Intelligent forklift and method for replacing energy storage power station battery pack

Abstract

The application relates to an intelligent forklift for energy storage power station battery pack replacement and a method, which comprises a forklift body and a control module; the control module is integrated on the forklift body; the forklift body comprises a portal and a fork arm; the fork arm is arranged on the portal; a first camera is installed on a first top main beam of the portal and used for collecting image information in front of the forklift body; a second camera is installed on a second top main beam of the portal and used for collecting image information on the rear side of the forklift body; a fourth camera and a fifth camera are respectively installed on a left fork arm and a right fork arm of the portal and used for collecting image information in front left and front right of the forklift body; a third camera is installed between the left fork arm and the right fork arm and used for collecting image information in front of the forklift body; and the first camera, the second camera, the third camera, the fourth camera and the fifth camera are electrically connected with the control module. The application improves the operation efficiency and solves the problems of low operation efficiency and low accuracy of manual operation.

Description

Technical Field

[0001] This invention relates to the field of energy storage power station technology, and in particular to an intelligent forklift and method for replacing battery packs in energy storage power stations. Background Technology

[0002] Currently, compared to traditional energy sources, solar photovoltaic (PV) power generation suffers from intermittency and volatility. As the proportion of solar PV power generation further increases, the need to ensure energy stability is significantly rising. Currently, some regions are restricting the grid connection of PV power generation due to grid stability requirements. Therefore, developing energy storage is key to solving the supply and demand distribution and volatility problems of the new power system. Depending on the application scenario, energy storage can be divided into generation-side energy storage, grid-side energy storage, and user-side energy storage.

[0003] When the performance of the battery pack in an energy storage power station deteriorates or the battery pack is damaged, the battery pack needs to be replaced. Currently, battery pack replacement is done manually using a forklift, which may increase operating costs, and improper manual operation may damage the battery pack.

[0004] Therefore, there is an urgent need for an intelligent forklift and method for replacing battery packs in energy storage power stations. Summary of the Invention

[0005] (a) Technical problems to be solved

[0006] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides an intelligent forklift and method for replacing battery packs in energy storage power stations, which solves the technical problems of low efficiency and low accuracy of manual operation.

[0007] (II) Technical Solution

[0008] To achieve the above objectives, the main technical solutions adopted by the present invention include:

[0009] In a first aspect, embodiments of the present invention provide an intelligent forklift for replacing battery packs in an energy storage power station, comprising:

[0010] Forklift body and control module;

[0011] The control module is integrated on the forklift body;

[0012] The forklift body includes a mast and forks; the forks are mounted on the mast.

[0013] A first camera is mounted on the first top main beam of the mast to capture image information of the front of the forklift body; a second camera is mounted on the second top main beam of the mast to capture image information of the rear of the forklift body; a fourth camera and a fifth camera are respectively mounted on the left and right forks of the mast to capture image information of the left front and right front of the forklift body; a third camera is mounted between the left and right forks to capture image information of the front of the forklift body.

[0014] The first camera, the second camera, the third camera, the fourth camera, and the fifth camera are electrically connected to the control module.

[0015] The first, second, and third cameras are TOF cameras, and the fourth and fifth cameras are structured light cameras.

[0016] Secondly, embodiments of the present invention provide a method for replacing a battery pack in an energy storage power station, comprising:

[0017] S100: The control module receives a first instruction to replace the specified battery pack of the energy storage station, and controls the forklift body to move to the transfer rack area according to the first instruction.

[0018] S200: The control module receives image information of a specified battery pack from the first camera and the third camera, and obtains the position and size information of the specified battery pack based on the image information of the specified battery pack.

[0019] S300: The control module controls the forklift body to reach the pickup point corresponding to the specified battery pack based on the location and size information of the specified battery pack, and adjusts the fork arm spacing and fork arm height to pick up the specified battery pack.

[0020] Optionally, the method further includes:

[0021] S400, The control module controls the forklift body to move the designated battery pack to the energy storage cabinet area;

[0022] S500: The control module receives image information of the energy storage cabinet collected by the first camera, the second camera and the third camera, and obtains the empty space location information of the energy storage cabinet based on the image information of the energy storage cabinet.

