Battery swap station, battery swap station, battery swap method, cloud control platform and battery swap system

Abstract

The present invention provides a battery swap station body, a battery swap station, a battery swap method, a cloud control platform and a battery swap system. The battery swap station includes a battery swap station body, a battery transfer vehicle, a battery swap lane and a transfer lane; the battery swap station body includes a station body frame, a battery swap robot, a second position identification device and a third position identification device; the third position identification device identifies the position of the battery transfer vehicle; the second position identification device identifies the coordinate position of a fully charged battery on the battery transfer vehicle; the method includes receiving the position of the battery transfer vehicle, obtaining a robot moving target, and moving the battery swap robot to the vicinity of an empty battery position; receiving the coordinate position of the battery, obtaining the actual coordinates of the empty battery position, and moving the battery swap robot and an unmanned vehicle to the empty battery position for battery swap in the same row; the battery swap station body, the battery swap station and the method enable the battery swap robot and the unmanned vehicle to park according to the empty battery position, reduce the standby positioning process, and greatly improve the battery swap efficiency.

Description

Technical Field

[0001] The present invention belongs to the technical field of battery swap stations, and specifically relates to a battery swap station body, a battery swap station, a battery swap method, a cloud control platform and a battery swap system. Background Art

[0002] With the construction of green and smart mines, pure electric unmanned mining trucks are becoming increasingly popular. Given the high energy consumption and all-weather operation of mining trucks, battery swapping is the main way to solve mileage anxiety.

[0003] Most of the existing battery swap stations are fixed, with fixed battery storage spaces and parking areas. The battery swap robots in the station are set up in fixed standby positions. Every time a vehicle enters the station to swap batteries, it needs to slowly drive to a fixed parking space. Then the battery swap robot moves to find the battery position for positioning. After removing the battery, it needs to find an empty space to store the depleted battery. Parking, positioning, and finding an empty space often take a long time to swap batteries. For unmanned mining truck swap stations, the traditional battery swap positioning method cannot meet the needs of fast battery swapping, affecting users' battery swapping and energy continuation. Summary of the invention

[0004] In order to overcome the above-mentioned shortcomings of low battery exchange efficiency in the prior art, the present invention proposes a battery exchange station body, comprising: a station body frame, a movable battery exchange robot arranged in the station body frame, and a third position identification device arranged on the station body frame;

[0005] The battery-swapping robot includes a second position recognition device;

[0006] The third position identification device identifies the position of the battery transfer vehicle and uploads it; the battery swap robot moves to the position of the battery transfer vehicle, and uses the second position identification device to identify the coordinate position of the fully charged battery on the battery transfer vehicle and uploads it.

[0007] Preferably, the battery-swapping robot further comprises a walking mechanism and a battery-swapping actuator disposed on the walking mechanism;

[0008] The battery-exchanging robot moves to the position of the battery transfer vehicle via the walking mechanism, and exchanges the fully-charged battery on the battery transfer vehicle with the depleted battery on the unmanned vehicle to be replaced via the battery-exchanging actuator.

[0009] Preferably, the battery replacement actuator includes a rotating mechanism arranged on the walking mechanism, a lifting mechanism arranged on the rotating mechanism and a bidirectional telescopic arm arranged on the top of the lifting mechanism; the azimuth deviation between the battery replacement robot and the fully charged battery and the depleted battery is eliminated by the rotation of the rotating mechanism, and the bidirectional telescopic arm is used to transfer the battery between the battery transport vehicle and the unmanned vehicle.

[0010] Preferably, the battery-swapping robot also includes a first position recognition device, which recognizes the actual position of the unmanned vehicle to be battery-swapped and uploads it.

[0011] Preferably, the battery-swapping robot also includes a first communication module and a first control module; the first communication module is used to upload the actual position of the unmanned vehicle and the coordinate position of the fully charged battery on the battery transfer vehicle, and to receive the movement instructions and battery-swapping instructions of the battery-swapping robot; the first control module is used to control the movement of the battery-swapping robot according to the movement instructions and battery-swapping instructions of the battery-swapping robot.

[0012] Preferably, the actual position of the unmanned vehicle includes the spatial rectangular coordinates of the exhausted battery on the unmanned vehicle in a set spatial rectangular coordinate system and the azimuth relative to the target direction line.

[0013] Preferably, the coordinate position of the fully charged battery on the battery transport vehicle includes the spatial rectangular coordinates of the fully charged battery in a set spatial rectangular coordinate system and the azimuth relative to the target direction line.

[0014] Preferably, the position of the battery transport vehicle includes the coordinates of the battery transport vehicle under the target coordinate axis of a set spatial rectangular coordinate system.

[0015] Based on the same inventive concept, the present invention also provides an unmanned vehicle battery swap station, comprising: a battery swap station body as described above, a battery transfer vehicle, and a battery swap lane and a transfer lane arranged on both sides of the battery swap station body;

[0016] The battery transport vehicle comprises a plurality of battery slots and at least one battery, and at least one of the battery slots is an empty battery slot;

[0017] The battery replacement lane is used for unmanned vehicles to be replaced with batteries, and the transfer lane is used for battery transfer vehicles; the parking space of the unmanned vehicle changes according to the position of the empty battery compartment.

[0018] Preferably, the battery swap station body includes a second communication module; the second communication module is used to upload the position of the battery transport vehicle identified by a third position identification device.

[0019] Preferably, the battery transport vehicle comprises a third communication module, and the third communication module is used to upload the warehouse number of the empty battery warehouse on the battery transport vehicle.

[0020] Preferably, the unmanned vehicle is provided with a fourth communication module and a second control module; the fourth communication module is used to receive movement instructions of the unmanned vehicle, and the second control module is used to control the movement of the unmanned vehicle according to the movement instructions of the unmanned vehicle.

[0021] Preferably, the battery-changing lane is arranged in parallel with the arrangement direction of the multiple battery storage spaces on the battery transport vehicle.

[0022] Based on the same inventive concept, the present invention also provides a method for replacing batteries for unmanned vehicles, using the unmanned vehicle battery replacement station as described above, the method comprising:

[0023] Receiving the position of the battery transfer vehicle on the transfer lane in the unmanned vehicle battery swap station;

[0024] According to the position of the battery transfer vehicle, the robot movement target is obtained by conversion;

[0025] Sending the robot moving target as a moving instruction to a battery swap robot in a station frame of an unmanned vehicle battery swap station, so that the battery swap robot moves to the vicinity of the empty battery compartment;

[0026] Receive the coordinate position of the fully charged battery on the battery transfer vehicle identified by the second position identification device returned by the battery exchange robot;

[0027] According to the coordinate position of the fully charged battery, the actual coordinates of the empty battery compartment are converted;

[0028] The actual coordinates of the empty battery positions are sent as movement instructions to the battery swap robot and the unmanned vehicle to be replaced, so that the battery swap robot and the unmanned vehicle are moved to the same row as the empty battery positions;

[0029] After the battery-swapping robot and the unmanned vehicle are moved into position, a battery-swapping instruction is sent to the battery-swapping robot to perform a battery-swapping operation according to the coordinate position of the fully-charged battery.

