A battery replacement method, system, device and storage medium based on dual telescopic mechanism

Abstract

The present invention discloses a battery replacement method, system, equipment and storage medium based on a dual telescopic mechanism, relating to the field of battery replacement technology. The method includes: after the battery replacement station obtains the battery replacement request of the battery replacement vehicle, it determines the charging position of the fully charged battery pack; the battery replacement station drives the first bidirectional telescopic mechanism to grab the fully charged battery pack located at the charging position according to the charging position of the fully charged battery pack, and drives the second bidirectional telescopic mechanism to grab the depleted battery pack located on the battery replacement vehicle; the battery replacement station drives the first bidirectional telescopic mechanism to store the grabbed fully charged battery pack on the battery replacement vehicle, and drives the second bidirectional telescopic mechanism to store the grabbed depleted battery pack at the charging position.

Description

Technical Field

[0001] The present invention relates to the field of vehicle battery replacement technology, and in particular to a battery replacement method, system, device and storage medium based on a dual telescopic mechanism. Background Art

[0002] In response to global calls for energy conservation and emissions reduction, fuel-powered machinery has been gradually replaced by electric machines in recent years. However, issues such as short battery life, slow charging, and rapid battery degradation have hindered their adoption. To address these issues, battery-swapping devices are now available on the market, allowing for direct battery replacement in electric machines, providing rapid energy replenishment.

[0003] However, existing battery swap mechanisms typically only have a single battery gripper. During a battery swap, the mechanism must first grab a low-charged battery box from the vehicle to be swapped, then place the low-charged box into the battery compartment. Finally, it grabs a fully charged battery box from the compartment and places it back into the vehicle to be swapped. This single gripper reduces the number of battery swap steps, resulting in low swap efficiency and a poor battery swap experience. Summary of the Invention

[0004] The technical problem solved by the solution provided in the embodiment of the present invention is how to achieve rapid battery replacement.

[0005] According to an embodiment of the present invention, a battery replacement method based on a dual telescopic mechanism is provided, comprising:

[0006] After receiving the battery swap request from the battery swap vehicle, the battery swap station determines the charging position of the fully charged battery pack;

[0007] The battery swap station drives the first bidirectional telescopic mechanism to grab the fully charged battery pack located on the charging position according to the charging position of the fully charged battery pack, and drives the second bidirectional telescopic mechanism to grab the depleted battery pack located on the battery swap vehicle;

[0008] The battery swap station drives the first bidirectional telescopic mechanism to place the grabbed fully-charged battery pack on the battery swap vehicle, and drives the second bidirectional telescopic mechanism to place the grabbed low-charged battery pack on the charging position.

[0009] According to an embodiment of the present invention, a battery replacement system based on a dual telescopic mechanism is provided, comprising:

[0010] Battery swapping vehicle, used to send a battery swapping request to a battery swapping station;

[0011] A battery swap station is used to determine the charging position of a fully charged battery pack after obtaining a battery swap request from a battery swap vehicle; drive a first bidirectional telescopic mechanism to grab the fully charged battery pack located at the charging position according to the charging position of the fully charged battery pack, and drive a second bidirectional telescopic mechanism to grab the depleted battery pack located on the battery swap vehicle; and drive the first bidirectional telescopic mechanism to store the grabbed fully charged battery pack on the battery swap vehicle, and drive the second bidirectional telescopic mechanism to store the grabbed depleted battery pack at the charging position.

[0012] According to the solution provided by the embodiment of the present invention, the battery replacement efficiency of electric working machinery is effectively improved, the waiting time of vehicles is reduced, and the utilization rate of battery replacement stations is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to understand the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0014] Figure 1 This is a flow chart of a battery replacement method based on a dual telescopic mechanism provided by an embodiment of the present invention;

[0015] Figure 2 Schematic diagram of a battery swapping system based on a dual telescopic mechanism provided by an embodiment of the present invention;

[0016] Figure 3 Schematic diagram of a double telescopic mechanism in a split mode provided by an embodiment of the present invention;

[0017] Figure 4 It is a schematic diagram of a double telescopic mechanism in a combined mode provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0018] The preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings. It should be understood that the preferred embodiments described below are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0019] Figure 1 This is a flow chart of a battery replacement method based on a dual telescopic mechanism provided by an embodiment of the present invention. Figure 1 Shown, including:

[0020] Step S101: After receiving the battery swap request from the battery swap vehicle, the battery swap station determines the charging position of the fully charged battery pack;

[0021] Each battery holder 2120 can hold a battery box, and each battery holder 2120 can charge the battery box mounted thereon, that is, each battery holder 2120 provides a charging position, such as Figure 4 shown.

