Heavy truck battery replacement system and control method of heavy truck battery replacement system

Abstract

The embodiment of the invention provides a heavy truck battery replacing system and a control method of the heavy truck battery replacing system. The heavy truck battery replacing system comprises a walking track 1, the walking track 1 is arranged on the side, close to a heavy truck channel, of the system, and a battery replacing robot 2 is arranged on the walking track 1; the battery replacing robot 2 at least comprises a telescopic fork 21, and the telescopic fork 21 is arranged on the side, close to the heavy truck channel, of the battery replacing robot 2. The battery box body U-shaped grabbing mechanism 22 is connected with the telescopic pallet fork 21, and the battery box body U-shaped grabbing mechanism 22 is connected with the telescopic pallet fork 21; and the lifting mechanism 23 is connected with the telescopic pallet fork 21. According to the battery replacing system of the heavy truck, the battery replacing robot of a specific structure is used for providing energy supplementing and replacing functions for the battery box body of the heavy truck, and the defects that a traditional top hoisting mode is low in field utilization rate, the winch lifting rhythm is slow, the lifting state is uncontrollable, and the deflection phenomenon is likely to happen are overcome; the battery replacement efficiency of the heavy truck is improved, and the advantages of the electric heavy truck are guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle battery replacement, and in particular to a heavy truck battery replacement system and a control method for the heavy truck battery replacement system. Background Art

[0002] Today, heavy-duty truck electrification is experiencing explosive growth. For example, pure electric heavy-duty trucks can reduce a large amount of crude oil consumption, reduce four types of pollutant emissions, improve efficiency, and save transportation costs. However, heavy-duty trucks also have a large demand for battery power, and the type of battery replacement technology used will seriously affect the efficiency of heavy-duty trucks.

[0003] There are currently a variety of battery replacement technology routes for heavy-duty trucks on the market, which generally adopt standard driving mechanisms similar to those used in factories, such as being equipped with battery box clamps, using two-way light rail drives and electric winches to achieve battery box replacement.

[0004] However, due to the large size and mass of heavy-duty truck batteries, usually around 2.5 tons, the top-lifting method with a heavy-load stroke of more than 2 meters falls into the category of special equipment. In addition, the top-lifting method in related technologies also has disadvantages such as low site utilization, which is not conducive to the expansion of charging warehouse space, slow hoisting and lifting rhythm, and the use of wire ropes for lifting the battery box, which makes the lifting state uncontrollable and prone to swaying. These disadvantages result in low battery replacement efficiency and the inability to fully give full play to the advantages of electric heavy-duty trucks. Summary of the invention

[0005] In view of the above problems, a heavy-duty truck battery replacement system and a control method of the heavy-duty truck battery replacement system are proposed to overcome the above problems or at least partially solve the above problems, including:

[0006] A heavy truck battery replacement system, the system comprising:

[0007] A walking track 1, wherein the walking track 1 is arranged on a side of the system close to a heavy truck passage and a battery-swapping robot 2 is arranged on the walking track 1;

[0008] The battery-swapping robot 2 at least comprises:

[0009] A telescopic fork 21, wherein the telescopic fork 21 is arranged on a side of the battery-swapping robot 2 close to the heavy truck passage;

[0010] A battery box U-shaped grabbing mechanism 22, wherein the battery box U-shaped grabbing mechanism 22 is connected to the telescopic fork 21;

[0011] A lifting mechanism 23 is connected to the telescopic fork 21 .

[0012] Optionally, the system further includes:

[0013] A visual detection sensor 3, wherein the visual detection sensor 3 is arranged on a side of the system close to a heavy truck passage;

[0014] The battery-swapping robot 2 also includes:

[0015] A track driving mechanism 24 , wherein the track driving mechanism 24 is disposed at the bottom of the battery-swapping robot 2 and is connected to the walking track 1 .

[0016] Optionally, the system further includes:

[0017] A charging compartment module 4, wherein the charging compartment module 4 is arranged on a side of the battery-swapping robot 2 away from a heavy truck passage;

[0018] The charging compartment module 4 at least includes a battery box tray 41, and the battery box tray 41 includes:

[0019] Support frame 42;

[0020] Rough guides 43, the rough guides 43 are arranged at four corners of the support frame 42;

[0021] A guide pin 44, wherein the guide pin 44 is disposed at the top of the battery box tray 41;

[0022] A charging connector 45 , the charging connector 45 is disposed in the central area of ​​the battery box tray 41 ;

[0023] The in-position detection switch 46 is connected to the support frame 42 .

