Battery replacement method and device, storage medium and computer program product

Abstract

The invention discloses a battery replacement method and device, a storage medium and a computer program product, and relates to the field of wind power generation, and the battery replacement method comprises the steps: determining one or more target fixed point positions corresponding to a wind driven generator under the condition that a battery of the wind driven generator needs to be replaced, according to the one or more target fixed point positions, determining a to-be-marched first route of the intelligent operation vehicle; the intelligent working vehicle is controlled to run according to the first route, and the intelligent working vehicle is controlled to be switched to run according to a second route when it is detected that an obstacle exists in front of the intelligent working vehicle, and the second route is a route for avoiding the obstacle; and under the condition that the intelligent operation vehicle travels to one or more target fixed point positions according to the second route, an instruction is sent to a cantilever manipulator of the intelligent operation vehicle, so that a battery of the wind driven generator is replaced through the cantilever manipulator.

Description

Technical Field

[0001] The present application relates to the field of wind power generation, and more specifically, to a battery replacement method and device, a storage medium, and a computer program product. Background Art

[0002] In related technologies, when new energy all-terrain intelligent work vehicles are in complex and harsh environments, such as unpaved roads such as sand, Gobi, forests, and mountains, or in low-light conditions such as at night, fog, and rain, the driving and operating efficiency of the intelligent work vehicle will be significantly reduced, and it may even be unable to complete the scheduled work tasks.

[0003] With regard to the problem in related technologies that intelligent work vehicles cannot travel efficiently in complex environments and replace batteries in wind turbines, no effective solution has been proposed so far.

[0004] Therefore, it is necessary to improve the related technology to overcome the above-mentioned defects in the related technology. Summary of the invention

[0005] The embodiments of the present application provide a battery replacement method and device, a storage medium, and a computer program product to at least solve the problem in the related art that the intelligent work vehicle cannot travel efficiently in a complex environment and replace the battery of a wind turbine.

[0006] According to one aspect of an embodiment of the present application, a battery replacement method is provided, comprising: when it is necessary to replace the battery of a wind turbine, determining one or more target fixed-point positions corresponding to the wind turbine, and determining a first route for an intelligent working vehicle to travel according to the one or more target fixed-point positions; controlling the intelligent working vehicle to travel according to the first route, and when an obstacle is detected in front of the intelligent working vehicle, controlling the intelligent working vehicle to switch to travel according to a second route, wherein the second route is a route that avoids the obstacle; when the intelligent working vehicle travels to the one or more target fixed-point positions according to the second route, issuing a command to the cantilever manipulator of the intelligent working vehicle to replace the battery of the wind turbine through the cantilever manipulator.

[0007] In an exemplary embodiment, a first route to be traveled by the intelligent work vehicle is determined based on the one or more target fixed-point positions, including: checking the power levels of a first battery and a second battery of the intelligent work vehicle, wherein the first battery and the second battery are stored in a battery compartment of the intelligent work vehicle; when the power levels of the first battery and the second battery both exceed a first preset value, determining a driving route of the one or more target fixed-point positions through a path planning algorithm, wherein the first preset value is the minimum power level required to maintain normal operation of the intelligent work vehicle; and determining that the shortest route among the driving routes is the first route.

[0008] In an exemplary embodiment, when an obstacle is detected in front of the intelligent work vehicle, before controlling the intelligent work vehicle to switch to traveling along the second route, the method also includes: determining whether the obstacle is in motion through an obstacle recognition algorithm; when it is determined that the obstacle is in a stationary state, determining the position and size of the obstacle through the sensor of the intelligent work vehicle, and determining the second route according to the position and size of the obstacle and the path planning algorithm.

[0009] In an exemplary embodiment, after controlling the intelligent work vehicle to switch to driving according to the second route, the method also includes: controlling the intelligent work vehicle to drive according to the second route, and when it is detected that there is an obstacle in front of the intelligent work vehicle again, determining whether the obstacle is in motion through an obstacle recognition algorithm; when it is determined that the obstacle is in motion, pausing the driving of the intelligent work vehicle; when it is determined that the obstacle does not exist on the second route, restarting the intelligent work vehicle and continuing to drive according to the second route.