[0022] Step S102: The battery swap station drives the first bidirectional telescopic mechanism to grab the fully charged battery pack located on the charging position according to the charging position of the fully charged battery pack, and drives the second bidirectional telescopic mechanism to grab the depleted battery pack located on the battery swap vehicle;

[0023] Step S103: The battery swap station drives the first bidirectional telescopic mechanism to place the grabbed fully-charged battery pack on the battery swap vehicle, and drives the second bidirectional telescopic mechanism to place the grabbed low-charged battery pack on the charging position.

[0024] The battery swap station comprises: a charging compartment with multiple charging positions; a battery swap compartment for a first double telescopic mechanism and a second bidirectional telescopic mechanism to move laterally along a track; wherein the track ends in the battery swap compartment are each one more charging position than the charging compartment, such as Figure 4 As shown; or there is a vacant space of the same size as the charging space at each end of the charging compartment, and the length of the charging compartment is the same as that of the battery replacement compartment.

[0025] In the embodiment of the present invention, after the battery swap station determines the charging position of the fully charged battery pack, the battery swap station further includes: determining whether the setting mode of the first double telescopic mechanism and the second double telescopic mechanism is a split mode or a combined mode; Figure 3 As shown, the split mode means that the first bidirectional telescopic mechanism is set on the first battery-swapping robot, and the second bidirectional telescopic mechanism is set on the second battery-swapping robot; Figure 4 As shown, the combined mode means that the first bidirectional telescopic mechanism and the second bidirectional telescopic structure are both arranged on the third battery-exchanging robot.

[0026] The battery swap station drives the first bidirectional telescopic mechanism to grab the fully charged battery pack located on the charging position according to the charging position of the fully charged battery pack, and drives the second bidirectional telescopic mechanism to grab the depleted battery pack located on the battery swap vehicle, including: Figure 3As shown, when the battery swap station determines that the setting mode of the first double telescopic mechanism and the second double telescopic mechanism is a split mode, the battery swap robot closest to the charging position of the fully charged battery pack is used as the first battery swap robot, and the battery swap robot that is not closest to the charging position of the fully charged battery pack is used as the second battery swap robot, and a first instruction is sent to the first battery swap robot, and a second instruction is sent to the second battery swap robot; the first battery swap robot drives the first bidirectional telescopic mechanism to grab the fully charged battery pack located on the charging position according to the first instruction, and the second battery swap robot drives the second bidirectional telescopic mechanism to grab the low-charged battery pack located on the battery swap vehicle according to the second instruction; or after the first battery swap robot drives the first bidirectional telescopic mechanism to grab the fully charged battery pack located on the charging position according to the first instruction, the second battery swap robot drives the second bidirectional telescopic mechanism to grab the low-charged battery pack located on the battery swap vehicle according to the second instruction; or after the second battery swap robot drives the second bidirectional telescopic mechanism to grab the low-charged battery pack located on the battery swap vehicle according to the second instruction, the first battery swap robot drives the first bidirectional telescopic mechanism to grab the fully charged battery pack located on the charging position according to the first instruction.

[0027] Preferably, if Figure 3 As shown, when the setting mode of the first double telescopic mechanism and the second double telescopic mechanism is the split mode, the battery swap station obtains the battery swap request of the battery swap vehicle and determines the charging position of the fully charged battery pack before the battery swap vehicle arrives at the battery swap area, and drives the first bidirectional telescopic mechanism of the first battery swap robot to grab the fully charged battery pack located at the charging position; when the battery swap station detects that the battery swap vehicle arrives at the battery swap area, it first drives the second bidirectional telescopic mechanism of the second battery swap robot to grab the depleted battery pack located on the battery swap vehicle, and then drives the first bidirectional telescopic mechanism of the first battery swap robot to place the grabbed fully charged battery pack on the battery swap vehicle, and finally drives the second bidirectional telescopic mechanism of the second battery swap robot to place the grabbed depleted battery pack at the charging position.

[0028] like Figure 3As shown, when the setting mode of the first double telescopic mechanism and the second double telescopic mechanism is a split mode, the battery swap station provided in the embodiment of the present application includes: a support part, a guide rail 16 and a battery swap robot 9. The support part is provided with a plurality of battery fixing seats 2120 along the length. The guide rail 16 is provided on one side of the support part in the width direction, and the guide rail 16 extends along the length direction of the support part. The battery swap robot 9 is slidably connected to the guide rail 16. The difference is that the battery swap robot 9 is a split part, and the battery swap robot 9 includes a first battery swap robot and a second battery swap robot, and the first battery swap robot and the second battery swap robot are independent. The first battery swap robot and the second battery swap robot can both be movably set on the guide rail 16 and can move translationally along the guide rail 16. Each of the battery swap robots 9 is provided with a bidirectional telescopic mechanism 91. A gripper 92 is provided at the end of each bidirectional telescopic mechanism 91. The bidirectional telescopic mechanism 91 can bidirectionally telescope in a direction perpendicular to the guide rail 16 to transfer the battery box between the support part and the battery swap vehicle. The bidirectional telescopic mechanism 91 on one battery-swapping robot 9 is used to grab the depleted battery box on the battery-swapping vehicle and transfer it to the battery fixing seat 2120. The bidirectional telescopic mechanism 91 on another battery-swapping robot 9 is used to grab the fully charged battery box on the battery fixing seat 2120 and load it into the battery-swapping vehicle. The two bidirectional telescopic mechanisms 91 work together to significantly improve the battery-swapping efficiency.