[0030] Preferably, the method further comprises:

[0031] After the battery replacement of one of the unmanned vehicles is completed, the positions of the empty battery compartment and the fully charged battery are updated, and a movement instruction is sent to the unmanned vehicle to make the unmanned vehicle leave the battery replacement lane;

[0032] And according to the actual coordinates of the new empty battery compartment, a movement instruction is issued to the battery swap robot and the unmanned vehicle to be swapped, and then the battery swap operation is carried out;

[0033] The above steps are repeated until all batteries on the battery transport vehicle are exhausted batteries, thus completing a set of battery replacement operations.

[0034] Preferably, the converting the robot moving target according to the position of the battery transport vehicle includes:

[0035] Receiving the warehouse number of the empty battery warehouse sent by the battery transport vehicle;

[0036] According to the relative position difference between the position of the battery transfer vehicle and the empty battery storage space, the preliminary coordinates of the empty battery storage space are calculated and used as the moving target of the robot.

[0037] Preferably, before sending the battery swap instruction to the battery swap robot to perform the battery swap operation, the method further includes:

[0038] Receiving the actual position of the unmanned vehicle identified by the first position identification device returned by the battery-swapping robot;

[0039] Determine whether the deviation between the actual position of the unmanned vehicle and the parking space exceeds a threshold; if it exceeds the threshold, control the position adjustment of the unmanned vehicle until the deviation does not exceed the threshold; if it does not exceed the threshold, execute the subsequent battery replacement step.

[0040] Based on the same inventive concept, the present invention also provides a cloud control platform, including:

[0041] A first cloud communication module is used to receive the position of the battery transfer vehicle on the transfer lane in the unmanned vehicle battery swap station;

[0042] A first cloud computing module is used to convert the robot's moving target according to the position of the battery transport vehicle;

[0043] The second cloud communication module is used to send the robot movement target as a movement instruction to the battery swap robot in the station frame of the unmanned vehicle battery swap station, so that the battery swap robot moves to the vicinity of the empty battery compartment;

[0044] A third cloud communication module is used to receive the coordinate position of the fully charged battery on the battery transfer vehicle identified by the second position identification device returned by the battery exchange robot;

[0045] A second cloud computing module is used to convert the actual coordinates of the empty battery position according to the coordinate position of the fully charged battery;

[0046] The fourth cloud communication module is used to send the actual coordinates of the empty battery position as a movement instruction to the battery swap robot and the unmanned vehicle to be replaced, so that the battery swap robot and the unmanned vehicle move to the same row of the empty battery position;

[0047] a fifth cloud communication module, configured to send a battery swap instruction to the battery swap robot to perform a battery swap operation according to the coordinate position of the fully charged battery after the battery swap robot and the unmanned vehicle are moved into position;

[0048] Among them, the unmanned vehicle battery swap station is the unmanned vehicle battery swap station as described above.

[0049] Preferably, it also includes:

[0050] The sixth cloud communication module is used to update the positions of the empty battery compartment and the fully charged battery after the battery replacement of one of the unmanned vehicles is completed, and send a movement instruction to the unmanned vehicle to make the unmanned vehicle leave the battery replacement lane; and according to the actual coordinates of the new empty battery compartment, send a movement instruction to the battery replacement robot and the unmanned vehicle to be replaced.

[0051] Preferably, the first cloud computing module is specifically used for:

[0052] Receiving the warehouse number of the empty battery warehouse sent by the battery transport vehicle;

[0053] According to the relative position difference between the position of the battery transfer vehicle and the empty battery storage space, the preliminary coordinates of the empty battery storage space are calculated and used as the moving target of the robot.

[0054] Preferably, it also includes:

[0055] a seventh cloud communication module, used for receiving the actual position of the unmanned vehicle identified by the first position identification device returned by the battery-swapping robot before the fifth cloud communication module is actuated;

[0056] The third cloud computing module is used to determine whether the deviation between the actual position of the unmanned vehicle and the parking space exceeds a threshold before the fifth cloud communication module is activated; if it exceeds the threshold, the position adjustment of the unmanned vehicle is controlled until the deviation does not exceed the threshold; if it does not exceed the threshold, the subsequent battery replacement step is executed.

[0057] Based on the same inventive concept, the present invention also provides an unmanned vehicle battery replacement system, including a cloud control platform and an unmanned vehicle battery replacement station; the cloud control platform is the cloud control platform described above; the unmanned vehicle battery replacement station is the unmanned vehicle battery replacement station described above.

[0058] Compared with the closest prior art, the present invention has the following beneficial effects:

[0059] The present invention provides a battery swap station body and an unmanned vehicle battery swap station, wherein the battery swap station comprises a battery swap station body, a battery transfer vehicle, a battery swap lane and a transfer lane arranged on both sides of the battery swap station body; the battery swap lane is used for unmanned vehicles to be replaced; the parking space of the unmanned vehicle changes according to the position change of the empty battery compartment; the battery swap station body comprises a station body frame, a battery swap robot and a third position recognition device; the battery swap robot comprises a second position recognition device;

[0060] The third position identification device identifies the position of the battery transfer vehicle and uploads it; the battery swapping robot moves to the position of the battery transfer vehicle, uses the second position identification device to identify the coordinate position of the fully charged battery on the battery transfer vehicle and uploads it, which is used to determine the position of the empty battery compartment on the battery transfer vehicle; the battery swapping station body and the battery swapping station realize the mobile positioning of the battery swapping robot with the battery transfer vehicle and the positioning of the fully charged battery on the battery transfer vehicle by setting the second position identification device and the third position identification device, and provide multiple parking spaces for unmanned vehicles in combination with the battery swapping lane, so that the unmanned vehicle can park according to the position of the empty battery compartment on the battery transfer vehicle, reducing the standby positioning process and greatly improving the battery swapping efficiency.