[0010] In an exemplary embodiment, after replacing the battery of the wind turbine by the cantilever manipulator, the method further includes: determining whether the power of the first battery currently being used by the intelligent work vehicle is lower than a first preset value, wherein the first preset value is the minimum power required to maintain normal operation of the intelligent work vehicle; when the power of the first battery is lower than the first preset value and the power of the second battery of the intelligent work vehicle exceeds the first preset value, starting the second battery to power the intelligent work vehicle.

[0011] In an exemplary embodiment, after replacing the battery of the wind turbine by the cantilever manipulator, the method further includes: determining a mobile power supply set for the first battery and the second battery of the intelligent work vehicle, wherein the mobile power supply is used to store electrical energy converted from solar energy; when the power levels of the first battery and the second battery are both less than a first preset value, powering the first battery and the second battery by the mobile power supply, wherein the first preset value is the minimum power level for maintaining normal operation of the intelligent work vehicle.

[0012] In an exemplary embodiment, after replacing the battery of the wind turbine by the cantilever manipulator, the method further includes: detecting the external light intensity by the sensor of the intelligent work vehicle; when the light intensity is lower than a second preset value, determining whether the power levels of the first battery and the second battery of the intelligent work vehicle both exceed a first preset value, wherein the first preset value is the minimum power level for maintaining the normal operation of the intelligent work vehicle, and the second preset value is the minimum light intensity for the normal operation of the intelligent work vehicle; when the power levels of the first battery and the second battery both exceed the first preset value, turning on the lighting system of the intelligent work vehicle.

[0013] According to another aspect of an embodiment of the present application, a battery replacement device is also provided, including: a determination module, used to determine one or more target fixed-point positions corresponding to the wind turbine when the battery of the wind turbine needs to be replaced, and determine a first route for the intelligent work vehicle to travel according to the one or more target fixed-point positions; a control module, used to control the intelligent work vehicle to travel according to the first route, and when an obstacle is detected in front of the intelligent work vehicle, control the intelligent work vehicle to switch to travel according to a second route, wherein the second route is a route avoiding the obstacle; a replacement module, used to issue a command to the cantilever manipulator of the intelligent work vehicle when the intelligent work vehicle travels to the one or more target fixed-point positions according to the second route, so as to replace the battery of the wind turbine through the cantilever manipulator.

[0014] According to another aspect of the embodiment of the present application, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute the above-mentioned battery replacement method when running.

[0015] According to another aspect of an embodiment of the present application, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the battery replacement method through the computer program.

[0016] According to another aspect of the embodiments of the present application, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps of the method described in each embodiment of the present application are implemented.

[0017] Through this application, one or more target fixed-point positions corresponding to the wind turbines that need to replace the batteries are determined, and the first route to be taken by the intelligent working vehicle is determined according to the one or more target fixed-point positions; when the intelligent working vehicle is driving along the first route, if an obstacle is detected in front of the intelligent working vehicle, the intelligent working vehicle is controlled to switch to the second route for driving; when the intelligent working vehicle drives to one or more target fixed-point positions according to the second route, a command is issued to the cantilever manipulator of the intelligent working vehicle to replace the batteries of the wind turbines through the cantilever manipulator. This solves the problem in the related art that the intelligent working vehicle cannot efficiently drive and replace the batteries of the wind turbines in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0020] Figure 1 It is a hardware structure block diagram of a computer terminal of a battery replacement method according to an embodiment of the present application;

[0021] Figure 2 is a flow chart of a battery replacement method according to an embodiment of the present application;

[0022] Figure 3 is a structural schematic diagram of a battery replacement method according to an embodiment of the present application;

[0023] Figure 4 It is a structural block diagram of a battery replacement device according to an embodiment of the present application. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0025] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0026] The method embodiments provided in the embodiments of the present application can be executed in an intelligent operation vehicle or a similar computing device. Taking the operation on an intelligent operation vehicle as an example, Figure 1 FIG. 1 is a hardware structure diagram of an intelligent working vehicle of a battery replacement method according to an embodiment of the present application. Figure 1 As shown, the intelligent working vehicle may include one or more ( Figure 1 Only one is shown in the figure) processor 102 (processor 102 may include but is not limited to a microprocessor (Central Processing Unit, MCU) or a programmable logic device (Field Programmable Gate Array, FPGA) and a memory 104 for storing data, wherein the above-mentioned intelligent working vehicle may also include a transmission device 106 for communication function and an input and output device 108. It can be understood by ordinary technicians in this field that Figure 1 The structure shown is for illustration only and does not limit the structure of the above-mentioned intelligent working vehicle. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown.