[0023] S600: The control module controls the forklift body to move to the receiving point of the empty space in the energy storage cabinet according to the empty space location information, and adjusts the height of the fork arm according to the empty space location information to match the height of the fork arm with the empty space location information, and puts the designated battery pack into the empty space in the energy storage cabinet.

[0024] Optionally, in step S300, adjusting the fork arm spacing and fork arm height to pick up the designated battery pack includes:

[0025] S310. The control module adjusts the fork arm spacing so that the fork arm spacing matches the size information of the specified battery pack;

[0026] S320. The control module adjusts the height of the fork arm so that the height of the fork arm matches the position information of the specified battery pack.

[0027] S330, The control module controls the forklift body to pick up the designated battery pack.

[0028] Optionally, the method further includes:

[0029] S700: The control module acquires image information within the field of view collected by the fourth and fifth cameras in real time, and obtains first information based on the image information within the field of view.

[0030] The first information includes: the distance between the transfer rack and the fourth and fifth cameras, the distance between the energy storage cabinet and the fourth and fifth cameras, and the distance between the edge of the designated battery pack and the edge of the empty space in the energy storage cabinet.

[0031] Optionally, S300 includes:

[0032] When picking up a specified battery pack, the control module determines in real time whether the distance between the transfer rack and the fourth and fifth cameras is greater than a first preset value. If not, the control module controls the fourth and fifth cameras to extend and retract to the root of the fork arm.

[0033] When a specified battery pack is placed, the control module determines in real time whether the distance between the energy storage cabinet and the fourth and fifth cameras is greater than a first preset value. If not, the control module controls the fourth and fifth cameras to extend and retract to the root of the fork arm.

[0034] The first preset value is set according to the actual application scenario.

[0035] Optionally, the S600 further includes:

[0036] When a specified battery pack is placed, the control module determines in real time whether the distance between the edge of the specified battery pack and the edge of the empty space in the energy storage cabinet meets the second preset value. If it does not meet the value, the control module controls the forklift body to adjust the forklift position until the distance between the edge of the specified battery pack and the edge of the empty space in the energy storage cabinet meets the second preset value.

[0037] The second preset value is set according to the actual application scenario.

[0038] Optionally, the method further includes:

[0039] S800. During the forklift's movement, the control module receives in real time image information of pedestrians or low obstacles captured by the first camera and the third camera, and obtains the distance between the pedestrian or low obstacle and the forklift body based on the image information of the pedestrian or low obstacle.

[0040] The control module determines whether the distance between the pedestrian or low obstacle and the forklift body meets a third preset value;

[0041] When the distance between a pedestrian or low obstacle and the forklift body does not meet the third preset value and is less than the fourth preset value, the forklift body stops.

[0042] When the distance between a pedestrian or low obstacle and the forklift body does not meet the third preset value but is greater than the fourth preset value, the forklift body decelerates.

[0043] The third and fourth preset values ​​are set according to the actual scenario.

[0044] Thirdly, embodiments of the present invention provide a control module for an intelligent forklift used for replacing battery packs in an energy storage power station, comprising:

[0045] The receiving unit is used to receive a first instruction to replace a specified battery pack in the energy storage power station, and according to the first instruction, control the forklift body to move to the transfer rack area;

[0046] The acquisition unit is used to receive image information of a specified battery pack fed back by the first camera and the third camera, and to acquire the position information and size information of the specified battery pack based on the image information of the specified battery pack;

[0047] The control unit is used to control the forklift body to reach the pickup point corresponding to the specified battery pack according to the location and size information of the specified battery pack, and to adjust the fork arm spacing and fork arm height to pick up the specified battery pack.

[0048] (III) Beneficial Effects

[0049] The beneficial effects of the present invention are as follows: The intelligent forklift and method for replacing battery packs in energy storage power stations of the present invention, by using an intelligent forklift and a first camera, a second camera, a third camera, a fourth camera and a fifth camera installed on the intelligent forklift, improves the operating efficiency and solves the problems of low efficiency and low accuracy of manual operation compared with the prior art. Attached Figure Description

[0050] Figure 1 This is a schematic diagram of an intelligent forklift for replacing battery packs in an energy storage power station according to Embodiment 1 of the present invention.

