Commercial vehicle battery swap station-based general battery swap control system and method

Abstract

The invention discloses a general battery swap control system and method based on a commercial vehicle battery swap station, and relates to the technical field of battery swap stations. The method comprises the following steps: S1, radar detects entering of a vehicle, a measuring light curtain feeds back data to a system in real time, and the system judges whether the vehicle is a vehicle battery box; s2, the system converts the data into a vehicle animation, displays the vehicle animation on a power conversion channel display, and prompts a driver to adjust the vehicle through a sound box; s3, after the vehicle stops, the system starts a battery replacing program, the position of a battery box is calculated, and the battery replacing robot is controlled to move; s4, the system controls the lifting appliance to move downwards, the vehicle battery box is grabbed, and the position P1 of a lifting motor is recorded; s5, the lifting appliance moves upwards, and the battery box is carried into the station; and S6, the lifting appliance is replaced with a fully-charged battery, the lifting appliance ascends after installation is completed, and battery replacement is completed. The system is suitable for different vehicle battery boxes, provides real-time feedback, realizes accurate positioning, reduces manual intervention, enables the battery replacement process to be smoother, and prevents operation errors.

Description

Technical Field

[0001] The present invention relates to the technical field of battery swap stations, and in particular to a universal battery swap control system and method based on a commercial vehicle battery swap station. Background Art

[0002] With the widespread promotion of electric vehicles, electric commercial vehicles have gradually become the main force in the market. At present, the energy replenishment methods of electric vehicles are mainly divided into two types: battery replacement and charging. In view of the long energy replenishment time in charging mode, it is difficult to meet the needs of continuous operation. Some electric vehicles choose to achieve continuous operation through battery replacement. The battery replacement process involves multiple steps, including locating the vehicle battery, unlocking the feed battery, removing the feed battery, and installing a fully charged battery. Among these steps, locating the vehicle battery is particularly critical and is usually a problem-prone link. At present, the conventional method of locating vehicle batteries mainly relies on camera technology. However, since the battery replacement channel is usually in a semi-closed state, the camera recognition technology is significantly affected by environmental and light conditions, and it takes too long to locate the battery.

[0003] In order to solve the above technical problems, the present invention proposes a method for positioning and grasping vehicle battery boxes based on commercial vehicle battery swap stations, aiming to effectively solve the problem of positioning vehicle batteries. Summary of the invention

[0004] The main technical problem solved by the present invention is to provide a universal battery replacement control system and method based on a commercial vehicle battery replacement station, which is not only suitable for a specific model of commercial vehicles, but also can adapt to vehicle battery boxes of different sizes and types, and has good versatility and scalability.

[0005] In order to solve the above technical problems, a technical solution adopted by the present invention is:

[0006] A universal battery swap control system based on a commercial vehicle battery swap station, comprising:

[0007] A battery exchange channel is provided in the battery exchange station and is used to guide vehicles to enter and locate at the battery exchange position. The battery handling channel is connected and provided on one side of the battery exchange channel;

[0008] A radar is provided at the entrance of the battery exchange passage to detect whether a vehicle enters;

[0009] A measuring and detecting light curtain, comprising a transmitting end and a receiving end respectively installed on both sides of the battery exchange channel, for detecting the position and width of the vehicle battery box in real time;

[0010] A battery-swapping robot, the battery-swapping robot comprising a lifting device for grabbing a vehicle battery box, and proximity sensors are installed at the four corners of the lifting device;

[0011] A pressure sensor, the pressure sensor being installed on the sling and used for real-time monitoring of the weight lifted by the sling;

[0012] A display, the display being installed in the battery-changing channel and used to display vehicle position information to an operator;

[0013] A sound system installed in the battery-swap access system and used to assist an operator in making vehicle adjustments through voice prompts;

[0014] The first laser distance measuring sensor and the second laser distance measuring sensor are installed on one side of the battery exchange channel and are used to detect the distance to the vehicle battery box respectively;

[0015] A third laser ranging sensor, mounted on the sling, for detecting a real-time distance L1 from the vehicle battery box;

[0016] A lifting motor, used to drive the lifting action of the spreader;

[0017] A control unit, wherein the control unit is communicatively connected with the radar, the measuring and detecting light curtain, the battery-exchanging robot, the pressure sensor, the display, the audio, the first laser ranging sensor, the second laser ranging sensor, the third laser ranging sensor and the lifting motor, and is used for receiving signals from various sensors and devices and sending instructions according to the signals.

