A new energy heavy truck battery replacement method

Abstract

The application discloses a new energy heavy truck battery replacement method, comprising the following steps: step one, the battery replacement trolley is connected with the heavy truck and is locked; step two, the heavy truck unlocks the heavy truck battery; step three, the battery replacement trolley moves the heavy truck battery from the heavy truck to the battery replacement trolley; step four, after the battery replacement trolley and the heavy truck are unlocked, the heavy truck battery is sent to a battery station and is unloaded; step five, the battery replacement trolley carries another heavy truck battery and walks to the heavy truck battery seat; step six, the battery replacement trolley is connected with the heavy truck and is locked; step seven, the battery replacement trolley loads the another heavy truck battery into the heavy truck battery seat; step eight, the heavy truck locks the another heavy truck battery; and step nine, after the battery replacement trolley and the heavy truck are unlocked, the battery replacement trolley is separated from the heavy truck, and the replacement of the heavy truck battery is completed. The application has the characteristics of simple deployment, convenient operation, high reliability, high flexibility and high battery replacement efficiency.

Description

Technical Field

[0001] This invention relates to the field of new energy heavy-duty trucks, and in particular to a battery swapping method for new energy heavy-duty trucks. Background Technology

[0002] Pure electric heavy-duty trucks have two prominent problems: 1. Short driving range, with most domestic pure electric heavy-duty trucks having a range of 250km; 2. Long charging time, with charging generally taking about 8 hours, and even fast charging still taking 1-2 hours, but fast charging stations are scarce.

[0003] With the increasing popularity of electric trucks, battery swapping technology for electric trucks has emerged. Currently, the mainstream battery swapping solution for electric heavy-duty trucks is semi-automatic. After the battery swapping base station is built, the heavy-duty truck driver drives the truck to the designated location. The deviation between the parking position and the location of the battery swapping station must be within ±10cm and the angle ≤2°. Therefore, it requires high driving skills from the driver, and the construction cost of the battery swapping station is expensive.

[0004] Therefore, in order to improve the battery swapping efficiency of new energy heavy-duty trucks and reduce the low swapping efficiency caused by human factors, it is necessary to further explore a more suitable battery swapping solution for new energy heavy-duty trucks. Summary of the Invention

[0005] In view of the technical problems existing in the prior art, the purpose of this invention is to provide a battery swapping method for new energy heavy-duty trucks that allows for independent replacement of the battery.

[0006] The objective of this invention is achieved through the following technical solution: a battery swapping method for new energy heavy-duty trucks, comprising:

[0007] Step 1: The battery swapping trolley docks with and locks onto the heavy truck;

[0008] Step 2: Unlock the heavy-duty truck battery;

[0009] Step 3: The battery swapping cart moves the heavy truck battery from the heavy truck to the battery swapping cart;

[0010] Step 4: After the battery swapping trolley is unlocked from the heavy truck, the heavy truck battery is sent to the battery station for removal.

[0011] Step 5: The battery swapping trolley, carrying another heavy-duty truck battery, moves to the heavy-duty truck's battery holder;

[0012] Step Six: The battery swapping trolley docks with and locks onto the heavy truck;

[0013] Step 7: The battery swapping trolley inserts the other heavy-duty truck battery into the heavy-duty truck battery holder;

[0014] Step 8: The heavy truck locks the battery of the other heavy truck;

[0015] Step 9: After the battery swapping trolley unlocks from the heavy truck, it detaches from the heavy truck to complete the battery replacement.

[0016] Preferably, the battery swapping vehicle constructs a three-dimensional map of the battery swapping site environment and marks the positions of battery stations, heavy trucks, and current obstacles in the three-dimensional map. The battery swapping vehicle navigates and locates itself in real time based on the three-dimensional map information.

[0017] Preferably, when the battery swapping vehicle navigates based on the three-dimensional map information, it performs visual detection of obstacles and publishes the obstacle's label and pose information, and performs pose fusion with the detected current obstacle position to output the obstacle's pose information, guiding the battery swapping vehicle to avoid obstacles.

[0018] Preferably, the battery swapping vehicle senses the surrounding environment, and when the distance between the obstacle and the battery swapping vehicle is less than or equal to a set distance, the battery swapping vehicle decelerates, stops and waits, or detours to achieve emergency obstacle avoidance.

[0019] Preferably, the docking and locking of the battery swapping vehicle with the heavy truck includes:

[0020] The battery swapping vehicle approaches the heavy truck perpendicularly.

[0021] The docking mechanism of the battery swapping vehicle is raised;

[0022] The battery swapping trolley moves toward the heavy truck and begins docking. When docking is complete, the battery swapping trolley stops moving, and the locking pin of the battery swapping trolley is pushed out and locked to the heavy truck, so that the docking slide of the docking mechanism is flush with the battery holder of the heavy truck.

[0023] Preferably, when the battery swapping vehicle docks with the heavy truck, the battery swapping vehicle navigates to the vicinity of the heavy truck based on a three-dimensional map and approaches the battery compartment of the heavy truck for pre-dock positioning;

[0024] After the lifting mechanism is raised, the battery swapping trolley identifies the alignment tag of the heavy truck, obtains the current position of the battery swapping trolley in the heavy truck coordinate system, guides the battery swapping trolley to adjust its position relative to the heavy truck, so that the battery swapping trolley is perpendicular to the heavy truck and aligned with the heavy truck battery seat, and then adjusts the docking slide of the docking mechanism to be at the same height as the heavy truck battery seat.

[0025] The trolley moves toward the battery compartment of the heavy truck until the docking mechanism docks with the battery compartment of the heavy truck.

[0026] After the docking mechanism docks with the battery holder of the heavy truck, when the traveling trolley detects that the docking angle and distance are within the preset range, the locking pin of the traveling trolley extends and locks with the battery holder of the heavy truck, completing the docking and locking step.

[0027] Preferably, the process of transferring the heavy-duty truck battery from the heavy-duty truck to the battery swapping vehicle includes:

[0028] The battery lifting platform of the battery swapping vehicle moves to the battery holder of the heavy truck on the docking slide;

[0029] The battery lifting platform rises to lift the battery.

[0030] The battery lifting platform moves back to the docking slide to move the heavy truck battery onto the battery swapping trolley;

[0031] When the heavy truck battery is moved onto the battery swapping trolley, the battery lifting platform descends, and the heavy truck battery is positioned on the battery guide column of the battery swapping trolley.

[0032] The process of unlocking the battery swapping trolley from the heavy truck includes: the locking pin of the battery swapping trolley disengaging from the heavy truck, the battery swapping trolley moving away from the heavy truck, and the docking mechanism of the battery swapping trolley descending and resetting, thus completing the unlocking.

[0033] Preferably, there are two battery swapping vehicles. One battery swapping vehicle performs steps one, three, and four; the other battery swapping vehicle performs steps five, six, seven, and nine.

[0034] Preferably, the battery swapping vehicle unloads the heavy truck battery into the battery station, including:

[0035] The battery swapping cart, loaded with heavy truck batteries, travels to the battery station.

[0036] The battery swapping vehicle docks with and locks onto the battery station;

[0037] The battery swapping vehicle loads the heavy truck batteries into the battery station;

[0038] The battery station locks the heavy truck battery;

[0039] After the battery swapping vehicle is unlocked from the battery station, it is moved away from the battery station.