[0061] The present invention provides a battery replacement method, a cloud control platform and a battery replacement system, the method comprising receiving the position of a battery transfer vehicle, converting it to obtain a robot movement target; issuing the robot movement target as a movement instruction, so that the battery replacement robot moves to the vicinity of an empty battery bin; receiving the coordinate position of a fully charged battery on the battery transfer vehicle returned by the battery replacement robot, and converting it to obtain the actual coordinates of the empty battery bin; issuing the actual coordinates of the empty battery bin as a movement instruction, so that the battery replacement robot and the unmanned vehicle move to the same row as the empty battery bin; after moving into position, issuing a battery replacement instruction to the battery replacement robot to perform a battery replacement operation; the method issues an instruction to the battery replacement robot to move and identify the coordinate position of the fully charged battery on the battery transfer vehicle through the position of the identified battery transfer vehicle, so that the battery replacement robot can realize a non-fixed standby position setting and adjust it with the progress of the battery replacement cycle; after obtaining the coordinate position of the battery, the accurate actual coordinates of the empty battery bin are obtained through conversion, and then the unmanned vehicle can stop according to the position of the empty battery bin on the battery transfer vehicle, thereby reducing the standby positioning process and greatly improving the battery replacement efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 A schematic diagram of the structure of a battery swap station and an unmanned vehicle battery swap station provided by the present invention;

[0063] Figure 2 The structure of the battery-swapping robot provided by the present invention is shown in FIG. Figure 1 ;

[0064] Figure 3 The structure of the battery-swapping robot provided by the present invention is shown in FIG. Figure 2 ;

[0065] Figure 4 A schematic diagram of a flow chart of a method for replacing a battery of an unmanned vehicle provided by the present invention;

[0066] Figure 5 A schematic diagram of a state in which a battery-swapping robot, an empty battery compartment, and an unmanned vehicle are located in the same row in a battery-swapping method for an unmanned vehicle provided by the present invention;

[0067] Figure 6 A schematic diagram of the structure of a cloud control platform provided by the present invention;

[0068] Figure 7 A schematic diagram of the structure of a battery replacement system for an unmanned vehicle provided by the present invention;

[0069] Among them, 1. Station frame; 2. Battery exchange lane; 3. Transfer lane; 4. Unmanned vehicle; 5. Battery transfer vehicle;

[0070] 6. Battery-swapping robot; 601. Bidirectional telescopic arm; 6011. Primary arm; 6012. Secondary arm; 6013. Tertiary arm; 602. First position identification device; 603. Second position identification device; 604. Traveling drive motor; 605. Traveling chain; 606. Traveling slider; 607. Rotating motor; 608. Slewing support; 609. Lifting column; 610. Lifting motor; 611. Ball screw pair; 612. Lifting guide rail slider pair; 613. Lifting frame; 614. End actuator; 615. Traveling bottom frame; 616. Robot arm drive motor;

[0071] 7. A third position identification device; 8. A guide rail. DETAILED DESCRIPTION

[0072] The specific implementation modes of the present invention are further described in detail below with reference to the accompanying drawings.

[0073] Embodiment 1:

[0074] The present invention proposes a battery swap station body, such as Figures 1 to 3 As shown, it includes: a station frame 1, a movable battery-swapping robot 6 arranged in the station frame 1, and a third position identification device 7 arranged on the station frame 1;

[0075] The battery-swapping robot 6 includes a second position recognition device 603;

[0076] The third position identification device 7 identifies the position of the battery transport vehicle 5 and uploads it; the battery exchange robot 6 moves to the position of the battery transport vehicle 5, and uses the second position identification device 603 to identify the coordinate position of the fully charged battery on the battery transport vehicle 5 and uploads it.

[0077] The battery swap station body is equipped with a second position identification device and a third position identification device to realize the mobile positioning of the battery swap robot along with the battery transfer vehicle and the positioning of the fully charged battery on the battery transfer vehicle. By identifying the position of the battery transfer vehicle, an instruction is issued to make the battery swap robot move and identify the coordinate position of the fully charged battery on the battery transfer vehicle, so that the battery swap robot can realize a non-fixed standby position setting, adjust with the progress of the battery swap cycle, reduce the standby positioning process, and greatly improve the battery swap efficiency.

[0078] like Figure 2 and Figure 3 As shown, the battery-swapping robot 6 further includes a walking mechanism and a battery-swapping actuator disposed on the walking mechanism;

[0079] The battery-exchanging robot 6 moves to the position of the battery transfer vehicle 5 through the walking mechanism, and exchanges the fully-charged battery on the battery transfer vehicle 5 with the depleted battery on the unmanned vehicle 4 to be replaced through the battery-exchanging actuator.

[0080] The battery replacement actuator includes a rotating mechanism arranged on the walking mechanism, a lifting mechanism arranged on the rotating mechanism and a bidirectional telescopic arm 601 arranged on the top of the lifting mechanism; the azimuth deviation between the battery replacement robot 6 and the fully charged battery and the depleted battery is eliminated by the rotation of the rotating mechanism, and the bidirectional telescopic arm 601 is used to transfer the battery between the battery transport vehicle 5 and the unmanned vehicle 4.

[0081] In this embodiment, the lifting mechanism can be lifted and lowered in a direction parallel to the height of the station frame 1; the bidirectional telescopic arm 601 can be telescopic in a direction parallel to the width of the station frame 1;

[0082] Specifically, in this embodiment, the walking mechanism includes a walking bottom frame 615, and a walking drive motor 604, a walking chain 605 and a walking slider 606 arranged on the walking bottom frame 615. Figure 5 As shown, the walking slider 606 cooperates with the guide rail 8 set in the station frame 1, and the two ends of the walking chain 605 are fixed at the two ends of the bottom of the station frame 1. The walking chain 605 is driven by the walking drive motor 604 to make the entire battery exchange robot 6 move parallel to the guide rail 8.

[0083] The rotating mechanism includes a rotating motor 607 and a slewing support 608 arranged on a walking bottom frame 615. The output shaft of the rotating motor 607 is equipped with a gear that meshes with the bearing of the slewing support 608. The rotating motor 607 is driven to make the lifting mechanism, the two-way telescopic arm 601 and the position recognition mechanism rotate as a whole.

[0084] The lifting mechanism includes a lifting column 609, a lifting motor 610, a ball screw pair 611, a lifting guide rail slider pair 612 and a lifting frame 613. The lifting frame 613 is connected to the screw nut in the ball screw pair 611 and the slider in the lifting guide rail slider pair 612. The lifting column 609 is installed with a lifting motor 610, a ball screw pair 611 and a lifting guide rail slider pair 612. The lifting motor 610 drives the ball screw pair 611 to rotate, driving the screw nut to drive the lifting frame 613 to move up and down along the direction of the lifting guide rail slider pair 612.

[0085] The bidirectional telescopic arm 601 includes a primary arm 6011, a secondary arm 6012, and a tertiary arm 6013. The primary arm 6011 is fixedly mounted on a lifting frame 613. An end actuator 614 cooperating with the battery is provided at the end of the tertiary arm 6013 for extracting the battery. Each arm is moved by a guide rail slider, and a mechanical arm driving motor 616 drives a gear rack transmission to extend or retract the secondary arm 6012 in both directions. The secondary arm 6012 and the tertiary arm 6013, as well as the tertiary arm 6013 and the end actuator 614 are extended or retracted in both directions through a circulating chain, so that the bidirectional telescopic arm 601 as a whole can be extended and retracted along the width direction of the station frame 1.

[0086] The battery-swapping robot 6 also includes a first position recognition device 602, which recognizes the actual position of the unmanned vehicle 4 to be replaced and uploads it.

[0087] In this embodiment, the first position identification device 602 and the second position identification device 603 are arranged on both sides of the lifting column 609 and rotate synchronously with the lifting column 609; the third position identification device 7 is arranged on the side of the station frame 1 close to the transfer lane 3.