[0027] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the battery replacement method in the embodiment of the present application. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, to implement the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories can be connected to the intelligent work vehicle via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0028] A wireless network provided by the communication provider of the intelligent working vehicle. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (Radio Frequency, referred to as RF) module, which is used to communicate with the Internet wirelessly.

[0029] In this embodiment, a battery replacement method is provided, which is applied to the above-mentioned intelligent working vehicle. Figure 2 is a flow chart of a battery replacement method according to an embodiment of the present application, such as Figure 2 As shown, the process includes the following steps:

[0030] Step S202, when it is necessary to replace the battery of the wind turbine, determine one or more target fixed-point positions corresponding to the wind turbine, and determine a first route for the intelligent working vehicle to travel according to the one or more target fixed-point positions;

[0031] Step S204, controlling the intelligent working vehicle to travel according to the first route, and when an obstacle is detected in front of the intelligent working vehicle, controlling the intelligent working vehicle to switch to travel according to a second route, wherein the second route is a route that avoids the obstacle;

[0032] Step S206, when the intelligent working vehicle travels to the one or more target fixed positions according to the second route, a command is issued to the cantilever manipulator of the intelligent working vehicle to replace the battery of the wind turbine through the cantilever manipulator.

[0033] Through the above steps, when it is necessary to replace the battery of the wind turbine, determine one or more target fixed-point positions corresponding to the wind turbine, and determine the first route for the intelligent working vehicle to travel according to the one or more target fixed-point positions; control the intelligent working vehicle to travel according to the first route, and when an obstacle is detected in front of the intelligent working vehicle, control the intelligent working vehicle to switch to travel according to the second route, wherein the second route is a route to avoid the obstacle; when the intelligent working vehicle travels to the one or more target fixed-point positions according to the second route, issue a command to the cantilever manipulator of the intelligent working vehicle to replace the battery of the wind turbine through the cantilever manipulator. This solves the problem in the related art that it is impossible to travel efficiently and complete the target operation in a complex environment.

[0034] In an exemplary embodiment, a first route to be traveled by the intelligent work vehicle is determined based on the one or more target fixed-point positions, including: checking the power levels of a first battery and a second battery of the intelligent work vehicle, wherein the first battery and the second battery are stored in a battery compartment of the intelligent work vehicle; when the power levels of the first battery and the second battery both exceed a first preset value, determining a driving route of the one or more target fixed-point positions through a path planning algorithm, wherein the first preset value is the minimum power level required to maintain normal operation of the intelligent work vehicle; and determining that the shortest route among the driving routes is the first route.

[0035] It should be clear that when the intelligent work vehicle is started, the control system will regularly check the power of the first battery and the second battery to ensure that the power of the first battery and the second battery are within a safe range, namely the first preset value. This first preset value is the minimum power to maintain the normal operation of the intelligent work vehicle. For example, the first preset value is 30% of the battery capacity. When the power of the first battery is lower than 30%, the first battery cannot provide enough power to drive the intelligent work vehicle and operate the equipment. At this time, the second battery needs to be started to replace the first battery for power supply. Therefore, before the intelligent work vehicle operates, it is necessary to ensure that the power of the first battery and the second battery exceeds the first preset value to provide protection for the intelligent work vehicle.

[0036] Optionally, assume that the intelligent working vehicle needs to start from the current position A and go to two target fixed positions B and C. The path planning algorithm calculates the following routes: Route 1 (ABC), with a total driving distance of 20 kilometers; Route 2 (ACB), with a total driving distance of 22 kilometers; Route 3 (CAB), with a total driving distance of 25 kilometers. Assuming that the power of the first battery is 50%, the power of the second battery is 40%, and both are higher than the first preset value of 30%, the control system selects the shortest route 1 (ABC) as the first route.

[0037] In an exemplary embodiment, when an obstacle is detected in front of the intelligent work vehicle, before controlling the intelligent work vehicle to switch to traveling along the second route, the method also includes: determining whether the obstacle is in motion through an obstacle recognition algorithm; when it is determined that the obstacle is in a stationary state, determining the position and size of the obstacle through the sensor of the intelligent work vehicle, and determining the second route according to the position and size of the obstacle and the path planning algorithm.

