An electromechanical device battery replacement control method and a battery replacement system

Abstract

The application provides an electric mechanical equipment battery replacement control method and a battery replacement system. The method comprises the following steps: after a battery replacement mechanical arm is connected with a battery pack, the battery replacement mechanical arm is controlled to move the battery pack to be replaced from a battery compartment to a preset position one; the battery replacement mechanical arm is controlled to move the battery pack to be replaced from the preset position one to a battery recovery area of a battery replacement platform, and the instruction action of the battery replacement mechanical arm is recorded at the same time; the battery replacement platform is controlled to exchange the positions of a new battery pack to be replaced and the battery pack to be replaced, so that the new battery pack to be replaced is moved to the position of the battery recovery area; the battery replacement mechanical arm is controlled to execute the recorded instruction action in reverse, and the new battery pack to be replaced is placed in the preset position one; and the battery replacement mechanical arm is controlled to move the new battery pack to be replaced from the preset position one to the battery compartment. The application can realize automatic battery replacement of electric engineering machinery, improve the battery replacement efficiency and accuracy, avoid safety accidents, and improve the environmental adaptability of the battery replacement equipment.

Description

Technical Field

[0001] This invention relates to the field of battery swapping technology for electric mechanical equipment, and in particular to a battery swapping control method and battery swapping system for electric mechanical equipment. Background Technology

[0002] Electric mechanical equipment is a new type of engineering machinery. With the development of electric mechanical equipment, battery swapping technology has gradually become popular in electric mechanical equipment. At present, battery swapping technology mainly involves battery swapping stations to automatically or manually swap battery packs. Secondly, mobile battery swapping vehicles or truck-mounted cranes can manually swap batteries and replenish energy in a timely manner for vehicles that are inconvenient to move.

[0003] However, while battery swapping stations can achieve fully automated battery swapping, the current practice of using mobile battery swapping vehicles or truck-mounted cranes for battery swapping is mostly manual, resulting in low swapping efficiency. The manual operation during the swapping process is particularly dangerous, especially in mining areas with harsh environments, uneven ground, and the electric machinery and mobile battery swapping vehicles not being on the same plane. This can easily cause collisions between the battery pack and the battery compartment of the electric machinery, leading to damage to the battery pack or the battery compartment tooling.

[0004] The main disadvantages of existing battery swapping methods: (1) Manual operation, repeated observation and adjustment during the battery swapping process, coordination by multiple people, resulting in low efficiency.

[0005] (2) Manual operation: During the battery swapping process, the battery pack is positioned and assembled onto the battery compartment base by human observation, which is prone to errors and may cause damage to the battery pack or battery compartment.

[0006] (3) During the lifting process, the battery mechanical unlocking fails, or the battery is installed at an angle during installation, and the force is released too quickly, causing damage to the battery pack or battery compartment tooling. Summary of the Invention

[0007] The purpose of this invention is to overcome the shortcomings of the prior art and provide a battery swapping control method and battery swapping system for electric mechanical equipment, thereby improving battery swapping efficiency and being particularly suitable for harsh mining environments.

[0008] To achieve the above objectives, the present invention is implemented using the following technical solution: In a first aspect, the present invention provides a battery swapping control method for electromechanical equipment, comprising the following steps: Control the battery swapping robotic arm to connect to the battery pack to be replaced; After the battery swapping robotic arm is connected to the battery pack, control the robotic arm to raise the battery pack to be replaced from the battery compartment to the preset position one; The robot arm is controlled to move the battery pack to be replaced from a preset position to the battery recycling area of ​​the battery swapping platform, and the commands and actions of the robot arm are recorded at the same time. Control the battery swapping robotic arm to unlock and separate from the battery pack to be replaced; After the battery swapping robotic arm separates from the battery pack to be replaced, the battery swapping platform controls the new battery pack to be replaced to exchange positions with the battery pack to be replaced, so that the new battery pack to be replaced can be moved to the battery recycling area. After the battery swapping robotic arm is connected to the battery pack, the robotic arm is controlled to reverse the recorded instructions (reverse execution means: executing the reverse of the recorded instructions in reverse order) to place the new battery pack to be replaced in the preset position one. The robotic arm is controlled to move the new battery pack to be replaced from a preset position to the battery compartment. Control the battery swapping robotic arm to unlock and separate from the new battery pack to be replaced.