[0088] In this embodiment, the first position recognition device 602, the second position recognition device 603 and the third position recognition device 7 all include visual sensors.

[0089] In this embodiment, the visual sensor collects visual images of the corresponding area, and determines the position difference between the identified target and the visual sensor based on the image features, thereby obtaining the coordinates of the identified target. The identified target is the exhausted battery grabbing point on the unmanned vehicle 4, the battery grabbing point on the battery transfer vehicle 5, and the front of the battery transfer vehicle 5. The above process adopts the existing image recognition method.

[0090] In this embodiment, in addition to the visual sensor, a position detection device such as a radar may be used to assist in the position recognition of the target to be identified, thereby improving the recognition accuracy.

[0091] The battery-swapping robot 6 also includes a first communication module and a first control module; the first communication module is used to upload the actual position of the unmanned vehicle 4 and the coordinate position of the fully charged battery on the battery transfer vehicle 5, and to receive the movement instructions and battery-swapping instructions of the battery-swapping robot 6; the first control module is used to control the movement of the battery-swapping robot 6 according to the movement instructions and battery-swapping instructions of the battery-swapping robot 6.

[0092] The actual position of the unmanned vehicle 4 includes the spatial rectangular coordinates of the exhausted battery on the unmanned vehicle 4 in a set spatial rectangular coordinate system and the azimuth relative to the target direction line.

[0093] Specifically, the actual position of the unmanned vehicle 4 includes the spatial rectangular coordinates of the gripping point of the exhausted battery on the unmanned vehicle 4 in a set spatial rectangular coordinate system and the azimuth relative to the target direction line.

[0094] The coordinate position of the fully charged battery on the battery transport vehicle 5 includes the spatial rectangular coordinates of the fully charged battery in a set spatial rectangular coordinate system and the azimuth relative to the target direction line.

[0095] Specifically, the coordinate position of the fully charged battery on the battery transport vehicle 5 includes the spatial rectangular coordinates of the grabbing point of the fully charged battery in a set spatial rectangular coordinate system and the azimuth relative to the target direction line.

[0096] The position of the battery transport vehicle 5 includes the coordinates of the battery transport vehicle 5 under the target coordinate axis of a set spatial rectangular coordinate system.

[0097] Specifically, the position of the battery transport vehicle 5 includes the X-axis coordinate of the front position of the battery transport vehicle 5 , and the X-axis is the target coordinate axis.

[0098] like Figure 1 As shown, in the above-set spatial rectangular coordinate system, the driving direction of the battery transfer vehicle 5 on the transfer lane 3 is set as the positive direction of the X-axis, the direction in which the battery transfer vehicle 5 points to the unmanned vehicle 4 is the positive direction of the Y-axis, and the vertical upward direction is the positive direction of the Z-axis; the target direction line can be selected from the X-axis.

[0099] Example 2

[0100] Based on the same inventive concept, the present invention also provides an unmanned vehicle battery replacement station, such as Figure 1As shown, it includes: a battery swap station body as in the above-mentioned embodiment, a battery transfer vehicle 5, and a battery swap lane 2 and a transfer lane 3 arranged on both sides of the battery swap station body;

[0101] The battery transport vehicle 5 includes a plurality of battery slots and at least one battery, at least one of the battery slots is an empty battery slot;

[0102] The battery replacement lane 2 is used for the unmanned vehicle 4 to be replaced with a battery, and the transfer lane 3 is used for the battery transfer vehicle 5 to travel; the parking space of the unmanned vehicle 4 changes according to the position of the empty battery compartment.

[0103] In this embodiment, the unmanned vehicle 4 is an unmanned mining truck.

[0104] In this embodiment, each battery transfer vehicle 5 is provided with 5 battery slots, and each battery slot is provided with a battery frame for installing batteries, transporting 4 batteries. Each time the vehicle enters the station, it carries fully charged batteries, and leaves the battery swap station with depleted batteries.

[0105] In this embodiment, by controlling the battery swap robot 6 to move according to the position of the battery compartment and the unmanned vehicle 4, the battery swap robot 6 can realize a non-fixed standby position setting and adjust it with the progress of the battery swap cycle; at the same time, the parking space of the unmanned vehicle 4 is controlled to adjust with the change of the empty battery compartment to realize follow-up adjustment, reduce the standby positioning process, and greatly improve the battery swap efficiency.

[0106] In this embodiment, the station frame 1 is arranged between the battery exchange lane 2 and the transfer lane 3 and is parallel to the driving direction of the lanes. The battery exchange lane 2 is on the left side of the station body and is used for the unmanned vehicle 4 to stop and exchange batteries. The transfer lane 3 is on the right side of the station body and is used for the battery transfer vehicle 5 to stop and supply fully charged batteries.

[0107] The battery swap station body includes a second communication module; the second communication module is used to upload the position of the battery transport vehicle 5 identified by the third position identification device 7.

[0108] The battery transport vehicle 5 includes a third communication module, and the third communication module is used to upload the warehouse number of the empty battery warehouse on the battery transport vehicle 5.

[0109] The unmanned vehicle 4 is provided with a fourth communication module and a second control module; the fourth communication module is used to receive movement instructions of the unmanned vehicle 4, and the second control module is used to control the movement of the unmanned vehicle 4 according to the movement instructions of the unmanned vehicle 4.

[0110] The battery-changing lane 2 is arranged in parallel with the arrangement direction of the multiple battery storage spaces on the battery transport vehicle 5 .

[0111] Example 3

[0112] Based on the same inventive concept, the present invention also provides a method for replacing power of an unmanned vehicle, using an unmanned vehicle replacement station as in the above embodiment, such as Figure 4 and Figure 5 As shown, the method includes:

[0113] S1, receiving the position of the battery transfer vehicle 5 on the transfer lane 3 in the unmanned vehicle battery swap station;

[0114] S2. Calculate the robot moving target according to the position of the battery transport vehicle 5;

[0115] S3, sending the robot moving target as a moving instruction to the battery swap robot 6 in the station frame 1 of the unmanned vehicle battery swap station, so that the battery swap robot 6 moves to the vicinity of the empty battery compartment;

[0116] S4, receiving the coordinate position of the fully charged battery on the battery transfer vehicle 5 identified by the second position identification device 603 returned by the battery exchange robot 6, where the fully charged battery is the fully charged battery adjacent to the empty battery position;

[0117] S5. Calculate the actual coordinates of the empty battery compartment according to the coordinate position of the fully charged battery;

[0118] S6, sending the actual coordinates of the empty battery position as a moving instruction to the battery swap robot 6 and the unmanned vehicle 4 to be replaced, so that the battery swap robot 6 and the unmanned vehicle 4 move to the same row of the empty battery position;

[0119] S7: After the battery-swapping robot 6 and the unmanned vehicle 4 are moved to their positions, a battery-swapping instruction is sent to the battery-swapping robot 6 to perform a battery-swapping operation according to the coordinate position of the fully-charged battery;

[0120] S8, after the battery replacement of the unmanned vehicle 4 is completed, the positions of the empty battery compartment and the fully charged battery are updated, and a movement instruction is sent to the unmanned vehicle 4, so that the unmanned vehicle 4 leaves the battery replacement lane 2;

[0121] S9, according to the actual coordinates of the new empty battery compartment, sending a movement instruction to the battery swap robot 6 and the unmanned vehicle 4 to be swapped, and then performing the battery swap operation;

[0122] The above steps are repeated until all batteries on the battery transport vehicle 5 are exhausted batteries, thus completing a set of battery replacement operations.