[0024] Optionally, the system further includes:

[0025] A first integrated frame 5, wherein the first integrated frame 5 at least comprises the walking track 1;

[0026] A second integrated frame 6, wherein the second integrated frame 6 at least includes the charging compartment module 4;

[0027] A frame supporting mechanism 7 , wherein the frame supporting mechanism 7 is connected to the first integrated frame 5 and the second integrated frame 6 .

[0028] A control method for a heavy truck battery replacement system, the system comprising: a walking track 1, the walking track 1 being arranged on a side of the system close to a heavy truck passage and a battery replacement robot 2 being arranged on the walking track 1; the battery replacement robot 2 at least comprising: a telescopic fork 21, the telescopic fork 21 being arranged on a side of the battery replacement robot 2 close to a heavy truck passage; a battery box U-shaped gripping mechanism 22, the battery box U-shaped gripping mechanism 22 being connected to the telescopic fork 21; a lifting mechanism 23, the lifting mechanism 23 being connected to the telescopic fork 21; the method comprising:

[0029] In response to the stopping operation of the heavy truck, the telescopic fork 21 is controlled to extend to connect the battery box U-shaped grasping mechanism 22 with the battery box in the heavy truck;

[0030] Controlling the lifting mechanism 23 to lift the battery box and resetting the system;

[0031] The battery box is subjected to energy replenishment treatment.

[0032] Optionally, the system further includes: a visual detection sensor 3, which is arranged on one side of the system close to the heavy truck channel; the battery-swapping robot 2 further includes: a track drive mechanism 24, which is arranged at the bottom of the battery-swapping robot 2 and connected to the walking track 1; before controlling the telescopic fork 21 to extend, it also includes:

[0033] Acquiring position deviation data of the heavy truck according to the visual detection sensor 3;

[0034] The track driving mechanism 24 is controlled to perform correction processing on the battery-swapping robot 2 according to the position deviation data.

[0035] Optionally, the system further includes: a charging compartment module 4, which is arranged on the side of the battery-swapping robot 2 away from the heavy truck channel; the charging compartment module 4 at least includes a battery box tray 41, and the battery box tray 41 includes: a support frame 42; a coarse guide 43, which is arranged at the four corners of the support frame 42; a guide pin 44, which is arranged at the top of the battery box tray 41; a charging connector 45, which is arranged in the central area of ​​the battery box tray 41; an in-place detection switch 46, which is connected to the support frame 42; the energy replenishment process for the battery box includes:

[0036] Control the telescopic fork 21 to perform a reverse extension operation to move the battery box to above the battery box tray 41:

[0037] The lifting mechanism 23 is controlled to lower the battery box to connect the battery box to the charging connector 45 .

[0038] A control device for a heavy truck battery replacement system, the system comprising: a walking track 1, the walking track 1 is arranged on a side of the system close to a heavy truck passage and a battery replacement robot 2 is arranged on the walking track 1; the battery replacement robot 2 at least comprises: a telescopic fork 21, the telescopic fork 21 is arranged on a side of the battery replacement robot 2 close to the heavy truck passage; a battery box U-shaped gripping mechanism 22, the battery box U-shaped gripping mechanism 22 is connected to the telescopic fork 21; a lifting mechanism 23, the lifting mechanism 23 is connected to the telescopic fork 21; the device comprises:

[0039] an extension operation control module, for controlling the telescopic fork 21 to perform an extension operation in response to a stop operation of the heavy truck, so as to connect the battery box U-shaped gripping mechanism 22 with the battery box in the heavy truck;

[0040] A battery box lifting module, used to control the lifting mechanism 23 to lift the battery box and reset the system;

[0041] The energy replenishment processing module is used to perform energy replenishment processing on the battery box.

[0042] An electronic device includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the control method of the heavy truck battery replacement system as described above.

[0043] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the control method of the heavy truck battery replacement system as described above is implemented.

[0044] The embodiments of the present invention have the following advantages:

[0045] The present invention provides a heavy-duty truck battery replacement system, including a walking track 1, the walking track 1 is arranged on the side of the system close to the heavy-duty truck passage, and a battery replacement robot 2 is arranged on the walking track 1; the battery replacement robot 2 at least includes: a telescopic fork 21, the telescopic fork 21 is arranged on the side of the battery replacement robot 2 close to the heavy-duty truck passage; a battery box U-shaped gripping mechanism 22, the battery box U-shaped gripping mechanism 22 is connected to the telescopic fork 21; a lifting mechanism 23, the lifting mechanism 23 is connected to the telescopic fork 21. The heavy-duty truck battery replacement system provided by the present invention realizes the use of a battery replacement robot with a specific structure to provide a heavy-duty truck battery box energy replenishment and replacement function, avoids the shortcomings of the traditional top-hanging method, such as low site utilization, slow hoisting and lifting rhythm, and the use of a wire rope for the battery box hoist, which leads to uncontrollable lifting and lowering state and easy swaying, improves the battery replacement efficiency of heavy-duty trucks, and ensures the advantages of electric heavy-duty trucks. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0047] Figure 1 is a schematic diagram of the overall structure of a heavy truck battery replacement system provided by some embodiments of the present invention;