[0038] Alternatively, assume that the intelligent work vehicle is traveling along the first route, with the goal of going to position D. However, when driving to position E, the sensor of the intelligent work vehicle detects a rock in front, and the obstacle recognition algorithm determines that the rock is stationary. The sensor of the intelligent work vehicle will further determine the specific location and size of the rock. Assume that the location of the rock is between position E and position D, and the size is 1 meter × 1 meter. At this time, the intelligent work vehicle will start the path planning algorithm and re-plan a new driving route that can avoid the rock. Assume that the path planning algorithm plans the following possible routes: Route 1: From the current position E, bypass the left side of the rock and go to position D. The total driving distance is 2 kilometers, and the estimated power consumption is 5% of the first battery. Route 2: From the current position E, bypass the right side of the rock and go to position D. The total driving distance is 2.2 kilometers, and the estimated power consumption is 6% of the first battery. Route 3: From the current position E, take a long detour, avoid the rock, and go to position D. The total driving distance is 2.5 kilometers, and the estimated power consumption is 7% of the first battery. In summary, Route 1 has the shortest total driving distance and the lowest estimated power consumption, so the control system determines Route 1 as the second route.

[0039] In an exemplary embodiment, after controlling the intelligent work vehicle to switch to driving according to the second route, the method also includes: controlling the intelligent work vehicle to drive according to the second route, and when it is detected that there is an obstacle in front of the intelligent work vehicle again, determining whether the obstacle is in motion through an obstacle recognition algorithm; when it is determined that the obstacle is in motion, pausing the driving of the intelligent work vehicle; when it is determined that the obstacle does not exist on the second route, restarting the intelligent work vehicle and continuing to drive according to the second route.

[0040] Alternatively, suppose the intelligent work vehicle is traveling along the second route, and suddenly, the sensor detects an obstacle ahead, and the obstacle recognition algorithm determines that it is a hare that is crossing and is in motion. In this case, the control system of the intelligent work vehicle will immediately suspend the driving of the intelligent work vehicle to avoid a collision with the hare, ensuring the safety of the intelligent work vehicle and wild animals. At the same time, the control system of the intelligent work vehicle will continue to monitor the movement of the hare. Once the hare leaves the driving path of the intelligent work vehicle, that is, the second route, the control system will start the intelligent work vehicle again, allowing the intelligent work vehicle to continue driving along the second route and go to the target location to perform operations.

[0041] In an exemplary embodiment, after replacing the battery of the wind turbine by the cantilever manipulator, the method further includes: determining whether the power of the first battery currently being used by the intelligent work vehicle is lower than a first preset value, wherein the first preset value is the minimum power required to maintain normal operation of the intelligent work vehicle; when the power of the first battery is lower than the first preset value and the power of the second battery of the intelligent work vehicle exceeds the first preset value, starting the second battery to power the intelligent work vehicle.

[0042] Optionally, assume that the intelligent work vehicle performs maintenance work at a wind farm. The environment of a wind farm is complex, including various terrains such as sand, grass, and hills, and the area of ​​the wind farm is large, and it usually takes a long distance to travel from one place to another. When the intelligent work vehicle goes to location A to maintain the wind turbine, the intelligent work vehicle is using the first battery for power supply, and the second battery is used as a backup battery. When the intelligent work vehicle drives to location B, the control system detects that the power of the first battery has dropped to 25%, which is lower than the first preset value of 30%. This means that if the first battery continues to be used for power supply, the intelligent work vehicle will not be able to complete the remaining driving and operation tasks. In this case, the control system will immediately start the second battery to power the intelligent work vehicle. Assume that the power of the second battery is 60%, which exceeds the first preset value of 30%. When the second battery is started, the power supply of the intelligent work vehicle will not be interrupted, and it can continue to drive along the established route to location A for maintenance of the wind turbine. During the driving and operation of the intelligent work vehicle, the battery management system will monitor the power of the first battery and the second battery in real time. When the power level of the first battery is lower than a first preset value, the control system will switch to the second battery to power the intelligent work vehicle to ensure the normal operation of the intelligent work vehicle.

[0043] In an exemplary embodiment, after replacing the battery of the wind turbine by the cantilever manipulator, the method further includes: determining a mobile power supply set for the first battery and the second battery of the intelligent work vehicle, wherein the mobile power supply is used to store electrical energy converted from solar energy; when the power levels of the first battery and the second battery are both less than a first preset value, powering the first battery and the second battery by the mobile power supply, wherein the first preset value is the minimum power level for maintaining normal operation of the intelligent work vehicle.

