations where batteries are placed and the power information of each placed battery. The battery location information and power information of each placed battery meet preset conditions;

[0395] S502: According to the arrangement position of the target storage location among the multiple storage locations, the walking mechanism is controlled to move so that the transfer platform moves to the spatial position corresponding to the target storage location; the transfer motor is controlled to move according to the pre-calibrated first calibration data corresponding to the target storage location so that the transfer device moves from the preset zero position to the battery pick-up and placement position corresponding to the target storage location; the pick-up and placement device for picking up and placing batteries in the transfer device is controlled to obtain the target battery from the target storage location; wherein the first calibration data corresponding to each storage location is calibrated according to the arrangement position of the storage location among the multiple storage locations and the structural information and size information of each storage location, and the transfer motor drives the transfer device to move from the preset zero position to the motion data of the battery pick-up and placement position corresponding to the storage location;

[0396] S503: Control the movement of the walking mechanism to move the transfer platform to the battery replacement area, and control the pick-and-place device to replace the battery to be charged in the device to be replaced with the target battery.

[0397] Based on this, by applying the solution provided by the embodiment of the present invention, batteries with higher power can be placed in each storage space in the battery swap station. Thus, when the battery power of the device to be swapped is low, the battery with lower power of the device to be swapped can be directly replaced with a battery with higher power placed in the storage space of the battery swap station by using the control device and the transfer platform in the battery swap station. Thus, there is no need to wait for the battery with lower power of the device to be swapped to be charged, which can save the battery charging time of the device to be swapped, improve the battery replacement efficiency, and further improve the actual utilization rate of the device to be swapped.

[0398] Furthermore, by applying the solution provided by the embodiment of the present invention, the control device in the battery swap station can automatically select a suitable target battery to replace the battery to be charged in the device to be swapped based on the location information of each storage location where the battery is placed and the power level of the battery placed therein. This eliminates the need for the intervention of an additional cloud platform scheduling system, reduces the complexity of communication during the battery replacement process, and improves the intelligence of the battery swap station. In addition, the transfer station can automatically calibrate the calibration data corresponding to each storage location, avoiding the problems of cumbersome process, large errors, and difficult equipment maintenance caused by manual calibration of the calibration data corresponding to each storage location.

[0399] Optionally, in a specific implementation, the method further includes:

[0400] Receiving a battery charging instruction; wherein the battery replacement instruction is an instruction sent by the control device to indicate a storage location to be used among various storage locations where no battery is placed;

[0401] According to the arrangement position of the storage position to be used among the multiple storage positions, the movement of the walking mechanism is controlled to move the transfer platform to the spatial position corresponding to the storage position to be used; the transfer motor is controlled to move according to the first calibration corresponding to the pre-calibrated storage position to be used, so that the transfer device moves from the preset zero position to the storage position to be used, and places the battery to be charged into the battery picking and placing position corresponding to the storage position to be used; the picking and placing device is controlled to place the battery to be charged into the storage position to be used, so that the storage position to be used charges the battery to be charged.

[0402] Optionally, in a specific implementation, the transfer platform includes: an image acquisition device, the transfer device includes: a battery platform for placing batteries and the pick-and-place device, the pick-and-place device includes: a push-pull rod, and the transfer motor includes: a push-pull rod motor, a rotating motor, a lifting motor, and a transverse motor; the identification method of the calibration data corresponding to the position information of each storage location includes:

[0403] Acquire structural information and size information of each storage location, and determine an arrangement position of each storage location among the plurality of storage locations according to the structural information;

[0404] Based on the structural information and the size information, calculating the nominal length of the push-pull rod when taking the battery out of each storage position;

[0405] For each storage location, based on the structural information, the size information, and the arrangement position of the storage location, the movement of the walking mechanism, the traverse motor, the lifting motor, and the rotary motor are controlled to move so that the battery platform and the push-pull rod are moved to the initial pick-up and placement position corresponding to the storage location; the image acquisition device is controlled to acquire the graphic code set for the storage location, and based on the position deviation between the actual position of the graphic code in the acquired image and the preset position, the movement of the traverse motor, the lifting motor, and the rotary motor are controlled to make the position deviation between the actual position of the graphic code and the preset position in the image acquired by the image acquisition device less than the preset deviation; based on the calibration length, the movement of the push-pull rod motor is controlled until a signal feedback from the pressure sensor provided on the rear side wall of the storage location regarding the squeezing of the push-pull rod is received; the push-pull rod motor, the rotary motor, the lifting motor, and the traverse motor are reset so that the battery platform and the push-pull rod are moved to the preset zero position; and the movement data of the push-pull rod motor, the rotary motor, the lifting motor, and the traverse motor during the resetting process are determined as the first calibration data corresponding to the storage location.

[0406] Optionally, in a specific implementation, the transfer motor further includes: a block motor, and the transfer device further includes: a block device; wherein the block device is located at the front end of the push-pull rod device;

[0407] The transfer platform is also used to control the movement of the block motor when the push-pull rod takes or places the battery, so that the block device extends into the designated bayonet of the battery to be taken or placed, and rotates to a position where it blocks the designated bayonet.

[0408] Optionally, in a specific implementation, the method further includes:

[0409] In the process of controlling the transfer motor to move according to the first calibration data corresponding to the pre-calibrated position information of the target storage location, controlling the image acquisition device to acquire the graphic code set at the target storage location;

[0410] When the rotation motor, the lifting motor, and the traverse motor are controlled to move according to the calibration data corresponding to the pre-calibrated target storage position, and the push-pull rod motor is controlled to move so that the push-pull rod is extended to a preset length, the last frame of image captured by the image capture device between the capture start time and the current time is determined;

[0411] Calculate the target deviation between the battery placement position corresponding to the target storage position and the current position of the battery platform based on the position deviation between the actual position of the graphic code set at the target storage position in the last frame of the image and the preset position;

[0412] If the target deviation is not greater than the preset deviation threshold, controlling the push-pull rod to move according to the first calibration data corresponding to the target storage position until the movement is completed;

[0413] If the target deviation is greater than a preset deviation threshold, determining whether the adjustment times of the lifting motor, the traverse motor, and the rotation motor are all less than their own preset times thresholds;

[0414] If so, based on the target deviation, the movement of the lifting motor, the lateral motor and the rotating motor are controlled respectively to adjust the current position of the battery platform; and the step of determining the last frame of the image captured by the image acquisition device between the start time of acquisition and the current time is returned.