[0048] Figure 2 is a schematic diagram of the structure of a battery-swapping robot provided in some embodiments of the present invention;

[0049] Figure 3 is a schematic diagram of the position of a visual detection sensor provided in some embodiments of the present invention;

[0050] Figure 4 is a schematic diagram of the structure of a charging compartment module provided in some embodiments of the present invention;

[0051] Figure 5 is a flowchart of the steps of a control method of a heavy truck battery replacement system provided by some embodiments of the present invention;

[0052] Figure 6 It is a structural schematic diagram of a control device of a heavy truck battery replacement system provided in some embodiments of the present invention. DETAILED DESCRIPTION

[0053] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0054] In the embodiments of the present application, words such as "first" and "second" are used to distinguish between identical or similar items with basically the same functions and effects. This is only for the purpose of clearly describing the technical solutions of the embodiments of the present application, and shall not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features.

[0055] In the embodiments of the present application, the terms "upper", "lower", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0056] Today, heavy-duty truck electrification is experiencing explosive growth. For example, pure electric heavy-duty trucks can reduce a large amount of crude oil consumption, reduce four types of pollutant emissions, improve efficiency, and save transportation costs. However, heavy-duty trucks also have a large demand for battery power, and the type of battery replacement technology used will seriously affect the efficiency of heavy-duty trucks.

[0057] There are currently a variety of battery replacement technology routes for heavy-duty trucks on the market, which generally adopt standard driving mechanisms similar to those used in factories, such as being equipped with battery box clamps, using two-way light rail drives and electric winches to achieve battery box replacement.

[0058] However, due to the large size and mass of heavy-duty truck batteries, usually around 2.5 tons, the top-lifting method with a heavy-load stroke of more than 2 meters falls into the category of special equipment. In addition, the top-lifting method in related technologies also has disadvantages such as low site utilization, which is not conducive to the expansion of charging warehouse space, slow hoisting and lifting rhythm, and the use of wire ropes for lifting the battery box, which makes the lifting state uncontrollable and prone to swaying. These disadvantages result in low battery replacement efficiency and the inability to fully give full play to the advantages of electric heavy-duty trucks.

[0059] In order to solve the above problems, the present invention improves the heavy truck battery replacement system in the related art based on the comprehensive application of a battery replacement robot with a specific structure. The present invention will be described in detail below with reference to the accompanying drawings:

[0060] Reference Figure 1 , showing an overall structural diagram of a heavy truck battery replacement system provided by some embodiments of the present invention, the system comprising:

[0061] A walking track 1, wherein the walking track 1 is arranged on a side of the system close to a heavy truck passage and a battery-swapping robot 2 is arranged on the walking track 1;

[0062] The battery-swapping robot 2 at least comprises:

[0063] A telescopic fork 21, wherein the telescopic fork 21 is arranged on a side of the battery-swapping robot 2 close to the heavy truck passage;

[0064] A battery box U-shaped grabbing mechanism 22, wherein the battery box U-shaped grabbing mechanism 22 is connected to the telescopic fork 21;

[0065] A lifting mechanism 23 is connected to the telescopic fork 21 .

[0066] In the specific implementation, Figure 2 As shown, the heavy truck battery replacement system provided by the present invention may include at least a walking track 1 and a battery replacement robot 2; wherein the battery replacement robot 2 may include at least a telescopic fork 21, a battery box U-shaped grasping mechanism 22 and a lifting mechanism 23; in addition, in order to prevent the battery replacement robot 2 from overturning, a corresponding back pressure wheel assembly mechanism may also be added beside the walking track 1;

