Mobile battery replacing vehicle and battery box replacing method of electric equipment

Abstract

The invention provides a mobile battery replacing vehicle and a battery box replacing method of electric equipment. The mobile battery replacing vehicle is used for replacing a battery box for electric equipment and comprises a chassis, a battery box taking and placing device, a driving device, a first detection device and a control device. N bins are arranged on the chassis, each bin is used for bearing one battery box, and n is a positive integer; the battery box taking and placing device is arranged on the chassis and is configured to grab the battery box from one bin position, move the battery box and release the battery box to one battery mounting position of the electric equipment or grab the battery box from one battery mounting position of the electric equipment, move the battery box and release the battery box to one bin position; the driving device is in driving connection with the battery box taking and placing device and is configured to drive the battery box taking and placing device to act; the first detection device is configured to detect pick-and-place device state parameters of the battery box pick-and-place device; the control device is in signal connection with the first detection device and the driving device and is configured to control the driving device to act according to the taking and placing device state parameters.

Description

Technical Field

[0001] The present application relates to the technical field of new energy equipment, and in particular to a method for replacing battery boxes of a mobile battery-swapping vehicle and electrical equipment. Background Art

[0002] Currently, electric construction machinery, such as electric excavators and electric loaders, has a limited operating time on a single charge due to battery energy density limitations. When the battery runs out, there are two options: direct charging or battery replacement. Direct charging requires the electric construction machinery to reach a designated charging station and takes a long time. Battery replacement offers a quicker and more convenient way to replenish energy. However, since the current battery replacement process is entirely manual, the efficiency is low, the replacement time is long, and manual operation is prone to errors, resulting in poor safety performance.

[0003] The above statements are only used to provide background technical information related to the present application and do not necessarily constitute prior art. Summary of the Invention

[0004] The purpose of this application is to provide a mobile battery-swapping vehicle and a battery box replacement method for electrical equipment, aiming to improve the efficiency of battery box replacement for electrical equipment.

[0005] The first aspect of the present application provides a mobile battery-exchanging vehicle for replacing battery boxes for electrical equipment, comprising a chassis, a battery box picking and placing device, a driving device, a first detection device, and a control device. The chassis is provided with n positions, each of which is used to carry one battery box, where n is a positive integer; the battery box picking and placing device is provided on the chassis, and is configured to grab the battery box from one position and move and release the battery box to a battery installation position of the electrical equipment, or grab the battery box from a battery installation position of the electrical equipment and move and release the battery box to one position; the driving device is connected to the battery box picking and placing device, and is configured to drive the battery box picking and placing device to operate; the first detection device is configured to detect the picking and placing device state parameters of the battery box picking and placing device; the control device is connected to the first detection device and the driving device signal, and is configured to control the driving device operation according to the picking and placing device state parameters.

[0006] On the other hand, the present application provides a method for replacing a battery box of an electric device, which uses the mobile battery-exchanging vehicle described in the first aspect of the present application to replace the battery box of the electric device. The method for replacing a battery box of an electric device comprises: the control device controls the movement of the driving device according to the state parameters of the pick-and-place device, so that the battery box pick-and-place device grabs the battery box from one of the storage locations and moves and releases the battery box to a battery installation location of the electric device, or grabs the battery box from a battery installation location of the electric device and moves and releases the battery box to one of the storage locations.

[0007] Based on the mobile battery-swapping vehicle provided by this application, the control device controls the actions of the drive device based on the data from the detection device. Under the control device's instructions, the drive device automatically drives the battery box pick-up and placement device. The battery box pick-up and placement device can complete the actions of its own moving parts with high precision and efficiency, facilitating the battery box pick-up and placement device to quickly and accurately grasp, move, and release the battery box, thereby shortening the battery box replacement time and improving replacement efficiency. By reducing manual intervention, abnormal operations caused by differences in operator skill level, proficiency, or status during manual operation can be reduced.

[0008] The battery box replacement method for electrical equipment provided in this application has the same advantages as the mobile battery replacement vehicle provided in this application.

[0009] Other features and advantages of the present application will become apparent from the following detailed description of exemplary embodiments of the present application with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0011] Figure 1 This is a structural schematic diagram of a mobile battery-swapping vehicle according to an embodiment of the present application.

[0012] Figure 2 for Figure 1 A schematic structural diagram of the grabbing portion of the mobile battery-swapping vehicle of the illustrated embodiment.

[0013] Figure 3 for Figure 1 Schematic diagram of the position layout of the mobile battery-swapping vehicle in the illustrated embodiment and a schematic diagram of the position layout of the electrical equipment and battery installation positions.

[0014] Figure 4 for Figure 1 Schematic diagram of the interactive device structure of the mobile battery-swapping vehicle in the illustrated embodiment.

[0015] Figure 5 for Figure 1 A block diagram of the control principles of the control device and drive device, the first detection device, the second detection device, the third detection device, the storage device and the interaction device of the mobile battery-swapping vehicle in the illustrated embodiment.

[0016] Figure 6 For application Figure 1 The mobile battery-exchanging vehicle of the illustrated embodiment is a flow chart of the automatic grabbing steps of a battery box replacement method for an electrical equipment in which the battery box is replaced by the electrical equipment.

[0017] Figure 7 For application Figure 1 The mobile battery-exchanging vehicle of the illustrated embodiment is a flow chart of the automatic placement steps of a battery box replacement method for electrical equipment in which the battery box is replaced by the electrical equipment.

[0018] Figure 8 For application Figure 1 The mobile battery-exchanging vehicle of the illustrated embodiment is a flow chart of the automatic resetting steps of a battery box replacement method for an electrical equipment in which the battery box is replaced by the electrical equipment. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions 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. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present application and its application or use. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0020] Unless otherwise specified, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present application. Meanwhile, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to actual proportional relationships. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following drawings, and therefore, once an item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0021] In the description of this application, it should be understood that the use of words such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above words have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0022] In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0023] like Figures 1 to 5 As shown, an embodiment of the present application provides a mobile battery-exchange vehicle 1 for replacing a battery box B for an electric device 2. The mobile battery-exchange vehicle 1 includes a chassis 11, a battery box picking and placing device 12, a driving device 13, a first detection device 14, and a control device 15. There are n positions Z provided on the chassis 11, and each position Z is used to carry a battery box B, where n is a positive integer. The battery box picking and placing device 12 is provided on the chassis 11, and is configured to grab the battery box B from a position Z and move and release the battery box B to a battery installation position 21 of the electric device 2, or to grab the battery box B from a battery installation position 21 of the electric device 2 and move and release the battery box B to a position Z. The driving device 13 is driven and connected to the battery box picking and placing device 12, and is configured to drive the battery box picking and placing device 12 to operate. The first detection device 14 is configured to detect the picking and placing device state parameters of the battery box picking and placing device 12. The control device 15 is signal-connected to the first detection device 14 and the driving device 13 , and is configured to control the operation of the driving device 13 according to the state parameters of the pick-and-place device.