[0040] The battery swapping vehicle carries another heavy-duty truck battery, including:

[0041] The battery swapping vehicle docks with and locks onto the battery station;

[0042] The battery station unlocks another heavy-duty truck battery;

[0043] The battery swapping vehicle moves another heavy truck battery from the battery station onto the battery swapping vehicle;

[0044] After the battery swapping vehicle unlocks the battery station, it delivers another heavy-duty truck battery to the heavy-duty truck.

[0045] The docking and locking of the battery swapping vehicle with the battery station includes:

[0046] The battery swapping vehicle approaches the battery station perpendicularly.

[0047] The docking mechanism of the battery swapping vehicle is raised;

[0048] The battery swapping trolley moves toward the battery station and begins to dock with it. Once docked, the battery swapping trolley stops moving, and its locking pin is pushed out to lock with the battery station, making the docking slide of the docking mechanism flush with the battery station.

[0049] Preferably, when the battery swapping vehicle docks with the battery station, the battery swapping vehicle navigates to the vicinity of the battery station based on a 3D map and performs pre-docking positioning close to the battery station.

[0050] After the lifting mechanism is raised, the battery swapping trolley identifies the alignment tag of the battery station, obtains the current position of the battery swapping trolley in the coordinate system of the battery station, guides the battery swapping trolley to adjust its position relative to the battery station, so that the battery swapping trolley is perpendicular to the battery station, and then adjusts the docking slide of the docking mechanism to be at the same height as the battery station.

[0051] The trolley moves toward the battery station until the docking mechanism docks with the battery station;

[0052] After the docking mechanism docks with the battery station, the locking pin of the traveling trolley extends and locks with the battery station, completing the docking and locking process;

[0053] The battery swapping vehicle moves another heavy-duty truck battery from the battery station to the battery swapping vehicle, including:

[0054] The battery lifting platform of the battery swapping vehicle moves to the battery station under another heavy truck battery on the docking slide;

[0055] The battery lifting platform rises to lift the battery of another heavy truck.

[0056] The battery lifting platform moves back to the docking slide to move another heavy truck battery onto the battery swapping trolley;

[0057] When the other heavy truck battery is moved onto the battery swapping trolley, the battery lifting platform descends, and the other heavy truck battery is positioned on the battery guide column of the battery swapping trolley.

[0058] The process of unlocking the battery swapping trolley from the battery station includes: the locking pin of the battery swapping trolley disengaging from the battery station, the battery swapping trolley moving away from the battery station, and the docking mechanism of the battery swapping trolley descending and resetting, thus completing the unlocking.

[0059] The present invention has the following advantages and effects compared with the prior art:

[0060] 1. This invention features simple deployment, convenient operation, high reliability, high flexibility, and high battery replacement efficiency.

[0061] 2. The present invention has the advantages of accurate positioning, automatic navigation, autonomous charging, and autonomous battery replacement for new energy heavy trucks.

[0062] 3. The present invention has a short battery swapping time and does not require the heavy truck driver to drive to a specific precise location. The present invention can automatically navigate to the front of the heavy truck to change the battery, and the heavy truck can complete the battery swap within 5 minutes after entering the site.

[0063] 4. The battery swapping trolley of this invention has a compact, small, and flexible structure with low battery swapping costs; the battery compartment is made of a container, which can reduce the cost of the battery station and allow for flexible relocation; the battery swapping trolley has a low and stable center of gravity when transferring heavy truck batteries, and is lifted and transferred from the bottom of the heavy truck battery; the battery swapping trolley can move in all directions of 360°, has suspension and lifting functions, and can actively adjust the vehicle posture during the transfer of heavy truck batteries; this invention has advanced navigation, integrating a combination of multi-line lidar, visual sensors, and ultrasonic radar. Attached Figure Description

[0064] Figure 1 This is a schematic diagram of the battery swapping vehicle of the present invention;

[0065] Figure 2 This is a schematic diagram of the structure of the battery swapping trolley and the heavy truck locking together according to the present invention;

[0066] Figure 3 This is a schematic diagram of the battery lifting platform of the present invention;

[0067] Figure 4 This is a schematic diagram of the battery lifting platform of the present invention during lifting;

[0068] Figure 5 This is a schematic diagram of the platform dragging mechanism of the present invention;

[0069] Figure 6 This is a schematic diagram of the docking mechanism of the present invention;

[0070] Figure 7 This is a schematic diagram of the docking mechanism of the present invention docking with the side of the heavy truck;

[0071] Figure 8 This is a schematic diagram of the structure of the walking vehicle of the present invention;

[0072] Figure 9 This is a schematic diagram of the lifting mechanism of the present invention;

[0073] Figure 10 This is a schematic diagram of the control circuit framework of the present invention;

[0074] Figure 11 This is a schematic diagram of the structure of the battery swapping vehicle and the battery station of the present invention. Detailed Implementation

[0075] The present invention will be further described in detail below with reference to the embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0076] Implementation of List 1:

[0077] like Figure 1 As shown, a new energy heavy-duty truck battery swapping robot of the present invention includes a battery swapping trolley, the battery swapping trolley including a battery lifting platform 1, a traveling trolley 2, a docking mechanism 3 for docking with the heavy-duty truck and locking with the heavy-duty truck after docking, a battery 7 for providing power to the battery swapping trolley of the present invention, and a platform dragging mechanism 4 for pushing the battery lifting platform 1 to the bottom of the heavy-duty truck battery and pulling the battery lifting platform 1 from the bottom of the heavy-duty truck battery back to the docking mechanism 3. The platform dragging mechanism 4 and the battery lifting platform 1 are disposed on the docking mechanism 3. The traveling trolley 2 includes a vehicle body 21 and a lifting mechanism 22 for lifting the docking mechanism 3 to the docking height with the heavy-duty truck. The lifting mechanism 22 is disposed on the vehicle body 21, and the docking mechanism 3 is disposed on the lifting mechanism 22.

[0078] Preferably, the battery lifting platform 1 includes a pulley 11, a base 12, a battery support 13 for supporting heavy truck batteries, and a support lifting mechanism 14 for raising and lowering the battery support 13. The pulley 11 is connected to the lower part of the base 12, the support lifting mechanism 14 is disposed on the base 12, the battery support 13 is installed on the support lifting mechanism 14, and the base 12 is movably connected to the docking mechanism 3 through the pulley 11.

[0079] Preferably, the support lifting mechanism 14 includes a fork-scissor mechanism 141 and a first push rod 142 for driving the fork-scissor mechanism 141 to rise and fall. The fork-scissor mechanism 141 includes two forks, and the battery support 13 includes two supports 131. One of the supports 131 is mounted on one fork-scissor, and the other support is mounted on the other fork-scissor. The bottom of both forks is connected to the base 12, and the first push rod 142 is connected to the fork-scissor mechanism 141.

[0080] Preferably, the platform dragging mechanism 4 includes a rack 41, a guide rail 42, a gear 43, a slider 44, and a drive platform 45 for pushing the battery lifting platform 1 to the bottom of the heavy truck battery and pulling the battery lifting platform 1 back from the bottom of the heavy truck battery to the docking mechanism 3. The drive platform 45 includes a platform body 451, a gear drive motor 452, and a second push rod 453. The gear drive motor 452 is mounted on the platform body 451 and connected to the gear 43. The gear 43 meshes with the rack 41. One end of the second push rod 453 is hinged to the platform body 451, and the other end of the second push rod 453 is hinged to the battery lifting platform 1. The rack 41 and the guide rail 42 are both fixedly connected to the docking mechanism 3. The slider 44 is fixedly connected to the platform body 451, and the slider 44 cooperates with the guide rail 42 to achieve a sliding connection.