[0067] Furthermore, in practical applications, when the heavy truck stops, the telescopic fork 21 can be controlled to extend to connect the U-shaped gripping mechanism 22 of the battery box with the battery box in the heavy truck; and after confirming that the connection is completed, the lifting mechanism 23 can be controlled to lift the battery box; at this time, the telescopic fork 21 can be controlled to retract to the initial position, and after the battery box is transferred to the center of the battery swap robot 2, the various mechanisms in the battery swap robot 2 are controlled to reset to the initial position to ensure that the battery box is accurately positioned relative to the charging compartment module 4; the battery box can then be recharged. Specifically, after the battery swap robot 2 is transferred to the charging compartment module 4 corresponding to the battery box, the telescopic fork can be controlled to extend in the opposite direction to transfer the battery box to the top of the battery box tray 41; and the lifting mechanism 23 can be controlled to descend to place the battery box on the charging compartment module 4 position, that is, to connect the battery box with the charging connector 45. After the battery box is placed in the charging compartment, the telescopic fork 21 can be controlled to be retracted, and the battery swap robot 2 can be controlled to return to the initial position to wait for the next battery swap operation. The depleted battery will be recharged on the charging compartment module 4 in preparation for the next replacement of the battery box; thereby quickly and accurately replacing the battery box, reducing manpower and material consumption, and ensuring the stability and safety of the battery replacement process, reducing operational complexity and potential risks.

[0068] In some embodiments of the present invention, the system further comprises:

[0069] A visual detection sensor 3, wherein the visual detection sensor 3 is arranged on a side of the system close to a heavy truck passage;

[0070] The battery-swapping robot 2 also includes:

[0071] A track driving mechanism 24 , wherein the track driving mechanism 24 is disposed at the bottom of the battery-swapping robot 2 and is connected to the walking track 1 .

[0072] In practical applications, such as Figure 3 As shown, a visual detection sensor 3 can be set on the side of the heavy truck battery replacement system close to the heavy truck channel, for example, a 3D visual detection sensor can be used, and a track driving mechanism 24 can be set to connect with the walking track 1 to provide a position deviation correction function;

[0073] Furthermore, in actual applications, when the stopping operation of a heavy truck is detected, the position deviation data of the heavy truck can be obtained according to the visual detection sensor 3, and the track drive mechanism 24 can be controlled to perform correction processing on the battery swap robot 2 according to the position deviation data, for example, the deviation along the vehicle's walking direction and the vehicle's stopping angle deviation can be corrected respectively; thereby improving the battery swap accuracy, ensuring that the battery swap robot can adjust its position according to actual conditions, and adapt to the small range of errors of the vehicle when docking; reducing the battery swap failure rate caused by improper parking position, and improving overall operating efficiency.

[0074] In some embodiments of the present invention, the system further comprises:

[0075] A charging compartment module 4, wherein the charging compartment module 4 is arranged on a side of the battery-swapping robot 2 away from a heavy truck passage;

[0076] The charging compartment module 4 at least includes a battery box tray 41, and the battery box tray 41 includes:

[0077] Support frame 42;

[0078] Rough guides 43, the rough guides 43 are arranged at four corners of the support frame 42;

[0079] A guide pin 44, wherein the guide pin 44 is disposed at the top of the battery box tray 41;

[0080] A charging connector 45 , the charging connector 45 is disposed in the central area of ​​the battery box tray 41 ;

[0081] The in-position detection switch 46 is connected to the support frame 42 .

[0082] In a specific implementation, a charging compartment module 4 can be set on the side of the battery-swapping robot 2 away from the heavy truck channel, and the installation layout of the charging compartment module 4 can be set along the vehicle driving direction of the heavy truck channel. The main function is to provide energy replenishment for the low-power battery box replaced from the vehicle end, and provide the vehicle end with a battery box that has completed energy replenishment, such as Figure 4 As shown, the charging bin module 4 can be assembled by welding a steel profile structure, which can at least include a battery box tray 41, and the battery box tray 41 can include a support frame 42, a coarse guide 43, a guide pin 44, a charging connector 45 and an in-place detection switch 46, wherein the coarse guide 43 can be set at the four corners of the support frame 42, the guide pin 44 can be set at the top of the battery box tray 41, the charging connector 45 can be set in the central area of ​​the battery box tray 41, and the in-place detection switch 46 can be set to be connected to the support frame 42 to detect the position accuracy of the battery box, thereby ensuring the safe and orderly placement and charging of the battery, improving the charging efficiency, and improving the position accuracy of the battery box when placed.

[0083] Furthermore, in actual applications, after the battery-swapping robot 2 is moved to the charging compartment module 4 corresponding to the battery box, the telescopic fork can be controlled to extend in the reverse direction to move the battery box to the top of the battery box tray 41; and the lifting mechanism 23 can be controlled to descend to place the battery box on the charging compartment module 4, that is, to connect the battery box to the charging connector 45. After the battery box is placed in the charging compartment, the telescopic fork 21 can be controlled to be retracted, and the battery-swapping robot 2 can be controlled to return to the initial position and wait for the next battery-swapping operation. The depleted battery will be recharged on the charging compartment module 4 to prepare for the next replacement of the battery box; thereby quickly and accurately replacing the battery box, reducing manpower and material consumption, and ensuring the stability and safety of the battery replacement process, reducing operational complexity and potential risks.