[0029] In a possible embodiment, the first battery-swapping robot and the second battery-swapping robot each have two frames 93 , which are spaced apart to form a battery box channel between the two frames 93 . The bidirectional telescopic mechanism 91 connects the two frames 93 , respectively.

[0030] By providing two independent battery-swapping robots 9, the two battery-swapping robots 9 can operate independently during the battery-swapping process, significantly improving work efficiency. For example, the first battery-swapping robot can first move to the battery-swapping station in an empty state to grab a low-charged battery box on the battery-swapping vehicle. During this process, the second battery-swapping robot can grab a fully charged battery box. After the first battery-swapping robot finishes its work, it leaves the battery-swapping station, and the second battery-swapping robot can move to the battery-swapping station to load the fully charged battery box onto the battery-swapping vehicle.

[0031] Preferably, if Figure 4As shown, when the setting mode of the first double telescopic mechanism and the second double telescopic mechanism is the combined mode, the battery swap station obtains the battery swap request of the battery swap vehicle and determines the charging position of the fully charged battery pack before the battery swap vehicle arrives at the battery swap area, and drives the first bidirectional telescopic mechanism of the third battery swap robot to grab the fully charged battery pack located at the charging position; when the battery swap station detects that the battery swap vehicle arrives at the battery swap area, it drives the second bidirectional telescopic mechanism of the third battery swap robot to grab the depleted battery pack located on the battery swap vehicle, drives the first bidirectional telescopic mechanism of the third battery swap robot to store the grabbed fully charged battery pack on the battery swap vehicle, and drives the second bidirectional telescopic mechanism of the third battery swap robot to store the grabbed depleted battery pack at the charging position.

[0032] like Figure 4 As shown, when the setting mode of the first double telescopic mechanism and the second double telescopic mechanism is a combined mode, the battery swap station provided in the embodiment of the present application includes: a support portion (the support portion can be the charging bottom box 210 hereinafter), a guide rail 16 and a battery swap robot 9. The support portion is provided with a plurality of battery fixing seats 2120 along the length. The guide rail 16 is provided on one side of the support portion along the width direction, and the guide rail 16 is extended along the length direction of the support portion. The battery swap robot 9 is slidably connected to the guide rail 16, and the battery swap robot 9 has at least two bidirectional telescopic mechanisms 91, and each of the bidirectional telescopic mechanisms 91 is arranged in sequence along the length direction of the guide rail 16, and a gripper 92 is provided at the end of each bidirectional telescopic mechanism 91. The bidirectional telescopic mechanism 91 can be bidirectionally telescopic in a direction perpendicular to the guide rail 16 to transfer the battery box between the support portion and the battery swap vehicle. Two bidirectional telescopic mechanisms 91 are provided on the battery-swapping robot 9 of the battery-swapping equipment of the present application. One bidirectional telescopic mechanism 91 is used to grab the depleted battery box on the battery-swapping vehicle and transfer it to the battery fixing seat 2120. The other bidirectional telescopic mechanism 91 is used to grab the fully charged battery box on the battery fixing seat 2120 and load it into the battery-swapping vehicle. The coordinated operation of the two bidirectional telescopic mechanisms 91 significantly improves the battery-swapping efficiency.

[0033] Furthermore, in this application, two bidirectional telescopic mechanisms 91 are set on the battery-exchanging robot 9, which can respectively grab the low-power battery box and the fully-charged battery box, so that during the battery-exchanging process, there is no need to reserve an unloaded battery fixing seat 2120 on the support part, so that each battery fixing seat 2120 on the support part can maintain a fully loaded battery box, thereby increasing the battery box loading capacity of the charging compartment.

[0034] In a possible embodiment, the guide rail 16 has a main rail 161 and an extension guide rail 162, the main rail 161 and the area on the support portion where the battery fixing seat is installed are equal in length, and the extension guide rail 162 is arranged at both ends of the main rail 161 along the length direction, and the length of the extension guide rail 162 is not less than the extension length of the battery fixing seat 2120.