[0018] A battery replacement method using the above-mentioned universal battery replacement control system based on a commercial vehicle battery replacement station comprises the following steps:

[0019] Step S1: When the radar at the entrance of the battery swap channel detects that a vehicle has entered, the measurement and detection light curtains located on both sides of the battery swap channel will feed back the detected data to the system in real time, and the system will determine whether it is a vehicle battery box based on the received data;

[0020] Step S2: The system converts the received data into vehicle animation and delivers it to the display located in the battery exchange channel in real time, so that the driver can observe whether the vehicle battery box is aligned with the battery handling channel. At the same time, the speaker located in the battery exchange channel sends a signal sound to remind the driver to adjust the vehicle;

[0021] Step S3: After the vehicle stops, the system starts the battery swap program, calculates the position of the vehicle battery box on the plane according to the detected data, and controls the battery swap robot to move above the vehicle battery box according to the calculated position;

[0022] Step S4: the system controls the spreader to move downward. When the plane under the spreader is in parallel contact with the plane on the vehicle battery box, the spreader stops moving downward, extends the spreader claw and lock tongue, grabs the vehicle battery box, and obtains the current position P1 of the lifting motor;

[0023] Step S5: the system controls the lifting device to move upwards and lift the vehicle battery box, that is, to remove the vehicle feed battery and transport it to the station;

[0024] Step S6: The lifting device replaces the fully charged battery and transports it to the top of the vehicle, and moves downward in a fast and then slow manner, so as to achieve the purpose of slowly contacting the battery, avoiding hitting the vehicle battery hard and damaging the battery or the lifting device, and after the battery is installed, it rises to complete the battery replacement action;

[0025] In this method, the optical axes from one end to the other end of the measuring and detecting light curtain are defined as A1, A2, A3, ..., A(n-2), A(n-1), and An in sequence.

[0026] Furthermore, in step S1, the method for determining whether it is a vehicle battery box is as follows: define the width of the vehicle battery box detected in real time by the measurement detection light curtain as W1, the actual width of the vehicle battery box as W2, and the set maximum error as W3; when W2≤W1≤W2+W3, and there are light axes passing through the front and rear of the vehicle battery box, it is determined that the detected body is a vehicle battery box.

[0027] Furthermore, in step S2, the signal sound includes continuous short sounds and continuous long sounds. The more aligned the vehicle battery box is with the battery transport channel, the higher the frequency of the short sounds. When the vehicle battery box is aligned with the transport channel, the signal sound is a continuous long sound. When the driver stops the car, the signal sound stops.

[0028] Furthermore, in step S3, the positioning of the vehicle battery box is as follows: calculating the front and rear positions of the vehicle battery, calculating the tilt angle β of the vehicle battery box by trigonometric function, β=arctan(H1-H2) / L1, calculating the left and right positions of the vehicle battery: calculated by converting the feedback distance values ​​H1 and H2 of the first laser ranging sensor and the second laser ranging sensor, that is, (H1+H2) / 2;

[0029] Wherein, H1 is the distance between the first laser ranging sensor and the vehicle battery box, H2 is the distance between the second laser ranging sensor and the vehicle battery box, and L1 is the distance between the first laser ranging sensor and the second laser ranging sensor;

[0030] Based on the above calculations, the position of the vehicle's battery box on the plane is obtained, thereby guiding the battery swap robot to move accurately to the top of the battery box.

[0031] Among them, the method for calculating the front and rear positions of the vehicle battery is as follows: after the vehicle enters the battery exchange channel and stops steadily, the measurement and detection light curtains placed on both sides of the channel are blocked by the vehicle battery box, and there is a certain amount of free space between the front and rear of the vehicle without being blocked. Therefore, it is possible to determine which specific light axes are blocked by the battery box, thereby determining the position of the battery box in the front and rear directions of the vehicle.