[0084] In some embodiments of the present invention, the system further comprises:

[0085] A first integrated frame 5, wherein the first integrated frame 5 at least comprises the walking track 1;

[0086] A second integrated frame 6, wherein the second integrated frame 6 at least includes the charging compartment module 4;

[0087] A frame supporting mechanism 7 , wherein the frame supporting mechanism 7 is connected to the first integrated frame 5 and the second integrated frame 6 .

[0088] In practical applications, such as Figure 1As shown, the walking track 1 can be integrated into the first integrated frame 5 by welding a steel profile frame, so that after the battery swap robot 2 is pre-installed in the factory, it can be hoisted as a whole at the installation site; similarly, the charging compartment module 4 can also be integrated into the second integrated frame 6 by welding a steel profile frame, thereby greatly shortening the installation period and reducing installation time and cost. The bottom of the frame support mechanism 7 can be fixed with embedded bolts, and the top is connected to the first integrated frame 5 and the second integrated frame 6 to support the weight of the entire charging compartment module 4 and the battery swap robot 2. Ensure the structural stability of the battery swap station equipment.

[0089] Reference Figure 5 , showing a step flow chart of a control method of a heavy truck battery replacement system provided by some embodiments of the present invention, the system comprises: a walking track 1, the walking track 1 is arranged on the side of the system close to the heavy truck passage and a battery replacement robot 2 is arranged on the walking track 1; the battery replacement robot 2 comprises at least: a telescopic fork 21, the telescopic fork 21 is arranged on the side of the battery replacement robot 2 close to the heavy truck passage; a battery box U-shaped gripping mechanism 22, the battery box U-shaped gripping mechanism 22 is connected to the telescopic fork 21; a lifting mechanism 23, the lifting mechanism 23 is connected to the telescopic fork 21; specifically, the following steps may be included:

[0090] Step 501, in response to the stop operation of the heavy truck, controlling the telescopic fork 21 to extend so as to connect the battery box U-shaped grasping mechanism 22 with the battery box in the heavy truck;

[0091] In a specific implementation, in a specific implementation, such as Figure 2 As shown, the heavy truck battery replacement system provided by the present invention may include at least a walking track 1 and a battery replacement robot 2; wherein the battery replacement robot 2 may include at least a telescopic fork 21, a battery box U-shaped grasping mechanism 22 and a lifting mechanism 23; in addition, in order to prevent the battery replacement robot 2 from overturning, a corresponding back pressure wheel assembly mechanism may also be added beside the walking track 1;

[0092] Furthermore, in actual applications, when the stop operation of the heavy truck is detected, the telescopic fork 21 can be controlled to extend to connect the battery box U-shaped grasping mechanism 22 with the battery box in the heavy truck to perform subsequent operation procedures.

[0093] In some embodiments of the present invention, the visual detection sensor 3 is arranged on one side of the system close to the heavy truck channel; the battery-swapping robot 2 further includes: a track drive mechanism 24, the track drive mechanism 24 is arranged at the bottom of the battery-swapping robot 2 and the track drive mechanism 24 is connected to the walking track 1; before controlling the telescopic fork 21 to extend, it also includes:

[0094] Acquiring position deviation data of the heavy truck according to the visual detection sensor 3;

[0095] The track driving mechanism 24 is controlled to perform correction processing on the battery-swapping robot 2 according to the position deviation data.

[0096] In practical applications, such as Figure 3 As shown, a visual detection sensor 3 can be set on the side of the heavy truck battery replacement system close to the heavy truck channel, for example, a 3D visual detection sensor can be used, and a track driving mechanism 24 can be set to connect with the walking track 1 to provide a position deviation correction function;

[0097] Furthermore, in actual applications, when the stopping operation of a heavy truck is detected, the position deviation data of the heavy truck can be obtained according to the visual detection sensor 3, and the track drive mechanism 24 can be controlled to perform correction processing on the battery swap robot 2 according to the position deviation data, for example, the deviation along the vehicle's walking direction and the vehicle's stopping angle deviation can be corrected respectively; thereby improving the battery swap accuracy, ensuring that the battery swap robot can adjust its position according to actual conditions, and adapt to the small range of errors of the vehicle when docking; reducing the battery swap failure rate caused by improper parking position, and improving overall operating efficiency.