[0035] In this embodiment, when the battery-swapping robot 9 is an integrated structure, the length of the battery-swapping robot 9 is approximately equal to the length of the two battery holders 2120. When the gripper 92 on the left side of the battery-swapping robot 9 grabs a fully charged battery box and the gripper 92 on the right side needs to grab a low-charged battery box of the battery-swapping vehicle, the battery-swapping robot 9 then needs to be translated so that the gripper 92 on the left side is facing the battery-swapping vehicle to facilitate loading the fully charged battery box into the battery-swapping vehicle. When the low-charged battery box needs to be loaded into the end of the support portion, the battery-swapping robot 9 can be moved to the end of the guide rail 16, that is, the gripper 92 on the left side is located on the side of the extended guide rail 162, and the gripper 92 on the right side is located at the end of the main rail 161, so that the gripper 92 on the right side can load the low-charged battery box into the battery holder 2120 at the end of the support portion. In this way, it can be seen that by providing the extended guide rail 162, it is possible to grab a fully charged battery box at any position on the support portion, making it convenient to load the low-charged battery box into the battery holder 2120 at the end of the support portion.

[0036] In one possible implementation, the battery-swapping robot 9 is provided with a corresponding battery box channel corresponding to each of the two-way telescopic mechanisms 91. Each of the battery box channels extends in a direction perpendicular to the guide rail 16, and the two-way telescopic mechanism 91 can drive the battery box to move in both directions along the battery box channel. The battery box will not collide or interfere with the battery-swapping robot 9 when passing through the corresponding battery box channel.

[0037] In a possible embodiment, the battery-swapping robot 9 has a plurality of frames 93 , with a battery box channel formed between two adjacent frames 93 . Each of the two-way telescopic mechanisms 91 is connected to two adjacent frames 93 .

[0038] Among them, the battery swap station drives the first bidirectional telescopic mechanism to place the grabbed fully charged battery pack on the battery swap vehicle, and drives the second bidirectional telescopic mechanism to place the grabbed low-charge battery pack on the charging position, including: the battery swap station sends a third instruction to the first battery swap robot, and at the same time sends a fourth instruction to the second battery swap robot; the first battery swap robot drives the first bidirectional telescopic mechanism to place the grabbed fully charged battery pack on the battery swap vehicle according to the third instruction, and at the same time, the second battery swap robot drives the second bidirectional telescopic mechanism to place the grabbed low-charge battery pack on the charging position according to the fourth instruction; or after the first battery swap robot drives the first bidirectional telescopic mechanism to place the grabbed fully charged battery pack on the battery swap vehicle according to the third instruction, the second battery swap robot drives the second bidirectional telescopic mechanism to place the grabbed low-charge battery pack on the charging position according to the fourth instruction; or after the second battery swap robot drives the second bidirectional telescopic mechanism to place the grabbed low-charge battery pack on the charging position according to the fourth instruction, the first battery swap robot drives the first bidirectional telescopic mechanism to place the grabbed fully charged battery pack on the battery swap vehicle according to the third instruction.

[0039] Among them, the battery swap station drives the first bidirectional telescopic mechanism to grab the fully charged battery pack located on the charging position according to the charging position of the fully charged battery pack, and drives the second bidirectional telescopic mechanism to grab the low-charged battery pack located on the battery swap vehicle, including: when the battery swap station determines that the setting mode of the first double telescopic mechanism and the second double telescopic mechanism is a combined mode, the double telescopic mechanism closest to the charging position of the fully charged battery pack is used as the first double telescopic mechanism, and the double telescopic mechanism not closest to the charging position of the fully charged battery pack is used as the second double telescopic mechanism, and a fifth instruction is sent to the third battery swap robot; after the third battery swap robot drives the first bidirectional telescopic mechanism to grab the fully charged battery pack located on the charging position according to the fifth instruction, it drives the second bidirectional telescopic mechanism to grab the low-charged battery pack located on the battery swap vehicle; or after the third battery swap robot drives the second bidirectional telescopic mechanism to grab the low-charged battery pack located on the battery swap vehicle according to the fifth instruction, it drives the first bidirectional telescopic mechanism to grab the fully charged battery pack located on the charging position.

[0040] Among them, the battery swap station drives the first bidirectional telescopic mechanism to place the grabbed fully charged battery pack on the battery swap vehicle, and drives the second bidirectional telescopic mechanism to place the grabbed low-charge battery pack on the charging position, including: the battery swap station sends a sixth instruction to the third battery swap robot; the third battery swap robot drives the first bidirectional telescopic mechanism to place the grabbed fully charged battery pack on the battery swap vehicle according to the sixth instruction, and then drives the second bidirectional telescopic mechanism to place the grabbed low-charge battery pack on the charging position; or the third battery swap robot drives the second bidirectional telescopic mechanism to place the grabbed low-charge battery pack on the charging position according to the sixth instruction, and then drives the first bidirectional telescopic mechanism to place the grabbed fully charged battery pack on the battery swap vehicle.