[0032] Furthermore, in step S4, when the spreader is moving downward, the third laser ranging sensor located at the bottom of the spreader collects the distance parameter L1 from the vehicle battery box in real time, and dynamically adjusts the spreader's descent speed V1 according to the distance parameter L1. The descent speed V1 includes an acceleration stage and a deceleration stage.

[0033] Furthermore, in step S4, the control unit continuously monitors the status of the proximity sensors located at the four corners of the sling. When the four sensors all detect contact signals with the upper surface of the vehicle battery box, it indicates that the sling has achieved parallel contact with the vehicle battery box. At this time, the sling stops moving downward.

[0034] Furthermore, in step S5, the system determines whether the spreader is moving upward according to the actual position and speed of the lifting motor. If it is determined that the spreader is not moving upward and the real-time feedback value F provided by the pressure sensor is 压 Greater than the set rated pressure value F 额 If the vehicle unlocking is abnormal, it is determined that the lifting device moves upward normally, and the battery lifting action is performed. When the vehicle battery is removed, the battery grabbing action is completed.

[0035] Furthermore, when it is determined that the vehicle unlocking may be abnormal, the PID control algorithm is used to increase the torque setting value F of the lifting motor. 电 , reaching the maximum set pressure value F of the lifting battery 大 , if the spreader still cannot move upward, and F 压 ≥F 大 , it is judged that the vehicle unlocking is abnormal and the battery box needs to be lowered. After the vehicle is unlocked with manual assistance, the upward movement of the hoist is repeated to complete the battery lifting action.

[0036] Furthermore, in step S6, when the current position of the lifting mechanism reaches or exceeds the preset position P1, the lifting motor stops moving, and then the fully charged battery is installed and the lock tongue is retracted, and the lifting device performs an ascending action to complete the replacement of the vehicle battery.

[0037] The beneficial technical effects of the present invention are:

[0038] This system is not only suitable for specific models of commercial vehicles, but also can adapt to vehicle battery boxes of different sizes and types, with good versatility and scalability. The driver can intuitively see the vehicle position and the operations to be performed through the real-time feedback provided by the display and audio, and achieve more accurate positioning and alignment prompts, making the entire battery replacement process smoother and effectively preventing equipment damage or safety accidents caused by operational errors. In addition, the system significantly shortens the waiting and adjustment time during the battery replacement process through the automated and intelligent battery replacement process design, reduces the need for manual intervention, thereby improving the efficiency of battery replacement and reducing long-term maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a schematic diagram of the overall process of the method of the present invention;

[0040] Figure 2 It is a schematic diagram of the process of lifting a battery box by a lifting device in the method of the present invention;

[0041] Figure 3 This is a schematic diagram of the power replacement of the present invention. Figure 1 ;

[0042] Figure 4 This is a schematic diagram of the power replacement of the present invention. Figure 2 (Battery box is aligned with battery handling channel);

[0043] Figure 5 This is a schematic diagram of the power replacement of the present invention. Figure 3 (battery box passed in front);

[0044] Figure 6 This is a schematic diagram of the power replacement of the present invention. Figure 4 (after the battery box);

[0045] Figure 7 This is a schematic diagram of the power replacement of the present invention. Figure 5 (Battery box tilted);

[0046] Figure 8 yes Figure 7 Partial schematic diagram;

[0047] Fig. 9 is a schematic diagram of the distance measurement of the third laser distance measuring sensor of the present invention;

[0048] Fig.10 is a schematic diagram of proximity sensors at the four corners of the spreader of the present invention;

[0049] The parts in the accompanying drawings are marked as follows:

[0050] 1. Measurement and detection light curtain; 11. Transmitter; 12. Receiver;

[0051] 2. Lifting device; 21. Proximity sensor;

[0052] 3. The first laser ranging sensor;

[0053] 4. Second laser ranging sensor;

[0054] 5. The third laser ranging sensor. DETAILED DESCRIPTION

[0055] In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the specific implementation methods of the present invention are further described in detail below in conjunction with the drawings and examples. The following examples are used to illustrate the present invention but are not used to limit the scope of the present invention.