[0415] Optionally, in a specific implementation, the method further includes:

[0416] For each storage location, based on the calibration length, the push-pull rod motor is controlled to move until a signal feedback from the pressure sensor provided on the rear side wall of the storage location regarding the squeezing of the push-pull rod is received, and then the walking mechanism is controlled to move so that the transfer platform moves to a preset starting position. In the process of moving the transfer platform to the preset starting position, the movement data of the walking mechanism is determined as the second calibration data corresponding to the storage location;

[0417] The controlling the movement of the walking mechanism according to the arrangement position of the target storage location among the plurality of storage locations so as to move the transfer platform to a spatial position corresponding to the target storage location includes:

[0418] The walking mechanism is controlled to move according to the second calibration data corresponding to the target storage location, so that the transfer platform moves from the preset starting position to the spatial position corresponding to the target storage location.

[0419] Optionally, in a specific implementation, the method further includes:

[0420] Before controlling the transfer motor to move according to the first calibration data corresponding to the pre-calibrated target storage position, determining whether the transfer devices are all at the preset zero position;

[0421] If yes, controlling the transfer motor to move according to the first calibration data corresponding to the pre-calibrated target storage position;

[0422] Otherwise, the transfer motor is reset to restore the transfer device that is not at the preset zero position to the preset zero position, and the transfer motor is controlled to move according to the first calibration data corresponding to the pre-calibrated target storage position.

[0423] Optionally, in a specific implementation, the battery swap station further includes auxiliary power supply equipment; and the method further includes:

[0424] Before replacing the battery to be charged in the device to be replaced with the target battery, the device to be replaced is connected to the auxiliary power supply device, and after replacing the battery to be charged in the device to be replaced with the target battery, the auxiliary power supply device is disconnected.

[0425] Based on the same inventive concept, the embodiment of the present invention provided above Figure 4 A battery replacement method as shown in Figure 6 FIG. 1 is a schematic diagram of the structure of a battery replacement device provided by an embodiment of the present invention, which is applied to a control device in a battery swap station. The battery swap station also includes multiple storage spaces and a transfer platform. The transfer platform includes a walking mechanism, a transfer motor, and a transfer device. The transfer motor drives the transfer device to move. The device includes:

[0426] The target battery acquisition module 610 is used to select a target battery whose storage location information and power information meet preset conditions from the placed batteries based on the determined storage locations where batteries are placed and the battery information of each placed battery after determining that the device to be replaced has entered the preset battery replacement area in the battery replacement station;

[0427] The battery replacement module 620 sends a battery replacement instruction for indicating the target storage position where the target battery is located to the transfer platform, so that the transfer platform receives the battery replacement instruction and controls the movement of the walking mechanism according to the arrangement position of the target storage position in the multiple storage positions, so that the transfer platform moves to the spatial position corresponding to the target storage position; controls the transfer motor to move according to the pre-calibrated first calibration data corresponding to the target storage position, so that the transfer device moves from the preset zero position to the battery pick-up and placement position corresponding to the target storage position; controls the pick-up and placement device for picking up and placing batteries in the transfer device to obtain the target battery from the target storage position; controls the movement of the walking mechanism so that the transfer platform moves to the battery replacement area, and controls the pick-up and placement device to replace the battery to be charged in the device to be replaced with the target battery; wherein the first calibration data corresponding to each storage position is calibrated by the transfer platform according to the arrangement position of the storage position in the multiple storage positions and the structural information and size information of each storage position, and the transfer motor drives the transfer device to move from the preset zero position to the battery pick-up and placement position corresponding to the storage position.

[0428] Based on this, by applying the solution provided by the embodiment of the present invention, batteries with higher power can be placed in each storage space in the battery swap station. Thus, when the battery power of the device to be swapped is low, the battery with lower power of the device to be swapped can be directly replaced with a battery with higher power placed in the storage space of the battery swap station by using the control device and the transfer platform in the battery swap station. Thus, there is no need to wait for the battery with lower power of the device to be swapped to be charged, which can save the battery charging time of the device to be swapped, improve the battery replacement efficiency, and further improve the actual utilization rate of the device to be swapped.

[0429] Furthermore, by applying the solution provided by the embodiment of the present invention, the control device in the battery swap station can automatically select a suitable target battery to replace the battery to be charged in the device to be swapped based on the location information of each storage location where the battery is placed and the power level of the battery placed therein. This eliminates the need for the intervention of an additional cloud platform scheduling system, reduces the complexity of communication during the battery replacement process, and improves the intelligence of the battery swap station. In addition, the transfer station can automatically calibrate the calibration data corresponding to each storage location, avoiding the problems of cumbersome process, large errors, and difficult equipment maintenance caused by manual calibration of the calibration data corresponding to each storage location.

[0430] Optionally, in a specific implementation, the device further includes:

[0431] A battery charging module is used to determine a storage location to be used among the storage locations where no battery is placed, and to send a battery charging instruction for indicating the storage location to be used to the transfer platform, so that the transfer platform receives the battery charging instruction, and controls the movement of the walking mechanism according to the arrangement position of the storage location to be used among the multiple storage locations, so that the transfer platform moves to the spatial position corresponding to the storage location to be used; controls the transfer motor to move according to the pre-calibrated first calibration data corresponding to the storage location to be used, so that the transfer device moves from the preset zero position to the battery picking and placing position corresponding to the storage location to be used; controls the picking and placing device to place the battery to be charged into the storage location to be used, so that the storage location to be used charges the battery to be charged.