[0041] Figure 2 Schematic diagram of a battery swap system based on a dual telescopic mechanism provided by an embodiment of the present invention, Figure 2 As shown, it includes: a battery swap vehicle 201, used to send a battery swap request to the battery swap station; a battery swap station 202, used to determine the charging position of a fully charged battery pack after obtaining the battery swap request of the battery swap vehicle; drive the first bidirectional telescopic mechanism to grab the fully charged battery pack located on the charging position according to the charging position of the fully charged battery pack, and drive the second bidirectional telescopic mechanism to grab the depleted battery pack located on the battery swap vehicle; and drive the first bidirectional telescopic mechanism to store the grabbed fully charged battery pack on the battery swap vehicle, and drive the second bidirectional telescopic mechanism to store the grabbed depleted battery pack on the charging position.

[0042] An electronic device provided in an embodiment of the present application includes: a memory; a processor; and a computer program; wherein the computer program is stored in the memory and is configured to be executed by the processor to implement a battery replacement method based on a dual telescopic mechanism.

[0043] An embodiment of the present application provides a computer-readable storage medium on which a computer program is stored; the computer program is executed by a processor to implement a battery replacement method based on a dual telescopic mechanism.

[0044] like Figure 3 and Figure 4 As shown, the embodiment of the present application also provides the structure of a bidirectional telescopic mechanism 91. The bidirectional telescopic mechanism 91 includes a plurality of telescopic frames, adjacent telescopic frames are slidably connected, and adjacent telescopic frames are connected with telescopic drive members. The telescopic drive member may include a telescopic oil cylinder, and the telescopic movement of the telescopic oil cylinder may drive two adjacent telescopic frames to move away from or closer to each other. The telescopic frame at the head end is fixedly connected to the two adjacent frame bodies 93, and the gripper 92 is provided on the telescopic frame at the end. The gripper 92 has the function of grabbing or releasing the battery box.

[0045] In a possible implementation, a lifting mechanism is provided on the telescopic frame at the end, the gripper is connected to the lifting mechanism, and the lifting mechanism can drive the gripper to move up and down.

[0046] A lifting mechanism is provided at the end of the bidirectional telescopic mechanism, and the gripper is connected to the lifting mechanism. The lifting mechanism is used to lift or lower the battery box gripped by the gripper.

[0047] In a possible embodiment, the lifting mechanism includes a flexible member, a sliding frame and a second steering wheel. The sliding frame is slidably connected to the top frame, and a first steering wheel is provided on the sliding frame. The second steering wheel is fixedly connected to the top frame. One end of the flexible member is fixed to the top frame, such as fixed to a fixed seat of the top frame. The flexible member is connected to the gripper after passing through the first steering wheel and the second steering wheel respectively. The top frame is provided with an avoidance hole corresponding to the second steering wheel, and the flexible member passes through the avoidance hole. The sliding frame slides to drive the flexible member to lift or lower the gripper. The flexible member can be a lifting rope, a wire rope, etc. In this embodiment, the flexible member can be controlled to lift or lower the gripper by controlling the movement of the sliding frame.

[0048] In order to reduce the lifting load of the flexible member, extend its service life, and facilitate the smooth lifting of the battery box, in the embodiment of the present application, multiple flexible members can be provided, and corresponding first and second steering wheels are provided for each flexible member, and the ends of each flexible member are connected to the gripper.

[0049] The lifting mechanism also includes a second telescopic component connected to the sliding frame, driving the sliding frame to slide and lift or lower the gripper. The second telescopic component can be a telescopic cylinder. When the second telescopic component is extended, the section of the flexible member located between the first and second steering wheels becomes longer, and the section of the flexible member extending downward perpendicular to the top frame becomes shorter, thereby lifting the gripper. When the second telescopic component is shortened, the section of the flexible member extending perpendicular to the top frame becomes longer, thereby lowering the battery box.

[0050] See also Figure 3 and Figure 4 As shown, the frame body 93 includes two columns 931 arranged in sequence along the width direction of the guide rail. The columns 931 on the same side of the guide rail on any one of the battery-swapping robot, the first battery-swapping robot and the second battery-swapping robot are connected by a sliding beam 932. The sliding beam 932 is slidably connected to the guide rail. The design of the sliding beam 932 can not only slide with the guide rail, but also enhance the structural strength between the two columns 931, so that the two frame bodies have good structural stability.

[0051] The sliding beam 932 is provided with a driving component and multiple rollers, each of which is supported on the guide rail. The driving component is connected to some of the rollers to drive the battery-swapping robot along the guide rail. The driving component may include a motor and a reduction gearbox, with the motor and the input end of the reduction gearbox being connected to each other, and the output end of the reduction gearbox being connected to at least one of the rollers to drive the rollers to rotate and move the battery-swapping robot.

