A battery swapping method, system, device, and storage medium based on dual robots

Abstract

This invention discloses a battery swapping method, system, device, and storage medium based on dual robots, relating to the field of battery swapping technology. The method includes: after a battery swapping station receives a battery swapping request from a battery swapping vehicle, it determines the charging position of a fully charged battery pack and judges whether the current primary battery swapping robot can work normally; when the battery swapping station judges that the current primary battery swapping robot can work normally, it generates a first battery swapping instruction and sends the first battery swapping instruction to the primary battery swapping robot, enabling the primary battery swapping robot to complete the battery swapping operation of the battery swapping vehicle according to the first battery swapping instruction; when the battery swapping station judges that the current primary battery swapping robot cannot work normally, it generates a second battery swapping instruction and sends the second battery swapping instruction to a backup battery swapping robot, enabling the backup battery swapping robot to complete the battery swapping operation of the battery swapping vehicle according to the second battery swapping instruction.

Description

Technical Field

[0001] This invention relates to the field of vehicle battery swapping technology, and in particular to a battery swapping method, system, device and storage medium based on dual robots. Background Technology

[0002] In response to the global call for energy conservation and emission reduction, in recent years, fuel-powered machinery has been gradually replaced by electric machinery. Battery swapping equipment is now available on the market, providing direct battery replacement for electric equipment and enabling rapid energy replenishment.

[0003] However, in existing technologies, battery swapping stations typically only have one battery swapping robot. During swapping, the station first needs to grab the depleted battery box from the swapping vehicle, then place the depleted battery box into the charging compartment, and then grab the fully charged battery box from the charging compartment and place the fully charged battery box into the swapping vehicle. It is evident that when a battery swapping station only has one battery swapping robot, if a malfunction occurs, the swapping operation cannot proceed, resulting in low swapping efficiency, long waiting times for swapping vehicles, and a poor swapping experience. Summary of the Invention

[0004] The technical problem solved by the solution provided in the embodiments of the present invention is that when a battery swapping station is equipped with only one battery swapping robot, the battery swapping operation cannot be performed if a malfunction occurs.

[0005] A battery swapping method based on dual robots according to an embodiment of the present invention includes:

[0006] After receiving the battery swapping request from the battery swapping vehicle, the battery swapping station determines the charging position of the fully charged battery pack and judges whether the current main battery swapping robot can work normally.

[0007] When the battery swapping station determines that the current main battery swapping robot can work normally, it generates a first battery swapping instruction and sends the first battery swapping instruction to the main battery swapping robot, so that the main battery swapping robot can complete the battery swapping operation of the battery swapping vehicle according to the first battery swapping instruction.

[0008] When the battery swapping station determines that the current primary battery swapping robot is not working properly, it generates a second battery swapping instruction and sends the second battery swapping instruction to the backup battery swapping robot, so that the backup battery swapping robot can complete the battery swapping operation of the battery swapping vehicle according to the second battery swapping instruction.

[0009] A battery swapping system based on dual robots according to an embodiment of the present invention includes:

[0010] The battery swapping station is used to, upon receiving a battery swapping request from a battery swapping vehicle, determine the charging position of a fully charged battery pack and whether the main battery swapping robot can work normally; when it is determined that the main battery swapping robot can work normally, a first battery swapping instruction is generated and sent to the main battery swapping robot; and when it is determined that the main battery swapping robot cannot work normally, a second battery swapping instruction is generated and sent to the backup battery swapping robot.

[0011] The main battery swapping robot is used to complete the battery swapping operation of the battery swapping vehicle according to the first battery swapping instruction;

[0012] A backup battery swapping robot is used to complete the battery swapping operation of the battery swapping vehicle according to the second battery swapping instruction.

[0013] The solution provided by the embodiments of the present invention effectively improves the battery swapping efficiency of electric work machinery, reduces vehicle waiting time, and increases the utilization rate of battery swapping stations. Attached Figure Description

[0014] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to understand the invention, but do not constitute an undue limitation of the invention. In the drawings:

[0015] Figure 1 This is a flowchart of a battery swapping method based on dual robots provided in an embodiment of the present invention;

[0016] Figure 2 This is a schematic diagram of a battery swapping system based on dual robots provided in an embodiment of the present invention;

[0017] Figure 3 This is a schematic diagram of a dual-robot system provided in an embodiment of the present invention. Detailed Implementation

[0018] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the preferred embodiments described below are only for illustration and explanation of the present invention and are not intended to limit the present invention.