[0123] Specifically, in S1, the recognition result of the third position recognition device 7 is the approximate position coordinate of the front position of the battery transport vehicle 5 in the X-axis direction;

[0124] Specifically, in S2, the number of the empty battery storage space sent by the battery transport vehicle 5 is received; the parking information is displayed and the empty battery storage space is the nth storage space;

[0125] Furthermore, a battery detection device can be provided on the battery storage position of the battery transport vehicle 5 to detect whether there is a battery in the battery storage position. The storage position number of the empty battery storage position can be determined based on the detection result of the battery detection device, and the position change of the empty battery storage position can be uploaded in real time.

[0126] According to the relative position difference between the position of the battery transport vehicle 5 and the empty battery storage space, the preliminary coordinates of the empty battery storage space are calculated and used as the moving target of the robot.

[0127] Specifically, based on the fixed distance between the front position of the battery transfer vehicle 5 and the nth bin, the preliminary coordinates of the nth bin are calculated. The preliminary coordinates are the X-axis coordinates. The purpose is to give the battery swap robot 6 an initial robot moving target. The robot moving target is close to the empty battery bin of the nth bin and the fully charged battery bin of the n+1th or n-1th bin, so as to facilitate the second position identification device 603 to identify the actual coordinates of the fully charged battery.

[0128] In specific implementation, as the fully charged battery is replaced, the actual coordinates of the new empty battery slot in the above S9 are the coordinates of the fully charged battery slot determined in the previous battery replacement operation. No secondary confirmation is required. The position of the new fully charged battery is calculated based on the fixed value L of the spacing between adjacent battery slots in the X-axis direction. The calculation is simple and convenient, which further improves the battery replacement efficiency.

[0129] Specifically, the battery replacement operation includes controlling the battery replacement robot 6 to transfer the depleted battery on the unmanned vehicle 4 to the empty battery compartment, and transferring the fully charged battery on the battery transfer vehicle 5 to the unmanned vehicle 4 according to the coordinate position of the battery obtained in S4.

[0130] In this embodiment, when transferring a dead battery to the empty battery position, the bidirectional telescopic arm 601 is first extended in the opposite direction from the unmanned vehicle 4 to the empty battery position, and then, according to the azimuth deviation between the battery installation position of the dead battery of the unmanned vehicle 4 and the empty battery position, the bidirectional telescopic arm 601 is driven by the rotating mechanism to rotate to eliminate the deviation, so that the dead battery can accurately fall into the empty battery position; when installing a fully charged battery on the unmanned vehicle 4, the bidirectional telescopic arm 601 needs to be driven by the rotating mechanism to rotate to eliminate the azimuth deviation between the fully charged battery position and the battery installation position of the unmanned vehicle 4.

[0131] Before sending the battery swap instruction to the battery swap robot 6 to perform the battery swap operation, the method further includes:

[0132] Receiving the actual position of the unmanned vehicle 4 identified by the first position identification device 602 returned by the battery-swapping robot 6;

[0133] Determine whether the deviation between the actual position of the unmanned vehicle 4 and the parking space exceeds a threshold; if it exceeds the threshold, control the position adjustment of the unmanned vehicle 4 until the deviation does not exceed the threshold; if it does not exceed the threshold, execute the subsequent battery replacement step.

[0134] In this embodiment, Figure 5 As shown, each battery transfer vehicle 5 is provided with 5 battery slots for transporting 4 batteries. The battery slot near the front of the battery transfer vehicle 5 is the first slot, and the battery slot near the rear of the vehicle is the fifth slot. Each time the vehicle enters the station, it carries fully charged batteries, and leaves the battery swap station with depleted batteries. The distance between adjacent battery slots in the X-axis direction is a fixed value L.

[0135] like Figure 1 As shown, the driving direction of the battery transport vehicle 5 on the transport lane 3 is set to the positive direction of the X axis, and the end center of the end actuator 614 can be adjusted according to the spatial coordinates (x1, y1, z1, φ z1 ), where x1, y1, z1 are the X-axis coordinate, Y-axis coordinate and Z-axis coordinate of the end center of the end actuator 614, respectively, φ z1 is the azimuth angle of the end center of the end actuator 614 relative to the target direction line;

[0136] When n=1, that is, the empty battery compartment is the first compartment, the second position recognition device 603 is used to locate the position of the n+1th battery compartment, and the spatial coordinates (x2, y2, z2, φ) of the battery grabbing point of the fully charged battery in the n+1th battery compartment are calculated by the algorithm. z2 ) n+1 , where x2, y2, z2 are the X-axis coordinates, Y-axis coordinates, and Z-axis coordinates of the battery grabbing point of the fully charged battery in the n+1th battery bin, respectively, φ z2 is the azimuth angle of the battery grabbing point of the fully charged battery in the n+1th battery bin relative to the target direction line;

[0137] According to the spatial coordinates of the battery grabbing point of the fully charged battery, the first standby position of the end actuator 614 of the battery swap robot 6 is determined to be (x2-L, y1, z1, φ z2 ) n+1 , in fact, here we only need to determine the X-axis coordinate of the first standby position, where L is the fixed distance between the battery grabbing points on the adjacent battery compartments in the X direction;

[0138] The cloud control platform controls the driverless vehicle 4 to enter the parking space coordinates (x2-L, y3, z3, φ z2 ) n+1, where y3, z3 are actually the Y-axis target coordinates and Z-axis target coordinates of the battery grabbing point of the unmanned vehicle 4;

[0139] The unmanned vehicle 4 drives into the battery swap station according to the command of the cloud control platform. After parking, the cloud control platform issues a battery swap command. Then the battery swap robot 6 uses the first position recognition device 602 to find the battery position on the unmanned vehicle 4 and calculates the spatial coordinates (x 31 ,y 31 ,z 31 ,φ z3 ), where x 31 ,y 31 ,z 31 are the actual X-axis coordinate, Y-axis coordinate and Z-axis coordinate of the battery grabbing point on the unmanned vehicle 4, respectively, z3 is the actual azimuth of the battery grabbing point on the unmanned vehicle 4 relative to the target direction line; after determining that the deviation between the spatial coordinates of the battery grabbing point on the unmanned vehicle 4 and the parking space coordinates does not exceed the threshold, the battery swapping robot 6 is controlled to perform the battery swapping operation;

[0140] After the battery replacement is completed, n=2, that is, the empty battery position is the second position, and the second standby position of the end actuator 614 of the battery replacement robot 6 is determined to be (x2-2L, y1, z1, φ z2 ); repeat the above battery replacement steps until the empty battery slot is the fifth slot, and the battery transfer vehicle 5 leaves the station frame 1, completing a set of battery replacement operations.