[0098] Step 502, controlling the lifting mechanism 23 to lift the battery box and resetting the system;

[0099] In actual applications, after confirming that the battery box connection is complete, the lifting mechanism 23 can be controlled to lift the battery box; at this time, the telescopic fork 21 can be controlled to retract to the initial position, and after the battery box is moved to the center of the battery swap robot 2, the various mechanisms in the battery swap robot 2 are controlled to reset to the initial position to ensure that the battery box is accurately positioned relative to the charging compartment module 4.

[0100] Step 503, performing energy replenishment processing on the battery box.

[0101] In a specific implementation, after the battery-swapping robot 2 is moved to the charging compartment module 4 corresponding to the battery box, the telescopic fork can be controlled to extend in the reverse direction to move the battery box to the top of the battery box tray 41; and the lifting mechanism 23 can be controlled to descend to place the battery box on the charging compartment module 4, that is, to connect the battery box to the charging connector 45. After the battery box is placed in the charging compartment, the telescopic fork 21 can be controlled to be retracted, and the battery-swapping robot 2 can be controlled to return to the initial position and wait for the next battery-swapping operation. The depleted battery will be recharged on the charging compartment module 4 to prepare for the next replacement of the battery box; thereby quickly and accurately replacing the battery box, reducing manpower and material consumption, and ensuring the stability and safety of the battery replacement process, reducing operational complexity and potential risks.

[0102] In some embodiments of the present invention, the system further includes: a charging compartment module 4, which is arranged on the side of the battery-swapping robot 2 away from the heavy truck channel; the charging compartment module 4 includes at least a battery box tray 41, and the battery box tray 41 includes: a support frame 42; a coarse guide 43, which is arranged at the four corners of the support frame 42; a guide pin 44, which is arranged at the top of the battery box tray 41; a charging connector 45, which is arranged in the central area of ​​the battery box tray 41; an in-place detection switch 46, which is connected to the support frame 42; the energy replenishment process for the battery box includes:

[0103] Control the telescopic fork 21 to perform a reverse extension operation to move the battery box to above the battery box tray 41:

[0104] The lifting mechanism 23 is controlled to lower the battery box to connect the battery box to the charging connector 45 .

[0105] In practical applications, a charging compartment module 4 can be set on the side of the battery-swapping robot 2 away from the heavy truck channel. Its main function is to provide energy for the low-power battery box replaced from the vehicle end, and to provide the vehicle end with a battery box that has been fully charged. Figure 4As shown, the charging bin module 4 can be assembled by welding a steel profile structure, which can at least include a battery box tray 41, and the battery box tray 41 can include a support frame 42, a coarse guide 43, a guide pin 44, a charging connector 45 and an in-place detection switch 46, wherein the coarse guide 43 can be set at the four corners of the support frame 42, the guide pin 44 can be set at the top of the battery box tray 41, the charging connector 45 can be set in the central area of ​​the battery box tray 41, and the in-place detection switch 46 can be set to be connected to the support frame 42 to detect the position accuracy of the battery box, thereby ensuring the safe and orderly placement and charging of the battery, improving the charging efficiency, and improving the position accuracy of the battery box when placed.

[0106] Furthermore, in actual applications, after the battery-swapping robot 2 is moved to the charging compartment module 4 corresponding to the battery box, the telescopic fork can be controlled to extend in the reverse direction to move the battery box to the top of the battery box tray 41; and the lifting mechanism 23 can be controlled to descend to place the battery box on the charging compartment module 4, that is, to connect the battery box to the charging connector 45. After the battery box is placed in the charging compartment, the telescopic fork 21 can be controlled to be retracted, and the battery-swapping robot 2 can be controlled to return to the initial position and wait for the next battery-swapping operation. The depleted battery will be recharged on the charging compartment module 4 to prepare for the next replacement of the battery box; thereby quickly and accurately replacing the battery box, reducing manpower and material consumption, and ensuring the stability and safety of the battery replacement process, reducing operational complexity and potential risks.

[0107] The heavy-duty truck battery replacement system provided in the embodiment of the present invention not only provides the battery box energy replenishment and replacement functions, but also sets a correction function for the vehicle parking deviation, thereby reducing the requirements for the parking position accuracy of heavy trucks. It can improve the position accuracy during battery replacement and greatly improve the success rate of battery replacement. And the double-track walking drive setting of the walking track 1 can ensure the stability of the equipment. Greatly reduce the rigid load and overturning angle of the equipment. It can realize the modular design of the battery replacement station, that is, the pre-installed battery replacement station, which greatly shortens the on-site installation cycle; and the layout of the charging warehouse of the battery replacement station can be along the driving direction of the lane, which is conducive to the layout of the battery replacement station and improves land utilization.