[0019] Figure 1 This is a flowchart of a battery swapping method based on dual robots provided in an embodiment of the present invention, such as... Figure 1 As shown, it includes:

[0020] Step S101: After the battery swapping station receives the battery swapping request from the battery swapping vehicle, it determines the charging position of the fully charged battery pack and judges whether the current main battery swapping robot can work normally.

[0021] Step S102: When the battery swapping station determines that the current main battery swapping robot can work normally, it generates a first battery swapping instruction and sends the first battery swapping instruction to the main battery swapping robot, so that the main battery swapping robot completes the battery swapping operation of the battery swapping vehicle according to the first battery swapping instruction.

[0022] Step S103: When the battery swapping station determines that the current primary battery swapping robot cannot work properly, it generates a second battery swapping instruction and sends the second battery swapping instruction to the backup battery swapping robot, so that the backup battery swapping robot can complete the battery swapping operation of the battery swapping vehicle according to the second battery swapping instruction.

[0023] In the embodiments of this application, such as Figure 3 As shown, the battery swapping station has two battery swapping robots 9, namely a primary battery swapping robot 9 and a backup battery swapping robot 9. When only one of the primary battery swapping robot 9 and the backup battery swapping robot 9 performs the battery swapping task, it is usually necessary to reserve a battery mounting base 2120 as an empty space (temporary storage space) to facilitate the storage of the depleted battery box taken out from the battery swapping vehicle.

[0024] Specifically, the main battery swapping robot's battery swapping operation for the battery swapping vehicle according to the first battery swapping instruction includes: the main battery swapping robot obtaining the charging position of a fully charged battery pack from the first battery swapping instruction; the main battery swapping robot grabbing the depleted battery pack of the battery swapping vehicle to a temporary storage position according to the charging position of the fully charged battery pack, grabbing the fully charged battery pack at the charging position to the battery swapping vehicle, and grabbing the depleted battery pack at the temporary storage position to the charging position, thereby completing the battery swapping operation for the battery swapping vehicle.

[0025] Specifically, the backup battery swapping robot's battery swapping operation for the battery swapping vehicle according to the second battery swapping instruction includes: the backup battery swapping robot obtaining the charging position of a fully charged battery pack from the second battery swapping instruction; the backup battery swapping robot, according to the charging position of the fully charged battery pack, grabbing the depleted battery pack of the battery swapping vehicle to a temporary storage position, grabbing the fully charged battery pack from the charging position to the battery swapping vehicle, and grabbing the depleted battery pack from the temporary storage position to the charging position, thereby completing the battery swapping operation for the battery swapping vehicle.

[0026] The process includes, after the battery swapping station determines the charging position of the fully charged battery pack, the following steps are also included: the battery swapping station detects whether the temporary storage position for temporarily storing the depleted battery pack is available; when the battery swapping station detects that the temporary storage position is unavailable, it generates a third battery swapping instruction and simultaneously sends the third battery swapping instruction to the primary battery swapping robot and the backup battery swapping robot, so that the primary battery swapping robot and the backup battery swapping robot complete the battery swapping operation of the battery swapping vehicle according to the third battery swapping instruction.

[0027] The battery swapping operation of the main battery swapping robot and the backup battery swapping robot, according to the third battery swapping instruction, includes: the main battery swapping robot and the backup battery swapping robot respectively obtaining the charging position of a fully charged battery pack from the third battery swapping instruction; the main battery swapping robot, according to the charging position of the fully charged battery pack, first grabs a depleted battery pack from the battery swapping vehicle and then stores the depleted battery pack in the charging position; simultaneously, the backup battery swapping robot, according to the charging position of the fully charged battery pack, first grabs a fully charged battery pack from the charging position and then stores the fully charged battery pack in the battery swapping vehicle; or the backup battery swapping robot, according to the charging position of the fully charged battery pack, first grabs a depleted battery pack from the battery swapping vehicle and then stores the depleted battery pack in the charging position; simultaneously, the main battery swapping robot, according to the charging position of the fully charged battery pack, first grabs a fully charged battery pack from the charging position and then stores the fully charged battery pack in the battery swapping vehicle.

[0028] After the battery swapping station determines the charging position of the fully charged battery pack, the embodiment of the present invention further includes: the battery swapping station determines a battery swapping robot that matches the charging position of the fully charged battery pack, and uses the battery swapping robot as the main battery swapping robot.