[0024] The battery box B is a battery pack consisting of several single cells, a box body, a battery management system and related installation structural parts.

[0025] The value of n can be set according to the carrying capacity of the mobile battery swap vehicle 1 and the size of the battery box B. For example, n can be 1, 2, 3, 4, 5, 6 or more than 6.

[0026] In the mobile battery-swapping vehicle 1 of the embodiment of the present application, the control device 15 controls the action of the drive device 13 based on the data from the detection device 14. Under the instruction of the control device 15, the drive device 13 automatically drives the battery box pick-up and placement device 12. The battery box pick-up and placement device 12 can complete the actions of its own movable parts with high precision and efficiency, which facilitates the battery box pick-up and placement device 12 to quickly and accurately grasp, move, and release the battery box B, thereby shortening the replacement time of the battery box B and improving replacement efficiency. Since manual intervention is reduced, abnormal operations caused by differences in the operator's skill level, proficiency, or status during manual operation can be reduced.

[0027] In some embodiments, as Figure 5As shown, the mobile battery exchange vehicle 1 further includes a storage device 19. The storage device 19 is signal-connected to the control device 15 and is configured to store n groups of initialization state parameters and store at least one of the original state parameters.

[0028] The mth set of initialization state parameters among the n sets of initialization state parameters are the state parameters of the battery box picking and placing device 12 detected by the first detection device 14 when the battery box picking and placing device 12 has completed grasping the battery box B carried in the mth bin Z. m is any integer from 1 to n. The control device 15 is configured to control the battery box picking and placing device 12 to grasp the battery box B from the mth bin Z or to control the battery box picking and placing device 12 to move and release the grasped battery box B to the mth bin Z based on the mth set of initialization state parameters.

[0029] The original state parameter is the state parameter of the battery box picking and placing device 12 detected by the first detection device 14 when the battery box picking and placing device 12 is in the original state. The control device 15 is configured to control the battery box picking and placing device 12 to move to the original state according to the original state parameter.

[0030] The original state is the non-working state of the battery box taking and placing device 12 of the mobile battery-changing vehicle 1, for example, the state of the battery box taking and placing device 12 when the mobile battery-changing vehicle 1 is in a state where it can be driven, such as Figure 1 In the illustrated embodiment, the state of the battery box taking and placing device 12 of the mobile battery-swapping vehicle 1 corresponds to its original state.

[0031] By storing n groups of initialization state parameters via a storage device 19 connected to the control device 15 by signal, when it is necessary to grab a battery box B from or place it in each bin Z, the control device 15 can directly call the initialization state parameters and control the drive device 13 to drive the battery box pick-up and placement device 12 to quickly locate the target bin Z according to the initialization state parameters, thereby shortening the replacement time of the battery box B and improving the replacement efficiency. By storing original state parameters via a storage device 19 connected to the control device 15 by signal, when it is necessary to move the battery box pick-up and placement device 12 to the original state, the control device 15 can directly call the original state parameters and control the drive device 13 to drive the battery box pick-up and placement device 12 to quickly move to the original state, thereby shortening the reset time of the battery box pick-up and placement device 12 and improving the reset efficiency.

[0032] In some embodiments, as Figure 4 and Figure 5As shown, the mobile battery exchange vehicle 1 also includes an interactive device D. The interactive device D is signal-connected to the control device 15 and is configured to send control instructions to the control device 15. The interactive device D has at least one of the following interactive parts: n one-key grabbing instruction input parts D1, n one-key placement instruction input parts D2, and a one-key reset instruction input part D3. The m-th one-key grabbing instruction input part D1 among the n one-key grabbing instruction input parts D1 is configured to send the m-th one-key grabbing instruction to the control device 15, so that the control device automatically controls the battery box picking and placing device 12 to grab the battery box B from the m-th bin Z according to the m-th group of initialization state parameters. The m-th one-key placement instruction input part D2 among the n one-key placement instruction input parts D2 is configured to send the m-th one-key placement instruction to the control device 15, so that the control device automatically controls the battery box picking and placing device 12 to move the battery box B it has grabbed and release it to the m-th bin Z. The one-key reset instruction input unit D3 is configured to send a one-key reset instruction to the control device 15 so that the control device 15 automatically controls the battery box taking and placing device 12 to move to the original state according to the original state parameters.

[0033] In the related art, when manually replacing the battery box B, the operator needs to complete complex operation processes such as selecting the storage position, positioning the arm, the various moving parts of the gripper, and confirming the gripping. However, the mobile battery-swapping vehicle 1 provides at least one of the three interactive parts of the interactive device D, namely, n one-key grabbing instruction input parts D1, n one-key placement instruction input parts D2, and one-key reset instruction input part D3, to compress the multi-step operation corresponding to the interactive part into a single key operation, which helps to reduce the operating difficulty of the operator, improve the human-machine collaboration efficiency and error prevention capabilities, thereby improving the operational convenience of the mobile battery-swapping vehicle 1 and the replacement efficiency of the battery box B.

[0034] In some embodiments, as Figure 5 As shown, the control device 15 is configured to control the movement of the driving device 13 and plan the movement trajectory of the battery box picking and placing device 12 according to the picking and placing device state parameters and the initialization state parameters or original state parameters detected in real time by the first detection device 14.

[0035] The real-time state parameters of the picking and placing device detected by the first detection device 14 feed back the actual posture information of the battery box picking and placing device 12. The control device 15 compares and analyzes the real-time state parameters of the picking and placing device with the initialization state parameters or original state parameters as the target parameters, automatically plans the motion trajectory of the battery box picking and placing device 12, and controls the driving device 13 to drive the battery box picking and placing device 12 to move according to the planned motion trajectory. While efficiently achieving its control goals, it is beneficial to reduce mechanical impact, energy consumption, and time consumption.