[0044] Optionally, assume that the intelligent work vehicle is performing maintenance work in a vast solar power station. When the intelligent work vehicle goes to location A to clean and inspect the solar panels, the power levels of the first battery and the second battery have both dropped to 20%, which is lower than the first preset value of 30%. In this case, the control system of the intelligent work vehicle will automatically detect the power level of the mobile power supply. Assuming that the mobile power supply has sufficient power, the control system will start the mobile power supply to power the first battery and the second battery to ensure that the intelligent work vehicle can continue to travel and go to location A to clean and inspect the solar panels. Among them, the mobile power supply of the intelligent work vehicle is charged by electric energy converted from solar energy, and can be charged using solar energy while the intelligent work vehicle is driving or when the intelligent work vehicle stops working. When the power levels of the first battery and the second battery are both lower than the first preset value, the mobile power supply can power the intelligent work vehicle to ensure the normal operation of the intelligent work vehicle.

[0045] In an exemplary embodiment, after replacing the battery of the wind turbine by the cantilever manipulator, the method further includes: detecting the external light intensity by the sensor of the intelligent work vehicle; when the light intensity is lower than a second preset value, determining whether the power levels of the first battery and the second battery of the intelligent work vehicle both exceed a first preset value, wherein the first preset value is the minimum power level for maintaining the normal operation of the intelligent work vehicle, and the second preset value is the minimum light intensity for the normal operation of the intelligent work vehicle; when the power levels of the first battery and the second battery both exceed the first preset value, turning on the lighting system of the intelligent work vehicle.

[0046] Optionally, assume that the intelligent work vehicle is performing night maintenance work at a solar power station. When the intelligent work vehicle goes to position A to clean and inspect the solar panels, the external light intensity has dropped to 200 lux, which is lower than the second preset value of 500 lux. In this case, the control system will check the power of the first battery and the second battery. Assume that the power of the first battery is 60% and the power of the second battery is 55%, both of which exceed the first preset value of 30%, that is, the power of the first battery and the second battery exceeds the minimum power required to maintain the normal operation of the intelligent work vehicle, and the external light intensity is lower than the minimum light intensity required for the normal operation of the intelligent work vehicle. The control system will turn on the lighting system of the intelligent work vehicle, including headlights, work lights and warning lights, to ensure that the intelligent work vehicle can still operate safely at night or in dark environments.

[0047] In order to better understand the process of the above-mentioned battery replacement method, the above-mentioned battery replacement method is described below in combination with an optional embodiment, but it is not used to limit the technical solution of the embodiment of the present application.

[0048] Figure 3 is a structural schematic diagram of a battery replacement method according to an embodiment of the present application, such as Figure 3 As shown, specifically including the following:

[0049] The control system starts and performs self-checks to ensure that the dual-battery power supply system (i.e., the battery compartment) is fully charged, the cantilever manipulator is in a safe position, and the safety anti-collision system is working properly. The control system receives the next operation task from the task allocation system, such as going to a wind turbine in a wind farm to replace and clean the battery. The dual-battery power supply system allocates the optimal power supply strategy based on the current power and operation requirements, and starts to supply power to the all-terrain crawler and cantilever manipulator to ensure the startup of the intelligent operation vehicle and cantilever manipulator.

[0050] Based on Beidou positioning and navigation technology, the control system plans the optimal driving route and guides the all-terrain tracked vehicle to the wind turbine where the battery needs to be replaced. The all-terrain tracked vehicle starts driving according to the instructions and adapts to various complex unpaved road conditions. The safety anti-collision system continuously monitors the surrounding environment and immediately sends a warning signal to the control system once it detects obstacles or potential collision risks, such as other equipment, construction materials or wild animals in the wind farm. After receiving the warning signal, the control system adjusts the driving route in real time to avoid collision.