[0141] like Figure 5 As shown, when n=3, that is, the initial empty battery slot is the third slot, the batteries are replaced in the order of the second slot, the first slot, the fourth slot and the fifth slot. After a group of battery replacement operations is completed, the arrangement of the exhausted batteries is standardized, which is convenient for the subsequent replacement of exhausted batteries and fully charged batteries of the battery transfer vehicle 5 itself.

[0142] Example 4

[0143] Based on the same inventive concept, the present invention also provides a cloud control platform, such as Figure 6 As shown, including:

[0144] A first cloud communication module is used to receive the position of the battery transfer vehicle 5 on the transfer lane 3 in the unmanned vehicle battery swap station;

[0145] The first cloud computing module is used to convert the robot's moving target according to the position of the battery transport vehicle 5;

[0146] The second cloud communication module is used to send the robot movement target as a movement instruction to the battery swap robot 6 in the station frame 1 of the unmanned vehicle battery swap station, so that the battery swap robot 6 moves to the vicinity of the empty battery compartment;

[0147] The third cloud communication module is used to receive the coordinate position of the fully charged battery on the battery transfer vehicle 5 identified by the second position identification device 603 returned by the battery exchange robot 6;

[0148] A second cloud computing module is used to convert the actual coordinates of the empty battery position according to the coordinate position of the fully charged battery;

[0149] The fourth cloud communication module is used to send the actual coordinates of the empty battery position as a movement instruction to the battery swap robot 6 and the unmanned vehicle 4 to be replaced, so that the battery swap robot 6 and the unmanned vehicle 4 move to the same row of the empty battery position;

[0150] A fifth cloud communication module is used to send a battery swap instruction to the battery swap robot 6 to perform a battery swap operation after the battery swap robot 6 and the unmanned vehicle 4 move into position;

[0151] Among them, the unmanned vehicle battery swap station is an unmanned vehicle battery swap station as described in the above embodiment.

[0152] Also includes:

[0153] The sixth cloud communication module is used to update the positions of the empty battery compartment and the fully charged battery after the unmanned vehicle 4 has completed battery replacement, and send a movement instruction to the unmanned vehicle 4 to make the unmanned vehicle 4 leave the battery replacement lane 2; and according to the actual coordinates of the new empty battery compartment, send a movement instruction to the battery replacement robot 6 and the unmanned vehicle 4 to be replaced.

[0154] The first cloud computing module is specifically used for:

[0155] Receiving the warehouse number of the empty battery warehouse sent by the battery transport vehicle 5;

[0156] According to the relative position difference between the position of the battery transport vehicle 5 and the empty battery storage space, the preliminary coordinates of the empty battery storage space are calculated and used as the moving target of the robot.

[0157] Also includes:

[0158] The seventh cloud communication module is used to receive the actual position of the unmanned vehicle 4 identified by the first position identification device 602 returned by the battery-swapping robot 6 before the fifth cloud communication module is activated;

[0159] The third cloud computing module is used to determine whether the deviation between the actual position of the unmanned vehicle 4 and the parking space exceeds a threshold before the fifth cloud communication module is activated; if it exceeds the threshold, the position adjustment of the unmanned vehicle 4 is controlled until the deviation does not exceed the threshold; if it does not exceed the threshold, the subsequent battery replacement step is executed.

[0160] Example 5

[0161] Based on the same inventive concept, the present invention also provides a battery replacement system for an unmanned vehicle, such as Figure 7 As shown, it includes a cloud control platform and an unmanned vehicle battery swap station; the cloud control platform is the cloud control platform as in the above embodiment; the unmanned vehicle battery swap station is the unmanned vehicle battery swap station as in the above embodiment.

[0162] Specifically, the unmanned vehicle battery swap station includes a station body, a first lane, a second lane, a battery transfer vehicle and a battery swap robot; the station body is the station body frame 1 of the above embodiment, the first lane is the battery swap lane 2 of the above embodiment, and the second lane is the transfer lane 3 of the above embodiment;

[0163] The station body is arranged between the first lane and the second lane and is parallel to the driving direction of the lanes. The first lane is on the left side of the station body and is used for the unmanned mining truck to stop and replace batteries. The unmanned mining truck is the unmanned vehicle 4 in the above embodiment; the second lane is on the right side of the station body and is used for the battery transfer vehicle to stop and supply fully charged batteries.

[0164] The battery exchange robot is installed in the station body. The main body includes a walking mechanism that can walk forward and backward in the direction parallel to the length of the station body, a lifting mechanism that can lift and lower in the direction parallel to the height of the station body, a rotating mechanism that can rotate around the height of the station body, and a mechanical arm, that is, the bidirectional telescopic arm 601 of the above embodiment, which can be telescoped in the direction parallel to the width of the station body. The center position of the end of the mechanical arm can be set according to the spatial coordinates (x1, y1, z1, φ z1 ), where x1, y1, z1 are the X-axis coordinates, Y-axis coordinates, and Z-axis coordinates of the center position of the end of the robot, respectively, and φ z1 is the azimuth of the center position of the robot end relative to the target direction line.

[0165] Since the battery transfer vehicle is used to transport batteries, each battery transfer vehicle is equipped with 5 battery frames to transport 4 batteries. The 5 battery frames correspond to 5 battery storage spaces. Each time the battery transfer vehicle enters the station, it carries fully charged batteries, and leaves the battery exchange station carrying exhausted batteries. Just like the unmanned mining truck entering the station, the battery transfer vehicle has a different position and posture each time it enters the station and stops. The vehicle position is identified by the third visual sensor of the station, i.e., the third position recognition device 7, and then the approximate coordinates of the nth battery in the X direction are calculated through an algorithm, where n is the number of the empty battery storage space. In this embodiment, n is greater than 1. The battery exchange robot uses the second visual sensor, i.e., the second position recognition device 603, to locate the coordinate position of the n-1th battery based on the acquired coordinates, and calculates the spatial coordinates (x 21 ,y 21 ,z 21 ,φ z21 ) n-1 , the distance between adjacent battery compartments in the X direction is a fixed value L, x 21 ,y 21 ,z 21， φ z21 They are respectively the X-axis coordinate, Y-axis coordinate, Z-axis coordinate and azimuth angle of the spatial coordinates of the coordination position between the n-1th battery and the center of the end of the robotic arm.