[0056] This specific embodiment discloses in detail a universal battery replacement control system and method based on a commercial vehicle battery replacement station.

[0057] A universal battery swap control system based on commercial vehicle battery swap stations, such as Figure 3 As shown, including:

[0058] A battery exchange channel is provided in the battery exchange station and is used to guide vehicles to enter and locate at the battery exchange position. The battery handling channel is connected and provided on one side of the battery exchange channel;

[0059] A radar is provided at the entrance of the battery exchange passage to detect whether a vehicle enters;

[0060] A measuring and detecting light curtain 1, comprising a transmitting end 11 and a receiving end 12 respectively installed on both sides of the battery exchange channel, for detecting the position and width of the vehicle battery box in real time;

[0061] A battery-swapping robot, the battery-swapping robot comprising a lifting device 2 for grabbing a vehicle battery box, such as Fig.10 As shown, proximity sensors 21 are installed at the four corners of the spreader;

[0062] A pressure sensor, the pressure sensor being installed on the sling and used for real-time monitoring of the weight lifted by the sling;

[0063] A display, the display being installed in the battery-changing channel and used to display vehicle position information to an operator;

[0064] A sound system installed in the battery-swap access system and used to assist an operator in making vehicle adjustments through voice prompts;

[0065] The first laser distance measuring sensor 3 and the second laser distance measuring sensor 4 are installed on one side of the battery exchange channel and are used to detect the distance to the vehicle battery box respectively;

[0066] The third laser ranging sensor 5, such as Fig. 9 As shown, it is installed on the lifting device and is used to detect the real-time distance L1 from the vehicle battery box;

[0067] A lifting motor, used to drive the lifting action of the spreader;

[0068] A control unit, the control unit is communicatively connected with the radar, the measuring and detecting light curtain, the battery-exchanging robot, the pressure sensor, the display, the audio, the first laser ranging sensor, the second laser ranging sensor, the third laser ranging sensor, the hoist, the proximity sensor, and the lifting motor, and is used for receiving signals from various sensors and devices and sending instructions according to the signals.

[0069] It is worth noting that the attached drawings do not show the lifting motor, control unit, radar, battery replacement robot, pressure sensor, display, and audio.

[0070] A battery replacement method using the above-mentioned universal battery replacement control system based on a commercial vehicle battery replacement station, such as Figure 1-Figure 2 As shown, the following steps are included:

[0071] First, in this method, the optical axes from one end to the other end of the measuring and detecting light curtain are defined as A1, A2, A3, ..., A(n-2), A(n-1), and An in sequence.

[0072] Step S1: When the radar at the entrance of the battery exchange channel detects the entry of a vehicle, the measuring and detecting light curtains on both sides of the battery exchange channel will feed back the detected data to the system in real time, and the system will determine whether it is a vehicle battery box based on the received data; wherein, the method for determining whether it is a vehicle battery box is as follows: define the width of the vehicle battery box detected in real time by the measuring and detecting light curtain as W1, the actual width of the vehicle battery box as W2, and the set maximum error as W3; when W2≤W1≤W2+W3, and there are optical axes passing through the front and rear of the vehicle battery box, it is determined that the detected vehicle battery box is a vehicle battery box.

[0073] Specifically, if Figure 3 As shown, the system compares the battery box width W1=A(n-3)-A4 detected by the light curtain with the battery box width W2=850mm. Considering that the battery box cannot always be parallel to the light curtain light source, the battery box width measured by the light curtain will be greater than the actual battery box width. Due to structural limitations, the maximum excess allowed here is W3=100. Then when the detection W1 is between W2 and W2+W3, that is, between 850 and 950, and there are light curtains of a certain width passing through the front and back of the battery box, it is determined that the detected is the vehicle battery box.