[0051] Figure 2This is a flowchart illustrating a method for replacing a battery pack in an energy storage power station according to Embodiment 2 of the present invention. Detailed Implementation

[0052] To better explain and facilitate understanding of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0053] The present invention provides an intelligent forklift and method for replacing battery packs in energy storage power stations. By employing an intelligent forklift and a first, second, third, fourth, and fifth camera mounted on the intelligent forklift, it improves operational efficiency and solves the problems of low efficiency and low accuracy of manual operation compared to the prior art.

[0054] To better understand the above technical solutions, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present invention can be understood more clearly and thoroughly, and that the scope of the present invention can be fully conveyed to those skilled in the art.

[0055] Detailed Implementation Description

[0056] Example 1

[0057] See Figure 1 This embodiment of an intelligent forklift for replacing battery packs in an energy storage power station includes:

[0058] The forklift body and the control module are integrated on the forklift body.

[0059] The forklift body includes a mast and forks; the forks are mounted on the mast.

[0060] A first camera is installed on the first top main beam of the mast to capture image information from the front of the forklift body; a second camera is installed on the second top main beam of the mast to capture image information from the rear of the forklift body; a fourth camera and a fifth camera are installed on the left and right forks of the mast, respectively, to capture image information from the left front and right front of the forklift body; a third camera is installed between the left and right forks to capture image information from the front of the forklift body.

[0061] The first camera, second camera, third camera, fourth camera, and fifth camera are electrically connected to the control module.

[0062] The first, second, and third cameras are TOF cameras, while the fourth and fifth cameras are structured light cameras.

[0063] In this embodiment, the maximum dynamic range of the fourth and fifth cameras is 0.2m-1.3m, and the accuracy is 1mm.

[0064] In this embodiment, the TOF camera can quickly acquire distance information. The time required for the measurement light to travel from emission to reception is typically on the nanosecond level, and it also has a large ranging range.

[0065] Structured light cameras have high measurement accuracy and perform better at close range. They are less affected by multipath interference and have good recognition capabilities for the texture and details of object surfaces.

[0066] In this embodiment, telescopic structures are installed on the two forks respectively, and the fourth and fifth cameras are installed at a distance of 600mm from the middle of the two forks, facing each other.

[0067] In this embodiment, by setting up a first camera, a second camera, a third camera, a fourth camera, and a fifth camera, each providing images from different angles and distances, the accuracy of battery pack replacement by the forklift is ensured, reducing the possibility of operational errors. Simultaneously, the intelligent forklift can monitor the surrounding environment in real time through the first, second, third, fourth, and fifth cameras, avoiding collisions with other objects or people and ensuring safety at the work site.

[0068] Example 2

[0069] See Figure 2 An embodiment of the present invention provides a method for replacing a battery pack in an energy storage power station, comprising:

[0070] Step S100: The control module receives the first instruction to replace the specified battery pack of the energy storage station, and controls the forklift body to move to the transfer rack area according to the first instruction.

[0071] In step S200, the control module receives image information of the specified battery pack from the first camera and the third camera, and obtains the position and size information of the specified battery pack based on the image information of the specified battery pack.

[0072] In step S300, the control module controls the forklift to reach the pickup point corresponding to the specified battery pack based on the location and size information of the specified battery pack, and adjusts the fork arm spacing and height to pick up the specified battery pack.

[0073] In this embodiment, the control module receives a first instruction from the user to replace a specified battery pack of the energy storage station. Based on the first instruction, the control module determines the location information of the transfer rack area and generates a first driving route to move the forklift body to the transfer rack area.

[0074] After the first and third cameras acquire image data of the designated battery pack, they preprocess the image information, using image denoising techniques to reduce noise and more accurately extract cargo information. Following image preprocessing, the image information is fed back to the control module; the control module then obtains the location and size information of the designated battery pack.

[0075] In this embodiment, the control module generates a second driving route based on the location information of the specified battery pack, and controls the forklift body to reach the pickup point corresponding to the specified battery pack according to the second driving route. The distance between the pickup point and the battery pack is greater than the length of the fork arm.