[0081] Preferably, the docking mechanism 3 includes a support platform 31, a battery guide post 32, a docking locking mechanism, a heavy truck docking guide post 33, and a docking slide 34 that is flush with the heavy truck battery holder 5 after the docking mechanism 3 docks with the heavy truck. The battery guide post 32, the docking locking mechanism, and the docking slide 34 are all mounted on the support platform 31. The heavy truck docking guide post 33 is mounted at the docking point between the docking slide 34 and the heavy truck. The base 12 is movably connected to the surface of the docking slide 34 via pulleys 11, so that the base 12 can move along the docking slide 34, thereby moving the battery lifting platform 1 from the docking mechanism 3 to the heavy truck battery holder.

[0082] Preferably, there are two docking slides 34, which are arranged in parallel on the support platform 31, and the pulleys 11 are respectively arranged on both sides of the bottom of the base 12;

[0083] There are four battery guide posts 32, which are set in the grooves at the four corners of the heavy truck battery 6. When the heavy truck battery is installed into the bearing platform 31, the four battery guide posts 32 are respectively inserted into the grooves at the four corners of the heavy truck battery, so that the heavy truck battery is stably placed on the bearing platform 31.

[0084] The heavy truck docking guide post 33 is truncated cone-shaped, and the diameter of the heavy truck docking guide post 33 gradually decreases along the extension direction, which can achieve the effect of automatic correction and ensure that the docking slide 34 is accurately docked with the heavy truck.

[0085] Two heavy-duty truck docking guide posts 33 are provided. One heavy-duty truck docking guide post 33 is set at the docking point of one docking slide 34 and the heavy-duty truck, and the other heavy-duty truck docking guide post 33 is set at the docking point of another docking slide 34 and the heavy-duty truck. The docking locking mechanism includes a locking pin mounting base 351, a locking pin 352, and a locking pin pushing device 353 for pushing out the locking pin 352 to lock with the heavy-duty truck and retracting the locking pin 352 to unlock with the heavy-duty truck. The locking pin mounting base 351 is fixedly set on the support platform 31 and located below the docking point of the docking slide 34 and the heavy-duty truck. The locking pin 352 is installed in the locking pin mounting base 351, and the locking pin pushing device 353 is connected to the locking pin 352. When the docking slide 34 docks with the heavy-duty truck, the locking pin pushing device 353 is activated to push out the locking pin 352. After the locking pin 352 is pushed out, it connects with the heavy-duty truck, thereby locking the heavy-duty truck and ensuring that the invention is firmly docked with the heavy-duty truck, thus ensuring that the heavy-duty truck battery replacement can be carried out smoothly.

[0086] Preferably, the system also includes a controller and a docking sensor 36. The docking sensor 36 is used to identify the alignment tag of the docking position when the battery swapping trolley moves to the vicinity of the docking position to obtain the current position and pose of the battery swapping trolley in the position coordinate system, and guide the battery swapping trolley to perform docking positioning. The docking sensor is also used to detect whether the angle and distance between the battery swapping trolley and the heavy truck are within the preset range. If so, the docking sensor sends docking positioning completion information to the controller, and the controller sends a locking pin pusher to the locking pin pusher to push out the locking pin, thus completing the docking locking.

[0087] The docking sensor is connected to the controller, and the controller is connected to the locking pin pushing device. The docking sensor is installed in the docking mechanism. After the controller receives the docking information from the docking sensor indicating that the docking positioning is complete, the locking pin pushing device pushes out the locking pin.

[0088] Preferably, it also includes a lidar, a vision sensor, and an ultrasonic radar, all connected to the controller.

[0089] LiDAR is used to build 3D maps based on the site environment, for real-time positioning of the battery swapping vehicle during 3D map navigation, and for obstacle avoidance during 3D map navigation of the battery swapping vehicle; multi-line LiDAR can be selected.

[0090] The visual sensor detects obstacles during the navigation of the battery swapping vehicle and publishes the obstacle's label and pose information. It then fuses the pose information with the obstacle information detected by the 3D LiDAR and outputs the obstacle's pose information to guide the vehicle to avoid obstacles.

[0091] Ultrasonic radar is used to detect the distance to obstacles when the battery swapping vehicle is moving, and to control the vehicle to avoid obstacles in an emergency based on the distance to the detected obstacles.

[0092] The controller is connected to the locking pin pushing device 353, the traveling trolley 2, and the lifting mechanism 22, respectively.

[0093] This invention features visual obstacle avoidance, lidar obstacle avoidance, automatic mapping, and autonomous charging capabilities, enabling both active and automatic navigation. It also includes a backend management system via a controller, comprising a task management module, a robot settings module, and a user management module.

[0094] Preferably, the lifting mechanism 22 includes a lifting motor 221, lifting columns 222, a commutator 223, and a drive shaft 224. There are four lifting columns 222. The lifting motor 221 is connected to the power input end of the commutator 223, and the power output end of the commutator 223 is connected to the four lifting columns 222 through the drive shaft 224. The lifting motor 221 is connected to a controller.

[0095] Specifically, the commutator 223 includes a first commutator 2231, a second commutator 2232, and a third commutator 2233. The drive shaft 224 includes a first drive shaft 2241, a second drive shaft 2242, a third drive shaft 2243, a fourth drive shaft 2244, a fifth drive shaft 2245, and a sixth drive shaft 2246. The lifting motor 221 is connected to the power input terminal of the first commutator 2231. The two ends of the first drive shaft 2241 are respectively connected to one power output terminal of the first commutator 2231 and the power input terminal of the second commutator 2232. The two ends of the second drive shaft 2242 are respectively connected to the first commutator 2231 and the power input terminal of the second commutator 2232. The third drive shaft 2243 is connected to one power output terminal of the second commutator 2232 and one lifting column 222 at its two ends, and to the other power output terminal of the third commutator 2231 and the power input terminal of the third commutator 2233 at its two ends, respectively. The fourth drive shaft 2244 is connected to the other power output terminal of the second commutator 2232 and one lifting column 222 at its two ends, respectively. The fifth drive shaft 2245 is connected to one power output terminal of the third commutator 2233 and one lifting column 222 at its two ends, respectively. The sixth drive shaft 2246 is connected to the other power output terminal of the third commutator 2233 and one lifting column 222 at its two ends, respectively.

[0096] The vehicle body 21 is provided with four guide column mounting seats 212. The platform towing mechanism 4 is provided with four guide columns that cooperate with the guide column mounting seats 212 one by one when the platform towing mechanism 4 descends.

[0097] It also includes a battery station, which comprises a battery compartment 8 for accommodating fully charged and depleted heavy-duty truck batteries, and a tractor 9 for moving the battery compartment. The battery compartment 8 has two doors 81, one on each side of the battery compartment 8. Two battery swapping trolleys are available, and the charging module can be housed within the battery compartment 8. When the heavy-duty truck needs a battery swap, the doors 8 open, and the battery swapping trolleys are lowered. The battery compartment 8 can be made from a shipping container.

[0098] Example 2: A method for swapping batteries in new energy heavy-duty trucks using the above-mentioned new energy heavy-duty truck battery swapping robot, comprising:

[0099] Step 1: The battery swapping trolley docks with and locks onto the heavy truck;

[0100] Step 2: Unlock the heavy-duty truck battery;

[0101] Step 3: The battery swapping cart moves the heavy truck battery from the heavy truck to the battery swapping cart;

[0102] Step 4: After the battery swapping trolley is unlocked from the heavy truck, the heavy truck battery is sent to the battery station for removal.