[0432] Optionally, in a specific implementation, each storage location is provided with a battery detection device and a power detection device; the device further includes:

[0433] An information acquisition module is used to obtain prompt information and power information of each storage location; wherein, the prompt information is information sent by the battery detection device in the storage location when a battery is detected to indicate that a battery is placed in the storage location; the power information is information sent by the power detection device in the storage location when a battery is placed in the storage location, detecting the power of the battery placed in the storage location according to a preset period.

[0434] Optionally, in a specific implementation, the device further includes:

[0435] The usage count updating module is configured to record the corresponding relationship between the battery identification and usage count of each battery placed therein; receive the battery identification of the battery placed therein, sent by the power detection device of each storage location; calculate, for each storage location where a battery is placed, an updated amount of the usage count of the battery placed therein within each specified period based on the amount of change in the power information sent by the power detection device of the storage location within each specified period, and update the usage count of the battery placed therein according to the calculated updated amount;

[0436] The target battery acquisition module 610 is specifically configured to:

[0437] For each placed battery, calculate the battery performance score of the battery using the recorded battery power information and the number of times the battery has been used;

[0438] The location information and battery performance score of each battery are used to calculate the backup score of the battery, and the battery with the largest calculated backup score is determined as the target battery.

[0439] Optionally, in a specific implementation, the device further includes:

[0440] The power-off module is used to send a power-off instruction to the target storage location before the transfer platform controls the pick-up and placement device for picking up and placing batteries in the transfer device to obtain the target battery from the target storage location, so that the target storage location performs a power-off operation after receiving the power-off instruction.

[0441] Optionally, in a specific implementation, the device further includes:

[0442] The unlocking module is used to send an unlocking instruction to the electronic lock of the target storage location after the target battery is selected, so that the target storage location opens the electronic lock of the target storage location after receiving the unlocking instruction.

[0443] Based on the same inventive concept, the embodiment of the present invention provided above Figure 5 A battery replacement method as shown in Figure 7 FIG. 1 is a schematic diagram of the structure of a battery replacement device provided by an embodiment of the present invention, which is applied to a transfer platform in a battery swap station, wherein the battery swap station also includes multiple storage spaces and control equipment; wherein the transfer platform includes a walking mechanism, a transfer motor and a transfer device, wherein the transfer motor drives the transfer device to move; the device includes:

[0444] The instruction receiving module 710 is used to receive a battery replacement instruction; wherein the battery replacement instruction is an instruction sent by the control device to indicate the target storage location where the target battery is located. The target battery is selected from the placed batteries by the control device after determining that the device to be replaced has entered the preset battery replacement area in the battery replacement station, based on the determined storage locations where batteries are placed and the power information of each placed battery. The battery has a storage location information and power information that meet preset conditions;

[0445] The target battery acquisition module 720 controls the movement of the walking mechanism according to the arrangement position of the target storage location among the multiple storage locations, so that the transfer platform moves to the spatial position corresponding to the target storage location; controls the transfer motor to move according to the pre-calibrated first calibration data corresponding to the target storage location, so that the transfer device moves from the preset zero position to the battery pick-up and placement position corresponding to the target storage location; controls the pick-up and placement device for picking up and placing batteries in the transfer device to obtain the target battery from the target storage location; wherein the first calibration data corresponding to each storage location is calibrated according to the arrangement position of the storage location among the multiple storage locations and the structural information and size information of each storage location, and the transfer motor drives the transfer device to move from the preset zero position to the motion data of the battery pick-up and placement position corresponding to the storage location;

[0446] The battery replacement module 730 is used to control the movement of the walking mechanism so that the transfer platform moves to the battery replacement area, and controls the picking and placing device to replace the battery to be charged in the device to be replaced with the target battery.

[0447] Based on this, by applying the solution provided by the embodiment of the present invention, batteries with higher power can be placed in each storage space in the battery swap station. Thus, when the battery power of the device to be swapped is low, the battery with lower power of the device to be swapped can be directly replaced with a battery with higher power placed in the storage space of the battery swap station by using the control device and the transfer platform in the battery swap station. Thus, there is no need to wait for the battery with lower power of the device to be swapped to be charged, which can save the battery charging time of the device to be swapped, improve the battery replacement efficiency, and further improve the actual utilization rate of the device to be swapped.

[0448] Furthermore, by applying the solution provided by the embodiment of the present invention, the control device in the battery swap station can automatically select a suitable target battery to replace the battery to be charged in the device to be swapped based on the location information of each storage location where the battery is placed and the power level of the battery placed therein. This eliminates the need for the intervention of an additional cloud platform scheduling system, reduces the complexity of communication during the battery replacement process, and improves the intelligence of the battery swap station. In addition, the transfer station can automatically calibrate the calibration data corresponding to each storage location, avoiding the problems of cumbersome process, large errors, and difficult equipment maintenance caused by manual calibration of the calibration data corresponding to each storage location.

[0449] Optionally, in a specific implementation, the device further includes:

[0450] A charging module is used to receive a battery charging instruction; wherein, the battery replacement instruction is an instruction for indicating the storage position to be used sent by the control device after the control device determines the storage position to be used among the storage positions where no battery is placed; according to the arrangement position of the storage position to be used among the multiple storage positions, the movement of the walking mechanism is controlled to move the transfer platform to the spatial position corresponding to the storage position to be used; the transfer motor is controlled to move according to the first calibration corresponding to the pre-calibrated storage position to be used, so that the transfer device moves from the preset zero position to the storage position to be used, and places the battery to be charged into the battery picking and placing position corresponding to the storage position to be used; the picking and placing device is controlled to place the battery to be charged into the storage position to be used, so that the storage position to be used charges the battery to be charged.