[0076] Upon arrival at the designated pickup point, the control module sends instructions to the drive mechanism of the intelligent forklift to adjust the fork arm spacing and height. Upon receiving these instructions, the drive mechanism adjusts the fork arm spacing and height to match the dimensions of the designated battery pack.

[0077] In this embodiment, a method for replacing a battery pack in an energy storage power station further includes:

[0078] Step S400: The control module controls the forklift to move the designated battery pack to the energy storage cabinet area.

[0079] In this embodiment, the control module determines the location of the energy storage cabinet area and generates a third driving route based on the location of the forklift itself and the location of the energy storage cabinet area, so that the forklift can transport the specified battery pack to the energy storage cabinet area.

[0080] In step S500, the control module receives the image information of the energy storage cabinet collected by the first camera, the second camera and the third camera, and obtains the empty space location information of the energy storage cabinet based on the image information.

[0081] In this embodiment, the first camera captures image information of the energy storage cabinet in the field of view directly in front. The second camera captures image information of the energy storage cabinet in the field of view behind the forklift body. The third camera captures image information of the energy storage cabinet within its field of view. When there are multiple empty energy storage cabinet slots in the images of the energy storage cabinets captured by the first, second, and third cameras, the control module analyzes the numbers of the multiple empty energy storage cabinet slots and selects the empty energy storage cabinet slot with the smallest number.

[0082] After the control module determines the available space for the energy storage cabinet, it obtains the available space information.

[0083] In step S600, the control module controls the forklift to move to the receiving point of the empty space in the energy storage cabinet according to the empty space location information, and adjusts the height of the fork arm according to the empty space location information to match the height of the fork arm with the empty space location information, and puts the designated battery pack into the empty space in the energy storage cabinet.

[0084] In this embodiment, the control module generates a fourth driving route based on the location information of the empty energy storage compartment and the current location of the forklift body, so that the forklift body travels to the receiving point of the empty energy storage compartment. The distance between the receiving point of the empty energy storage compartment and the empty energy storage compartment is greater than the length of the fork arm.

[0085] In this embodiment, a method for replacing a battery pack in an energy storage power station further includes:

[0086] In step S700, the control module acquires image information within the field of view collected by the fourth and fifth cameras in real time, and obtains first information based on the image information within the field of view.

[0087] The first piece of information includes: the distance between the transfer rack and the fourth and fifth cameras, the distance between the energy storage cabinet and the fourth and fifth cameras, and the distance between the edge of the designated battery pack and the edge of the empty space in the energy storage cabinet.

[0088] In this embodiment, when the first preset value is 10cm,

[0089] When picking up a specified battery pack, the control module determines in real time whether the distance between the transfer rack and the fourth and fifth cameras is greater than 10cm. If not, the control module controls the fourth and fifth cameras to extend and retract to the root of the fork arm.

[0090] When a specified battery pack is placed, the control module determines in real time whether the distance between the energy storage cabinet and the fourth and fifth cameras is greater than 10cm. If not, the control module controls the fourth and fifth cameras to extend and retract to the root of the fork arm.

[0091] In this embodiment, step S600 further includes:

[0092] When a specified battery pack is placed, the control module determines in real time whether the distance between the edge of the specified battery pack and the edge of the empty space in the energy storage cabinet meets the second preset value. If not, the control module controls the forklift to adjust its position until the distance between the edge of the specified battery pack and the edge of the empty space in the energy storage cabinet meets the second preset value.

[0093] The second preset value is set according to the actual application scenario.

[0094] For example, the second preset value is 5cm. The fourth camera collects image information from the right side of the forklift, and the fifth camera collects image information from the left side of the forklift. Based on the image information from the right side and the left side of the forklift, the distance between the right edge of the specified battery pack on the forklift body and the right edge of the energy storage cabinet, as well as the distance between the left edge of the specified battery pack on the forklift body and the left edge of the energy storage cabinet are obtained. When the above distance is less than 5cm, the control module needs to control the forklift body to adjust the position of the forklift until the above distance is greater than 5cm.