[0103] Step 5: The battery swapping trolley, carrying another heavy-duty truck battery, moves to the heavy-duty truck's battery holder;

[0104] Step Six: The battery swapping trolley docks with and locks onto the heavy truck;

[0105] Step 7: The battery swapping trolley inserts the other heavy-duty truck battery into the heavy-duty truck battery holder;

[0106] Step 8: The heavy truck locks the battery of the other heavy truck;

[0107] Step 9: After the battery swapping trolley unlocks from the heavy truck, it detaches from the heavy truck to complete the battery replacement.

[0108] Preferably, there are two battery swapping vehicles. One battery swapping vehicle performs steps one, three, and four; the other battery swapping vehicle performs steps five, six, seven, and nine.

[0109] Preferably, the LiDAR of the battery swapping vehicle constructs a three-dimensional map of the battery swapping site environment and marks the positions of battery stations, heavy trucks, and current obstacles in the three-dimensional map. The battery swapping vehicle navigates and locates itself in real time based on the three-dimensional map information.

[0110] Specifically, a 3D LiDAR is selected to construct a 3D map of the battery swapping site environment and mark the location of the battery station, the parking position of the heavy truck, and the current obstacle position on the 3D map. In addition, when the battery swapping vehicle navigates based on the 3D map, the 3D LiDAR is used for the real-time positioning of the battery swapping vehicle.

[0111] Preferably, when the battery swapping vehicle navigates based on the three-dimensional map information, the vehicle's visual sensors visually detect obstacles and publish the obstacle's label and pose information. This information is then fused with the pose information of the obstacle detected by the lidar to output the obstacle's pose information and guide the vehicle to avoid obstacles.

[0112] Specifically, during navigation, the battery swapping vehicle uses a visual sensor to visually detect obstacles and publish their labels and pose information. This information is then fused with the obstacle information detected by the 3D LiDAR to output the obstacle pose information, thereby guiding the battery swapping vehicle to avoid obstacles. The visual sensor can be a binocular depth camera.

[0113] Preferably, the ultrasonic radar of the battery swapping vehicle senses the surrounding environment. When the distance between the obstacle and the battery swapping vehicle is less than or equal to a set distance, the battery swapping vehicle decelerates, stops and waits, or detours to achieve emergency obstacle avoidance.

[0114] Specifically, when encountering obstacles at close range, reversing, or traveling on narrow roads, the ultrasonic radar senses the surrounding environment to prevent the battery swapping vehicle from colliding with obstacles. When an obstacle gets too close to the battery swapping vehicle, it performs emergency obstacle avoidance, such as slowing down, stopping and waiting, or going around to avoid the obstacle.

[0115] Preferably, the docking and locking of the battery swapping vehicle with the heavy truck includes:

[0116] The battery swapping vehicle approaches the heavy truck perpendicularly.

[0117] The docking mechanism of the battery swapping vehicle is raised;

[0118] The battery swapping trolley moves toward the heavy truck and begins to dock. When the docking is complete, the docking sensor of the battery swapping trolley is triggered, the battery swapping trolley stops moving, and the locking pin of the battery swapping trolley is pushed out and locked with the heavy truck, so that the docking slide of the docking mechanism is flush with the battery holder of the heavy truck.

[0119] Preferably, when the battery swapping vehicle docks with the heavy truck, the battery swapping vehicle navigates to the vicinity of the heavy truck based on a three-dimensional map and approaches the battery compartment of the heavy truck for pre-dock positioning;

[0120] After the lifting mechanism is raised, the docking sensor of the battery swapping trolley identifies the alignment tag of the heavy truck, obtains the current position of the battery swapping trolley in the heavy truck coordinate system, guides the battery swapping trolley to adjust its position relative to the heavy truck, so that the battery swapping trolley is perpendicular to the battery seat of the heavy truck, and then adjusts the docking slide of the docking mechanism to be at the same height as the battery seat of the heavy truck.

[0121] The trolley moves toward the battery compartment of the heavy truck until the docking mechanism docks with the battery compartment of the heavy truck.

[0122] After the docking mechanism docks with the battery holder of the heavy truck, the locking pin of the traveling trolley extends and locks with the battery holder of the heavy truck, completing the docking and locking process.

[0123] Specifically, when the battery swapping trolley docks with the heavy-duty truck battery holder 5, the trolley navigates to the vicinity of the heavy-duty truck battery holder 5 based on a 3D map and approaches it for pre-dock positioning. Then, the lifting mechanism 22 is activated, and after the docking mechanism 3 is raised, the docking sensor identifies the alignment tag of the heavy-duty truck and obtains the current position and pose of the battery swapping trolley in the heavy-duty truck coordinate system, thereby guiding the battery swapping trolley to perform secondary precise positioning, i.e. docking positioning. The docking positioning process first adjusts the position of the battery swapping trolley relative to the heavy-duty truck so that the battery swapping trolley is perpendicular to the heavy-duty truck and parallel to the heavy-duty truck battery holder 5. Then, the height of the docking mechanism 3 is adjusted so that the docking slide 34 of the docking mechanism 3 is flush with the heavy-duty truck battery holder 5, i.e., so that the two are at the same height. At this time, the controller sends a walking command to the walking trolley 2. The walking trolley 2 slowly moves towards the heavy truck battery holder 5 until the docking mechanism 3 docks with the heavy truck battery holder 5. When the docking sensor detects that the docking angle and distance are within the preset range, the docking sensor sends docking information to the controller indicating that the docking positioning is complete. The controller then sends a command to the locking pin pusher to push out the locking pin, thus completing the docking locking step.

[0124] Specifically, when the battery swapping trolley is working, firstly, the docking mechanism 3 docks and locks with the heavy-duty truck battery holder 5. Specifically, under the control of the controller, the traveling trolley 2 moves to the vicinity of the heavy-duty truck battery holder 5. Then, the lifting mechanism 22 is activated, and the four lifting columns 222 rise to lift the docking mechanism 3 until the docking slide 34 of the docking mechanism 3 is flush with the heavy-duty truck battery holder 5. Next, the traveling trolley 2 slowly moves to insert the heavy-duty truck docking guide post 33 into the heavy-duty truck docking seat of the heavy-duty truck battery holder 5. Because the heavy-duty truck docking guide post 33 is frustoconical, automatic centering and correction can be achieved when the heavy-duty truck docking guide post 33 connects with the heavy-duty truck docking seat of the heavy-duty truck battery holder 5, thus achieving accurate docking. After the docking mechanism 3 docks with the heavy-duty truck battery holder 5, the locking pin pushing device 353 pushes out the locking pin 352, connecting the locking pin 352 with the heavy-duty truck battery holder 5, thereby fixing the docking mechanism 3 and the heavy-duty truck battery holder 5.

[0125] Unlocking heavy truck battery 6 means unlocking a heavy truck battery that is depleted.

[0126] Preferably, the process of transferring the heavy-duty truck battery from the heavy-duty truck to the battery swapping vehicle includes:

[0127] The battery lifting platform of the battery swapping vehicle moves to the battery holder of the heavy truck on the docking slide;

[0128] The battery lifting platform rises to lift the battery.

[0129] The battery lifting platform moves back to the docking slide to move the heavy truck battery onto the battery swapping trolley;

[0130] When the heavy truck battery is moved onto the battery swapping trolley, the battery lifting platform descends, and the heavy truck battery is positioned on the battery guide column of the battery swapping trolley.