[0108] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0109] Reference Figure 6, shows a schematic diagram of the structure of a control device of a heavy truck battery replacement system provided by some embodiments of the present invention, the system comprising: a walking track 1, the walking track 1 is arranged on the side of the system close to the heavy truck passage and a battery replacement robot 2 is arranged on the walking track 1; the battery replacement robot 2 at least comprises: a telescopic fork 21, the telescopic fork 21 is arranged on the side of the battery replacement robot 2 close to the heavy truck passage; a battery box U-shaped gripping mechanism 22, the battery box U-shaped gripping mechanism 22 is connected to the telescopic fork 21; a lifting mechanism 23, the lifting mechanism 23 is connected to the telescopic fork 21; specifically, it may include the following modules:

[0110] An extension operation control module 601 is used to control the telescopic fork 21 to perform an extension operation in response to the stop operation of the heavy truck, so as to connect the battery box U-shaped gripping mechanism 22 with the battery box in the heavy truck;

[0111] The battery box lifting module 602 is used to control the lifting mechanism 23 to lift the battery box and reset the system;

[0112] The energy replenishment processing module 603 is used to perform energy replenishment processing on the battery box.

[0113] In some embodiments of the present invention, the system further includes: a visual detection sensor 3, which is arranged on one side of the system close to the heavy truck channel; the battery-swapping robot 2 further includes: a track drive mechanism 24, which is arranged at the bottom of the battery-swapping robot 2 and is connected to the walking track 1; the device further includes:

[0114] A position deviation data acquisition module, used for acquiring the position deviation data of the heavy truck according to the visual detection sensor 3;

[0115] The correction processing module is used to control the track driving mechanism 24 to perform correction processing on the battery-swapping robot 2 according to the position deviation data.

[0116] In some embodiments of the present invention, the system further includes: a charging compartment module 4, which is arranged on the side of the battery-swapping robot 2 away from the heavy truck channel; the charging compartment module 4 includes at least a battery box tray 41, and the battery box tray 41 includes: a support frame 42; a coarse guide 43, which is arranged at the four corners of the support frame 42; a guide pin 44, which is arranged at the top of the battery box tray 41; a charging connector 45, which is arranged in the central area of ​​the battery box tray 41; an in-place detection switch 46, which is connected to the support frame 42; the energy replenishment processing module 603 includes:

[0117] The reverse extension operation execution submodule is used to control the telescopic fork 21 to perform a reverse extension operation to move the battery box to the top of the battery box tray 41:

[0118] The battery box lowering submodule is used to control the lifting mechanism 23 to lower the battery box so as to connect the battery box to the charging connector 45 .

[0119] Some embodiments of the present invention also provide an electronic device, which may include a processor, a memory, and a computer program stored in the memory and capable of running on the processor, and when the computer program is executed by the processor, the control method of the heavy truck battery replacement system as described above is implemented.

[0120] Some embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the control method of the heavy-duty truck battery replacement system as described above is implemented.

[0121] Some embodiments of the present invention further provide a computer program product, including a computer program, which implements the above control method of the heavy truck battery replacement system when executed by a processor.

[0122] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0123] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0124] Those skilled in the art will appreciate that the embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the embodiments of the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments of 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 codes.

[0125] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the 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 the 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 terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal 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.

[0126] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including 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.

[0127] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement 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.

[0128] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0129] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the above elements.

[0130] A heavy-duty truck battery replacement system and a control method for a heavy-duty truck battery replacement system are provided above in detail. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A heavy truck battery replacement system, characterized in that: The system comprises: A walking track (1), the walking track (1) being arranged on a side of the system close to a heavy truck passage and a battery-swapping robot (2) being arranged on the walking track (1); The battery-swapping robot (2) comprises at least: a telescopic fork (21), wherein the telescopic fork (21) is arranged on a side of the battery-swapping robot (2) close to a heavy truck passage; A battery box U-shaped grabbing mechanism (22), wherein the battery box U-shaped grabbing mechanism (22) is connected to the telescopic fork (21); A lifting mechanism (23), wherein the lifting mechanism (23) is connected to the telescopic fork (21).

2. The system according to claim 1, characterized in that The system further comprises: A visual detection sensor (3), the visual detection sensor (3) being arranged on a side of the system close to a heavy truck passage; The battery-swapping robot (2) further comprises: A track driving mechanism (24), wherein the track driving mechanism (24) is arranged at the bottom of the battery-changing robot (2) and the track driving mechanism (24) is connected to the walking track (1).