[0009] Furthermore, the control system lifts the battery swapping robotic arm from the battery compartment to a preset position, including: The attitude parameters of the battery pack and battery compartment platform to be replaced are obtained through an attitude measurement device. The attitude measurement device is calibrated and the attitude parameters of the upper plane of the battery pack are determined to be consistent with the attitude parameters of the plane of the battery compartment. The attitude parameters at this time are recorded as the initial attitude parameters. When lifting the battery pack, first apply the lifting force to the designed weight of the battery pack, and then lift it slowly and uniformly at the preset speed. If the tension sensor on the battery swapping robotic arm detects a tension greater than the sum of the battery pack mass and the tension threshold, then stop lifting, recheck whether the battery pack has been successfully unlocked, and then lift again. After moving the battery pack to be replaced to a height that allows the battery to move horizontally without colliding with other objects, record the current position as preset position one, and obtain the posture M of the battery swapping robot arm and the posture parameters of the battery pack at this time. If the difference between the current attitude parameters of the battery pack and the initial attitude parameters is within the preset value, then the current attitude parameters of the battery pack are determined to be position-attitude parameter P. If the difference between the current attitude parameters of the battery pack and the initial attitude parameters is not within the preset value, then the battery swapping robot arm is controlled to adjust the attitude parameters of the battery pack to be replaced so that the difference between the current attitude parameters and the initial attitude parameters is within the preset value, and the adjusted attitude parameters of the battery pack are determined to be position-attitude parameter P.

[0010] Furthermore, the attitude parameters include heading angle A, pitch angle B, and roll angle C.

[0011] The preset speed is 0.5 mm / s; The tensile force threshold is 30N.

[0012] Furthermore, methods for obtaining the attitude parameters of the battery pack and battery compartment platform that need to be replaced include: Gyroscopes are installed on the top of the battery pack and on the battery compartment platform. Two gyroscopes are used to feed back the attitude parameters of the battery pack and the battery compartment platform, respectively.

[0013] Furthermore, the control of the battery swapping robotic arm moves the battery pack to be replaced from a preset position to the battery recycling area of ​​the battery swapping platform, including: The manually controlled robotic arm moves the battery pack to be replaced from a preset position to the battery recycling area of ​​the battery swapping platform.

[0014] Furthermore, controlling the battery swapping robotic arm to move the battery pack to be replaced from a preset position to the battery recycling area of ​​the battery swapping platform also includes: Obtain the attitude parameters of the battery recycling area of ​​the battery repositioning platform; The control arm adjusts the attitude parameters of the battery pack to be replaced to match the attitude parameters of the battery recycling area of ​​the battery swapping platform. The battery pack to be replaced is moved from a preset position to above the battery recycling area of ​​the battery swapping platform, and then lowered into the battery recycling area of ​​the battery swapping platform.

[0015] Furthermore, the battery swapping platform has a wheel-type structure, including multiple battery recycling stations; each battery recycling station can carry a battery pack; each battery recycling station passes through the battery recycling area in sequence.

[0016] Furthermore, controlling the battery swapping robotic arm to move the new battery pack to be replaced from a preset position to the battery compartment includes: Obtain the attitude parameters of the new battery pack to be replaced; The robot arm is controlled to adjust the attitude parameters of the new battery pack to be replaced to match the recorded attitude parameters P of the battery pack. The attitude of the battery swapping robotic arm is adjusted to the recorded attitude M; The control robot arm moves the new battery pack to be replaced from a preset position to the battery compartment. If the tension sensor on the robot arm detects a tension less than the tension threshold, the robot arm stops moving.