[0131] The process of unlocking the battery swapping trolley from the heavy truck includes: the locking pin of the battery swapping trolley disengaging from the heavy truck, the battery swapping trolley moving away from the heavy truck, and the docking mechanism of the battery swapping trolley descending and resetting, thus completing the unlocking.

[0132] To remove the heavy truck battery, specifically, after the docking mechanism 3 locks with the heavy truck battery holder 5, the gear drive motor 452 starts the gear 43 to rotate, and the platform dragging mechanism 4 moves towards the heavy truck battery holder 5, thereby pushing the battery lifting platform 1 on the docking slide 34 to the heavy truck battery holder 5. Specifically, when the docking slide 34 moves to below the heavy truck battery 6, the support lifting mechanism 14 starts, and the battery support 13 rises to lift the heavy truck battery 6. The heavy truck battery 6 is separated from the heavy truck battery holder 5. The gear drive motor 452 rotates in the opposite direction, and the platform dragging mechanism 4 moves away from the heavy truck battery holder 5, thereby pulling the battery lifting platform 1 from the heavy truck battery holder 5 back to the docking mechanism 3. The support lifting mechanism 14 descends, and the heavy truck battery 6 descends with the battery support 13 onto the bearing platform 31. At the same time, the grooves located at the four corners of the heavy truck battery 6 engage with the four battery guide posts 32, and the removal of the heavy truck battery 6 is completed.

[0133] Next, the docking mechanism 3 unlocks and disengages from the heavy truck battery holder 5, the locking pin pushing device 353 pulls back the locking pin 352, the docking mechanism 3 and the heavy truck battery holder 5 are unlocked, the traveling trolley 2 starts to pull the heavy truck docking guide post 33 out of the heavy truck battery holder 5, the docking mechanism of the battery swapping trolley descends and resets, and the unlocking is completed.

[0134] Preferably, the battery swapping vehicle unloads the heavy truck battery into the battery station, including:

[0135] The battery swapping cart, loaded with heavy truck batteries, travels to the battery station.

[0136] The battery swapping vehicle docks with and locks onto the battery station;

[0137] The battery swapping vehicle loads the heavy truck batteries into the battery station;

[0138] The battery station locks the heavy truck battery and charges it;

[0139] After the battery swapping vehicle is unlocked from the battery station, it is moved away from the battery station.

[0140] The battery swapping vehicle carries another heavy-duty truck battery, including:

[0141] The battery swapping vehicle docks with and locks onto the battery station;

[0142] The battery station unlocks another heavy-duty truck battery;

[0143] The battery swapping vehicle moves another heavy truck battery from the battery station onto the battery swapping vehicle;

[0144] After the battery swapping vehicle unlocks the battery station, it delivers another heavy-duty truck battery to the heavy-duty truck.

[0145] The docking and locking of the battery swapping vehicle with the battery station includes:

[0146] The battery swapping vehicle approaches the battery station perpendicularly.

[0147] The docking mechanism of the battery swapping vehicle is raised;

[0148] The battery swapping trolley moves toward the battery station and begins to dock with it. When the docking is complete, the docking sensor of the battery swapping trolley is triggered, the battery swapping trolley stops moving, and the locking pin of the battery swapping trolley is pushed out and locked with the battery station, so that the docking slide of the docking mechanism is flush with the battery station.

[0149] Preferably, when the battery swapping vehicle docks with the battery station, the battery swapping vehicle navigates to the vicinity of the battery station based on a 3D map and performs pre-docking positioning close to the battery station.

[0150] After the lifting mechanism is raised, the docking sensor of the battery swapping trolley identifies the alignment tag of the battery station, obtains the current position of the battery swapping trolley in the coordinate system of the battery station, guides the battery swapping trolley to adjust its position relative to the battery station, so that the battery swapping trolley is perpendicular to the battery station, and then adjusts the docking slide of the docking mechanism to be at the same height as the battery station.

[0151] The trolley moves toward the battery station until the docking mechanism docks with the battery station.

[0152] The battery swapping vehicle moves another heavy-duty truck battery from the battery station to the battery swapping vehicle, including:

[0153] The battery lifting platform of the battery swapping vehicle moves to the bottom of another heavy truck battery in the battery station on the docking slide;

[0154] The battery lifting platform rises to lift the battery of another heavy truck.

[0155] The battery lifting platform moves back to the docking slide to move another heavy truck battery onto the battery swapping trolley;

[0156] When the other heavy truck battery is moved onto the battery swapping trolley, the battery lifting platform descends, and the other heavy truck battery is positioned on the battery guide column of the battery swapping trolley.

[0157] The process of unlocking the battery swapping trolley from the battery station includes: the locking pin of the battery swapping trolley disengaging from the battery station, the battery swapping trolley moving away from the battery station, and the docking mechanism of the battery swapping trolley descending and resetting, thus completing the unlocking.

[0158] Specifically, the trolley 2 moves towards the battery station. When the trolley 2 approaches the battery storage space of the battery station, the docking mechanism 3 docks with and locks into the battery station. The process is similar to the docking mechanism 3 docking with and locking the heavy truck battery holder 5. The trolley 2 moves to the vicinity of the battery station, and then the lifting mechanism 22 is activated. The four lifting columns 222 rise to lift the docking mechanism 3 until the docking slide 34 of the docking mechanism 3 is flush with the battery station. Then, the trolley 2 slowly moves to insert the heavy truck docking guide column 33 into the battery station. After the docking mechanism 3 docks with the battery station, the locking pin pushing device 353 pushes out the locking pin 352 to connect the locking pin 352 with the battery station, thereby fixing the docking mechanism 3 and the battery station.

[0159] After the docking mechanism 3 is locked with the battery station, the support lifting mechanism 14 is activated, the battery support 13 rises and lifts the heavy truck battery 6, the heavy truck battery 6 is separated from the four battery guide columns 32, the heavy truck battery 6 is lifted from the bearing platform 31 by the battery support 13, the platform towing mechanism 4 moves towards the battery station to move the heavy truck battery 6 into the battery station, after the heavy truck battery 6 is moved into the battery station, the support lifting mechanism 14 descends and places the heavy truck battery 6 into the battery station, after completion, the platform towing mechanism 4 moves in the opposite direction to drive the battery lifting platform 1 back to the docking mechanism 3;

[0160] The docking mechanism 3 unlocks and disengages from the battery station. The locking pin pusher 353 pulls back the locking pin 352, and the docking mechanism 3 is unlocked from the battery station. The traveling trolley 2 starts to pull the heavy truck docking guide column 33 out of the battery station. The docking mechanism of the battery swapping trolley descends and resets, completing the unlocking. The heavy truck battery 6 is then recovered.

[0161] Take another fully charged heavy truck battery (hereinafter referred to as "fully charged battery") from the battery station. The traveling trolley 2 moves to the location of the fully charged battery in the battery station. The lifting mechanism 22 is activated, and the four lifting columns 222 rise to lift the docking mechanism 3 until the docking slide 34 of the docking mechanism 3 is flush with the battery station. Then the traveling trolley 2 slowly moves to insert the heavy truck docking guide column 33 into the battery station. After the docking mechanism 3 docks with the battery station, the locking pin pushing device 353 pushes out the locking pin 352 to connect the locking pin 352 with the battery station, thereby fixing the docking mechanism 3 and the battery station.