[0052] It should be pointed out that, before the battery swap station drives the second bidirectional telescopic mechanism to grab the deficient battery pack on the battery swap vehicle and before the battery swap station drives the first bidirectional telescopic mechanism to place the grabbed fully charged battery pack on the battery swap vehicle, the embodiment of the present invention also includes: three laser ranging sensors arranged on the battery swap robot (the first bidirectional telescopic mechanism is arranged on the first battery swap robot; the second bidirectional telescopic mechanism is arranged on the second battery swap robot) respectively detect the distance between them and the deficient battery pack on the battery swap vehicle, and send the distance information detected by each laser ranging sensor to the battery swap station; the battery swap station determines whether the battery swap robot is completely aligned with the deficient battery pack based on the distance information of each laser ranging sensor; when it is determined that the battery swap robot is not completely aligned with the deficient battery pack, the battery swap station adjusts the position of the battery swap robot so that the battery swap robot is completely aligned with the deficient battery pack, so that the battery swap robot completes the battery swap operation of the battery swap vehicle.

[0053] The three laser ranging sensors include a left laser ranging sensor, a middle laser ranging sensor, and a right laser ranging sensor; the spacing information includes left spacing information detected by the left laser ranging sensor, middle spacing information detected by the middle laser ranging sensor, and right spacing information detected by the right laser ranging sensor.

[0054] Among them, the battery swap station judges whether the battery swap robot is completely aligned with the deficient battery pack based on the detection distance information of each laser ranging sensor, including: when the left side distance information, the middle distance information and the right side distance information are all within the preset distance range, the battery swap station judges that the battery swap robot is completely aligned with the deficient battery pack; when the left side distance information or the right side distance information is not within the preset distance range, the battery swap station judges that the battery swap robot is not completely aligned with the deficient battery pack.

[0055] Specifically, when it is determined that the battery-swapping robot is not completely aligned with the defunct battery pack, the battery-swapping station adjusts the position of the battery-swapping robot so that the battery-swapping robot is completely aligned with the defunct battery pack, including: when the left-side spacing information is not within the preset spacing range, the battery-swapping station sends a right-moving instruction to the battery-swapping robot, so that the battery-swapping robot adjusts its position to the right along the track according to the right-moving instruction, so that the battery-swapping robot is completely aligned with the defunct battery pack; when the right-side spacing information is not within the preset spacing range, the battery-swapping station sends a left-moving instruction to the battery-swapping robot, so that the battery-swapping robot adjusts its position to the left along the track according to the left-moving instruction, so that the battery-swapping robot is completely aligned with the defunct battery pack.

[0056] Specifically, the battery swap station determines whether the battery swap robot is completely aligned with the deficient battery pack based on the detection distance information of each laser ranging sensor, including: when the left side distance information and the right side distance information are both greater than the preset distance range, and the middle distance information is within the preset distance range, the battery swap station determines that the battery swap robot is completely aligned with the deficient battery pack; when the left side distance information or the right side distance information is within the preset distance range, the battery swap station determines that the battery swap robot is not completely aligned with the deficient battery pack.

[0057] Specifically, when it is determined that the battery-swapping robot is not completely aligned with the defunct battery pack, the battery-swapping station adjusts the position of the battery-swapping robot so that the battery-swapping robot is completely aligned with the defunct battery pack, including: when the left side spacing information is within a preset spacing range, the battery-swapping station sends a left movement instruction to the battery-swapping robot, so that the battery-swapping robot adjusts its position to the left along the track according to the left movement instruction so that the battery-swapping robot is completely aligned with the defunct battery pack; when the right side spacing information is within a preset spacing range, the battery-swapping station sends a right movement instruction to the battery-swapping robot, so that the battery-swapping robot adjusts its position to the right along the track according to the right movement instruction so that the battery-swapping robot is completely aligned with the defunct battery pack.

[0058] The solution provided according to the embodiment of the present invention effectively improves the battery replacement efficiency of electric working machinery, reduces vehicle waiting time, and improves the utilization rate of battery replacement stations.

[0059] Although the present invention has been described in detail above, it is not limited thereto, and those skilled in the art can make various modifications based on the principles of the present invention. Therefore, any modifications made based on the principles of the present invention should be understood to fall within the scope of protection of the present invention.