[0029] This application also provides a battery swapping station, such as... Figure 3 As shown, it includes: a support unit, a guide rail 16, and two battery swapping robots 9. The support unit has multiple battery mounting brackets 2120 along its length. The guide rail 16 is located on one side of the support unit along its width direction and extends along the length direction of the support unit. The battery swapping robots 9 are slidably connected to the guide rail 16. The difference is that the battery swapping robot 9 is a separate component, and the battery swapping robot 9 includes a main battery swapping robot (…). Figure 3 Left-side battery swapping robot and backup battery swapping robot Figure 3The main battery swapping robot and the backup battery swapping robot are independent of each other. Both the main and backup battery swapping robots are movably mounted on the guide rail 16 and can translate along the guide rail 16. Each battery swapping robot 9 is equipped with a bidirectional telescopic mechanism 91. Each bidirectional telescopic mechanism 91 has a gripper 92 at its end. The bidirectional telescopic mechanism 91 can extend and retract bidirectionally in a direction perpendicular to the guide rail 16 to transfer the battery box between the support and the battery swapping 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 mounting base 2120. The bidirectional telescopic mechanism 91 on the other battery swapping robot 9 is used to grab the fully charged battery box on the battery mounting base 2120 and load it into the battery swapping vehicle. This application can start and use the bidirectional telescopic mechanism 91 on one battery swapping robot to operate independently, or it can start two bidirectional telescopic mechanisms 91 to work together simultaneously, thereby improving the battery swapping efficiency.

[0030] In one possible implementation, both the primary battery swapping robot and the backup battery swapping robot have two frame bodies 93, which are spaced apart and form a battery compartment channel between them. The bidirectional telescopic mechanism 91 connects the two frame bodies 93 respectively.

[0031] By setting up two independent battery swapping robots 9, the two robots 9 can operate independently during the battery swapping process, significantly improving work efficiency. For example, the primary battery swapping robot can first travel to the battery swapping station in an unloaded state to grab the depleted battery box from the battery swapping vehicle. During this process, the backup battery swapping robot can grab the fully charged battery box. After the primary battery swapping robot finishes its work, it leaves the battery swapping station, and the backup battery swapping robot can travel to the battery swapping station to load the fully charged battery box onto the battery swapping vehicle.

[0032] like Figure 3 As shown in the illustration, this application embodiment also provides the structure of a bidirectional telescopic mechanism 91. The bidirectional telescopic mechanism 91 includes multiple telescopic frames, adjacent telescopic frames are slidably connected, and a telescopic drive component connects adjacent telescopic frames. The telescopic drive component may include a telescopic cylinder, whose telescopic movement can drive two adjacent telescopic frames to move away from or towards each other. The first telescopic frame is fixedly connected to two adjacent frame bodies 93, and the gripper 92 is provided on the last telescopic frame. The gripper 92 has the function of gripping or releasing the battery box.

[0033] In one possible implementation, a lifting mechanism is provided on the telescopic frame at the end, and the gripper is connected to the lifting mechanism, which can drive the gripper to move up and down.

[0034] The bidirectional telescopic mechanism is equipped with a lifting mechanism at its end, and the gripper is connected to the lifting mechanism. The lifting mechanism is used to lift or lower the battery box grasped by the gripper.

[0035] In one possible implementation, the lifting mechanism includes a flexible element, a sliding frame, and a second steering wheel. The sliding frame is slidably connected to the top frame, and a first steering wheel is mounted on the sliding frame. The second steering wheel is fixedly connected to the top frame. One end of the flexible element is fixed to the top frame, such as to a fixed base on the top frame. The flexible element passes around the first and second steering wheels and is then connected to the gripper. The top frame has a clearance hole corresponding to the second steering wheel, through which the flexible element passes. The sliding frame slidably drives the flexible element to lift or lower the gripper. The flexible element can be a lifting rope, wire rope, etc. In this implementation, the lifting or lowering of the gripper can be controlled by controlling the movement of the sliding frame.

[0036] In order to reduce the lifting load of the flexible components and extend their service life, and to facilitate smooth lifting of the battery box, multiple flexible components can be provided in this embodiment. Each flexible component is equipped with a corresponding first steering wheel and a second steering wheel, and the end of each flexible component is connected to a gripper.