3. The system according to claim 2, characterized in that The system further comprises: A charging compartment module (4), the charging compartment module (4) being arranged on a side of the battery-swapping robot (2) away from a heavy truck passage; The charging compartment module (4) comprises at least a battery box tray (41), and the battery box tray (41) comprises: Support frame (42); A rough guide (43), wherein the rough guide (43) is arranged at four corners of the support frame (42); A guide pin (44), wherein the guide pin (44) is arranged at the top end of the battery box tray (41); A charging connector (45), the charging connector (45) being arranged in a central area of ​​the battery box tray (41); An in-place detection switch (46), wherein the in-place detection switch (46) is connected to the support frame (42).

4. The system according to claim 3, characterized in that The system further comprises: A first integrated frame (5), the first integrated frame (5) comprising at least the walking track (1); A second integrated frame (6), the second integrated frame (6) comprising at least the charging compartment module (4); A frame support mechanism (7), wherein the frame support mechanism (7) is connected to the first integrated frame (5) and the second integrated frame (6).

5. A control method for a heavy truck battery replacement system, characterized in that: The system comprises: a walking track (1), the walking track (1) being arranged on a side of the system close to a heavy truck passage and a battery-swapping robot (2) being arranged on the walking track (1); the battery-swapping robot (2) comprising at least: a telescopic fork (21), the telescopic fork (21) being arranged on a side of the battery-swapping robot (2) close to a heavy truck passage; a battery box U-shaped grasping mechanism (22), the battery box U-shaped grasping mechanism (22) being connected to the telescopic fork (21); and a lifting mechanism (23), the lifting mechanism (23) being connected to the telescopic fork (21); the method comprises: In response to the stopping operation of the heavy truck, the telescopic fork (21) is controlled to extend so as to connect the battery box U-shaped grasping mechanism (22) with the battery box in the heavy truck; Controlling the lifting mechanism (23) to lift the battery box and resetting the system; The battery box is subjected to energy replenishment treatment.

6. The method according to claim 5, characterized in that The system further comprises: a visual detection sensor (3), the visual detection sensor (3) being arranged on a side of the system close to a heavy truck passage; the battery-swapping robot (2) further comprises: a track drive mechanism (24), the track drive mechanism (24) being arranged at the bottom of the battery-swapping robot (2) and the track drive mechanism (24) being connected to the walking track (1); before controlling the telescopic fork (21) to extend, the system further comprises: Acquiring position deviation data of the heavy truck according to the visual detection sensor (3); The track driving mechanism (24) is controlled to perform correction processing on the battery-changing robot (2) according to the position deviation data.

7. The method according to claim 5, characterized in that The system further comprises: a charging compartment module (4), the charging compartment module (4) being arranged on a side of the battery-swapping robot (2) away from the heavy truck passage; the charging compartment module (4) comprising at least a battery box tray (41), the battery box tray (41) comprising: a support frame (42); a coarse guide (43), the coarse guide (43) being arranged at four corners of the support frame (42); a guide pin (44), the guide pin (44) being arranged at the top of the battery box tray (41); a charging connector (45), the charging connector (45) being arranged at the central area of ​​the battery box tray (41); an in-position detection switch (46), the in-position detection switch (46) being connected to the support frame (42); the energy replenishment process for the battery box comprises: The telescopic fork (21) is controlled to perform a reverse extension operation to move the battery box to above the battery box tray (41): The lifting mechanism (23) is controlled to lower the battery box to connect the battery box to the charging connector (45).

8. A control device for a heavy truck battery replacement system, characterized in that: The system comprises: a walking track (1), the walking track (1) being arranged on a side of the system close to a heavy truck passage and a battery-swapping robot (2) being arranged on the walking track (1); the battery-swapping robot (2) comprising at least: a telescopic fork (21), the telescopic fork (21) being arranged on a side of the battery-swapping robot (2) close to a heavy truck passage; a battery box U-shaped grasping mechanism (22), the battery box U-shaped grasping mechanism (22) being connected to the telescopic fork (21); and a lifting mechanism (23), the lifting mechanism (23) being connected to the telescopic fork (21); the device comprises: an extension operation control module, for controlling the telescopic fork (21) to perform an extension operation in response to a stop operation of the heavy truck, so as to connect the battery box U-shaped grasping mechanism (22) with the battery box in the heavy truck; A battery box lifting module, used for controlling the lifting mechanism (23) to lift the battery box and reset the system; The energy replenishment processing module is used to perform energy replenishment processing on the battery box.

9. An electronic device, characterized in that: It includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor. When the computer program is executed by the processor, it implements the control method of the heavy truck battery replacement system as described in any one of claims 5 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the control method of the heavy truck battery replacement system as described in any one of claims 5 to 7 is implemented.

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