[0451] Optionally, in a specific implementation, the transfer platform includes: an image acquisition device; the transfer device includes: a battery platform for placing batteries and the pick-and-place device; the pick-and-place device includes: a push-pull rod; the transfer motor includes: a push-pull rod motor, a rotation motor, a lifting motor, and a traverse motor; the device also includes:

[0452] a first calibration data determination module, configured to obtain structural information and size information of each storage location, and determine an arrangement position of each storage location among the plurality of storage locations according to the structural information;

[0453] Based on the structural information and the size information, calculating the nominal length of the push-pull rod when taking the battery out of each storage position;

[0454] For each storage location, based on the structural information, the size information, and the arrangement position of the storage location, the movement of the walking mechanism, the traverse motor, the lifting motor, and the rotary motor are controlled to move so that the battery platform and the push-pull rod are moved to the initial pick-up and placement position corresponding to the storage location; the image acquisition device is controlled to acquire the graphic code set for the storage location, and based on the position deviation between the actual position of the graphic code in the acquired image and the preset position, the movement of the traverse motor, the lifting motor, and the rotary motor are controlled to make the position deviation between the actual position of the graphic code and the preset position in the image acquired by the image acquisition device less than the preset deviation; based on the calibration length, the movement of the push-pull rod motor is controlled until a signal feedback from the pressure sensor provided on the rear side wall of the storage location regarding the squeezing of the push-pull rod is received; the push-pull rod motor, the rotary motor, the lifting motor, and the traverse motor are reset so that the battery platform and the push-pull rod are moved to the preset zero position; and the movement data of the push-pull rod motor, the rotary motor, the lifting motor, and the traverse motor during the resetting process are determined as the first calibration data corresponding to the storage location.

[0455] Optionally, in a specific implementation, the transfer motor further includes: a block motor, and the transfer device further includes: a block device; wherein the block device is located at the front end of the push-pull rod device;

[0456] The block adjustment module is used to control the movement of the block motor when the push-pull rod takes or places the battery, so that the block device extends into the designated bayonet of the battery to be taken or placed, and rotates to a position where it blocks the designated bayonet.

[0457] Optionally, in a specific implementation, the device further includes:

[0458] an adjustment module, configured to control the image acquisition device to acquire a graphic code set at the target storage location during the process of controlling the transfer motor to move according to the first calibration data corresponding to the pre-calibrated position information of the target storage location;

[0459] When the rotation motor, the lifting motor, and the traverse motor are controlled to move according to the calibration data corresponding to the pre-calibrated target storage position, and the push-pull rod motor is controlled to move so that the push-pull rod is extended to a preset length, the last frame of image captured by the image capture device between the capture start time and the current time is determined;

[0460] Calculate the target deviation between the battery placement position corresponding to the target storage position and the current position of the battery platform based on the position deviation between the actual position of the graphic code set at the target storage position in the last frame of the image and the preset position;

[0461] If the target deviation is not greater than the preset deviation threshold, controlling the push-pull rod to move according to the first calibration data corresponding to the target storage position until the movement is completed;

[0462] If the target deviation is greater than a preset deviation threshold, determining whether the adjustment times of the lifting motor, the traverse motor, and the rotation motor are all less than their own preset times thresholds;

[0463] If so, based on the target deviation, the movement of the lifting motor, the lateral motor and the rotating motor are controlled respectively to adjust the current position of the battery platform; and the step of determining the last frame of the image captured by the image acquisition device between the start time of acquisition and the current time is returned.

[0464] Optionally, in a specific implementation, the device further includes:

[0465] A second calibration data determination module is used for controlling the movement of the push-pull rod motor for each storage location based on the calibration length until a signal is received from a pressure sensor provided on the rear side wall of the storage location regarding the squeezing of the push-pull rod, and then controlling the movement of the walking mechanism to move the transfer platform to a preset starting position. During the process of moving the transfer platform to the preset starting position, the movement data of the walking mechanism is determined as the second calibration data corresponding to the storage location.

[0466] The target battery acquisition module 720 is specifically used to:

[0467] The walking mechanism is controlled to move according to the second calibration data corresponding to the target storage location, so that the transfer platform moves from the preset starting position to the spatial position corresponding to the target storage location.

[0468] Optionally, in a specific implementation, the device further includes:

[0469] a zeroing module, configured to determine whether the transfer devices are all at the preset zero position before controlling the transfer motor to move according to the first calibration data corresponding to the pre-calibrated target storage position;

[0470] If yes, controlling the transfer motor to move according to the first calibration data corresponding to the pre-calibrated target storage position;

[0471] Otherwise, the transfer motor is reset to restore the transfer device that is not at the preset zero position to the preset zero position, and the transfer motor is controlled to move according to the first calibration data corresponding to the pre-calibrated target storage position.

[0472] Optionally, in a specific implementation, the battery swap station further includes auxiliary power supply equipment; and the device further includes:

[0473] An auxiliary power supply module is used to connect the device to be replaced to the auxiliary power supply device before the battery to be charged in the device to be replaced is replaced by the target battery, and to disconnect the auxiliary power supply device after the battery to be charged in the device to be replaced is replaced by the target battery.

[0474] The embodiment of the present invention further provides an electronic device, such as Figure 8 As shown, it includes a processor 801, a communication interface 802, a memory 803 and a communication bus 804, wherein the processor 801, the communication interface 802, and the memory 803 communicate with each other through the communication bus 804.

[0475] Memory 803, used for storing computer programs;

[0476] The processor 801 is configured to implement the steps of any battery replacement method provided in the above-mentioned embodiment of the present invention when executing the program stored in the memory 803.

[0477] The communication bus mentioned in the electronic device mentioned above may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is used in the figure, but this does not mean that there is only one bus or only one type of bus.