[0166] The unmanned mining truck drives into the battery swap station according to the instructions of the cloud control platform. After parking, the cloud control platform issues a battery swap instruction, and then the battery swap robot searches for the battery location of the vehicle. The parking coordinates of the unmanned mining truck set by the cloud control platform are converted to obtain the spatial coordinates of the coordinated position of the onboard battery of the unmanned mining truck and the center of the end of the robotic arm (x 311 ,y 311 ,z 311 ,φ z31 ), where x 311 ,y 311 ,z 311 ,φ z31 They are respectively the X-axis coordinate, Y-axis coordinate, Z-axis coordinate and azimuth angle of the spatial coordinates of the coordinated position between the on-board battery of the unmanned mining truck and the center of the end of the robotic arm.

[0167] When actually replacing the battery, the method of replacing the battery is as follows:

[0168] A1: After the driver of the battery transport vehicle parks the vehicle, the battery transport vehicle establishes communication with the station control system, i.e., the cloud control platform, and displays that the vehicle has parked in place and that the empty battery position is the nth (n=1, 2, 3, 4, 5) position;

[0169] A2: The third visual sensor identifies the approximate position of the battery transfer vehicle and obtains the approximate coordinates of the nth bin in the X direction. The station control system sends the first standby position positioning command to the battery swap robot. The second visual sensor of the battery swap robot identifies the position of the n-1th battery box and then obtains the first standby position (x 21 +L,y1,z1,φ z21 ) n-1 .

[0170] A3: The cloud control platform sends the unmanned mining truck battery replacement parking instruction to the first parking space at the target location (x 21 +L,y 31 ,z 31 ,φ z21 ) n-1 .

[0171] A4: At this time, the first visual sensor of the battery swap robot, that is, the first position recognition device 602, repositions and calculates whether the parking target position of the unmanned mining truck is within the battery swap deviation range of the battery swap robot. If so, the robotic arm directly extends to pick up the battery on the vehicle end without additional positioning; if not, it only needs to fine-tune the corresponding excess deviation coordinate position and then perform the battery swap operation.

[0172] A5: Extend the exhausted batteries directly in the reverse direction and store them in the nth bin of the battery transport vehicle.

[0173] A6: The battery swap robot moves forward a distance L, picks up the fully charged battery, and places the fully charged battery on the car according to the original coordinate point.

[0174] A7: The battery-swapping robot moves to the second standby position (x 21 +2L,y1,z1,φ z21 ) n-1 , the unmanned mining car drives away from the battery swap station, completing a battery swap cycle.

[0175] A8: The second vehicle to be replaced will be parked in the second parking space (x 21 +2L,y 31 ,z 31 ,φ z21 ) n-1 Stop the vehicle and repeat steps A4-A6.

[0176] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0177] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0178] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0179] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0180] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit its protection scope. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that after reading the present invention, those skilled in the art can still make various changes, modifications or equivalent substitutions to the specific implementation methods of the application, but these changes, modifications or equivalent substitutions are all within the protection scope of the claims of the present invention.

Claims

1. An unmanned vehicle battery swap station, characterized in that: include: A battery swap station body, a battery transfer vehicle (5), and a battery swap lane (2) and a transfer lane (3) arranged on both sides of the battery swap station body; The battery transport vehicle (5) comprises a plurality of battery slots and at least one battery, and at least one of the battery slots is an empty battery slot; The battery exchange lane (2) is used for the unmanned vehicle (4) to be replaced with a battery, and the transfer lane (3) is used for the battery transfer vehicle (5) to travel; The parking space of the driverless vehicle (4) changes according to the position of the empty battery compartment; The battery swap station comprises: a station frame (1), a movable battery swap robot (6) arranged in the station frame (1), and a third position identification device (7) arranged on the station frame (1); The battery-swapping robot (6) comprises a second position recognition device (603); The third position recognition device (7) recognizes the position of the battery transport vehicle (5) and uploads it; the battery exchange robot (6) moves to the position of the battery transport vehicle (5), and uses the second position recognition device (603) to recognize the coordinate position of the fully charged battery on the battery transport vehicle (5) and uploads it; By setting a second position identification device (603) and a third position identification device (7), the battery swap robot (6) can be positioned along with the battery transfer vehicle (5). The battery swap lane (2) provides a plurality of parking spaces for the unmanned vehicle (4), so that the unmanned vehicle (4) can be parked according to the position of the empty battery compartment on the battery transfer vehicle (5). The battery swap robot (6) and the unmanned vehicle (4) can be moved to the same row of the empty battery compartments to perform the battery swap operation until all the batteries on the battery transfer vehicle (5) are exhausted batteries, thus completing a set of battery swap operations.

2. The unmanned vehicle battery swap station according to claim 1, characterized in that: The battery-swapping robot (6) further comprises a walking mechanism and a battery-swapping actuator arranged on the walking mechanism; The battery-exchanging robot (6) moves to the position of the battery transfer vehicle (5) via the walking mechanism, and exchanges the fully-charged battery on the battery transfer vehicle (5) with the depleted battery on the unmanned vehicle (4) to be replaced via the battery-exchanging actuator.

3. The unmanned vehicle battery swap station according to claim 2, characterized in that: The battery replacement actuator comprises a rotating mechanism arranged on the walking mechanism, a lifting mechanism arranged on the rotating mechanism, and a bidirectional telescopic arm (601) arranged on the top of the lifting mechanism; the rotating mechanism is rotated to eliminate the azimuth deviation between the battery replacement robot (6) and the fully charged battery and the depleted battery, and the bidirectional telescopic arm (601) is used to transfer the battery between the battery transfer vehicle (5) and the unmanned vehicle (4).

4. The unmanned vehicle battery swap station according to claim 1, characterized in that: The battery-swapping robot (6) further comprises a first position identification device (602), which identifies the actual position of the unmanned vehicle (4) to be battery-swapped and uploads the actual position.

5. The unmanned vehicle battery swap station according to claim 4, characterized in that: The battery-swapping robot (6) further includes a first communication module and a first control module; the first communication module is used to upload the actual position of the unmanned vehicle (4) and the coordinate position of the fully charged battery on the battery transfer vehicle (5), and to receive movement instructions and battery-swapping instructions of the battery-swapping robot (6); the first control module is used to control the movement of the battery-swapping robot (6) according to the movement instructions and battery-swapping instructions of the battery-swapping robot (6).

6. The unmanned vehicle battery swap station according to claim 4, characterized in that: The actual position of the unmanned vehicle (4) includes the spatial rectangular coordinates of the exhausted battery on the unmanned vehicle (4) in a set spatial rectangular coordinate system and the azimuth relative to the target direction line.

7. The unmanned vehicle battery swap station according to claim 1, characterized in that: The coordinate position of the fully charged battery on the battery transport vehicle (5) includes the spatial rectangular coordinates of the fully charged battery in a set spatial rectangular coordinate system and an azimuth relative to a target direction line.

8. The unmanned vehicle battery swap station according to claim 1, characterized in that: The position of the battery transport vehicle (5) includes the coordinates of the battery transport vehicle (5) under the target coordinate axis of a set spatial rectangular coordinate system.

9. The unmanned vehicle battery swap station according to claim 1, characterized in that: The battery swap station body comprises a second communication module; the second communication module is used to upload the position of the battery transfer vehicle (5) identified by a third position identification device (7).