[0037] The lifting mechanism also includes a second telescopic component, which is connected to the sliding frame and drives the sliding frame to slide, thereby lifting or lowering the gripper. The second telescopic component can be a telescopic hydraulic cylinder. When the second telescopic component extends, the segment of the flexible member located between the first and second steering wheels becomes longer, while the segment of the flexible member extending downwards vertically from the top frame becomes shorter, thus lifting the gripper. Conversely, when the second telescopic component shortens, the segment of the flexible member extending vertically from the top frame becomes longer, thus lowering the battery box.

[0038] See Figure 3 As shown, the frame 93 includes two columns 931 spaced apart sequentially along the width of the guide rail. The columns 931 on the same side of the guide rail in 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 allows for sliding cooperation with the guide rail while also enhancing the structural strength between the two columns 931, resulting in good structural stability of the two frame bodies.

[0039] The sliding beam 932 is equipped with a driving component and multiple rollers, each of which is supported on the guide rail. The driving component and some of the rollers are velocarily connected to drive the battery swapping robot to move along the guide rail. The driving component may include a motor and a gearbox. The input ends of the motor and the gearbox are velocarily connected, and the output end of the gearbox is velocarily connected to at least one of the rollers, driving the rollers to rotate and move the electric battery swapping robot.

[0040] Before the primary or backup battery swapping robot picks up the depleted battery pack of the battery swapping vehicle and places it in the temporary storage position, and before it picks up the fully charged battery pack from the charging position and places it in the battery swapping vehicle, the process further includes: three laser ranging sensors installed on the battery swapping robot (the battery swapping robot refers to the primary or backup battery swapping robot) respectively detecting the distance between itself and the depleted battery pack on the battery swapping vehicle, and sending the distance information detected by each laser ranging sensor to the battery swapping station; the battery swapping station determines whether the battery swapping robot is fully aligned with the depleted battery pack based on the distance information of each laser ranging sensor; when it is determined that the battery swapping robot is not fully aligned with the depleted battery pack, the battery swapping station adjusts the position of the battery swapping robot so that the battery swapping robot is fully aligned with the depleted battery pack, so that the battery swapping robot can complete the battery swapping operation of the battery swapping vehicle.

[0041] 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.

[0042] The battery swapping station determines whether the battery swapping robot is fully aligned with the depleted battery pack based on the detection spacing information of each laser ranging sensor. This includes: when the left-side spacing information, the middle spacing information, and the right-side spacing information are all within a preset spacing range, the battery swapping station determines that the battery swapping robot is fully aligned with the depleted battery pack; when the left-side spacing information or the right-side spacing information is not within the preset spacing range, the battery swapping station determines that the battery swapping robot is not fully aligned with the depleted battery pack.

[0043] Specifically, when it is determined that the battery swapping robot is not fully aligned with the depleted battery pack, the battery swapping station adjusts the position of the battery swapping robot to achieve full alignment with the depleted battery pack. This includes: when the left-side spacing information is not within a preset spacing range, the battery swapping station sends a right-moving command to the battery swapping robot, causing the battery swapping robot to adjust its position to the right along the track according to the right-moving command, thus achieving full alignment with the depleted battery pack; when the right-side spacing information is not within a preset spacing range, the battery swapping station sends a left-moving command to the battery swapping robot, causing the battery swapping robot to adjust its position to the left along the track according to the left-moving command, thus achieving full alignment with the depleted battery pack.

[0044] Specifically, the battery swapping station determines whether the battery swapping robot is fully aligned with the depleted battery pack based on the detection spacing information of each laser ranging sensor. This includes: when both the left and right spacing information are greater than a preset spacing range, and the middle spacing information is within the preset spacing range, the battery swapping station determines that the battery swapping robot is fully aligned with the depleted battery pack; when either the left or right spacing information is within the preset spacing range, the battery swapping station determines that the battery swapping robot is not fully aligned with the depleted battery pack.

[0045] Specifically, when it is determined that the battery swapping robot is not fully aligned with the depleted battery pack, the battery swapping station adjusts the position of the battery swapping robot to achieve full alignment with the depleted battery pack. This includes: when the left-side spacing information is within a preset spacing range, the battery swapping station sends a leftward movement command to the battery swapping robot, causing the battery swapping robot to adjust its position to the left along the track according to the leftward movement command to achieve full alignment with the depleted battery pack; when the right-side spacing information is within a preset spacing range, the battery swapping station sends a rightward movement command to the battery swapping robot, causing the battery swapping robot to adjust its position to the right along the track according to the rightward movement command to achieve full alignment with the depleted battery pack.