[0478] The communication interface is used for communication between the above electronic device and other devices.

[0479] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage. Alternatively, the memory may be at least one storage device located away from the processor.

[0480] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components.

[0481] In another embodiment provided by the present invention, a computer-readable storage medium is also provided, in which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned battery replacement methods are implemented.

[0482] In another embodiment provided by the present invention, a computer program product containing instructions is also provided, which, when run on a computer, enables the computer to execute any battery replacement method in the above embodiments.

[0483] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)).

[0484] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0485] Each embodiment in this specification is described in a related manner. Similar portions between the various embodiments can be referenced to each other. Each embodiment focuses on the differences from other embodiments. In particular, since the system embodiments, apparatus embodiments, electronic device embodiments, computer-readable storage medium embodiments, and computer program product embodiments are generally similar to the method embodiments, their descriptions are relatively simplified. For related portions, reference can be made to the descriptions of the method embodiments.

[0486] The above description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention are included in the scope of protection of the present invention.

Claims

1. A battery swap station, characterized in that: The battery swap station includes: a control device, multiple storage spaces and a transfer platform; wherein the transfer platform includes a walking mechanism, a transfer motor and a transfer device, and the transfer motor drives the transfer device to move; Each storage location is used to place a battery and charge the placed battery; The control device is used to determine the storage locations where batteries are placed and the power information of each placed battery; after determining that the device to be replaced has entered the preset battery replacement area in the battery replacement station, select the target battery whose storage location information and power information meet the preset conditions from the placed batteries, and send a battery replacement instruction to the transfer station to indicate the target storage location where the target battery is located; The transfer platform is used to receive the battery replacement instruction; according to the arrangement position of the target storage position among the multiple storage positions, the movement of the walking mechanism is controlled so that the transfer platform moves to the spatial position corresponding to the target storage position; the transfer motor is controlled to move according to the pre-calibrated first calibration data corresponding to the target storage position, so that the transfer device moves from the preset zero position to the battery pick-up and placement position corresponding to the target storage position; the pick-up and placement device for picking up and placing batteries in the transfer device is controlled to obtain the target battery from the target storage position; the movement of the walking mechanism is controlled so that the transfer platform moves to the battery replacement area, and the pick-up and placement device is controlled to replace the battery to be charged in the device to be replaced with the target battery; wherein the first calibration data corresponding to each storage position is calibrated by the transfer platform according to the arrangement position of the storage position among the multiple storage positions and the structural information and size information of each storage position, and the transfer motor drives the transfer device to move from the preset zero position to the motion data of the battery pick-up and placement position corresponding to the storage position; The transfer platform includes: an image acquisition device, the transfer device includes: a battery platform for placing batteries and the pick-and-place device, the pick-and-place device includes: a push-pull rod, and the transfer motor includes: a push-pull rod motor, a rotating motor, a lifting motor and a traverse motor; The transfer platform is also used to obtain structural information and size information of each storage location, and determine the arrangement position of each storage location among the multiple storage locations based on the structural information; based on the structural information and the size information, calculate the calibrated length of the push-pull rod when taking and placing batteries from each storage location; for each storage location, control the movement of the walking mechanism, the lateral motor, the lifting motor and the rotating motor according to the structural information, the size information and the arrangement position of the storage location, so that the battery platform and the push-pull rod are moved to the initial pick-up and placement position corresponding to the storage location; control the image acquisition device to acquire the graphic code set for the storage location, and based on the actual position of the graphic code in the acquired image and the preset position , controlling the movement of the transverse motor, the lifting motor and the rotary motor so that the position deviation between the actual position of the graphic code and the preset position in the image captured by the image acquisition device is smaller than the preset deviation; controlling the movement of the push-pull rod motor based on the calibration length until a signal is fed back from the pressure sensor provided on the rear side wall of the storage position regarding the squeezing of the push-pull rod; resetting the push-pull rod motor, the rotary motor, the lifting motor and the transverse motor so that the battery platform and the push-pull rod are moved to a preset zero position; determining the movement data of the push-pull rod motor, the rotary motor, the lifting motor and the transverse motor during the resetting process as the first calibration data corresponding to the storage position.

2. The battery swap station according to claim 1, characterized in that: The control device is further configured to determine a storage location to be used among the storage locations where no batteries are placed, and to send a battery charging instruction to the transfer station for indicating the storage location to be used; The transfer platform is also used to receive the battery charging instruction; control the movement of the walking mechanism according to the arrangement position of the storage position to be used among the multiple storage positions, so that the transfer platform moves to the spatial position corresponding to the storage position to be used; control the transfer motor to move according to the pre-calibrated first calibration data corresponding to the storage position to be used, so that the transfer device moves from the preset zero position to the battery picking and placing position corresponding to the storage position to be used; control the picking and placing device to place the battery to be charged into the storage position to be used, so that the storage position to be used charges the battery to be charged.

3. The battery swap station according to claim 1, characterized in that: The transfer motor further comprises: a block motor, and the transfer device further comprises: a block device; wherein the block device is located at the front end of the push-pull rod; The transfer platform is also used to control the movement of the block motor when the push-pull rod takes or places the battery, so that the block device extends into the designated bayonet of the battery to be taken or placed, and rotates to a position where it blocks the designated bayonet.