[0036] In some embodiments, as Figure 1 、 Figure 2 and Figure 5As shown, the battery box picking and placing device 12 includes an arm 121, a gripper 122 and a battery box carrying device 123. The driving device 13 includes an arm driving unit 131, a gripper driving unit 132 and a carrying device driving unit 133. The first detection device 14 includes an arm detection unit 141, a gripper detection unit 142 and a carrying device detection unit 143. The first end of the arm 121 is connected to the chassis 11, and the arm 121 is configured to drive the gripper 122 to move. The arm driving unit 131 is connected to the arm 121 and is configured to drive the arm 121 to move. The arm detection unit 141 is configured to detect the arm state parameters of the arm 121, and the picking and placing device state parameters include the arm state parameters. The control device 15 is connected to the arm detection unit 141 and the arm driving unit 131 by signal, and is configured to control the movement of the arm driving unit 131 according to the arm state parameters. The gripper 122 is connected to the second end of the arm 121, and the gripper 122 is configured to grip and release the battery box B. The driving device 13 includes a gripper driving unit 132, which is drivingly connected to the gripper 122 and is configured to drive the gripper 122 to move relative to the arm 121 and / or drive different parts of the gripper 122 to move relative to each other. The gripper detection unit 142 is configured to detect the gripper state parameters of the gripper 122, and the pick-and-place device state parameters include the gripper state parameters. The control device 15 is signal-connected to the gripper detection unit 142 and the gripper driving unit 132, and is configured to control the movement of the gripper driving unit 132 according to the gripper state parameters. The battery box carrying device 123 is movably arranged on the chassis 11, and at least one bin Z is arranged on the battery box carrying device 123. The drive device 13 includes a carrier drive unit 133, which is drivingly connected to the battery box carrier 123 and configured to drive the battery box carrier 123 relative to the chassis 11. The carrier detection unit 143 is configured to detect carrier status parameters of the battery box carrier 123, which are included in the handling device status parameters. The control device 15 is signal-connected to the carrier detection unit 143 and the carrier drive unit 133 and is configured to control the operation of the carrier drive unit 133 based on the carrier status parameters.

[0037] The arm drive unit 131, gripper drive unit 132 and carrier drive unit 133 of the drive device 13 are respectively connected to the arm 121, gripper 122 and battery box carrier 123 of the battery box picking and placing device 12, and the arm detection unit 141, gripper detection unit 142 and carrier detection unit 143 of the first detection device 14 respectively detect the arm state parameters of the arm 121, the gripper state parameters of the gripper 122 and the carrier state parameters of the battery box carrier 123. The control device 15 can control the arm drive unit 131, the gripper drive unit 132 and the carrier drive unit 133 according to the arm state parameters, the gripper state parameters and the carrier state parameters, thereby realizing automatic control of the arm 121, the gripper 122 and the battery box carrier 123. Through the action of the arm 121, a larger working range can be obtained to adapt to the positions of different electrical equipment 2 and their battery installation positions 21 and different positions Z of the mobile battery swap vehicle 1. The movement of the gripper 122 allows the battery box B to be quickly and accurately grasped or released. The movement of the battery box carrying device 123 can be coordinated with the movement of the arm 121 and the movement of the gripper 122, so that the gripper 122 and the battery box B to be grasped, or the battery box B grasped by the gripper 122 and the storage location Z where the battery box B is to be placed, can reach the appropriate relative position more quickly, which helps to improve the replacement efficiency of the battery box B. When the battery box carrying device 123 is movable, if the structures of the arm 121 and the gripper 122 are the same, the layout range of the battery box B can be widened. If the layout range of the battery box B is the same, the range of movement of the arm 121 and the gripper 122 can be reduced. For example, the number of retractable sections of the telescopic arm of the arm can be reduced, or the number of sections of adjacent arm sections with variable angles can be reduced, thereby reducing the cost and operating difficulty of the arm 121. The battery box B can be arranged and installed on the battery box carrying device 123 along the length or width direction of the mobile battery-swapping vehicle 1. The battery box carrying device 123 can be rotatable and / or movable to expand the range of motion of the battery box B relative to the chassis 11, making it convenient for the gripper 122 on the arm 121 to grab or place the battery box B. In addition, by respectively configuring independent driving parts and detection parts for the arm 121, the gripper 122 and the battery box carrying device 123, each arm 121, the gripper 122 and the battery box carrying device 123 can move in parallel or independently under the control of the control device 15, which is beneficial to improving the replacement efficiency of the battery box B.

[0038] In some embodiments, as Figure 1 、 Figure 2 and Figure 5 As shown, the battery box pick-up and placement device 12, the driving device 13, the first detection device 14 and the control device 15 are respectively configured to have at least one of the following settings:

[0039] The first end of the boom 121 is rotatably connected to the chassis 11. The boom drive unit 131 includes a first drive unit 1311, which is drivably connected to the boom 121 and configured to drive the boom 121 to rotate relative to the chassis 11. The boom detection unit 141 includes a first angle detection device 1411, which is configured to detect a first rotation angle of the boom 121 relative to the chassis 11. The boom state parameter includes the first rotation angle. The control device 15 is signal-connected to the first angle detection device 1411 and the first drive unit 1311, and is configured to control the operation of the first drive unit 1311 based on the first rotation angle.

[0040] The boom 121 includes adjacent boom segments with variable angles. The boom drive unit 131 includes a second drive unit 1312, which is drive-connected to the adjacent boom segments and configured to drive the adjacent boom segments to rotate relative to each other. The boom detection unit 141 includes a second angle detection device 1412, which is configured to detect a first angle between adjacent boom segments, and the boom state parameters include the first angle. The control device 15 is signal-connected to the second angle detection device 1412 and the second drive unit 1312 and is configured to control the movement of the second drive unit 1312 based on the first angle.

[0041] The boom 121 includes a telescopic arm 1212. The boom drive unit 131 includes a third drive unit 1313, which is drivingly connected to the telescopic arm 1212 and configured to drive the telescopic arm 1212 to extend and retract. The boom detection unit 141 includes a length detection device 1413, which is configured to detect the telescopic length of the telescopic arm 1212. The boom status parameter includes the telescopic length. The control device 15 is signal-connected to the length detection device 1413 and the third drive unit 1313 and is configured to control the operation of the third drive unit 1313 based on the telescopic length.

[0042] The gripper 122 includes a mounting base 1221 connected to the second end of the arm 121, a rotating connection portion 1222 connected to the mounting base 1221, and a gripping portion 1223 connected to the rotating connection portion 1222 for gripping and releasing the battery box B. The gripper drive unit 132 includes a fourth drive unit 1321, which is drivingly connected to the mounting base 1221 and configured to drive the mounting base 1221 to rotate about a first horizontal axis relative to the second end of the arm 121. The gripper detection unit 142 includes a third angle detection device 1421, which is configured to detect a second angle of the mounting base 1221 relative to the horizontal plane. The gripper state parameter includes the second angle. The control device 15 is signal-connected to the third angle detection device 1421 and the fourth drive unit 1321 and is configured to control the operation of the fourth drive unit 1321 based on the second angle.