[0095] In this embodiment, a method for replacing a battery pack in an energy storage power station further includes:

[0096] Step S800: During the forklift's movement, the control module receives real-time image information of pedestrians or low obstacles collected by the first and third cameras, and obtains the distance between the pedestrians or low obstacles and the forklift body based on the image information of the pedestrians or low obstacles.

[0097] The control module determines whether the distance between a pedestrian or low obstacle and the forklift body meets the third preset value.

[0098] When the distance between a pedestrian or low obstacle and the forklift body does not meet the third preset value and is less than the fourth preset value, the forklift body stops.

[0099] When the distance between a pedestrian or low obstacle and the forklift body does not meet the third preset value but is greater than the fourth preset value, the forklift body slows down.

[0100] The third, fourth, and fifth preset values ​​are set according to the actual scenario.

[0101] For example, when the third preset value is 5m and the fourth preset value is 2m, that is, when the distance between a pedestrian or low obstacle and the forklift body is greater than 5m, the forklift will drive normally.

[0102] When the distance between a pedestrian or low obstacle and the forklift body is less than 5m but greater than 2m, this is the long-distance deceleration zone, and the forklift should slow down.

[0103] When the distance between a pedestrian or low obstacle and the forklift body is less than 2 meters, this is the close-range stopping zone, and the forklift must stop moving.

[0104] In this embodiment, during the retrieval process, identification and docking photography takes 1 second, the vehicle driving to the designated battery pack retrieval point and adjusting the forklift posture takes 3 seconds, and picking up and lifting the goods takes 14 seconds. The time required for the handling process needs to take into account the actual distance traveled. During the warehousing process, identification and docking photography takes 1 second, the forklift driving to the empty space in the energy storage cabinet and adjusting the forklift posture takes 3 seconds, and unloading and storing the goods takes 14 seconds. It can be seen that the method for replacing battery packs in an energy storage power station according to this embodiment improves the efficiency of battery pack replacement.

[0105] Example 3

[0106] This embodiment provides a control module for an intelligent forklift used for replacing battery packs in an energy storage power station, comprising:

[0107] The receiving unit is used to receive a first instruction to replace a specified battery pack in the energy storage power station, and according to the first instruction, control the forklift body to move to the transfer rack area;

[0108] The acquisition unit is used to receive image information of a specified battery pack fed back by the first camera and the third camera, and to acquire the position information and size information of the specified battery pack based on the image information of the specified battery pack;

[0109] The control unit is used to control the forklift body to reach the pickup point corresponding to the specified battery pack according to the location and size information of the specified battery pack, and to adjust the fork arm spacing and fork arm height to pick up the specified battery pack.

[0110] The control module of the intelligent forklift used for replacing battery packs in energy storage power stations in this embodiment can realize the automatic control of the intelligent forklift, thereby significantly improving work efficiency and overcoming the problem of low accuracy of manual operation of forklifts.