4. The battery swap station according to claim 1, characterized in that: The transfer platform is further configured to control the image acquisition device to acquire a graphic code set at the target storage location during the process of controlling the transfer motor to move according to the first calibration data corresponding to the pre-calibrated target storage location; When the rotation motor, the lifting motor, and the traverse motor are controlled to move according to the calibration data corresponding to the pre-calibrated target storage position, and the push-pull rod motor is controlled to move so that the push-pull rod is extended to a preset length, the last frame of image captured by the image capture device between the capture start time and the current time is determined; Calculate the target deviation between the battery placement position corresponding to the target storage location and the current position of the battery platform based on the position deviation between the actual position of the graphic code set at the target storage location in the last frame of the image and the preset position; If the target deviation is not greater than the preset deviation threshold, controlling the push-pull rod motor to move according to the first calibration data corresponding to the target storage position until the movement is completed; If the target deviation is greater than a preset deviation threshold, determining whether the adjustment times of the lifting motor, the traverse motor, and the rotation motor are all less than their own preset times thresholds; If yes, based on the target deviation, controlling the movement of the lifting motor, the traverse motor, and the rotation motor respectively to adjust the current position of the battery platform; Return to the step of determining the last frame of the image captured by the image capture device between the capture start time and the current time.

5. The battery swap station according to claim 1, characterized in that: The transfer platform is also used for: For each storage location, based on the calibration length, the push-pull rod motor is controlled to move until a signal feedback from the pressure sensor provided on the rear side wall of the storage location regarding the squeezing of the push-pull rod is received, and then the walking mechanism is controlled to move so that the transfer platform moves to a preset starting position. In the process of moving the transfer platform to the preset starting position, the movement data of the walking mechanism is determined as the second calibration data corresponding to the storage location; The transfer platform controls the movement of the walking mechanism according to the arrangement position of the target storage location among the plurality of storage locations, so as to move the transfer platform to the spatial position corresponding to the target storage location, including: The transfer platform controls the walking mechanism to move according to the second calibration data corresponding to the target storage location, so that the transfer platform moves from the preset starting position to the spatial position corresponding to the target storage location.

6. The battery swap station according to any one of claims 1 to 5, characterized in that: The transfer platform is also used for: Before controlling the transfer motor to move according to the first calibration data corresponding to the pre-calibrated target storage position, determining whether the transfer devices are all at the preset zero position; If yes, controlling the transfer motor to move according to the first calibration data corresponding to the pre-calibrated target storage position; Otherwise, the transfer motor is reset to restore the transfer device that is not at the preset zero position to the preset zero position, and the transfer motor is controlled to move according to the first calibration data corresponding to the pre-calibrated target storage position.

7. The battery swap station according to any one of claims 1 to 5, characterized in that: Each storage location is equipped with a battery detection device and a power detection device; A battery detection device in each storage location is used to detect whether a battery is placed in the storage location, and when a battery is detected, sends a prompt message to the control device indicating that a battery is placed in the storage location; The power detection device of each storage position is used to detect the power information of the battery placed in the storage position according to a preset period when a battery is placed in the storage position, and send the power information to the control device; The control device determines each storage location where batteries are placed and the power level information of each placed battery, including: Obtain the prompt information and the power information.

8. The battery swap station according to claim 7, characterized in that: The battery detection device of each storage position is further used to send the battery identification of the battery placed in the storage position to the control device when a battery is placed in the storage position; The control device is further configured to record the correspondence between the battery identification and the number of uses of each battery placed therein; receive the battery identification sent by the battery detection device of each storage location; and, for each storage location where a battery is placed, calculate, based on the amount of change in the power information sent by the power detection device of the storage location within each specified period, an update amount of the number of uses of the battery placed therein within each specified period, and update the number of uses of the battery placed therein according to the calculated update amount. The control device selects a target battery whose storage location information and power information meet preset conditions from the placed batteries, including: For each placed battery, calculate the battery performance score of the battery using the recorded battery power information and the number of times the battery has been used; The location information and battery performance score of each battery are used to calculate the backup score of the battery, and the battery with the largest calculated backup score is determined as the target battery.

9. The battery swap station according to claim 1, characterized in that: The control device is also used to: Before the transfer platform controls the battery picking and placing device in the transfer device to obtain the target battery from the target storage location, a power-off instruction is sent to the target storage location so that the target storage location performs a power-off operation after receiving the power-off instruction.

10. The battery swap station according to claim 1, characterized in that: Each storage space also includes an electronic lock; The electronic lock of each storage location is used to lock when a battery is placed in the storage location; and open when receiving an unlocking command sent by the control device; The control device is further configured to send an unlocking instruction to the electronic lock of the target storage location after selecting the target battery, so that the electronic lock of the target storage location is opened.

11. The battery swap station according to claim 1, characterized in that: The battery swap station also includes auxiliary power supply equipment, and the transfer platform is also used for: Before replacing the battery to be charged in the device to be replaced with the target battery, the device to be replaced is connected to the auxiliary power supply device, and after replacing the battery to be charged in the device to be replaced with the target battery, the auxiliary power supply device is disconnected.