[0162] The gear drive motor 452 starts, and the platform towing mechanism 4 moves towards the battery station, thereby pushing the battery lifting platform 1 on the docking slide 34 to the battery station. Specifically, the docking slide 34 moves to the bottom of the fully charged battery, the support lifting mechanism 14 starts, the battery support 13 rises and lifts the fully charged battery, the fully charged battery is separated from the battery station, the gear drive motor 452 rotates in the opposite direction, and the platform towing mechanism 4 moves away from the battery station, thereby pulling the battery lifting platform 1 from the battery station back to the docking mechanism 3. The support lifting mechanism 14 descends, and the fully charged battery descends with the battery support 13 onto the carrying platform 31. At the same time, the grooves located at the four corners of the fully charged battery are engaged with the four battery guide posts 32.

[0163] The docking mechanism 3 unlocks and disengages from the battery station. The locking pin pusher 353 pulls back the locking pin 352, and the docking mechanism 3 is unlocked from the battery station. The traveling trolley 2 starts to pull the heavy truck docking guide column 33 out of the battery station, completing the release. The fully charged battery is then removed.

[0164] The trolley 2, carrying a fully charged battery, moves towards the heavy truck. When the trolley 2 approaches the heavy truck battery holder 5, the lifting mechanism 22 is activated, and the lifting column 222 rises to raise the docking mechanism 3 until the docking slide 34 of the docking mechanism 3 is flush with the heavy truck battery holder 5. Then, the trolley 2 slowly moves to allow the heavy truck docking guide column 33 to insert into the heavy truck battery holder 5. After the docking mechanism 3 docks with the heavy truck battery holder 5, the locking pin pushing device 353 pushes out the locking pin 352, connecting the locking pin 352 with the heavy truck battery holder 5, thereby fixing the docking mechanism 3 and the heavy truck battery holder 5.

[0165] After the docking mechanism 3 is locked with the heavy truck battery holder 5, the support lifting mechanism 14 is activated, the battery support 13 rises and lifts the fully charged battery, the fully charged battery is separated from the four battery guide columns 32, the fully charged battery is lifted from the bearing platform 31 by the battery support 13, the platform towing mechanism 4 moves towards the heavy truck battery holder 5 to move the fully charged battery into the heavy truck battery holder 5, after the fully charged battery is moved into the heavy truck battery holder 5, the support lifting mechanism 14 descends and places the fully charged battery into the heavy truck battery holder 5, after completion, the platform towing mechanism 4 moves in the opposite direction to drive the battery lifting platform 1 back to the docking mechanism 3;

[0166] The docking mechanism 3 is unlocked and disengaged from the heavy truck battery holder 5. The locking pin pushing device 353 pulls back the locking pin 352, and the docking mechanism 3 is unlocked from the heavy truck battery holder 5. The traveling trolley 2 starts to pull the heavy truck docking guide column 33 out of the heavy truck battery holder 5, completing the release. The fully charged battery is then installed into the heavy truck battery holder 5.

[0167] The walking vehicle 2 moves to the charging module to charge or standby.

[0168] When two battery swapping trolleys are used in this invention, the process of removing the heavy truck battery from the heavy truck and installing the heavy truck battery into the battery station can be handled by one battery swapping trolley, while the other battery swapping trolley handles the process of removing the fully charged battery from the battery station and installing the fully charged battery into the heavy truck. This can reduce the battery swapping time by half and improve efficiency.