10. The unmanned vehicle battery swap station according to claim 1, characterized in that: The battery transport vehicle (5) comprises a third communication module, and the third communication module is used to upload the warehouse number of the empty battery warehouse on the battery transport vehicle (5).

11. The unmanned vehicle battery swap station according to claim 1, characterized in that: The unmanned vehicle (4) is provided with a fourth communication module and a second control module; the fourth communication module is used to receive movement instructions of the unmanned vehicle (4), and the second control module is used to control the movement of the unmanned vehicle (4) according to the movement instructions of the unmanned vehicle (4).

12. The unmanned vehicle battery swap station according to claim 1, characterized in that: The battery exchange lane (2) and the arrangement direction of the multiple battery storage spaces on the battery transfer vehicle (5) are arranged in parallel.

13. A method for replacing battery of an unmanned vehicle, characterized in that: Using the unmanned vehicle battery swap station according to any one of claims 1 to 12, the method comprises: Receiving the position of a battery transfer vehicle (5) on a transfer lane (3) in an unmanned vehicle battery swap station; According to the position of the battery transfer vehicle (5), a robot movement target is obtained by conversion; Sending the robot movement target as a movement instruction to a battery swap robot (6) in a station frame (1) of an unmanned vehicle battery swap station, so that the battery swap robot (6) moves to the vicinity of the empty battery compartment; Receiving the coordinate position of the fully charged battery on the battery transfer vehicle (5) identified by the second position identification device (603) returned by the battery exchange robot (6); According to the coordinate position of the fully charged battery, the actual coordinates of the empty battery compartment are converted; The actual coordinates of the empty battery positions are sent as movement instructions to the battery swapping robot (6) and the unmanned vehicle (4) to be replaced, so that the battery swapping robot (6) and the unmanned vehicle (4) are moved to the same row as the empty battery positions; After the battery-swapping robot (6) and the unmanned vehicle (4) are moved into position, a battery-swapping instruction is sent to the battery-swapping robot (6) to perform a battery-swapping operation based on the coordinate position of the fully-charged battery.

14. A method for replacing battery of an unmanned vehicle as claimed in claim 13, characterized in that: The method further comprises: After a battery swap of the unmanned vehicle (4) is completed, the positions of the empty battery compartment and the fully charged battery compartment are updated, and a movement instruction is sent to the unmanned vehicle (4) so ​​that the unmanned vehicle (4) leaves the battery swap lane (2); And according to the actual coordinates of the new empty battery compartment, a movement instruction is issued to the battery swap robot (6) and the unmanned vehicle (4) to be swapped, and then the battery swap operation is carried out; The above steps are repeated until all batteries on the battery transport vehicle (5) are exhausted batteries, thus completing a set of battery replacement operations.

15. The method for replacing battery of an unmanned vehicle according to claim 13, characterized in that: The step of converting the position of the battery transport vehicle (5) to obtain the robot movement target comprises: Receiving the warehouse number of the empty battery warehouse sent by the battery transport vehicle (5); According to the relative position difference between the position of the battery transfer vehicle (5) and the empty battery storage space, the preliminary coordinates of the empty battery storage space are calculated and used as the moving target of the robot.

16. A method for replacing battery of an unmanned vehicle as claimed in claim 13, characterized in that: Before sending the battery replacement instruction to the battery replacement robot (6) to perform the battery replacement operation, it also includes: Receiving the actual position of the unmanned vehicle (4) identified by the first position identification device (602) returned by the battery-exchanging robot (6); Determine whether the deviation between the actual position of the unmanned vehicle (4) and the parking space exceeds a threshold; if it exceeds the threshold, control the position adjustment of the unmanned vehicle (4) until the deviation does not exceed the threshold; if it does not exceed the threshold, execute the subsequent battery replacement step.

17. A cloud control platform, characterized in that: include: A first cloud communication module, used to receive the position of a battery transfer vehicle (5) on a transfer lane (3) in an unmanned vehicle battery swap station; A first cloud computing module is used to convert the position of the battery transport vehicle (5) into a moving target of the robot; A second cloud communication module is used to send the robot movement target as a movement instruction to a battery swap robot (6) in a station frame (1) of an unmanned vehicle battery swap station, so that the battery swap robot (6) moves to the vicinity of the empty battery compartment; A third cloud communication module, used for receiving the coordinate position of the fully charged battery on the battery transfer vehicle (5) identified by the second position identification device (603) returned by the battery exchange robot (6); A second cloud computing module is used to convert the actual coordinates of the empty battery position according to the coordinate position of the fully charged battery; a fourth cloud communication module, used for sending the actual coordinates of the empty battery positions as movement instructions to the battery swapping robot (6) and the unmanned vehicle (4) to be replaced, so that the battery swapping robot (6) and the unmanned vehicle (4) are moved to the same row as the empty battery positions; a fifth cloud communication module, for sending a battery swap instruction to the battery swap robot (6) to perform a battery swap operation according to the coordinate position of the fully charged battery after the battery swap robot (6) and the unmanned vehicle (4) have moved into position; Wherein, the unmanned vehicle battery swap station is an unmanned vehicle battery swap station as described in any one of claims 1 to 12.

18. A cloud control platform according to claim 17, characterized in that: Also includes: The sixth cloud communication module is used to update the positions of the empty battery compartment and the fully charged battery after the battery replacement of one of the unmanned vehicles (4) is completed, and to send a movement instruction to the unmanned vehicle (4) so ​​that the unmanned vehicle (4) leaves the battery replacement lane (2); and according to the actual coordinates of the new empty battery compartment, send a movement instruction to the battery replacement robot (6) and the unmanned vehicle (4) to be replaced.

19. A cloud control platform according to claim 17, characterized in that: The first cloud computing module is specifically used for: Receiving the warehouse number of the empty battery warehouse sent by the battery transport vehicle (5); According to the relative position difference between the position of the battery transfer vehicle (5) and the empty battery storage space, the preliminary coordinates of the empty battery storage space are calculated and used as the moving target of the robot.

20. The cloud control platform according to claim 17, characterized in that: Also includes: a seventh cloud communication module, used for receiving the actual position of the unmanned vehicle (4) identified by the first position identification device (602) returned by the battery-swapping robot (6) before the fifth cloud communication module is activated; The third cloud computing module is used to determine whether the deviation between the actual position of the unmanned vehicle (4) and the parking space exceeds a threshold before the fifth cloud communication module is activated; if it exceeds the threshold, control the position adjustment of the unmanned vehicle (4) until the deviation does not exceed the threshold; if it does not exceed the threshold, execute the subsequent battery replacement step.

21. An unmanned vehicle battery replacement system, characterized in that: It includes a cloud control platform and an unmanned vehicle battery swap station; the cloud control platform is the cloud control platform described in any one of claims 17-20; the unmanned vehicle battery swap station is the unmanned vehicle battery swap station described in any one of claims 1 to 12.

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