[0043] The gripper 122 includes a mounting base 1221 connected to the second end of the arm 121, a rotating connection portion 1222 connected to the mounting base 1221, and a gripping portion 1223 connected to the rotating connection portion 1222 for grasping and releasing the battery pack B. The gripper drive unit 132 includes a fifth drive unit 1322, which is drivingly connected to the rotating connection portion 1222 and configured to drive the rotating connection portion 1222 to rotate relative to the mounting base 1221 about a second axis perpendicular to the first horizontal axis. The gripper detection unit 142 includes a fourth angle detection device 1422, which is configured to detect a second rotational angle of the rotating connection portion 1222 relative to the mounting base 1221. The gripper state parameter includes the second rotational angle. The control device 15 is signal-connected to the fourth angle detection device 1422 and the fifth drive unit 1322 and is configured to control the operation of the fifth drive unit 1322 based on the second rotational angle.

[0044] The gripper 122 includes a mounting base 1221 connected to the second end of the arm 121, a rotating connection portion 1222 connected to the mounting base 1221, and a gripping portion 1223 connected to the rotating connection portion 1222 for gripping and releasing the battery box B. The gripper drive portion 132 includes a sixth drive portion 1323, which is drivingly connected to the gripping portion 1223 and configured to drive the gripping portion 1223 to move up and down relative to the rotating connection portion 1222. The gripper detection portion 142 includes a first distance detection device 1423, which is configured to detect a first distance between the gripping portion 1223 and the rotating connection portion 1222. The gripper state parameter includes the first distance. The control device 15 is signal-connected to the first distance detection device 1423 and the sixth drive portion 1323 and is configured to control the operation of the sixth drive portion 1323 based on the first distance.

[0045] The gripper 122 includes a mounting base 1221 connected to the second end of the arm 121, a rotating connection portion 1222 connected to the mounting base 1221, and a gripping portion 1223 connected to the rotating connection portion 1222 for gripping and releasing the battery box B. The gripper drive unit 132 includes a seventh drive unit 1324, which is drivingly connected to the gripping portion 1223 and configured to drive the gripping portion 1223 to grip or release the battery box B. The gripper detection unit 142 includes a position detection device 1424, which is configured to detect gripping status information of the gripping portion 1223. The gripper status parameters include the gripping status information. The control device 15 is signal-connected to the position detection device 1424 and the seventh drive unit 1324 and is configured to control the operation of the seventh drive unit 1324 based on the gripping status information.

[0046] The battery box carrying device 123 includes a base 1231, which is rotatably arranged on the chassis 11, and n storage positions Z are arranged on the base 1231. The carrying device driving unit 133 includes an eighth driving unit 1331, which is drivingly connected to the base 1231 and is configured to drive the base 1231 to rotate relative to the chassis 11. The carrying device detection unit 143 includes a fifth angle detection device 1431, which is configured to detect a third rotation angle of the base 1231 relative to the chassis 11. The carrying device state parameter includes the third rotation angle. The control device 15 is signal-connected to the fifth angle detection device 1431 and the eighth driving unit 1331, and is configured to control the operation of the eighth driving unit 1331 according to the third rotation angle.

[0047] The first angle detection device 1411 detects the first rotation angle of the arm 121 relative to the chassis 11 in real time. The control device 15 controls the action of the first drive unit 1311 according to the first rotation angle to control the rotation movement of the arm 121 relative to the chassis 11, which helps the arm 121 adapt to the position of the electrical equipment 2 and its battery installation position 21 and the different positions Z of the mobile battery exchange vehicle 1 through its own rotation movement relative to the chassis 11.

[0048] The second angle detection device 1412 detects the first angle between adjacent arm segments in real time, and the control device 15 controls the second driving unit 1312 to operate according to the first angle to control the relative rotation of adjacent arm segments, which helps the arm frame 121 adapt to the position of the electrical equipment 2 and its battery installation position 21 and the different positions Z of the mobile battery exchange vehicle 1 through the relative rotation of adjacent arm segments.

[0049] The length detection device 1413 detects the telescopic length of the telescopic arm 1212 in real time. The control device controls the movement of the third driving part 1313 according to the telescopic length to drive the telescopic arm 1212 to extend and retract, which helps the arm 121 adapt to the position of the electrical equipment 2 and its battery installation position 21 and the different positions Z of the mobile battery exchange vehicle 1 through the telescopic movement of the telescopic arm 1212.

[0050] The third angle detection device 1421 detects the second angle of the mounting base 1221 relative to the horizontal plane in real time, and the control device 15 controls the fourth driving part 1321 to move according to the second angle to control the mounting base 1221 to rotate around the horizontal first axis relative to the second end of the arm 121, so that the mounting base 1221 and the gripper can be at a desired angle relative to the horizontal plane. For example, in most cases, the mounting base 1221 needs to be in a leveling state so that the gripper 122 (including the battery box B thereon when the gripper 122 grips the battery box B) remains stable when moving, and reduces the influence of the movement of related components such as the change of the first angle relative to the adjacent arm segment on the stability of the gripper 122 or the gripper 122 and the battery box B thereon.

[0051] The fourth angle detection device 1422 detects the second rotation angle of the rotating connection part 1222 of the gripper 122 relative to the mounting base 1221. The control device 15 controls the fifth driving part 1322 to operate according to the second rotation angle to drive the rotating connection part 1222 to rotate relative to the mounting base 1221 around the second axis perpendicular to the horizontal first axis, so that the precise position required for the grasping part 1223 of the gripper 122 to grasp or release the battery box B can be matched by the rotation of the rotating connection part 1222 relative to the mounting base 1221.

[0052] The first distance detecting device 1423 detects a first distance between the gripping portion 1223 and the rotating connection portion 1222. The control device 15 controls the sixth driving portion 1323 to move according to the first distance to drive the gripping portion 1223 to move up and down relative to the rotating connection portion 1222, so that the gripping portion 1223 of the gripper 122 can match the exact position required when gripping or releasing the battery box B by the gripping portion 1223 moving up and down relative to the rotating connection portion 1222.