[0169] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A battery swapping method for new energy heavy-duty trucks, characterized in that, include: A battery swapping robot for new energy heavy-duty trucks includes a battery swapping trolley. The battery swapping trolley includes a battery lifting platform, a traveling trolley, a docking mechanism for docking with the heavy-duty truck and locking the trolley after docking, a battery for providing power to the battery swapping trolley, and a platform towing mechanism for pushing the battery lifting platform to the bottom of the heavy-duty truck battery and pulling the battery lifting platform back from the bottom of the heavy-duty truck battery to the docking mechanism. The platform towing mechanism and the battery lifting platform are mounted on the docking mechanism. The traveling trolley includes a vehicle body and a lifting mechanism for lifting the docking mechanism to the docking height with the heavy-duty truck. The lifting mechanism is mounted on the vehicle body, and the docking mechanism is mounted on the lifting mechanism. The battery lifting platform includes pulleys, a base, a battery support for supporting heavy truck batteries, and a support lifting mechanism for raising and lowering the battery support. The pulleys are connected to the lower part of the base, the support lifting mechanism is set on the base, the battery support is installed on the support lifting mechanism, and the base is movably connected to the docking mechanism through pulleys. The support lifting mechanism includes a fork-scissor mechanism and a first push rod for driving the fork-scissor mechanism to rise and fall. The fork-scissor mechanism includes two forks, and the battery support includes two supports. One of the supports is mounted on one fork-scissor, and the other support is mounted on the other fork-scissor. The bottom of both forks-scissors is connected to the base, and the first push rod is connected to the fork-scissor mechanism. The platform towing mechanism includes a rack, guide rail, gear, slider, and a drive platform for pushing the battery lifting platform to the bottom of the heavy truck battery and pulling the battery lifting platform back from the bottom of the heavy truck battery to the docking mechanism. The drive platform includes a platform body, a gear drive motor, and a second push rod. The gear drive motor is mounted on the platform body and connected to a gear. The gear meshes with the rack. One end of the second push rod is hinged to the platform body, and the other end is hinged to the battery lifting platform. The rack and guide rail are both fixedly connected to the docking mechanism. The slider is fixedly connected to the platform body, and the slider and guide rail cooperate to achieve a sliding connection. The docking mechanism includes a support platform, a battery guide post, a docking locking mechanism, a heavy truck docking guide post, and a docking slide that is flush with the heavy truck battery seat after the docking mechanism docks with the heavy truck. The battery guide post, the docking locking mechanism, and the docking slide are all set on the support platform. The heavy truck docking guide post is set at the docking point between the docking slide and the heavy truck. The base is movably connected to the surface of the docking slide via pulleys, so that the base can move along the docking slide, thereby moving the battery lifting platform from the docking mechanism to the heavy truck battery seat. There are two docking slides, which are arranged in parallel on the support platform, and the pulleys are respectively arranged on both sides of the bottom of the base; There are four battery guide posts, which are set in the grooves at the four corners of the heavy truck battery. When the heavy truck battery is installed into the bearing platform, the four battery guide posts are inserted into the grooves at the four corners of the heavy truck battery, so that the heavy truck battery is stably placed on the bearing platform. The heavy truck docking guide post is frustoconical in shape, and the diameter of the heavy truck docking guide post gradually decreases along the extension direction; The heavy-duty truck docking guide post consists of two parts: one part is located at the docking point of one docking slide and the heavy-duty truck, and the other part is located at the docking point of another docking slide and the heavy-duty truck. The docking locking mechanism includes a locking pin mounting seat, a locking pin, and a locking pin pushing device for pushing the locking pin out to lock it with the heavy-duty truck and retracting the locking pin to unlock it. The locking pin mounting seat is fixedly mounted on the bearing platform and located below the docking point of the docking slide and the heavy-duty truck. The locking pin is installed in the locking pin mounting seat, and the locking pin pushing device is connected to the locking pin. When the docking slide and the heavy-duty truck are docked, the locking pin pushing device is activated to push out the locking pin. After being pushed out, the locking pin connects with the heavy-duty truck, thereby locking the heavy-duty truck. It also includes a controller and a docking sensor. The docking sensor is used to identify the alignment tag of the docking position when the battery swapping trolley moves to the vicinity of the docking position to obtain the current position and pose of the battery swapping trolley in the position coordinate system and guide the battery swapping trolley to perform docking positioning. The docking sensor is also used to detect whether the angle and distance between the battery swapping trolley and the heavy truck are within the preset range. If so, the docking sensor sends docking positioning completion information to the controller, and the controller sends a locking pin pusher to push out the locking pin to complete the docking locking. The docking sensor is connected to the controller, and the controller is connected to the locking pin pushing device. The docking sensor is installed in the docking mechanism. After the controller receives the docking information from the docking sensor indicating that the docking positioning is complete, the locking pin pushing device pushes out the locking pin. It also includes a lidar, a vision sensor, and an ultrasonic radar, all of which are connected to the controller. The lidar is used to build a 3D map based on the site environment, for real-time positioning of the battery swapping vehicle during 3D map navigation, and for obstacle avoidance during 3D map navigation of the battery swapping vehicle; a multi-line lidar is selected. The visual sensor detects obstacles during the navigation of the battery swapping vehicle and publishes the obstacle's label and pose information. It then fuses the pose information with the obstacle information detected by the 3D LiDAR and outputs the obstacle's pose information to guide the vehicle to avoid obstacles. Ultrasonic radar is used to detect the distance to obstacles when the battery swapping vehicle is moving, and to control the vehicle to avoid obstacles in an emergency based on the distance to the detected obstacles. The controller is connected to the locking pin pushing device, the traveling trolley, and the lifting mechanism, respectively. The visual obstacle avoidance, lidar obstacle avoidance, automatic mapping, and autonomous charging functions enable active and automatic navigation; the controller enables backend management functions, which include a task management module, a robot settings module, and a user management module. The lifting mechanism includes a lifting motor, lifting columns, a commutator, and a drive shaft. There are four lifting columns. The lifting motor is connected to the power input end of the commutator. The power output end of the commutator is connected to the four lifting columns through the drive shaft. The lifting motor is connected to a controller. The commutator includes a first commutator, a second commutator, and a third commutator. The drive shaft includes a first drive shaft, a second drive shaft, a third drive shaft, a fourth drive shaft, a fifth drive shaft, and a sixth drive shaft. The lifting motor is connected to the power input end of the first commutator. The two ends of the first drive shaft are respectively connected to one power output end of the first commutator and the power input end of the second commutator. The two ends of the second drive shaft are respectively connected to the other power output end of the first commutator and the power input end of the third commutator. The two ends of the third drive shaft are respectively connected to one power output end of the second commutator and a lifting column. The two ends of the fourth drive shaft are respectively connected to the other power output end of the second commutator and a lifting column. The two ends of the fifth drive shaft are respectively connected to one power output end of the third commutator and a lifting column. The two ends of the sixth drive shaft are respectively connected to the other power output end of the third commutator and a lifting column. The vehicle body is provided with four guide column mounting seats, and the platform towing mechanism is provided with four guide columns that cooperate with the guide column mounting seats one by one when the platform towing mechanism descends, corresponding to the positions of the four guide column mounting seats. Includes the following steps: Step 1: The battery swapping trolley docks with and locks onto the heavy truck; Step 2: Unlock the heavy-duty truck battery; Step 3: The battery swapping cart moves the heavy truck battery from the heavy truck to the battery swapping cart; Step 4: After the battery swapping trolley is unlocked from the heavy truck, the heavy truck battery is sent to the battery station for removal. Step 5: The battery swapping trolley, carrying another heavy-duty truck battery, moves to the heavy-duty truck's battery holder; Step Six: The battery swapping trolley docks with and locks onto the heavy truck; Step 7: The battery swapping trolley inserts the other heavy-duty truck battery into the heavy-duty truck battery holder; Step 8: The heavy truck locks the battery of the other heavy truck; Step 9: After the battery swapping trolley unlocks from the heavy truck, it detaches from the heavy truck to complete the replacement of the heavy truck's battery; The battery swapping vehicle constructs a 3D map of the battery swapping site environment and marks the positions of battery stations, heavy trucks, and current obstacles on the 3D map. The battery swapping vehicle navigates and locates itself in real time based on the 3D map information. When the battery swapping vehicle navigates based on the three-dimensional map information, it performs visual detection of obstacles and publishes the obstacle's label and pose information. It then performs pose fusion with the detected current obstacle position and outputs the obstacle's pose information to guide the battery swapping vehicle to avoid obstacles. The battery swapping vehicle senses the surrounding environment. When the distance between the obstacle and the battery swapping vehicle is less than or equal to the set distance, the battery swapping vehicle will decelerate, stop and wait, or detour to achieve emergency obstacle avoidance. The lidar constructs a 3D map of the battery swapping site environment and marks the location of the battery station, the parking position of the heavy truck, and the current obstacle position on the 3D map. When the battery swapping vehicle navigates based on the 3D map, the 3D lidar is used for the real-time positioning of the battery swapping vehicle. During navigation, the battery swapping vehicle uses visual sensors to visually detect obstacles and publish obstacle tags and pose information. It then fuses the pose information with the obstacle information detected by the 3D LiDAR, and finally outputs the pose information of the obstacles to guide the battery swapping vehicle to avoid obstacles. When encountering obstacles at close range, reversing, or traveling on narrow roads, the ultrasonic radar senses the surrounding environment to prevent the battery swapping vehicle from colliding with obstacles. When an obstacle gets close to the battery swapping vehicle, it performs emergency obstacle avoidance, such as slowing down, stopping and waiting, or going around to avoid the obstacle. The docking and locking of the