Claims

1. A battery replacement method based on a double telescopic mechanism, characterized in that: The battery swap station includes: A charging compartment with multiple charging positions; A battery-changing compartment for the first and second bidirectional telescopic mechanisms to move laterally along the track; Battery replacement methods include: After receiving the battery swap request from the battery swap vehicle, the battery swap station determines the charging position of the fully charged battery pack; After determining the charging position of the fully charged battery pack, the battery swap station further includes: The battery swap station determines whether the setting mode of the first bidirectional telescopic mechanism and the second bidirectional telescopic mechanism is a split mode or a combined mode; The split mode means that the first bidirectional telescopic mechanism is provided on the first battery-swapping robot, and the second bidirectional telescopic mechanism is provided on the second battery-swapping robot; the combined mode means that both the first bidirectional telescopic mechanism and the second bidirectional telescopic mechanism are provided on the third battery-swapping robot. The battery swap station drives the first bidirectional telescopic mechanism to grab the fully charged battery pack located on the charging position according to the fully charged battery pack, and drives the second bidirectional telescopic mechanism to grab the depleted battery pack located on the battery swap vehicle, which includes: When the battery swap station determines that the setting mode of the first bidirectional telescopic mechanism and the second bidirectional telescopic mechanism is the combined mode, the bidirectional telescopic mechanism closest to the charging position of the fully charged battery pack is used as the first bidirectional telescopic mechanism, and the bidirectional telescopic mechanism not closest to the charging position of the fully charged battery pack is used as the second bidirectional telescopic mechanism, and a fifth instruction is sent to the third battery swap robot; After the third battery-swapping robot drives the first bidirectional telescopic mechanism to grab the fully-charged battery pack located on the charging position according to the fifth instruction, it drives the second bidirectional telescopic mechanism to grab the depleted battery pack located on the battery-swapping vehicle; or after the third battery-swapping robot drives the second bidirectional telescopic mechanism to grab the depleted battery pack located on the battery-swapping vehicle according to the fifth instruction, it drives the first bidirectional telescopic mechanism to grab the fully-charged battery pack located on the charging position; The battery swap station drives the first bidirectional telescopic mechanism to deposit the captured fully-charged battery pack on the battery swap vehicle, and drives the second bidirectional telescopic mechanism to deposit the captured depleted battery pack on the charging station, which includes: The battery swap station sends a sixth instruction to the third battery swap robot; The third battery-swapping robot drives the first bidirectional telescopic mechanism to place the grabbed fully-charged battery pack on the battery-swapping vehicle according to the sixth instruction, and then drives the second bidirectional telescopic mechanism to place the grabbed low-charged battery pack on the charging position; or the third battery-swapping robot drives the second bidirectional telescopic mechanism to place the grabbed low-charged battery pack on the charging position according to the sixth instruction, and then drives the first bidirectional telescopic mechanism to place the grabbed fully-charged battery pack on the battery-swapping vehicle; Among them, the bidirectional telescopic mechanism includes multiple telescopic frames, adjacent telescopic frames are slidably connected, and telescopic driving parts are connected between adjacent telescopic frames. The telescopic driving parts include telescopic oil cylinders, and the telescopic movement of the telescopic oil cylinders can drive the two adjacent telescopic frames to move away from or closer to each other; the telescopic frame at the head end is fixedly connected to the two adjacent frame bodies, and the telescopic frame at the end is provided with a gripper with the function of grabbing or releasing the battery box.

2. The battery replacement method according to claim 1, characterized in that: The two ends of the track in the battery swapping compartment are each one longer than the length of the charging compartment by one charging position; or the two ends of the charging compartment are each provided with an idle position of the same size as the charging position, and the charging compartment is the same length as the battery swapping compartment.

3. The battery replacement method according to claim 2, characterized in that: The battery swap station drives the first bidirectional telescopic mechanism to grab the fully charged battery pack located on the charging position according to the fully charged battery pack, and drives the second bidirectional telescopic mechanism to grab the depleted battery pack located on the battery swap vehicle, including: When the battery swap station determines that the setting mode of the first bidirectional telescopic mechanism and the second bidirectional telescopic mechanism is a split mode, the battery swap robot closest to the charging position of the fully charged battery pack is used as the first battery swap robot, and the battery swap robot that is not closest to the charging position of the fully charged battery pack is used as the second battery swap robot, and a first instruction is sent to the first battery swap robot, and a second instruction is sent to the second battery swap robot; The first battery-swapping robot drives the first bidirectional telescopic mechanism according to the first instruction to grab the fully-charged battery pack located on the charging position, and the second battery-swapping robot drives the second bidirectional telescopic mechanism according to the second instruction to grab the depleted battery pack located on the battery-swapping vehicle; or After the first battery-swapping robot drives the first bidirectional telescopic mechanism according to the first instruction to grab the fully-charged battery pack located on the charging position, the second battery-swapping robot drives the second bidirectional telescopic mechanism according to the second instruction to grab the depleted battery pack located on the battery-swapping vehicle; or After the second battery-exchanging robot drives the second bidirectional telescopic mechanism according to the second instruction to grab the depleted battery pack on the battery-exchanging vehicle, the first battery-exchanging robot drives the first bidirectional telescopic mechanism according to the first instruction to grab the fully charged battery pack on the charging position.