[0111] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0112] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0113] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that they are in indirect contact through an intermediate medium. Furthermore, "above," "over," or "on top" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," or "beneath" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0114] In the description of this specification, the terms "one embodiment," "some embodiments," "embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0115] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make modifications, alterations, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for replacing battery packs in an energy storage power station, characterized in that, include: Forklift body and control module; The control module is integrated on the forklift body; The forklift body includes a mast and forks; the forks are mounted on the mast. A first camera is mounted on the first top main beam of the mast to capture image information of the front of the forklift body; a second camera is mounted on the second top main beam of the mast to capture image information of the rear of the forklift body; a fourth camera and a fifth camera are respectively mounted on the left and right forks of the mast to capture image information of the left front and right front of the forklift body; a third camera is mounted between the left and right forks to capture image information of the front of the forklift body. The first camera, the second camera, the third camera, the fourth camera, and the fifth camera are electrically connected to the control module; The first camera, the second camera, and the third camera are TOF cameras, and the fourth camera and the fifth camera are structured light cameras; S100: The control module receives a first instruction to replace the specified battery pack of the energy storage station, and controls the forklift body to move to the transfer rack area according to the first instruction. S200: The control module receives image information of a specified battery pack from the first camera and the third camera, and obtains the position and size information of the specified battery pack based on the image information of the specified battery pack. S300: The control module controls the forklift body to reach the pickup point corresponding to the specified battery pack based on the location and size information of the specified battery pack, and adjusts the fork arm spacing and fork arm height to pick up the specified battery pack. S400, The control module controls the forklift body to move the designated battery pack to the energy storage cabinet area; S500: The control module receives image information of the energy storage cabinet collected by the first camera, the second camera and the third camera, and obtains the empty space location information of the energy storage cabinet based on the image information of the energy storage cabinet. S600: The control module controls the forklift body to go to the receiving point of the empty space in the energy storage cabinet according to the empty space location information of the energy storage cabinet, and adjusts the height of the fork arm according to the empty space location information of the energy storage cabinet so that the height of the fork arm matches the empty space location information of the energy storage cabinet, and puts the designated battery pack into the empty space in the energy storage cabinet. When picking up a specified battery pack, the control module determines in real time whether the distance between the transfer rack and the fourth and fifth cameras is greater than a first preset value. If not, the control module controls the fourth and fifth cameras to extend and retract to the root of the fork arm. When a specified battery pack is placed, the control module determines in real time whether the distance between the energy storage cabinet and the fourth and fifth cameras is greater than a first preset value. If not, the control module controls the fourth and fifth cameras to extend and retract to the root of the fork arm. The first preset value is set according to the actual application scenario.

2. The method for replacing a battery pack in an energy storage power station according to claim 1, characterized in that, In step S300, adjusting the fork arm spacing and fork arm height to pick up the designated battery pack includes: S310. The control module adjusts the fork arm spacing so that the fork arm spacing matches the size information of the specified battery pack; S320. The control module adjusts the height of the fork arm so that the height of the fork arm matches the position information of the specified battery pack. S330, The control module controls the forklift body to pick up the designated battery pack.

3. The method for replacing a battery pack in an energy storage power station according to claim 2, characterized in that, The method further includes: S700: The control module acquires image information within the field of view collected by the fourth and fifth cameras in real time, and obtains first information based on the image information within the field of view. The first information includes: the distance between the transfer rack and the fourth and fifth cameras, the distance between the energy storage cabinet and the fourth and fifth cameras, and the distance between the edge of the designated battery pack and the edge of the empty space in the energy storage cabinet.

4. The method for replacing a battery pack in an energy storage power station according to claim 1, characterized in that, The S600 also includes: When a specified battery pack is placed, the control module determines in real time whether the distance between the edge of the specified battery pack and the edge of the empty space in the energy storage cabinet meets the second preset value. If it does not meet the value, the control module controls the forklift body to adjust the forklift position until the distance between the edge of the specified battery pack and the edge of the empty space in the energy storage cabinet meets the second preset value. The second preset value is set according to the actual application scenario.

5. A method for replacing a battery pack in an energy storage power station according to claim 1, characterized in that, The method further includes: S800. During the forklift's movement, the control module receives in real time image information of pedestrians or low obstacles captured by the first camera and the third camera, and obtains the distance between the pedestrian or low obstacle and the forklift body based on the image information of the pedestrian or low obstacle. The control module determines whether the distance between the pedestrian or low obstacle and the forklift body meets a third preset value; When the distance between a pedestrian or low obstacle and the forklift body does not meet the third preset value and is less than the fourth preset value, the forklift body stops. When the distance between a pedestrian or low obstacle and the forklift body does not meet the third preset value but is greater than the fourth preset value, the forklift body decelerates. The third and fourth preset values ​​are set according to the actual application scenario.

6. A control module utilizing the method described in any one of claims 1-5, characterized in that, include: The receiving unit is used to receive a first instruction to replace a specified battery pack in the energy storage power station, and according to the first instruction, control the forklift body to move to the transfer rack area; The acquisition unit is used to receive image information of a specified battery pack fed back by the first camera and the third camera, and to acquire the position information and size information of the specified battery pack based on the image information of the specified battery pack; The control unit is used to control the forklift body to reach the pickup point corresponding to the specified battery pack according to the location and size information of the specified battery pack, and to adjust the fork arm spacing and fork arm height to pick up the specified battery pack.

Images