12. A battery replacement method, characterized in that: A control device applied to a battery swap station, wherein the battery swap station further comprises a plurality of storage spaces and a transfer platform; wherein the transfer platform comprises a walking mechanism, a transfer motor and a transfer device, and the transfer motor drives the transfer device to move; the method comprises: After determining that the device to be replaced has entered the preset battery replacement area in the battery replacement station, based on the determined storage locations where batteries are placed and the battery information of each placed battery, select a target battery from the placed batteries whose storage location information and power information meet the preset conditions; Sending a battery replacement instruction for indicating the target storage position where the target battery is located to the transfer platform, so that the transfer platform receives the battery replacement instruction and controls the movement of the walking mechanism according to the arrangement position of the target storage position in the multiple storage positions, so that the transfer platform moves to the spatial position corresponding to the target storage position; controlling the transfer motor to move according to the pre-calibrated first calibration data corresponding to the target storage position, so that the transfer device moves from the preset zero position to the battery pick-up and placement position corresponding to the target storage position; controlling the pick-up and placement device for picking up and placing batteries in the transfer device to obtain the target battery from the target storage position; controlling the movement of the walking mechanism to move the transfer platform to the battery replacement area, and controlling the pick-up and placement device to replace the battery to be charged in the device to be replaced with the target battery; wherein the first calibration data corresponding to each storage position is calibrated by the transfer platform according to the arrangement position of the storage position in the multiple storage positions and the structural information and size information of each storage position, and the transfer motor drives the transfer device to move from the preset zero position to the motion data of the battery pick-up and placement position corresponding to the storage position; The transfer platform includes: an image acquisition device, the transfer device includes: a battery platform for placing batteries and the pick-and-place device, the pick-and-place device includes: a push-pull rod, and the transfer motor includes: a push-pull rod motor, a rotating motor, a lifting motor and a transverse motor; the identification method of the calibration data corresponding to the position information of each storage location includes: Obtain structural information and dimension information of each storage location, and determine the arrangement position of each storage location among the multiple storage locations based on the structural information; calculate the calibrated length of the push-pull rod when taking and placing batteries from each storage location based on the structural information and the dimension information; for each storage location, control the movement of the walking mechanism, the traverse motor, the lifting motor and the rotary motor based on the structural information, the dimension information and the arrangement position of the storage location, so that the battery platform and the push-pull rod are moved to the initial placement position corresponding to the storage location; control the image acquisition device to acquire the graphic code set for the storage location, and based on the position deviation between the actual position of the graphic code in the acquired image and the preset position , control the movement of the transverse motor, the lifting motor and the rotary motor so that in the image captured by the image acquisition device, the position deviation between the actual position of the graphic code and the preset position is less than the preset deviation; based on the calibration length, control the movement of the push-pull rod motor until a signal is received from the pressure sensor provided on the rear side wall of the storage position regarding the squeezing of the push-pull rod; reset the push-pull rod motor, the rotary motor, the lifting motor and the transverse motor so that the battery platform and the push-pull rod are moved to a preset zero position; determine the movement data of the push-pull rod motor, the rotary motor, the lifting motor and the transverse motor during the resetting process as the first calibration data corresponding to the storage position.

13. A battery replacement method, characterized in that: A transfer platform used in a battery swap station, wherein the battery swap station further comprises a plurality of storage spaces and a control device; wherein the transfer platform comprises a walking mechanism, a transfer motor and a transfer device, wherein the transfer motor drives the transfer device to move; and the method comprises: Receive a battery replacement instruction; wherein the battery replacement instruction is an instruction sent by the control device to indicate the target storage location where the target battery is located. The target battery is selected from the placed batteries by the control device after determining that the device to be replaced has entered a preset battery replacement area in the battery replacement station, based on the determined storage locations where batteries are placed and the power information of each placed battery, and the battery whose storage location information and power information meet preset conditions; According to the arrangement position of the target storage location among the multiple storage locations, the walking mechanism is controlled to move so that the transfer platform moves to the spatial position corresponding to the target storage location; the transfer motor is controlled to move according to the pre-calibrated first calibration data corresponding to the target storage location, so that the transfer device moves from the preset zero position to the battery pick-up and placement position corresponding to the target storage location; the pick-up and placement device for picking up and placing batteries in the transfer device is controlled to obtain the target battery from the target storage location; wherein the first calibration data corresponding to each storage location is calibrated according to the arrangement position of the storage location among the multiple storage locations and the structural information and size information of each storage location, and the transfer motor drives the transfer device to move from the preset zero position to the motion data of the battery pick-up and placement position corresponding to the storage location; Controlling the movement of the walking mechanism to move the transfer platform to the battery replacement area, and controlling the pick-and-place device to replace the battery to be charged in the device to be replaced with the target battery; The transfer platform includes: an image acquisition device, the transfer device includes: a battery platform for placing batteries and the pick-and-place device, the pick-and-place device includes: a push-pull rod, and the transfer motor includes: a push-pull rod motor, a rotating motor, a lifting motor and a transverse motor; the identification method of the calibration data corresponding to the position information of each storage location includes: Obtain structural information and dimension information of each storage location, and determine the arrangement position of each storage location among the multiple storage locations based on the structural information; calculate the calibrated length of the push-pull rod when taking and placing batteries from each storage location based on the structural information and the dimension information; for each storage location, control the movement of the walking mechanism, the traverse motor, the lifting motor and the rotary motor based on the structural information, the dimension information and the arrangement position of the storage location, so that the battery platform and the push-pull rod are moved to the initial placement position corresponding to the storage location; control the image acquisition device to acquire the graphic code set for the storage location, and based on the position deviation between the actual position of the graphic code in the acquired image and the preset position , control the movement of the transverse motor, the lifting motor and the rotary motor so that in the image captured by the image acquisition device, the position deviation between the actual position of the graphic code and the preset position is less than the preset deviation; based on the calibration length, control the movement of the push-pull rod motor until a signal is received from the pressure sensor provided on the rear side wall of the storage position regarding the squeezing of the push-pull rod; reset the push-pull rod motor, the rotary motor, the lifting motor and the transverse motor so that the battery platform and the push-pull rod are moved to a preset zero position; determine the movement data of the push-pull rod motor, the rotary motor, the lifting motor and the transverse motor during the resetting process as the first calibration data corresponding to the storage position.