[0051] After arriving at the above-mentioned wind turbine, the control system instructs the cantilever manipulator to start working and replace the battery of the wind turbine. The cantilever manipulator rotates and retracts according to the preset program, and accurately locates the position of the old battery. The control system monitors the entire replacement process to ensure that at least one battery is powered during the operation of the intelligent work vehicle. Even during the battery replacement process, the vehicle and the manipulator can maintain basic operation. After completing the battery replacement of the wind turbine, the control system instructs the cantilever manipulator to mount the cleaning terminal to clean the battery panel surface of the wind turbine. The cantilever manipulator sends the cleaning terminal to the designated work location and starts cleaning. During the operation, the dual-battery power supply system continues to supply power to the intelligent work vehicle, and the control system monitors the power consumption to ensure that the operation will not be interrupted due to insufficient power.

[0052] After completing the operation, the control system instructs the cantilever manipulator to return to the initial position, organize the equipment, and shut down unnecessary power consumption. The control system plans the return route or goes to the nearest charging station for charging according to the current power and task requirements. The all-terrain crawler vehicle begins to return according to the instructions, and the safety anti-collision system continues to monitor to ensure the safety of the entire return process.

[0053] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods of each embodiment of the present application.

[0054] In this embodiment, a battery replacement device is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and will not be repeated here. As used below, the term "module" can implement a combination of software and / or hardware for a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0055] Figure 4 : is a structural block diagram of a battery replacement device according to an embodiment of the present application, the device comprising:

[0056] A determination module 40 is used to determine one or more target fixed-point positions corresponding to the wind turbine when it is necessary to replace the battery of the wind turbine, and determine a first route for the intelligent working vehicle to travel according to the one or more target fixed-point positions;

[0057] The control module 42 is used to control the intelligent working vehicle to travel according to the first route, and when an obstacle is detected in front of the intelligent working vehicle, control the intelligent working vehicle to switch to travel according to a second route, wherein the second route is a route that avoids the obstacle;

[0058] The replacement module 44 is used to issue a command to the cantilever manipulator of the intelligent working vehicle to replace the battery of the wind turbine through the cantilever manipulator when the intelligent working vehicle travels to the one or more target fixed positions according to the second route.

[0059] Through the above device, when it is necessary to replace the battery of the wind turbine, one or more target fixed-point positions corresponding to the wind turbine are determined, and the first route to be traveled by the intelligent working vehicle is determined according to the one or more target fixed-point positions; the intelligent working vehicle is controlled to travel according to the first route, and when an obstacle is detected in front of the intelligent working vehicle, the intelligent working vehicle is controlled to switch to travel according to the second route, wherein the second route is a route to avoid the obstacle; when the intelligent working vehicle travels to the one or more target fixed-point positions according to the second route, a command is issued to the cantilever manipulator of the intelligent working vehicle to replace the battery of the wind turbine through the cantilever manipulator. This solves the problem in the related art that it is impossible to travel efficiently and complete the target operation in a complex environment.

[0060] In an exemplary embodiment, the determination module 40 is also used to check the power levels of a first battery and a second battery of the intelligent work vehicle, wherein the first battery and the second battery are stored in a battery compartment of the intelligent work vehicle; when the power levels of the first battery and the second battery exceed a first preset value, the driving routes of the one or more target fixed positions are determined by a path planning algorithm, wherein the first preset value is the minimum power level required to maintain the normal operation of the intelligent work vehicle; and the shortest route among the driving routes is determined to be the first route.

[0061] In an exemplary embodiment, the control module 42 is also used to determine whether the obstacle is in motion through an obstacle recognition algorithm; when it is determined that the obstacle is in a stationary state, the position and size of the obstacle are determined through the sensor of the intelligent work vehicle, and the second route is determined according to the position and size of the obstacle and the path planning algorithm.

[0062] In an exemplary embodiment, the control module 42 is also used to control the intelligent work vehicle to travel according to the second route. When it is detected that there is an obstacle in front of the intelligent work vehicle again, it is determined whether the obstacle is in motion through an obstacle recognition algorithm; when it is determined that the obstacle is in motion, the travel of the intelligent work vehicle is suspended; when it is determined that the obstacle does not exist on the second route, the intelligent work vehicle is restarted and continues to travel along the second route.

[0063] In an exemplary embodiment, the replacement module 44 is also used to determine whether the power of the first battery being used by the intelligent work vehicle is lower than a first preset value, wherein the first preset value is the minimum power required to maintain the normal operation of the intelligent work vehicle; when the power of the first battery is lower than the first preset value and the power of the second battery of the intelligent work vehicle exceeds the first preset value, the second battery is started to power the intelligent work vehicle.