[0017] Furthermore, controlling the battery swapping robotic arm to move the new battery pack to be replaced from a preset position to the battery compartment also includes: When the battery pack to be replaced is in the preset position one, the depth-of-field camera installed on the battery compartment records the position and height information of the mounting hole of the battery pack to be replaced; When the new battery pack to be replaced is in the preset position one, the position and height information of the mounting hole of the new battery pack to be replaced are measured by the depth camera installed on the battery compartment; The mounting hole positions and heights of the new battery pack to be replaced and the original battery pack to be replaced are checked. If they are inconsistent, the mounting hole positions of the new battery pack to be replaced and the original battery pack to be replaced are adjusted to be consistent with the center coordinates of the mounting hole positions of the new battery pack to be replaced and the original battery pack to be replaced, and the mounting hole heights of the new battery pack to be replaced and the original battery pack to be replaced are kept consistent with the original battery pack height. The system acquires the attitude parameters of the new battery pack to be replaced after position adjustment, and determines whether the difference between the attitude parameters of the new battery pack to be replaced after position adjustment and the attitude parameters of the battery compartment platform exceeds a preset value. If it exceeds the preset value, an alarm is triggered and the battery swapping robotic arm stops moving. If they match, the system controls the battery swapping robotic arm to maintain the current attitude and move downwards until it is lowered into the battery compartment.

[0018] In a second aspect, the present invention provides a battery swapping system for electromechanical equipment, comprising: The battery swapping platform is used to place the battery pack to be replaced in the battery recycling area and then swap the position of the new battery pack to be replaced with the battery pack to be replaced. A battery swapping robotic arm is used to move battery packs between the battery compartment platform and the battery recycling area; The battery swapping positioning module is installed on the battery pack and battery compartment platform respectively, and is used to feed back the attitude parameters of the battery pack and battery compartment platform; The battery swapping control module is connected to the battery swapping platform, the battery swapping positioning module, and the battery swapping robotic arm, respectively, and is used to execute the control method described in the first aspect.

[0019] Furthermore, the battery swapping system also includes: The moving module is used to move the vehicle. An alarm module, connected to the battery swapping control module, is used to output alarm signals.

[0020] Furthermore, the battery-swapping robotic arm includes a displacement rotation module and an end effector; The battery swapping positioning module includes a gyroscope and a depth camera.

[0021] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: 1. By recording the commands and actions of the battery swapping robotic arm and the battery swapping platform that synchronously swaps battery packs, the tedious angle adjustment is avoided. This simplifies the swapping control while effectively improving the swapping accuracy and efficiency, making it particularly suitable for rugged mountainous terrain. 2. This invention enables automatic battery swapping for electric excavators, improving battery swapping efficiency and accuracy. By setting up a tension alarm and a depth-of-field camera, safety accidents can be effectively avoided, and the environmental adaptability of battery swapping can be improved.

[0022] 3. During the battery swapping process of this invention, the attitude parameters of the excavator's battery compartment platform are obtained and the attitude of the battery swapping mechanism when picking up the battery is recorded. Based on this state, the end of the battery swapping mechanism is adjusted to ensure that the battery pack is consistent with the battery compartment platform. Furthermore, secondary positioning by the camera improves the accuracy and efficiency of battery swapping. Attached Figure Description

[0023] Figure 1 This is a system structure diagram of the automatic battery swapping system of the present invention; Figure 2 This is a structural diagram of the battery swapping robotic arm of the present invention; Figure 3 This is a structural diagram of the positioning module of the present invention; Figure 4 This is a flowchart of the method of the present invention. Detailed Implementation

[0024] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention. Example 1

[0025] like Figure 4 As shown, this embodiment provides a battery swapping control method for electric mechanical equipment, based on the battery swapping operation of a battery swapping vehicle, including the following steps: Control the battery swapping robotic arm to clamp the battery pack that needs to be replaced; After obtaining the signal that the battery pack to be replaced is clamped in place, record the instruction action of controlling the battery swapping robotic arm to move the battery pack to be replaced until the action signal of placing the battery pack to be replaced into the designated workstation A is obtained. Control the battery swapping robotic arm to release and detach from the battery pack to be replaced; After receiving the signal that the battery swapping robotic arm is detached from the battery pack to be replaced, the battery swapping platform is controlled to exchange positions with the new battery pack to be replaced, so that the new battery pack to be replaced is moved to the designated workstation A. The robotic arm for battery swapping is used to clamp the new battery pack to be replaced. After receiving the signal that the new battery pack to be replaced is in place, the robot arm is controlled to reverse the recorded instructions (reverse execution means: executing the reverse of the recorded instructions in reverse order) and place the new battery pack to be replaced into the battery compartment. The robotic arm is controlled to release and detach from the new battery pack to be replaced.