14. A battery replacement device, characterized in that: A control device used in a battery swap station, wherein the battery swap station also includes multiple storage spaces and a transfer platform; wherein the transfer platform includes a walking mechanism, a transfer motor and a transfer device, and the transfer motor drives the transfer device to move; the device includes: A target battery acquisition module is used to select a target battery whose storage location information and power information meet preset conditions from among the placed batteries based on the determined storage locations where batteries are placed and the battery information of each placed battery after determining that the device to be replaced has entered the preset battery replacement area in the battery replacement station; A battery replacement module is used to send a battery replacement instruction for indicating the target storage position where the target battery is located to the transfer platform, so that the transfer platform receives the battery replacement instruction and controls the movement of the walking mechanism according to the arrangement position of the target storage position in the multiple storage positions, so that the transfer platform moves to the spatial position corresponding to the target storage position; controls the transfer motor to move according to the pre-calibrated first calibration data corresponding to the target storage position, so that the transfer device moves from a preset zero position to a battery pick-up and placement position corresponding to the target storage position; controls the pick-up and placement device for picking up and placing batteries in the transfer device to obtain the target battery from the target storage position; controls the movement of the walking mechanism to move the transfer platform to the battery replacement area, and controls the pick-up and placement device to replace the battery to be charged in the device to be replaced with the target battery; wherein the first calibration data corresponding to each storage position is calibrated by the transfer platform according to the arrangement position of the storage position in the multiple storage positions and the structural information and size information of each storage position, and the transfer motor drives the transfer device to move from the preset zero position to the motion data of the battery pick-up and placement position corresponding to the storage position; The transfer platform includes: an image acquisition device, the transfer device includes: a battery platform for placing batteries and the pick-and-place device, the pick-and-place device includes: a push-pull rod, and the transfer motor includes: a push-pull rod motor, a rotating motor, a lifting motor and a transverse motor; the identification method of the calibration data corresponding to the position information of each storage location includes: Obtain structural information and dimension information of each storage location, and determine the arrangement position of each storage location among the multiple storage locations based on the structural information; calculate the calibrated length of the push-pull rod when taking and placing batteries from each storage location based on the structural information and the dimension information; for each storage location, control the movement of the walking mechanism, the traverse motor, the lifting motor and the rotary motor based on the structural information, the dimension information and the arrangement position of the storage location, so that the battery platform and the push-pull rod are moved to the initial placement position corresponding to the storage location; control the image acquisition device to acquire the graphic code set for the storage location, and based on the position deviation between the actual position of the graphic code in the acquired image and the preset position , control the movement of the transverse motor, the lifting motor and the rotary motor so that in the image captured by the image acquisition device, the position deviation between the actual position of the graphic code and the preset position is less than the preset deviation; based on the calibration length, control the movement of the push-pull rod motor until a signal is received from the pressure sensor provided on the rear side wall of the storage position regarding the squeezing of the push-pull rod; reset the push-pull rod motor, the rotary motor, the lifting motor and the transverse motor so that the battery platform and the push-pull rod are moved to a preset zero position; determine the movement data of the push-pull rod motor, the rotary motor, the lifting motor and the transverse motor during the resetting process as the first calibration data corresponding to the storage position.

15. A battery replacement device, characterized in that: A transfer platform used in a battery swap station, the battery swap station also includes multiple storage spaces and control equipment; wherein the transfer platform includes a walking mechanism, a transfer motor and a transfer device, the transfer motor drives the transfer device to move; the device includes: An instruction receiving module, configured to receive a battery replacement instruction; wherein the battery replacement instruction is an instruction sent by the control device to indicate a target storage location where a target battery is located, and the target battery is a battery whose storage location information and power information meet preset conditions from among the placed batteries, based on the determined storage locations where batteries are placed and the power information of each placed battery, after the control device determines that the device to be replaced has entered a preset battery replacement area in the battery replacement station; A target battery acquisition module is used to control the movement of the walking mechanism according to the arrangement position of the target storage location among the multiple storage locations, so that the transfer platform moves to the spatial position corresponding to the target storage location; control the transfer motor to move according to the first movement corresponding to the pre-calibrated target storage location, so that the transfer device moves from a preset zero position to a battery pick-up and placement position corresponding to the target storage location; control the pick-up and placement device for picking up and placing batteries in the transfer device to obtain the target battery from the target storage location; wherein the first calibration data corresponding to each storage location is calibrated according to the arrangement position of the storage location among the multiple storage locations and the structural information and size information of each storage location, and the transfer motor drives the transfer device to move from the preset zero position to the movement data of the battery pick-up and placement position corresponding to the storage location; A battery replacement module is used to control the movement of the walking mechanism so that the transfer platform moves to the battery replacement area, and control the pick-and-place device to replace the battery to be charged in the device to be replaced with the target battery; The transfer platform includes: an image acquisition device, the transfer device includes: a battery platform for placing batteries and the pick-and-place device, the pick-and-place device includes: a push-pull rod, and the transfer motor includes: a push-pull rod motor, a rotating motor, a lifting motor and a transverse motor; the identification method of the calibration data corresponding to the position information of each storage location includes: Obtain structural information and dimension information of each storage location, and determine the arrangement position of each storage location among the multiple storage locations based on the structural information; calculate the calibrated length of the push-pull rod when taking and placing batteries from each storage location based on the structural information and the dimension information; for each storage location, control the movement of the walking mechanism, the traverse motor, the lifting motor and the rotary motor based on the structural information, the dimension information and the arrangement position of the storage location, so that the battery platform and the push-pull rod are moved to the initial placement position corresponding to the storage location; control the image acquisition device to acquire the graphic code set for the storage location, and based on the position deviation between the actual position of the graphic code in the acquired image and the preset position , control the movement of the transverse motor, the lifting motor and the rotary motor so that in the image captured by the image acquisition device, the position deviation between the actual position of the graphic code and the preset position is less than the preset deviation; based on the calibration length, control the movement of the push-pull rod motor until a signal is received from the pressure sensor provided on the rear side wall of the storage position regarding the squeezing of the push-pull rod; reset the push-pull rod motor, the rotary motor, the lifting motor and the transverse motor so that the battery platform and the push-pull rod are moved to a preset zero position; determine the movement data of the push-pull rod motor, the rotary motor, the lifting motor and the transverse motor during the resetting process as the first calibration data corresponding to the storage position.

16. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; Memory for storing computer programs; The processor is configured to implement the steps of the method described in claim 12 and / or the steps of the method described in claim 13 when executing the program stored in the memory.

17. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method according to claim 12 and / or the steps of the method according to claim 13 are implemented.

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