[0053] The position detection device 1424 detects the grasping status information of the grasping part 1223 in real time. The grasping status information can feedback the connection status between the grasping part 1223 and the battery box B. The control device 15 controls the seventh driving part 1324 to drive the grasping part 1223 to move according to the grasping status information, so as to realize the connection between the grasping part 1223 and the battery box B to complete the action of grasping the battery box B or realize the separation of the grasping part 1223 and the battery box B to complete the action of releasing the battery box B.

[0054] The fifth angle detection device 1431 detects the third rotation angle of the base support 1231 relative to the chassis 11 in real time. The control device 15 controls the eighth driving part 1331 to drive the base support 1231 to rotate relative to the chassis 11 according to the third rotation angle 1231, so that the battery box B on the position Z can reach the matching position of the battery box B or the gripper 122 grasped by the gripper 122 as soon as possible through the rotation of the base support 1231 relative to the chassis 11, thereby improving the replacement efficiency of the battery box B.

[0055] In some embodiments, as Figure 2 and Figure 5As shown, the mobile land exchange vehicle 1 also includes at least one of a second detection device 17 and a third detection device 18. The second detection device 17 is configured to detect the relative position information between the gripper 122 of the battery box picking and placing device 12 and the battery box B to be picked up, or the battery box B picked up by the gripper 122 and the bin Z (target bin) where the battery box B is to be placed. The control device 15 is connected to the second detection device 17 by signal and is configured to control the operation of the drive device 13 based on the relative position information to correct the deviation between the target position and the real-time position of the gripper 122. The third detection device 18 is configured to detect a second distance between the battery box picking and placing device 12 and objects around it. The control device 15 is connected to the third detection device 18 by signal and is configured to control the operation of the drive device 13 based on the second distance to prevent interference between the battery box picking and placing device 12 and objects around it.

[0056] The second detection device 17 detects the relative position information between the gripper 122 of the battery box picking and placing device 12 and the battery box B to be picked up, or the battery box B picked up by the gripper 122 and the bin Z where the battery box B is to be placed. The control device 15 controls the action of the drive device 13 based on the relative position information to correct the deviation between the target position and the real-time position of the gripper 122, which is beneficial to the precise docking of the gripper 122 and the battery box B, or the battery box B and the bin Z. The third detection device 18 detects the second distance between the battery box picking and placing device 12 and surrounding objects (such as electrical equipment 2, other components or devices on the mobile battery exchange vehicle 1, other surrounding equipment or personnel other than the electrical equipment 2 and the mobile battery exchange vehicle, etc.). The control device 15 controls the action of the drive device 13 based on the second distance to prevent the battery box picking and placing device 12 from interfering with its surrounding objects, which is beneficial to protecting the battery box picking and placing device 12 and other components or devices of the mobile battery exchange vehicle 1, such as the battery box B, electrical equipment 2, etc.

[0057] The embodiment of the present application also provides a method for replacing a battery box of an electric device, which uses the mobile battery-exchanging vehicle 1 in the aforementioned embodiment to replace the battery box B for the electric device 2. The battery box replacement method includes: the control device 15 controls the movement of the driving device 13 according to the state parameters of the pick-and-place device, so that the battery box pick-and-place device 12 grabs the battery box B from a position Z and moves and releases the battery box B to a battery installation position 21 of the electric device 2, or grabs the battery box B from a battery installation position 21 of the electric device 2 and moves and releases the battery box B to a position Z.

[0058] The battery box replacement method of the electrical equipment in the embodiment of the present application has the same advantages as the mobile battery replacement vehicle 1 in the embodiment of the present application.

[0059] In some embodiments, the battery box replacement method includes at least one of the following steps:

[0060] Obtain n groups of initialization state parameters and store them in the storage device 19, wherein the mth group of initialization state parameters among the n groups of initialization state parameters are the state parameters of the battery box picking and placing device detected by the first detection device 14 when the battery box picking and placing device 12 is in the state of completing grabbing the battery box B carried in the mth bin Z, and m is any integer from 1 to n; and n automatic grabbing steps or n automatic placement steps, wherein the mth automatic grabbing step includes the control device 15 controlling the battery box picking and placing device 12 to grab the battery box B from the mth bin Z according to the mth group of initialization state parameters, and the mth automatic placement step includes the control device 15 controlling the battery box picking and placing device 12 to move the grabbed battery box B and release it to the mth bin Z according to the mth group of initialization state parameters.

[0061] Obtain original state parameters and store them in the storage device 19, where the original state parameters are the state parameters of the battery box picking and placing device detected by the first detection device 14 when the battery box picking and placing device 12 is in the original state; and an automatic reset step, where the automatic reset step includes the control device 15 controlling the battery box picking and placing device 12 to move to the original state according to the original state parameters.

[0062] In some embodiments, as Figure 4 As shown, the mobile battery exchange vehicle 1 also includes an interactive device D, which is signal-connected to the control device 15 and is configured to issue control instructions to the control device 15. The interactive device D has at least one of the following interactive parts: n one-key grabbing instruction input parts D1, n one-key placement instruction input parts D2, and a one-key reset instruction input part D3; the battery box replacement method includes at least one of the following steps: issuing the mth one-key grabbing instruction to the control device 15 through the mth one-key grabbing instruction input part D1, so that the control device automatically executes the mth automatic grabbing step; issuing the mth one-key placement instruction to the control device 15 through the mth one-key placement instruction input part D2, so that the control device automatically executes the mth automatic placement step; issuing a one-key reset instruction to the control device 15 through the one-key reset instruction input part D3, so that the control device 15 automatically executes the automatic reset step.

[0063] In some embodiments, as Figure 5 As shown, in the process of controlling the movement of the driving device 13 , the control device 15 plans the movement trajectory of the battery box picking and placing device 12 according to the picking and placing device state parameters and the initialization state parameters or original state parameters detected in real time by the first detection device 14 .

[0064] In some embodiments, as Figure 5 As shown, the battery box replacement method includes the following steps:

[0065] The arm detection unit 141 detects the arm state parameters of the arm 121. The pick-and-place device state parameters include the arm state parameters. The control device 15 controls the arm drive unit 131 to move according to the arm state parameters. The arm drive unit 131 drives the arm 121 to move, and the arm 121 drives the gripper 122 to move.

[0066] The gripper detection unit 142 detects the gripper status parameters of the gripper 122. The picking and placing device status parameters include the gripper status parameters. The control device 15 controls the action of the gripper drive unit 132 according to the gripper status parameters. The gripper drive unit 132 drives the gripper 122 to move relative to the arm 121 and / or drives different parts of the gripper 122 to move relative to each other. The gripper 122 grasps and releases the battery box B.