[0046] Figure 2 This is a schematic diagram of a battery swapping system based on dual robots provided in an embodiment of the present invention, as shown below. Figure 2As shown, it includes: a battery swapping station 201, used to, after receiving a battery swapping request from a battery swapping vehicle, determine the charging position of a fully charged battery pack and determine whether the main battery swapping robot can work normally; when it is determined that the main battery swapping robot can work normally, it generates a first battery swapping instruction and sends the first battery swapping instruction to the main battery swapping robot; and when it is determined that the main battery swapping robot cannot work normally, it generates a second battery swapping instruction and sends the second battery swapping instruction to a backup battery swapping robot; a main battery swapping robot 202, used to complete the battery swapping operation of the battery swapping vehicle according to the first battery swapping instruction; and a backup battery swapping robot 203, used to complete the battery swapping operation of the battery swapping vehicle according to the second battery swapping instruction.

[0047] The battery swapping station 201 is also used to detect whether the temporary storage location for temporarily storing depleted battery packs is available; when the temporary storage location is detected to be unavailable, a third battery swapping instruction is generated and simultaneously sent to the primary battery swapping robot and the backup battery swapping robot, so that the primary battery swapping robot and the backup battery swapping robot can complete the battery swapping operation of the battery swapping vehicle according to the third battery swapping instruction.

[0048] An electronic device provided in this application includes: a memory; a processor; and a computer program; wherein the computer program is stored in the memory and configured to be executed by the processor to implement a dual-robot-based battery swapping method.

[0049] This application provides a computer-readable storage medium storing a computer program thereon; the computer program is executed by a processor to implement a battery swapping method based on dual robots.

[0050] The solution provided by the embodiments of the present invention effectively improves the battery swapping efficiency of electric work machinery, reduces vehicle waiting time, and increases the utilization rate of battery swapping stations.

[0051] 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, all modifications made in accordance with the principles of the present invention should be understood to fall within the protection scope of the present invention.

Claims

1. A battery swapping method based on dual robots, characterized in that, include: After receiving a battery swapping request from a battery swapping vehicle, the battery swapping station determines the charging position of a fully charged battery pack and checks whether the current main battery swapping robot can work normally. The battery swapping station includes: a support unit, a guide rail, a main battery swapping robot and a backup battery swapping robot, both equipped with bidirectional telescopic mechanisms. Both the main battery swapping robot and the backup battery swapping robot can be movably mounted on the guide rail and can move along the guide rail. Each bidirectional telescopic mechanism is equipped with a gripper at its end. The bidirectional telescopic mechanism can extend and retract bidirectionally in a direction perpendicular to the guide rail to transfer the battery box between the support unit and the battery swapping vehicle. The bidirectional telescopic structure on one battery swapping robot can be started and used for operation, or two bidirectional telescopic mechanisms can be started simultaneously for collaborative operation. When the battery swapping station determines that the current main battery swapping robot can work normally, it generates a first battery swapping instruction and sends the first battery swapping instruction to the main battery swapping robot. The main battery swapping robot obtains the charging position of the fully charged battery pack from the first battery swapping instruction, and according to the charging position of the fully charged battery pack, grabs the depleted battery pack of the battery swapping vehicle to the temporary storage position, grabs the fully charged battery pack of the charging position to the battery swapping vehicle, and grabs the depleted battery pack of the temporary storage position to the charging position, thereby completing the battery swapping operation of the battery swapping vehicle. When the battery swapping station determines that the current primary battery swapping robot cannot work properly, it generates a second battery swapping instruction and sends the second battery swapping instruction to the backup battery swapping robot. The backup battery swapping robot obtains the charging position of the fully charged battery pack from the second battery swapping instruction, and according to the charging position of the fully charged battery pack, grabs the depleted battery pack of the battery swapping vehicle to the temporary storage position, grabs the fully charged battery pack of the charging position to the battery swapping vehicle, and grabs the depleted battery pack of the temporary storage position to the charging position, thereby completing the battery swapping operation of the battery swapping vehicle. After the battery swapping station determines the charging position of the fully charged battery pack, it also includes: The battery swapping station detects whether the temporary storage space used to temporarily store depleted battery packs is available; when the battery swapping station detects that the temporary storage space is unavailable, it generates a third battery swapping instruction and sends the third battery swapping instruction to both the primary battery swapping robot and the backup battery swapping robot. The primary battery swapping robot and the backup battery swapping robot respectively obtain the charging position of the fully charged battery pack from the third battery swapping instruction; The primary battery swapping robot, based on the charging position of the fully charged battery pack, first grabs a depleted battery pack from the battery swapping vehicle and then stores the depleted battery pack in the charging position; simultaneously, the backup battery swapping robot, based on the charging position of the fully charged battery pack, first grabs a fully charged battery pack from the charging position and then stores the fully charged battery pack in the battery swapping vehicle; or The backup battery swapping robot first grabs a depleted battery pack from the battery swapping vehicle based on the charging position of the fully charged battery pack, and then stores the depleted battery pack in the charging position; at the same time, the main battery swapping robot first grabs a fully charged battery pack from the charging position based on the charging position of the fully charged battery pack, and then stores the fully charged battery pack in the battery swapping vehicle.