battery swapping trolley with the heavy truck includes: The battery swapping vehicle approaches the heavy truck perpendicularly. The docking mechanism of the battery swapping vehicle is raised; The battery swapping trolley moves toward the heavy truck and begins to dock with it. When docking is complete, the battery swapping trolley stops moving, and the locking pin of the battery swapping trolley is pushed out and locked with the heavy truck, so that the docking slide of the docking mechanism is flush with the battery holder of the heavy truck. When the battery swapping vehicle docks with the heavy truck, the battery swapping vehicle navigates to the vicinity of the heavy truck based on a 3D map and approaches the battery compartment of the heavy truck for pre-dock positioning. After the lifting mechanism is raised, the battery swapping trolley identifies the alignment tag of the heavy truck, obtains the current position of the battery swapping trolley in the heavy truck coordinate system, guides the battery swapping trolley to adjust its position relative to the heavy truck, so that the battery swapping trolley is perpendicular to the heavy truck and aligned with the heavy truck battery seat, and then adjusts the docking slide of the docking mechanism to be at the same height as the heavy truck battery seat. The trolley moves toward the battery compartment of the heavy truck until the docking mechanism docks with the battery compartment of the heavy truck. After the docking mechanism docks with the battery holder of the heavy truck, when the traveling trolley detects that the docking angle and distance are within the preset range, the locking pin of the traveling trolley extends and locks with the battery holder of the heavy truck, completing the docking and locking step. The battery swapping cart transfers the heavy-duty truck battery from the heavy-duty truck to the battery swapping cart, including: The battery lifting platform of the battery swapping vehicle moves to the battery holder of the heavy truck on the docking slide; The battery lifting platform rises to lift the battery. The battery lifting platform moves back to the docking slide to move the heavy truck battery onto the battery swapping trolley; When the heavy truck battery is moved onto the battery swapping trolley, the battery lifting platform descends, and the heavy truck battery is positioned on the battery guide column of the battery swapping trolley. The process of unlocking the battery swapping trolley from the heavy truck includes: the locking pin of the battery swapping trolley disengaging from the heavy truck, the battery swapping trolley moving away from the heavy truck, and the docking mechanism of the battery swapping trolley descending and resetting, thus completing the unlocking process. Specifically, the trolley moves towards the battery station. When the trolley approaches the battery storage space of the battery station, the docking mechanism docks with and locks into the battery station. The specific process is the same as the docking mechanism docking with and locking the heavy truck battery holder. The trolley moves to the vicinity of the battery station, and then the lifting mechanism is activated. The four lifting columns rise to lift the docking mechanism until the docking slide of the docking mechanism is flush with the battery station. Then the trolley moves to insert the heavy truck docking guide column into the battery station. After the docking mechanism docks with the battery station, the locking pin pushing device pushes out the locking pin to connect the locking pin with the battery station, thereby fixing the docking mechanism and the battery station. After the docking mechanism is locked with the battery station, the support lifting mechanism is activated, the battery support rises and lifts the heavy truck battery, the heavy truck battery is separated from the four battery guide columns, and the heavy truck battery is lifted from the bearing platform by the battery support. The platform towing mechanism moves towards the battery station to move the heavy truck battery into the battery station. After the heavy truck battery is moved into the battery station, the support lifting mechanism descends to place the heavy truck battery into the battery station. After completion, the platform towing mechanism moves in the opposite direction to drive the battery lifting platform back to the docking mechanism. The docking mechanism unlocks and disengages from the battery station. The locking pin pusher pulls back the locking pin, the docking mechanism and the battery station are unlocked, the traveling trolley starts to pull the heavy truck docking guide column out of the battery station, the docking mechanism of the battery swapping trolley descends and resets, the unlocking is completed, and the heavy truck battery recycling is completed. The trolley moves to the location of the fully charged battery in the battery station, and the lifting mechanism is activated. The four lifting columns rise to raise the docking mechanism until the docking slide of the docking mechanism is flush with the battery station. Then the trolley moves to insert the docking guide column of the heavy truck into the battery station. After the docking mechanism docks with the battery station, the locking pin pusher pushes out the locking pin to connect the locking pin with the battery station, thereby fixing the docking mechanism and the battery station. The gear drive motor starts, and the platform towing mechanism moves towards the battery station, thereby pushing the battery lifting platform onto the battery station on the docking slide. Specifically, when the docking slide moves to below the fully charged battery, the support lifting mechanism starts, the battery support rises and lifts the fully charged battery, and the fully charged battery detaches from the battery station. The gear drive motor rotates in the opposite direction, and the platform towing mechanism moves away from the battery station, thereby pulling the battery lifting platform back from the battery station to the docking mechanism. The support lifting mechanism descends, and the fully charged battery descends with the battery support onto the carrying platform. At the same time, the grooves located at the four corners of the fully charged battery engage with the four battery guide posts. The docking mechanism unlocks and disengages from the battery station. The locking pin pusher pulls back the locking pin, and the docking mechanism and battery station are unlocked. The traveling trolley starts to pull the heavy truck docking guide column out of the battery station, completing the disengagement. The fully charged battery is then removed. The trolley carrying a fully charged battery moves toward the heavy truck. When the trolley approaches the heavy truck's battery holder, the lifting mechanism is activated, and the lifting column rises to raise the docking mechanism until the docking slide of the docking mechanism is flush with the heavy truck's battery holder. Then, the trolley moves to insert the heavy truck docking guide post into the heavy truck's battery holder. After the docking mechanism docks with the heavy truck's battery holder, the locking pin pushing device pushes out the locking pin to connect the locking pin with the heavy truck's battery holder, thereby fixing the docking mechanism and the heavy truck's battery holder. After the docking mechanism is locked with the heavy truck battery holder, the support lifting mechanism is activated, the battery support rises and lifts the fully charged battery, the fully charged battery is separated from the four battery guide columns, and the fully charged battery is lifted from the bearing platform by the battery support. The platform towing mechanism moves towards the heavy truck battery holder to move the fully charged battery into the heavy truck battery holder. After the fully charged battery is moved into the heavy truck battery holder, the support lifting mechanism descends to place the fully charged battery into the heavy truck battery holder. After completion, the platform towing mechanism moves in the opposite direction to drive the battery lifting platform back to the docking mechanism. The docking mechanism unlocks and disengages from the heavy truck battery holder. The locking pin pushing device pulls back the locking pin, and the docking mechanism is unlocked from the heavy truck battery holder. The traveling trolley starts to pull the heavy truck docking guide column out of the heavy truck battery holder, completing the disengagement. The fully charged battery is then inserted into the heavy truck battery holder. The battery swapping vehicle unloads the heavy truck battery into the battery station, including: The battery swapping cart, loaded with heavy truck batteries, travels to the battery station. The battery swapping vehicle docks with and locks onto the battery station; The battery swapping vehicle loads the heavy truck batteries into the battery station; The battery station locks the heavy truck battery; After the battery swapping vehicle is unlocked from the battery station, it is moved away from the battery station. The battery swapping vehicle carries another heavy-duty truck battery, including: The battery swapping vehicle docks with and locks onto the battery station; The battery station unlocks another heavy-duty truck battery; The battery swapping vehicle moves another heavy truck battery from the battery station onto the battery swapping vehicle; After the battery swapping vehicle unlocks the battery station, it delivers another heavy-duty truck battery to the heavy-duty truck. The docking and locking of the battery swapping vehicle with the battery station includes: The battery swapping vehicle approaches the battery station perpendicularly. The docking mechanism of the battery swapping vehicle is raised; The battery swapping trolley moves toward the battery station and begins to dock with it. Once docked, the battery swapping trolley stops moving, and its locking pin is pushed out to lock with the battery station, making the docking slide of the docking mechanism flush with the battery station. When the battery swapping vehicle docks with the battery station, the vehicle navigates to the vicinity of the battery station based on a 3D map and performs pre-docking positioning. After the lifting mechanism is raised, the battery swapping trolley identifies the alignment tag of the battery station, obtains the current position of the battery swapping trolley in the coordinate system of the battery station, guides the battery swapping trolley to adjust its position relative to the battery station, so that the battery swapping trolley is perpendicular to the battery station, and then adjusts the docking slide of the docking mechanism to be at the same height as the battery station. The trolley moves toward the battery station until the docking mechanism docks with the battery station. After the docking mechanism docks with the battery station, the locking pin of the traveling trolley extends and locks with the battery station, completing the docking and locking process; The battery swapping vehicle moves another heavy-duty truck battery from the battery station to the battery swapping vehicle, including: The battery lifting platform of the battery swapping vehicle moves to the bottom of another heavy truck battery in the battery station on the docking slide; The battery lifting platform rises to lift the battery of another heavy truck. The battery lifting platform moves back to the docking slide to move another heavy truck battery onto the battery swapping trolley; When the other heavy truck battery is moved onto the battery swapping trolley, the battery lifting platform descends, and the other heavy truck battery is positioned on the battery guide column of the battery swapping trolley. The process of unlocking the battery swapping trolley from the battery station includes: the locking pin of the battery swapping trolley disengaging from the battery station, the battery swapping trolley moving away from the battery station, and the docking mechanism of the battery swapping trolley descending and resetting, thus completing the unlocking.

2. The battery swapping method for new energy heavy-duty trucks according to claim 1, characterized in that, There are two battery swapping vehicles. One battery swapping vehicle performs steps one, three, and four; the other battery swapping vehicle performs steps five, six, seven, and nine.

Images