[0064] In an exemplary embodiment, the replacement module 44 is also used to determine a mobile power supply set for the first battery and the second battery of the intelligent work vehicle, wherein the mobile power supply is used to store electrical energy converted from solar energy; when the power levels of the first battery and the second battery are both less than a first preset value, the first battery and the second battery are powered by the mobile power supply, wherein the first preset value is the minimum power level for maintaining the normal operation of the intelligent work vehicle.

[0065] In an exemplary embodiment, the replacement module 44 is also used to detect the external light intensity through the sensor of the intelligent work vehicle; when the light intensity is lower than a second preset value, determine whether the power of the first battery and the second battery of the intelligent work vehicle both exceed the first preset value, wherein the first preset value is the minimum power to maintain the normal operation of the intelligent work vehicle, and the second preset value is the minimum light intensity for the normal operation of the intelligent work vehicle; when the power of the first battery and the second battery both exceed the first preset value, turn on the lighting system of the intelligent work vehicle.

[0066] An embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to execute the steps of any of the above method embodiments when running.

[0067] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0068] S1, when it is necessary to replace the battery of the wind turbine, determining one or more target fixed-point positions corresponding to the wind turbine, and determining a first route for the intelligent working vehicle to travel according to the one or more target fixed-point positions;

[0069] S2, controlling the intelligent working vehicle to travel according to the first route, and when an obstacle is detected in front of the intelligent working vehicle, controlling the intelligent working vehicle to switch to travel according to a second route, wherein the second route is a route that avoids the obstacle;

[0070] S3, when the intelligent working vehicle travels to the one or more target fixed positions according to the second route, a command is issued to the cantilever manipulator of the intelligent working vehicle to replace the battery of the wind turbine through the cantilever manipulator.

[0071] In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to, various media that can store computer programs, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0072] For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary implementation modes, and this embodiment will not be described in detail herein.

[0073] An embodiment of the present application further provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0074] Optionally, in this embodiment, the processor may be configured to perform the following steps through a computer program:

[0075] S1, when it is necessary to replace the battery of the wind turbine, determining one or more target fixed-point positions corresponding to the wind turbine, and determining a first route for the intelligent working vehicle to travel according to the one or more target fixed-point positions;

[0076] S2, controlling the intelligent working vehicle to travel according to the first route, and when an obstacle is detected in front of the intelligent working vehicle, controlling the intelligent working vehicle to switch to travel according to a second route, wherein the second route is a route that avoids the obstacle;

[0077] S3, when the intelligent working vehicle travels to the one or more target fixed positions according to the second route, a command is issued to the cantilever manipulator of the intelligent working vehicle to replace the battery of the wind turbine through the cantilever manipulator.

[0078] In an exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0079] An embodiment of the present application further provides a computer program product, comprising a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program product, and when the computer program is executed by a processor, the steps of the method described in each embodiment of the present application are implemented.

[0080] Optionally, in this embodiment, the above computer program may be configured to implement the following steps when executed by a processor:

[0081] S1, when it is necessary to replace the battery of the wind turbine, determining one or more target fixed-point positions corresponding to the wind turbine, and determining a first route for the intelligent working vehicle to travel according to the one or more target fixed-point positions;

[0082] S2, controlling the intelligent working vehicle to travel according to the first route, and when an obstacle is detected in front of the intelligent working vehicle, controlling the intelligent working vehicle to switch to travel according to a second route, wherein the second route is a route that avoids the obstacle;

[0083] S3, when the intelligent working vehicle travels to the one or more target fixed positions according to the second route, a command is issued to the cantilever manipulator of the intelligent working vehicle to replace the battery of the wind turbine through the cantilever manipulator.

[0084] For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary implementation modes, and this embodiment will not be described in detail herein.

[0085] Obviously, those skilled in the art should understand that the above modules or steps of the present application can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order from that herein, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present application is not limited to any specific combination of hardware and software.

[0086] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A battery replacement method, characterized in that: include: In the case where the battery of the wind turbine needs to be replaced, determining one or more target fixed-point positions corresponding to the wind turbine, and determining a first route for the intelligent working vehicle to travel according to the one or more target fixed-point positions; Controlling the intelligent working vehicle to travel according to the first route, and when an obstacle is detected in front of the intelligent working vehicle, controlling the intelligent working vehicle to switch to travel according to a second route, wherein the second route is a route that avoids the obstacle; When the intelligent working vehicle travels to the one or more target fixed positions according to the second route, a command is issued to the cantilever manipulator of the intelligent working vehicle so as to replace the battery of the wind turbine through the cantilever manipulator.