4. The battery replacement method according to claim 3, characterized in that: The battery swap station drives the first bidirectional telescopic mechanism to place the captured fully-charged battery pack on the battery swap vehicle, and drives the second bidirectional telescopic mechanism to place the captured depleted battery pack on the charging position, including: The battery swap station sends a third instruction to the first battery swap robot and simultaneously sends a fourth instruction to the second battery swap robot; The first battery-swapping robot drives the first bidirectional telescopic mechanism according to the third instruction to place the grabbed fully-charged battery pack on the battery-swapping vehicle, and at the same time, the second battery-swapping robot drives the second bidirectional telescopic mechanism according to the fourth instruction to place the grabbed low-charged battery pack on the charging position; or After the first battery-swapping robot drives the first bidirectional telescopic mechanism according to the third instruction to place the grabbed fully-charged battery pack on the battery-swapping vehicle, the second battery-swapping robot drives the second bidirectional telescopic mechanism according to the fourth instruction to place the grabbed low-charged battery pack on the charging position; or After the second battery-exchanging robot drives the second bidirectional telescopic mechanism according to the fourth instruction to place the grabbed low-charge battery pack on the charging position, the first battery-exchanging robot drives the first bidirectional telescopic mechanism according to the third instruction to place the grabbed fully-charged battery pack on the battery-exchanging vehicle.

5. A battery replacement system based on a dual telescopic mechanism, characterized in that: include: Battery swapping vehicle, used to send a battery swapping request to a battery swapping station; Battery swap station, which includes: A charging compartment with multiple charging positions; A battery-changing compartment for the first and second bidirectional telescopic mechanisms to move laterally along the track; The battery swap station is used to determine the charging position of a fully charged battery pack after obtaining a battery swap request from a battery swap vehicle; according to the charging position of the fully charged battery pack, drive the first bidirectional telescopic mechanism to grab the fully charged battery pack located on the charging position, and drive the second bidirectional telescopic mechanism to grab the depleted battery pack located on the battery swap vehicle; and drive the first bidirectional telescopic mechanism to store the grabbed fully charged battery pack on the battery swap vehicle, and drive the second bidirectional telescopic mechanism to store the grabbed depleted battery pack on the charging position; After determining the charging position of the fully charged battery pack, the battery swap station further includes: The battery swap station determines whether the setting mode of the first bidirectional telescopic mechanism and the second bidirectional telescopic mechanism is a split mode or a combined mode; The split mode means that the first bidirectional telescopic mechanism is provided on the first battery-swapping robot, and the second bidirectional telescopic mechanism is provided on the second battery-swapping robot; the combined mode means that both the first bidirectional telescopic mechanism and the second bidirectional telescopic mechanism are provided on the third battery-swapping robot. The battery swap station is specifically used to, when it is determined that the setting mode of the first bidirectional telescopic mechanism and the second bidirectional telescopic mechanism is a combined mode, use the bidirectional telescopic mechanism closest to the charging position of the fully-charged battery pack as the first bidirectional telescopic mechanism, and at the same time use the bidirectional telescopic mechanism that is not closest to the charging position of the fully-charged battery pack as the second bidirectional telescopic mechanism, and send a fifth instruction to the third battery swap robot; the third battery swap robot drives the first bidirectional telescopic mechanism to grab the fully-charged battery pack located on the charging position according to the fifth instruction, and then drives the second bidirectional telescopic mechanism to grab the depleted battery pack located on the battery swap vehicle; or the third battery swap robot drives the second bidirectional telescopic mechanism to grab the depleted battery pack located on the battery swap vehicle according to the fifth instruction, and then drives the first bidirectional telescopic mechanism to grab the fully-charged battery pack located on the charging position; The battery swap station is further specifically configured to send a sixth instruction to the third battery swap robot; the third battery swap robot drives the first bidirectional telescopic mechanism to place the grabbed fully-charged battery pack on the battery swap vehicle according to the sixth instruction, and then drives the second bidirectional telescopic mechanism to place the grabbed low-charged battery pack on the charging position; or the third battery swap robot drives the second bidirectional telescopic mechanism to place the grabbed low-charged battery pack on the charging position according to the sixth instruction, and then drives the first bidirectional telescopic mechanism to place the grabbed fully-charged battery pack on the battery swap vehicle; Among them, the bidirectional telescopic mechanism includes multiple telescopic frames, adjacent telescopic frames are slidably connected, and telescopic driving parts are connected between adjacent telescopic frames. The telescopic driving parts include telescopic oil cylinders, and the telescopic movement of the telescopic oil cylinders can drive the two adjacent telescopic frames to move away from or closer to each other; the telescopic frame at the head end is fixedly connected to the two adjacent frame bodies, and the telescopic frame at the end is provided with a gripper with the function of grabbing or releasing the battery box.

6. An electronic device, characterized in that: include: Memory; processor; and a computer program; wherein the computer program is stored in the memory and is configured to be executed by the processor to implement the method according to any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that A computer program is stored thereon; the computer program is executed by a processor to implement the method according to any one of claims 1 to 4.

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