[0074] Step S2: Figure 4 , 5and 6. The system converts the received data into vehicle animation and delivers it to the display located in the battery exchange channel in real time, so that the driver can observe whether the vehicle battery box is aligned with the battery handling channel. At the same time, the speaker located in the battery exchange channel sends a signal sound to remind the driver to adjust the vehicle;

[0075] Figure 4 The battery box is aligned with the battery handling channel. Figure 5 The battery box is in front. Figure 6 After the battery box.

[0076] Among them, the signal sound includes continuous short sounds and continuous long sounds. The more aligned the vehicle battery box is with the battery handling channel, the higher the frequency of the short sounds. When the vehicle battery box is aligned with the handling channel, the signal sound is a continuous long sound. When the driver stops the car, the signal sound stops.

[0077] Step S3: After the vehicle stops, the system starts the battery swap program, calculates the position of the vehicle battery box on the plane based on the detected data, and controls the battery swap robot to move to the top of the vehicle battery box based on the calculated position; wherein, the positioning of the vehicle battery box includes: calculating the front and rear positions of the vehicle battery: after the vehicle enters the battery swap channel and stops, the measurement and detection light curtains placed on both sides of the channel are blocked by the vehicle battery box, and there is a certain amount of free space between the front and rear of the vehicle without being blocked. Therefore, it can be determined which optical axes are blocked by the battery box, thereby determining the position of the battery box in the front and rear directions of the vehicle. Figure 7-8 As shown, the vehicle battery is located between A2 and A(n-1), and it is noted that the error does not exceed the distance between two adjacent optical axes of the measurement detection light curtain.

[0078] Since the feedback distance values ​​of the first laser ranging sensor and the second laser ranging sensor are H1=100 and H2=95, and the distance value L1 between the first laser ranging sensor and the second laser ranging sensor is 100, the tilt angle β of the vehicle battery box is calculated by trigonometric function, β=arctan(100-95) / 100=11.43°

[0079] Calculate the left and right positions of the vehicle battery: calculated from the feedback distance values ​​H1 and H2 of the first laser ranging sensor and the second laser ranging sensor, that is, (H1+H2) / 2=(100+95) / 2=97.5;

[0080] Based on the above calculations, the position of the vehicle's battery box on the plane is obtained, thereby guiding the battery swap robot to move accurately to the top of the battery box.

[0081] Step S4: The system controls the spreader to move downward. When the plane under the spreader is in parallel contact with the plane on the vehicle battery box, the spreader stops moving downward, extends the spreader jaws and the locking tongues, grabs the vehicle battery box, and obtains the current position P1 of the lifting motor. Among them, during the downward movement of the spreader, the third laser range finder located at the bottom of the spreader real-time collects the distance parameter L1 from the vehicle battery box, and dynamically adjusts the downward speed V1 of the spreader according to the distance parameter L1. The downward speed V1 includes an acceleration stage and a deceleration stage, so as to achieve the purpose of slowly contacting the battery, avoiding hitting the vehicle battery heavily and damaging the battery or the spreader.

[0082] When L1 > 500, V1 = 100; when 200 < L1 < 500, V1 = 40; when L1 < 200, V1 = 20.

[0083] In addition, the control unit continuously monitors the status of the proximity sensors at the four corners of the spreader. When all four sensors detect the contact signal with the upper surface of the vehicle battery box, it means that the spreader has achieved parallel contact with the vehicle battery box. At this time, the spreader stops moving downward.

[0084] Step S5: The system controls the spreader to move upward, lift the vehicle battery box, that is, remove the vehicle's power supply battery and transport it into the station. Among them, the system judges whether the spreader is moving upward according to the actual position and speed of the lifting motor. If it is judged that the spreader is not moving upward, and the real-time feedback value F provided by the pressure sensor 压 is greater than the set rated pressure value F 额 , then it is considered that the vehicle unlocking may be abnormal. If it is judged that the spreader is moving upward normally, then the battery lifting action is performed. When the vehicle battery is removed, the battery grabbing action is completed.