[0067] The carrying device detection unit 143 detects the carrying device status parameters of the battery box carrying device 123. The picking and placing device status parameters include the carrying device status parameters. The control device 15 controls the carrying device driving unit 133 to move according to the carrying device status parameters. The carrying device driving unit 133 drives the battery box carrying device 123 to move relative to the chassis 11.

[0068] In some embodiments, as Figures 1 to 3 and Figure 5 As shown, the battery box replacement method includes at least one of the following steps:

[0069] The first angle detection device 1411 detects the first rotation angle of the arm 121 relative to the chassis 11. The arm state parameters include the first rotation angle. The control device 15 controls the movement of the first drive unit 1311 according to the first rotation angle. The first drive unit 1311 drives the arm 121 to rotate relative to the chassis 11.

[0070] The second angle detection device 1412 detects a first angle between adjacent arm segments, and the arm state parameter includes the first angle; the control device 15 controls the second driving unit 1312 to move according to the first angle; and the second driving unit 1312 drives the adjacent arm segments to rotate relative to each other.

[0071] The length detection device 1413 detects the telescopic length of the telescopic arm 1212, and the arm state parameter includes the telescopic length; the control device 15 controls the action of the third driving part 1313 according to the telescopic length; the third driving part 1313 drives the telescopic arm 1212 to extend and retract.

[0072] The third angle detection device 1421 detects the second angle of the mounting base 1221 relative to the horizontal plane, and the gripper state parameters include the second angle; the control device 15 controls the movement of the fourth driving unit 1321 according to the second angle; the fourth driving unit 1321 drives the mounting base 1221 to rotate around the horizontal first axis relative to the second end of the arm 121.

[0073] The fourth angle detection device 1422 detects the second rotation angle of the rotating connection part 1222 relative to the mounting base 1221, and the gripper state parameter includes the second rotation angle; the control device 15 controls the action of the fifth driving part 1322 according to the second rotation angle; the fifth driving part 1322 drives the rotating connection part 1222 to rotate relative to the mounting base 1221 around the second axis perpendicular to the horizontal first axis.

[0074] The first distance detection device 1423 detects a first distance between the grasping portion 1223 and the rotating connection portion 1222, and the gripper state parameter includes the first distance; the control device 15 controls the action of the sixth driving portion 1323 according to the first distance; the sixth driving portion 1323 drives the grasping portion 1223 to move up and down relative to the rotating connection portion 1222.

[0075] The position detection device 1424 detects the grasping status information of the grasping part 1223, and the gripper status parameters include the grasping status information; the control device 15 controls the seventh driving part 1324 to operate according to the grasping status information; the seventh driving part 1324 drives the grasping part 1223 to grasp or release the battery box B.

[0076] The fifth angle detection device 1431 detects the third rotation angle of the base 1231 relative to the chassis 11, and the state parameters of the carrying device include the third rotation angle; the control device 15 controls the action of the eighth drive unit 1331 according to the third rotation angle; the eighth drive unit 1331 drives the base 1231 to rotate relative to the chassis 11.

[0077] In some embodiments, the state parameters of the picking and placing device in each initialization state parameter and the original state parameter include at least one of the following parameters: the first rotation angle of the arm 121 relative to the chassis 11, the first angle between adjacent arm segments, the telescopic length of the telescopic arm 1212, the second angle of the mounting base 1221 relative to the horizontal plane, the second rotation angle of the rotating connection part 1222 relative to the mounting base 1221, the first distance of the grasping part 1223 relative to the rotating connection part 1222, the grasping state information of the grasping part 1223 and the third rotation angle of the base 1231 relative to the chassis 11.

[0078] The battery box replacement method for electrical equipment in the above embodiment has the same advantages as the corresponding mobile battery replacement vehicle 1, which will not be repeated here.

[0079] In some embodiments, as Figure 6 As shown, the mth automatic crawling step includes the following steps:

[0080] S102, the control device 15 controls the eighth driving part 1331 to operate according to the mth third rotation angle in the mth group of initialization state parameters, so as to drive the base 1231 to rotate to the mth base initialization position corresponding to the mth third rotation angle;

[0081] S103: The control device 15 controls the fourth driving unit 1321 to operate according to the mth second angle in the mth group of initialization state parameters, so as to drive the mounting base 1221 to rotate to the mth mounting base initialization position corresponding to the mth second angle;

[0082] S104: The control device 15 controls the fifth driving portion 1322 to operate according to the mth second rotation angle in the mth group of initialization state parameters, so as to drive the rotating connection portion 1222 to rotate relative to the mounting base 1221 to the mth rotating connection portion initialization position corresponding to the mth second rotation angle.

[0083] S105: The control device 15 controls the first driving unit 1311 to operate according to the mth first rotation angle in the mth group of initialization state parameters, so as to drive the boom 121 to rotate relative to the chassis 11 to the mth boom initialization position corresponding to the mth first rotation angle;

[0084] S106: The control device 15 controls the second driving unit 1312 to operate according to the mth first angle in the mth group of initialization state parameters, so as to drive the adjacent arm segments to rotate relative to each other to the mth adjacent arm segment initialization relative position corresponding to the mth first angle;

[0085] S107: The control device 15 controls the third driving unit 1313 to operate according to the mth telescopic length in the mth group of initialization state parameters, so as to drive the telescopic arm 1212 to be telescopic to the mth telescopic arm initialization length corresponding to the mth telescopic length.

[0086] S110: The control device 15 controls the sixth driving portion 1323 to operate according to the mth first distance in the mth group of initialization state parameters, so as to drive the grasping portion 1223 to reach the mth grasping portion initialization relative position corresponding to the mth first distance relative to the rotating connection portion 1222, so that the grasping portion 1223 reaches the battery box B placed on the mth position Z of the base 1231.

[0087] S111: The control device 15 controls the seventh driving unit 1324 to operate according to the mth grasping state information in the mth group of initialization state parameters, so as to drive the grasping unit 1223 to reach the mth grasping unit initialization grasping position corresponding to the mth grasping state information relative to the battery box B, so that the grasping unit 1223 locks with the battery box B and grasps the battery box B.

[0088] S112: The control device 15 controls the sixth driving unit 1323 to drive the grasping unit 1223 and the grasped battery box B to rise.