[0026] This method specifically includes the following steps: Step 1: When lifting the battery to be replaced, use two gyroscopes to report the attitude parameters of the battery pack and battery compartment platform: yaw angle A, pitch angle B, and roll angle C. After installation, calibrate the two gyroscopes to ensure that their attitude parameters are consistent. Adjust the battery pack attitude using the lifting device to maintain consistency between the battery pack attitude parameters and the battery compartment attitude parameters. Manually lift the battery pack. During the lifting process, first apply the lifting force to the designed weight of the battery pack, and then lift it slowly and uniformly at a speed of 0.5 mm / s. If the tension sensor on the robotic arm detects a tension greater than 30 N of the battery pack mass at this time, stop lifting, recheck whether the battery pack has been successfully unlocked, and then lift again. Step 2: After manually replacing the battery and lifting it to a certain height (the battery can be moved horizontally without colliding with other objects), record the attitude M of the battery pack moving device and the attitude parameters P of the battery pack gyroscope. The depth camera records the depth of field height of the battery pack mounting hole at this time. If the difference between the current attitude parameters of the battery pack and the initial attitude parameters is within a preset value, then the current attitude parameters of the battery pack are determined to be position-attitude parameter P. If the difference between the current attitude parameters of the battery pack and the initial attitude parameters (the gyroscope attitude parameters of the calibrated battery pack and battery compartment platform) is not within a preset value, then the battery swapping robotic arm is controlled to adjust the attitude parameters of the battery pack to be replaced according to the initial attitude parameters. If the difference between the current attitude parameters and the initial attitude parameters is within a preset value, then the adjusted attitude parameters of the battery pack are determined to be position-attitude parameter P.

[0027] Preferably, the attitude parameters of the battery compartment platform measured in real time can be used as a benchmark to check whether the difference exceeds a specified preset value. Alternatively, the attitude parameters of the battery compartment platform measured in real time can be used to check whether the difference exceeds a specified preset value with the gyroscope attitude parameters of the calibrated battery compartment platform. If the difference exceeds the preset value, the attitude of the battery pack is adjusted according to the attitude parameters of the battery compartment platform measured in real time. Since the battery is removed from the compartment, the battery compartment platform will move slightly, and the attitude parameters may change slightly. Using the attitude parameters of the battery compartment platform measured in real time as a benchmark can improve the docking accuracy.

[0028] Step 3: After placing the replaced battery pack in the designated workstation A, the battery pack replacement mobile platform will place the new battery pack in workstation A; fix the battery pack and the lifting device, place the gyroscope on the new battery pack, press the one-key battery replacement button, and the lifting device will gradually adjust to attitude M in the X, Y, and Z directions, and adjust the attitude of the battery pack gyroscope to P. Step 4: After reaching position M, the depth camera takes pictures to verify the position of the battery pack mounting hole and the depth of field height of the battery pack mounting hole. If the deviation is within the error range, the battery swapping continues. If the deviation is greater than the error range, an alarm is triggered and the battery swapping stops. After the alarm, the system will automatically correct the position based on human judgment. If so, the battery swapping will proceed according to the corrected position. Otherwise, the manual switch to manual battery swapping will be initiated. After the adjustment is completed, the gyroscope attitude is checked to ensure that the battery pack and the battery compartment platform have the same attitude. Step 5: The battery is lowered until it is placed in the battery compartment. If the tension sensor on the robotic arm detects a tension of less than 30N, the battery swapping will stop. Example 2

[0029] Existing battery swapping technologies primarily involve battery swapping stations automatically or manually swapping battery packs. Secondly, mobile battery swapping vehicles or truck-mounted cranes provide manual battery swapping and timely power replenishment for vehicles that are difficult to relocate. While battery swapping stations can achieve fully automated swapping, current use of mobile battery swapping vehicles or truck-mounted cranes often results in manual swapping, leading to low efficiency and manual operation. This is especially problematic in harsh mining environments with uneven terrain where the electric excavator and the mobile battery swapping vehicle are not on the same plane, increasing the risk of collisions between the battery pack and the excavator's battery compartment, potentially damaging the battery pack or the battery compartment's mounting hardware. Therefore, using sensors for automated positioning and installation of the battery compartment is necessary.