[0085] When it is determined that the vehicle unlocking may be abnormal as described above, the PID control algorithm is used to increase the torque setting value F of the lifting motor 电 to reach the maximum set pressure value F for lifting the battery 大 . At this time, if the spreader still cannot move upward, and F 压 ≥F 大 , then it is judged that the vehicle unlocking is abnormal. It is necessary to lower the battery box, manually assist to complete the vehicle unlocking, and then repeat the upward movement of the spreader to complete the battery lifting action.

[0086] Step S6: The spreader replaces the fully charged battery and transports it above the vehicle, and moves downward in a fast-then-slow manner, so as to achieve the purpose of slowly contacting the battery, avoiding hitting the vehicle battery heavily and damaging the battery or the spreader. After the battery is installed, it rises to complete the battery swapping operation. Among them, when the current position of the lifting mechanism reaches or exceeds the preset position P1, the lifting motor stops moving, then installs the fully charged battery and retracts the locking tongues, and the spreader performs an upward movement to complete the replacement of the vehicle battery.

[0087] In the description of the present invention, it should be noted that the directions or positional relationships indicated by terms such as "center", "up", "down", "left", "right", "vertical", "horizontal", "front" and "back" are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0088] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "set" should be understood in a broad sense, for example, they can be fixedly connected or set, or detachably connected or set, or integrally connected or set. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0089] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the technical principles of the present invention, and these improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A universal battery swap control system based on a commercial vehicle battery swap station, characterized in that: include: A battery exchange channel is provided in the battery exchange station and is used to guide vehicles to enter and locate at the battery exchange position. The battery handling channel is connected and provided on one side of the battery exchange channel; A radar is provided at the entrance of the battery exchange passage to detect whether a vehicle enters; A measuring and detecting light curtain, comprising a transmitting end and a receiving end respectively installed on both sides of the battery exchange channel, for detecting the position and width of the vehicle battery box in real time; A battery-swapping robot, the battery-swapping robot comprising a lifting device for grabbing a vehicle battery box, and proximity sensors are installed at the four corners of the lifting device; A pressure sensor, the pressure sensor being installed on the sling and used for real-time monitoring of the weight lifted by the sling; A display, the display being installed in the battery-changing channel and used to display vehicle position information to an operator; A sound system installed in the battery-swap access system and used to assist an operator in making vehicle adjustments through voice prompts; The first laser distance measuring sensor and the second laser distance measuring sensor are installed on one side of the battery exchange channel and are used to detect the distance from the vehicle battery box respectively; A third laser ranging sensor, mounted on the sling, for detecting a real-time distance L1 from the vehicle battery box; A lifting motor, used to drive the lifting action of the spreader; A control unit, wherein the control unit is communicatively connected with the radar, the measuring and detecting light curtain, the battery-exchanging robot, the pressure sensor, the display, the audio, the first laser ranging sensor, the second laser ranging sensor, the third laser ranging sensor and the lifting motor, and is used for receiving signals from various sensors and devices and sending instructions according to the signals.

2. A battery replacement method using the universal battery replacement control system based on a commercial vehicle battery replacement station according to claim 1, characterized in that: The following steps are involved: Step S1: When the radar at the entrance of the battery swap channel detects that a vehicle has entered, the measurement and detection light curtains located on both sides of the battery swap channel will feed back the detected data to the system in real time, and the system will determine whether it is a vehicle battery box based on the received data; Step S2: The system converts the received data into vehicle animation and delivers it to the display located in the battery exchange channel in real time, so that the driver can observe whether the vehicle battery box is aligned with the battery handling channel. At the same time, the speaker located in the battery exchange channel sends a signal sound to remind the driver to adjust the vehicle; Step S3: After the vehicle stops, the system starts the battery swap program, calculates the position of the vehicle battery box on the plane according to the detected data, and controls the battery swap robot to move above the vehicle battery box according to the calculated position; Step S4: the system controls the spreader to move downward. When the plane under the spreader is in parallel contact with the plane on the vehicle battery box, the spreader stops moving downward, extends the spreader claw and lock tongue, grabs the vehicle battery box, and obtains the current position P1 of the lifting motor; Step S5: the system controls the hoist to move upward, lift the vehicle battery box, and transport it to the station; Step S6: The lifting device replaces the fully charged battery and transports it to the top of the vehicle, and moves downward in a fast and then slow manner, and rises after the battery is installed to complete the battery replacement action; In this method, the optical axes from one end to the other end of the measuring and detecting light curtain are defined as A1, A2, A3, ..., A(n-2), A(n-1), and An in sequence.