2. The battery replacement method according to claim 1, characterized in that: Determining a first route to be traveled by the intelligent working vehicle according to the one or more target fixed-point positions includes: Checking the power levels of a first battery and a second battery of the intelligent working vehicle, wherein the first battery and the second battery are stored in a battery compartment of the intelligent working vehicle; When the power levels of the first battery and the second battery both exceed a first preset value, a driving route to the one or more target fixed-point locations is determined by a path planning algorithm, wherein the first preset value is the minimum power level for maintaining normal operation of the intelligent working vehicle; The shortest route among the driving routes is determined as the first route.

3. The battery replacement method according to claim 1, characterized in that: When an obstacle is detected in front of the intelligent working vehicle, before controlling the intelligent working vehicle to switch to travel along the second route, the method further includes: Determining whether the obstacle is in motion by an obstacle recognition algorithm; When it is determined that the obstacle is in a stationary state, the position and size of the obstacle are determined by the sensor of the intelligent working vehicle, and the second route is determined according to the position and size of the obstacle and a path planning algorithm.

4. The battery replacement method according to claim 1, characterized in that: After controlling the intelligent working vehicle to switch to travel along the second route, the method further includes: Controlling the intelligent working vehicle to travel according to the second route, and when detecting that an obstacle exists again in front of the intelligent working vehicle, determining whether the obstacle is in motion by using an obstacle recognition algorithm; When it is determined that the obstacle is in motion, the driving of the intelligent working vehicle is suspended; when it is determined that the obstacle does not exist on the second route, the intelligent working vehicle is restarted and continues to drive along the second route.

5. The battery replacement method according to claim 1, characterized in that: After replacing the battery of the wind turbine generator by the cantilever manipulator, the method further comprises: Determine whether the power of the first battery being used by the intelligent working vehicle is lower than a first preset value, wherein the first preset value is the minimum power to maintain the normal operation of the intelligent working vehicle; When the power level of the first battery is lower than the first preset value and the power level of the second battery of the intelligent working vehicle exceeds the first preset value, the second battery is started to supply power to the intelligent working vehicle.

6. The battery replacement method according to claim 1, characterized in that: After replacing the battery of the wind turbine generator by the cantilever manipulator, the method further comprises: Determine a mobile power source provided for the first battery and the second battery of the intelligent working vehicle, wherein the mobile power source is used to store electrical energy converted from solar energy; When the power levels of the first battery and the second battery are both less than a first preset value, the mobile power supply is used to power the first battery and the second battery, wherein the first preset value is the minimum power level required to maintain normal operation of the intelligent work vehicle.

7. The battery replacement method according to claim 1, characterized in that: After replacing the battery of the wind turbine generator by the cantilever manipulator, the method further comprises: Detecting the external light intensity through the sensor of the intelligent working vehicle; When the light intensity is lower than the second preset value, determine whether the power of the first battery and the second battery of the intelligent working vehicle both exceed the first preset value, wherein the first preset value is the minimum power for maintaining the normal operation of the intelligent working vehicle, and the second preset value is the minimum light intensity for the normal operation of the intelligent working vehicle; When the power levels of the first battery and the second battery both exceed the first preset value, the lighting system of the intelligent work vehicle is turned on.

8. A battery replacement device, characterized in that: include: A determination module, used for determining one or more target fixed-point positions corresponding to the wind turbine when it is necessary to replace the battery of the wind turbine, and determining a first route for the intelligent working vehicle to travel according to the one or more target fixed-point positions; A control module, used to control the intelligent working vehicle to travel according to the first route, and when an obstacle is detected in front of the intelligent working vehicle, control the intelligent working vehicle to switch to travel according to a second route, wherein the second route is a route that avoids the obstacle; The replacement module is used to issue a command to the cantilever manipulator of the intelligent working vehicle when the intelligent working vehicle travels to the one or more target fixed positions according to the second route, so as to replace the battery of the wind turbine through the cantilever manipulator.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein the program executes the method according to any one of claims 1 to 7 when executed.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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