[0030] This embodiment provides a battery swapping system for electric mechanical equipment, such as... Figure 1 As shown, it includes: The battery swapping platform is used to place the battery pack to be replaced in the battery recycling area and then swap the position of the new battery pack to be replaced with the battery pack to be replaced. The battery swapping robotic arm is mainly used for lifting and moving battery packs between the battery compartment platform and the battery recycling area. The battery swapping positioning module is installed on the battery pack and battery compartment platform respectively, and is used to feed back the attitude parameters of the battery pack and battery compartment platform; The battery swapping control module is connected to the battery swapping platform, the battery swapping positioning module, and the battery swapping robotic arm, and is used to execute the control method described in Example 1.

[0031] The mobile module is used to move the vehicle. The mobile module can meet the off-road driving requirements in mining areas, mountainous areas and other places, and deliver the battery with the required SOC to the vicinity of the hydraulic excavator that needs to be swapped. This process uses existing mobile machinery technology, which can be achieved by those skilled in the art, and will not be described in detail here. An alarm module, connected to the battery swapping control module, is used to output alarm signals.

[0032] like Figure 2 As shown, the battery swapping robotic arm includes a displacement rotation module and an end effector.

[0033] like Figure 3 As shown, the battery swapping positioning module includes a gyroscope and a depth camera.

[0034] Control flow of the control module: The battery, ready for replacement, has been unlocked and is ready for removal.

[0035] First, place the two gyroscopes in the battery swapping positioning module on the top plane of the battery pack and the top plane of the excavator's battery compartment, respectively, and record the heading angle A, pitch angle B, and roll angle C on the two planes. Then calibrate the gyroscopes. For the same attitude, the gyroscope readings may be inconsistent. Once the two readings are consistent, the gyroscopes are calibrated. If they are inconsistent, they need to be calibrated until they are consistent or the faulty gyroscope needs to be replaced. If the attitude parameter readings are still significantly different after replacing the gyroscope, it may be a problem with the placement of the battery pack or damage to the casing. Issue an alarm to remind manual inspection.

[0036] After confirming that the readings of the two gyroscopes are consistent, manually operate the battery swapping robotic arm to lift it to the preset position one.

[0037] During the lifting process, the lifting force is first applied to the design weight of the battery pack, and then the battery is lifted slowly and evenly at a speed of 0.5 mm / s.

[0038] If the tension sensor on the robotic arm detects that the tension is greater than the battery pack mass and exceeds the preset value (30N), the lifting will stop. The lifting will then resume after a re-inspection to confirm that the battery pack has been successfully unlocked. The re-inspection method involves manually checking the battery locking mechanism and the vehicle unlocking signal.

[0039] At this time, the gyroscope dynamically detects the values ​​of the battery pack and battery compartment platform in real time, and finely adjusts the robotic arm to keep its posture unchanged, only moving in the vertical direction without horizontal rotation or other displacements, until it reaches the preset position one. When the battery compartment gyroscope reaches the preset position one, if any attitude parameter of the battery compartment gyroscope changes by no more than 5° from the initial value (the value that is determined to be consistent with the gyroscope on the battery compartment platform and the battery pack at the start of hoisting), then the battery can be returned to the battery recycling area on the mobile battery swapping vehicle by moving horizontally or rotating from the preset position one. Upon reaching the preset position one, if any attitude parameter of the battery compartment gyroscope changes by more than 5° from its initial value, the battery pack attitude is recalibrated according to the battery compartment gyroscope. Then, the height 1 attitude can be recorded by the battery swapping control module, that is, the extension amount and rotation angle of the robotic arm are recorded. The extension amount and rotation amount of the robotic arm can be achieved by encoder technology that has been modified in the field, which can be achieved by those skilled in the art, and will not be elaborated here. (5) At the preset height, place the four depth-of-field cameras of the battery swapping positioning module at the battery compartment positioning fixture and record the position and height information of the battery pack mounting holes. Because the gyroscope attitude adjustment cannot guarantee whether the mounting hole position can be aligned with the mounting positioning pin, it is necessary to add depth-of-field cameras for auxiliary positioning.

[0040] (6) Once the above information has been recorded in the battery swapping positioning module and the battery swapping control module, the battery is manually returned to the battery recycling area; each execution command of the robotic arm is recorded.