[0089] By executing the aforementioned steps in the mth automatic grasping step, the control device 15 can control the battery box picking and placing device 12 to automatically grasp the battery box B on the mth position Z according to the mth group of initialization state parameters, which is beneficial to shorten the replacement time of the battery box B by executing the mth automatic grasping step, improve the replacement efficiency, and reduce manual intervention.

[0090] In some embodiments, as Figure 6 As shown, at least two of steps S102, S103, S104 and S105 are executed synchronously; and / or steps S103 and S106 are executed synchronously.

[0091] The simultaneous execution of different steps is conducive to shortening the time to complete the grabbing of the battery box B, which is conducive to further shortening the replacement time of the battery box B and improving the replacement efficiency.

[0092] In some embodiments, as Figure 6 As shown, in step S101 , before step S105 and step S106 , the control device 15 controls the second driving unit 1312 to operate, so as to drive adjacent arm segments to rotate relative to each other to increase the angle between the adjacent arm segments.

[0093] Before the boom 121 rotates and the telescopic arm 1212 moves, the second driving unit 1312 is first controlled to increase the angle between adjacent arm segments, which helps prevent the boom 121 and the gripper 122 from colliding with objects other than the boom 121 and the gripper 122 when the boom 121 rotates or the telescopic arm 1212 extends and retracts.

[0094] In some embodiments, as Figure 6 As shown, the mobile battery exchange vehicle 1 also has a second detection device 17 connected to the control device 15. The mth automatic grasping step also includes the following steps:

[0095] S108. After steps S102, S103, S104, S105, S106, and S107 and before step S110, the control device 15 controls the sixth driving unit 1323 to drive the grasping unit 1223 to move so that a first preset distance exists between the grasping unit 1223 and the battery box B carried by the m-th position Z.

[0096] S109. After step S108 and before step S110, the second detection device 17 detects the relative position information between the gripper 122 and the battery box B carried by the m-th bin Z, and the control device 15 controls the action of the driving device 13 according to the relative position information to correct the deviation between the target position and the real-time position of the gripper 122.

[0097] The deviation between the target position and the real-time position of the gripper 122 is corrected at a first preset distance between the gripping portion 1223 and the battery box B carried by the mth position Z (target position Z), which helps the gripper 122 to accurately grip the battery box B on the mth position Z.

[0098] In some embodiments, as Figure 7 As shown, the mth automatic placement step includes the following steps:

[0099] S202: The control device 15 controls the eighth driving unit 1331 to operate according to the mth third rotation angle in the mth group of initialization state parameters, so as to drive the base 1231 to rotate to the mth base initialization position corresponding to the mth third rotation angle;

[0100] S203: The control device 15 controls the fourth driving unit 1321 to operate according to the mth second angle in the mth group of initialization state parameters, so as to drive the mounting base 1221 to rotate to the mth mounting base initialization position corresponding to the mth second angle;

[0101] S204: The control device 15 controls the fifth driving portion 1322 to operate according to the mth second rotation angle in the mth group of initialization state parameters, so as to drive the rotating connection portion 1222 to rotate relative to the mounting base 1221 to the mth rotating connection portion initialization position corresponding to the mth second rotation angle.

[0102] S205: The control device 15 controls the first driving unit 1311 to operate according to the mth first rotation angle in the mth group of initialization state parameters, so as to drive the boom 121 to rotate relative to the chassis 11 to the mth boom initialization position corresponding to the mth first rotation angle;

[0103] S206: The control device 15 controls the second driving unit 1312 to operate according to the mth first angle in the mth group of initialization state parameters, so as to drive the adjacent arm segments to rotate relative to each other to the mth adjacent arm segment initialization relative position corresponding to the mth first angle;

[0104] S207: The control device 15 controls the third driving unit 1313 to operate according to the mth telescopic length in the mth group of initialization state parameters, so as to drive the telescopic arm 1212 to be telescopic to the mth telescopic arm initialization length corresponding to the mth telescopic length.

[0105] S210: The control device 15 controls the sixth driving portion 1323 to operate according to the mth first distance in the mth group of initialization state parameters, so as to drive the grasping portion 1223 to reach the mth grasping portion initialization relative position corresponding to the mth first distance relative to the rotating connection portion 1222, so that the battery box B grasped by the grasping portion 1223 is placed on the mth position Z of the base 1231.

[0106] S211: The control device 15 controls the seventh driving unit 1324 to operate according to the mth grasping state information in the mth group of initialization state parameters, so as to drive the grasping unit 1223 to leave the mth grasping unit initialization grasping position corresponding to the mth grasping state information, so that the grasping unit 1223 is unlocked from the battery box B and separated from the battery box B.

[0107] S212 , the control device 15 controls the sixth driving portion 1323 to operate, so as to drive the grabbing portion 1223 to rise.

[0108] By executing the aforementioned steps in the mth automatic placement step, the control device 15 can control the battery box picking and placing device 12 to automatically place the battery box B on the mth position Z according to the mth group of initialization state parameters, which is beneficial to shortening the replacement time of the battery box B by executing the automatic placement step, improving the replacement efficiency, and reducing manual intervention.

[0109] In some embodiments, as Figure 7 As shown, at least two of steps S202, S203, S204 and S205 are executed synchronously; and / or steps S203 and S206 are executed synchronously.

[0110] The simultaneous execution of different steps is conducive to shortening the time for completing the placement of the battery box B, and is conducive to further shortening the replacement time of the battery box B, thereby improving the replacement efficiency.

[0111] In some embodiments, as Figure 7 As shown, the mth automatic placement step further includes the following steps: S201. Before steps S205 and S206, the control device 15 controls the second driving part 1312 to drive the adjacent arm segments to rotate relative to each other to increase the angle between the adjacent arm segments.

[0112] Before the arm 121 rotates and the telescopic arm 1212 moves, the second driving unit 1312 is first controlled to increase the angle between adjacent arm segments, which helps prevent the arm 121 and the gripper 122, as well as the battery box B grasped by the gripper 122 from colliding with the arm 121 and the gripper 122, as well as parts or objects other than the battery box B grasped by the gripper 122 when the arm 121 rotates or the telescopic arm 1212 is extended or retracted.

[0113] In some embodiments, as Figure 7 As shown, the mobile battery exchange vehicle 1 also has a second detection device 17 connected to the control device 15. The mth automatic placement step also includes the following steps:

[0114] S208. After steps S202, S203, S204, S205, S206, and S207 and before step S210, the control device 15 controls the sixth driving unit 1323 to drive the grasping unit 1223 to move so that the battery box B grasped by the grasping unit 1223 has a second preset distance from the m-th storage position Z.