3. A universal battery replacement method based on a commercial vehicle battery replacement station according to claim 2, characterized in that: In step S1, the method for determining whether it is a vehicle battery box is as follows: define the width of the vehicle battery box detected in real time by the measurement detection light curtain as W1, the actual width of the vehicle battery box as W2, and the set maximum error as W3; when W2≤W1≤W2+W3, and there are light axes passing through the front and rear of the vehicle battery box, it is determined that the detected object is a vehicle battery box.

4. A universal battery replacement method based on a commercial vehicle battery replacement station according to claim 2, characterized in that: In step S2, the signal sound includes continuous short sounds and continuous long sounds. The more aligned the vehicle battery box is with the battery transport channel, the higher the frequency of the short sounds. When the vehicle battery box is aligned with the transport channel, the signal sound is a continuous long sound. When the driver stops the car, the signal sound stops.

5. A universal battery replacement method based on a commercial vehicle battery replacement station according to claim 2, characterized in that: In step S3, the positioning of the vehicle battery box is as follows: calculating the front and rear positions of the vehicle battery, calculating the tilt angle β of the vehicle battery box by trigonometric function, β=arctan(H1-H2) / L1, and calculating the left and right positions of the vehicle battery: (H1+H2) / 2; Wherein, H1 is the distance between the first laser ranging sensor and the vehicle battery box, H2 is the distance between the second laser ranging sensor and the vehicle battery box, and L1 is the distance between the first laser ranging sensor and the second laser ranging sensor; Based on the above calculations, the position of the vehicle battery box on the plane is obtained.

6. A universal battery replacement method based on a commercial vehicle battery replacement station according to claim 2, characterized in that: In step S4, when the spreader is moving downward, the third laser ranging sensor located at the bottom of the spreader collects the distance parameter L1 from the vehicle battery box in real time, and dynamically adjusts the spreader's descent speed V1 according to the distance parameter L1. The descent speed V1 includes an acceleration stage and a deceleration stage.

7. A universal battery replacement method based on a commercial vehicle battery replacement station according to claim 2, characterized in that: In step S4, the control unit continuously monitors the status of the proximity sensors located at the four corners of the sling. When the four sensors all detect contact signals with the upper surface of the vehicle battery box, it indicates that the sling has achieved parallel contact with the vehicle battery box. At this time, the sling stops moving downward.

8. A universal battery replacement method based on a commercial vehicle battery replacement station according to claim 2, characterized in that: In step S5, the system determines whether the spreader is moving upward based on the actual position and speed of the lifting motor. If the spreader is not moving upward and the real-time feedback value F provided by the pressure sensor is 压 Greater than the set rated pressure value F 额 If the vehicle is unlocked abnormally, If it is determined that the hoist moves upward normally, the battery lifting action is performed, and when the vehicle battery is removed, the battery grabbing action is completed.

9. A universal battery replacement method based on a commercial vehicle battery replacement station according to claim 7, characterized in that: When it is determined that the vehicle unlocking may be abnormal, the PID control algorithm is used to increase the torque setting value F of the lifting motor. 电 , reaching the maximum set pressure value F of the lifting battery 大 , if the spreader still cannot move upward, and F 压 ≥F 大 , it is judged that the vehicle unlocking is abnormal and the battery box needs to be lowered. After the vehicle is unlocked with manual assistance, the upward movement of the hoist is repeated to complete the battery lifting action.

10. A universal battery replacement method based on a commercial vehicle battery replacement station according to claim 2, characterized in that: In step S6, when the current position of the lifting mechanism reaches or exceeds the preset position P1, the lifting motor stops moving, and then the fully charged battery is installed and the lock tongue is retracted, and the lifting device rises to complete the replacement of the vehicle battery.

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