[0041] (7) Manually lift the battery that meets the SOC (State of Charge) condition and confirm that the battery is fixed. At this time, use the one-key battery swapping function. The battery swapping control module will perform single actions according to the preset position and attitude, and reverse the order of each instruction. First, lift the battery pack to the same height as the preset position and attitude, and then perform horizontal or rotational operations. Finally, when the battery pack is moved above the battery compartment, the battery pack attitude is adjusted according to the attitude recorded by the gyroscope. The technology of reversing the order of each instruction can refer to the technology already applied in 6-axis robots and CNC machine tools.

[0042] (9) The four depth sensors on the battery compartment re-photograph the battery pack mounting hole to confirm the position and depth of field. If it is within the error range, remove the depth camera installed on the top of the battery compartment. If it is inconsistent, adjust the position of the mounting hole to be consistent with the center coordinate of the position of the depth camera, and keep the height of the mounting hole consistent with the height recorded at the preset position. (10) After the battery pack position and attitude are adjusted, determine whether the values ​​of the battery pack gyroscope and the battery compartment platform gyroscope are consistent. If they are inconsistent, an alarm will be set and the battery pack attitude will be adjusted according to the values ​​of the battery compartment gyroscope.

[0043] If the positions are consistent, remove the depth camera installed in the battery compartment. The robotic arm will then lower the battery pack in this position until the tension sensor on the robotic arm has a tension value of less than 30N. At this point, the downward movement will stop, and the battery pack will be unlocked.

[0044] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0045] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0046] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0047] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0048] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for controlling battery swapping in electromechanical equipment, characterized in that, Includes the following steps: Control the battery swapping robotic arm to connect to the battery pack to be replaced; After the battery swapping robotic arm is connected to the battery pack, control the robotic arm to raise the battery pack to be replaced from the battery compartment to the preset position one; The robot arm is controlled to move the battery pack to be replaced from a preset position to the battery recycling area of ​​the battery swapping platform, and the commands and actions of the robot arm are recorded at the same time. Control the battery swapping robotic arm to unlock and separate from the battery pack to be replaced; After the battery swapping robotic arm separates from the battery pack to be replaced, the battery swapping platform controls the new battery pack to be replaced to exchange positions with the battery pack to be replaced, so that the new battery pack to be replaced can be moved to the battery recycling area. After the battery swapping robotic arm is connected to the battery pack, it executes the recorded instructions in reverse order and places the new battery pack to be replaced into the preset position one. The robotic arm is controlled to move the new battery pack to be replaced from a preset position to the battery compartment. The robotic arm for battery swapping is controlled to unlock and separate from the new battery pack to be replaced. The control system lifts the battery swapping robotic arm from the battery compartment to a preset position one, including: The attitude parameters of the battery pack and battery compartment platform to be replaced are obtained through an attitude measurement device. The attitude measurement device is calibrated and the attitude parameters of the upper plane of the battery pack are determined to be consistent with the attitude parameters of the plane of the battery compartment. The attitude parameters at this time are recorded as the initial attitude parameters. When lifting the battery pack, first apply the lifting force to the designed weight of the battery pack, and then lift it at a constant speed. If the tension sensor on the battery swapping robotic arm detects a tension greater than the sum of the battery pack mass and the tension threshold, then stop lifting and recheck whether the battery pack has been successfully unlocked before lifting again. After moving the battery pack to be replaced to a height that allows the battery to move horizontally without colliding with other objects, record the current position as preset position one, and obtain the posture M of the battery swapping robot arm and the posture parameters of the battery pack at this time. If the difference between the current attitude parameters of the battery pack and the initial attitude parameters is within the preset value, then the current attitude parameters of the battery pack are determined to be position-attitude parameters P. If the difference between the current attitude parameters of the battery pack and the initial attitude parameters is not within the preset value, then the battery swapping robot arm is controlled to adjust the attitude parameters of the battery pack to be replaced so that the difference between the current attitude parameters and the initial attitude parameters is within the preset value, and the adjusted attitude parameters of the battery pack are determined to be position-attitude parameter P.

2. The method for controlling battery swapping in electromechanical equipment according to claim 1, characterized in that, The attitude parameters include heading angle A, pitch angle B, and roll angle C; The preset speed is 0.5 mm / s; The tensile force threshold is 30N.