2. The battery swapping method according to claim 1, characterized in that, After the battery swapping station determines the charging position of the fully charged battery pack, it also includes: The battery swapping station determines the battery swapping robot that matches the charging position of the fully charged battery pack and uses the battery swapping robot as the primary battery swapping robot.

3. A battery swapping system based on dual robots, characterized in that, include: The battery swapping station is used to obtain the battery swapping request from the battery swapping vehicle, determine the charging position of the fully charged battery pack, and determine whether the main battery swapping robot can work normally. When it is determined that the main battery swapping robot can work normally, a first battery swapping command is generated and sent to the main battery swapping robot; and when it is determined that the main battery swapping robot cannot work normally, a second battery swapping command is generated and sent to the backup battery swapping robot; the battery swapping station includes: a support, a guide rail, a main battery swapping robot and a backup battery swapping robot, both of which are equipped with bidirectional telescopic mechanisms. The main battery swapping robot and the backup battery swapping robot can be movably mounted on the guide rail and can move along the guide rail. Each bidirectional telescopic mechanism is equipped with a gripper at its end. The bidirectional telescopic mechanism can extend and retract bidirectionally in a direction perpendicular to the guide rail to transfer the battery box between the support and the battery swapping vehicle. The bidirectional telescopic structure on one battery swapping robot can be started and used for operation, or the two bidirectional telescopic mechanisms can be started simultaneously for collaborative operation. The main battery swapping robot is used to obtain the charging position of the fully charged battery pack from the first battery swapping instruction, and according to the charging position of the fully charged battery pack, grab the depleted battery pack of the battery swapping vehicle to the temporary storage position, grab the fully charged battery pack of the charging position to the battery swapping vehicle, and grab the depleted battery pack of the temporary storage position to the charging position, thereby completing the battery swapping operation of the battery swapping vehicle. A backup battery swapping robot is used to obtain the charging position of a fully charged battery pack from the second battery swapping instruction, and according to the charging position of the fully charged battery pack, grab the depleted battery pack of the battery swapping vehicle to the temporary storage position, grab the fully charged battery pack of the charging position to the battery swapping vehicle, and grab the depleted battery pack of the temporary storage position to the charging position, thereby completing the battery swapping operation of the battery swapping vehicle. The battery swapping station is also used to detect whether the temporary storage location for temporarily storing depleted battery packs is available; when the temporary storage location is detected to be unavailable, a third battery swapping instruction is generated and sent to both the primary battery swapping robot and the backup battery swapping robot. The primary battery swapping robot is also used to obtain the charging position of a fully charged battery pack from the third battery swapping instruction, and according to the charging position of the fully charged battery pack, first grab a depleted battery pack from the battery swapping vehicle, and then store the depleted battery pack in the charging position; simultaneously, the backup battery swapping robot, according to the charging position of the fully charged battery pack, first grabs a fully charged battery pack from the charging position, and then stores the fully charged battery pack on the battery swapping vehicle; or The backup battery swapping robot is also used to obtain the charging position of a fully charged battery pack from the third battery swapping instruction, and according to the charging position of the fully charged battery pack, first grab a depleted battery pack from the battery swapping vehicle, and then store the depleted battery pack in the charging position; at the same time, the main battery swapping robot, according to the charging position of the fully charged battery pack, first grabs a fully charged battery pack from the charging position, and then stores the fully charged battery pack in the battery swapping vehicle.

4. An electronic device, characterized in that, include: Memory; processor; and a computer program; wherein the computer program is stored in the memory and configured to be executed by the processor to implement the method as claimed in claim 1 or 2.

5. A computer-readable storage medium, characterized in that, It stores a computer program thereon; the computer program is executed by a processor to implement the method as described in claim 1 or 2.

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