3. The method for controlling battery swapping in electric mechanical equipment according to claim 1, characterized in that, Methods for obtaining the attitude parameters of the battery pack and battery compartment platform that need to be replaced include: Gyroscopes are installed on the top of the battery pack and on the battery compartment platform. Two gyroscopes are used to feed back the attitude parameters of the battery pack and the battery compartment platform, respectively.

4. The method for controlling battery swapping in electromechanical equipment according to claim 1, characterized in that, The control system moves the battery swapping robotic arm from a preset position to the battery recycling area of ​​the battery swapping platform, including: The manually controlled robotic arm moves the battery pack to be replaced from a preset position to the battery recycling area of ​​the battery swapping platform.

5. The method for controlling battery swapping in electromechanical equipment according to claim 4, characterized in that, The process of controlling the battery swapping robotic arm to move the battery pack to be replaced from a preset position to the battery recycling area of ​​the battery swapping platform also includes: Obtain the attitude parameters of the battery recycling area of ​​the battery repositioning platform; The control arm adjusts the attitude parameters of the battery pack to be replaced to match the attitude parameters of the battery recycling area of ​​the battery swapping platform. The battery pack to be replaced is moved from a preset position to above the battery recycling area of ​​the battery swapping platform, and then lowered into the battery recycling area of ​​the battery swapping platform.

6. The method for controlling battery swapping in electromechanical equipment according to claim 1, characterized in that, The battery swapping platform has a disc-shaped structure and includes multiple battery recycling stations; each battery recycling station can carry a battery pack; each battery recycling station passes through the battery recycling area in sequence.

7. The method for controlling battery swapping in electric mechanical equipment according to claim 1, characterized in that, The control mechanism moves the battery swapping robotic arm from a preset position to the battery compartment, including: Obtain the attitude parameters of the new battery pack to be replaced; The robot arm is controlled to adjust the attitude parameters of the new battery pack to be replaced to match the recorded attitude parameters P of the battery pack. The attitude of the battery swapping robotic arm is adjusted to the recorded attitude M; The control robot arm moves the new battery pack to be replaced from a preset position to the battery compartment. If the tension sensor on the robot arm detects a tension less than the tension threshold, the robot arm stops moving.

8. The method for controlling battery swapping in electromechanical equipment according to claim 7, characterized in that, The control mechanism for the battery swapping robotic arm to move the new battery pack to be replaced from a preset position to the battery compartment also includes: When the battery pack to be replaced is in the preset position one, the depth-of-field camera installed on the battery compartment records the position and height information of the mounting hole of the battery pack to be replaced; When the new battery pack to be replaced is in the preset position one, the position and height information of the mounting hole of the new battery pack to be replaced are measured by the depth camera installed on the battery compartment; The mounting hole positions and heights of the new battery pack to be replaced and the original battery pack to be replaced are checked. If they are inconsistent, the mounting hole positions of the new battery pack to be replaced and the original battery pack to be replaced are adjusted to be consistent with the center coordinates of the mounting hole positions of the new battery pack to be replaced and the original battery pack to be replaced, and the mounting hole heights of the new battery pack to be replaced and the original battery pack to be replaced are kept consistent with the original battery pack height. The system acquires the attitude parameters of the new battery pack to be replaced after position adjustment, and determines whether the difference between the attitude parameters of the new battery pack to be replaced after position adjustment and the attitude parameters of the battery compartment platform exceeds a preset value. If it exceeds the preset value, an alarm is triggered and the battery swapping robotic arm stops moving. If they match, the system controls the battery swapping robotic arm to maintain the current attitude and move downwards until it is lowered into the battery compartment.

9. A battery swapping system for electromechanical equipment, characterized in that, include: The battery swapping platform is used to place the battery pack to be replaced in the battery recycling area and then swap the position of the new battery pack to be replaced with the battery pack to be replaced. A battery swapping robotic arm is used to move battery packs between the battery compartment platform and the battery recycling area; The battery swapping positioning module is installed on the battery pack and battery compartment platform respectively, and is used to feed back the attitude parameters of the battery pack and battery compartment platform; The battery swapping control module is connected to the battery swapping platform, the battery swapping positioning module, and the battery swapping robotic arm, respectively, and is used to execute the control method as described in any one of claims 1-8.

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