[0115] S209. After step S208 and before step S210, the second detection device 17 detects the relative position information between the battery box B grasped by the gripper 122 and the mth bin Z, and the control device 15 controls the action of the driving device 13 according to the relative position information to correct the deviation between the target position and the real-time position of the gripper 122.

[0116] The deviation between the target position and the real-time position of the gripper 122 is corrected at a second preset distance between the battery box B gripped by the gripping part 1223 and the m-th position Z (target position Z), which is conducive to the gripper 122 accurately placing the battery box B on the m-th position Z.

[0117] In some embodiments, as Figure 8 As shown, the automatic reset procedure includes the following steps:

[0118] S302: The control device 15 controls the fourth driving unit 1321 to operate according to the original second angle in the original state parameter, so as to drive the mounting base 1221 to rotate to the mounting base original position corresponding to the original second angle;

[0119] S303: The control device 15 controls the fifth driving portion 1322 to operate according to the original second rotation angle and the original state parameters, so as to drive the rotating connection portion 1222 to rotate relative to the mounting base 1221 to the rotating connection portion original position corresponding to the original second rotation angle.

[0120] S304: The control device 15 controls the first driving unit 1311 to operate according to the original first rotation angle in the mth group of original state parameters, so as to drive the arm 121 to rotate relative to the chassis 11 to the original position of the arm 121 corresponding to the original first rotation angle;

[0121] S305: The control device 15 controls the sixth driving unit 1323 to operate according to the original first distance in the original state parameter, so as to drive the grasping unit 1223 to reach the original relative position of the grasping unit corresponding to the original first distance;

[0122] S306: The control device 15 controls the seventh driving unit 1324 to operate according to the original grasping state information in the original state parameter, so as to drive the grasping unit 1223 to reach the grasping unit original grasping position corresponding to the original grasping state information;

[0123] S307: The control device 15 controls the third driving unit 1313 to operate according to the original telescopic length in the original state parameter, so as to drive the telescopic arm 1212 to be telescopic to the original length of the telescopic arm corresponding to the original telescopic length.

[0124] S308 : The control device 15 controls the second driving unit 1312 to operate according to the original first angle in the original state parameter, so as to drive the adjacent arm segments to rotate relative to each other to the original relative positions of the adjacent arm segments corresponding to the original first angle.

[0125] By executing the aforementioned steps in the automatic reset step, the control device 15 can control the battery box picking and placing device 12 to automatically reset to the original state according to the original state parameters, which is beneficial to shorten the reset time, improve the reset efficiency and reduce manual intervention by executing the automatic reset step.

[0126] In some embodiments, as Figure 8 As shown, at least two of steps S302, S303, S304, S305 and S306 are performed synchronously.

[0127] The simultaneous execution of different steps is beneficial to shortening the time required to complete the automatic resetting of the battery box taking and placing device 12 , thereby further improving the resetting efficiency.

[0128] In some embodiments, as Figure 8 As shown, the automatic resetting step further includes the following steps: S301. Before steps S302 to S308, the control device 15 controls the second driving part 1312 to operate to drive adjacent arm segments to rotate relative to each other to increase the angle between the adjacent arm segments.

[0129] Before the boom 121 rotates and the telescopic arm 1212 extends and retracts, the second driving unit 1312 is first controlled to increase the angle between adjacent arm segments, which helps prevent the boom 121 and the gripper 122 from colliding with objects other than the boom 121 and the gripper 122 when the boom 121 rotates or the telescopic arm 1212 retracts and retracts.

[0130] The mobile battery exchange vehicle 1 also has a third detection device 18 that is signal-connected to the control device 15; the battery box replacement method includes an anti-collision step, which includes: the third detection device 18 detects the second distance between the battery box picking and placing device 12 and its surrounding objects, and the control device 15 controls the driving device 13 to operate according to the second distance to prevent the battery box picking and placing device 12 from interfering with its surrounding objects.

[0131] The following combination Figures 1 to 8 The mobile battery-swapping vehicle and the battery box replacement method of the electrical equipment in the embodiment of the present application are described in more detail.

[0132] like Figure 1 Hezhi Figure 5As shown, the mobile battery-exchanging vehicle 1 is used to replace the battery box B for the electrical equipment 2. The mobile battery-exchanging vehicle 1 includes a chassis 11, a battery box taking and placing device 12, a driving device 13, a first detection device 14, a battery box carrying device 123, a second detection device 17, a third detection device 18, a storage device 19, an interaction device D and a control device 15.

[0133] The battery box pick-up and placement device 12 includes an arm 121, a gripper 122, and a battery box carrying device 123. The first end of the arm 121 is arranged at the rear end of the chassis 11. The battery box carrying device 123 is arranged in the middle of the chassis 11.

[0134] The arm 121 includes a basic arm 1211 and a telescopic arm 1212. The first end of the basic arm 211 ( Figure 1 The first end of the arm 121 is rotatably connected to the chassis 11 around a vertical axis, so that the first end of the arm 121 is rotatably connected to the chassis 11 around a vertical axis. The telescopic arm 1212 includes three arm sections that are fitted together. The outermost arm section of the three arm sections of the telescopic arm 1212 is connected to the second end ( Figure 1 The upper and middle ends of the telescopic arms 1212 are hingedly connected and rotatably arranged relative to the base arm 1211, so that the base arm 1211 and the outermost arm sections of the telescopic arms 1212 form adjacent arm segments with a variable angle. The gripper 122 is connected to the innermost end of the three arm sections of the telescopic arms 1212, away from the base arm 1211, and thus connected to the second end of the arm frame 121.

[0135] The gripper 122 includes a mounting base 1221, a rotating connection portion 1222, and a gripping portion 1223. The mounting base 1221 is rotatably connected to the second end of the arm 121 about a first horizontal axis. The rotating connection portion 1222 is rotatably connected to the mounting base 1221 about a second axis perpendicular to the first axis. The gripping portion 1223 is mounted below the rotating connection portion 1222 so as to be movable up and down relative to the rotating connection portion 1222.

[0136] The battery box carrying device 123 is arranged on the chassis 11. The battery box carrying device 123 includes a base 1231 that rotates around a vertical axis relative to the chassis 11. Three storage positions Z are arranged side by side on the base 1231. Each storage position Z can carry a battery box B.

[0137] The driving device 13 includes an arm driving portion 131 , a gripper driving portion 132 and a carrying device driving portion 133 .

[0138] The boom drive unit 131 is drive-connected to the boom 121 and is configured to drive the boom 121 to move. The boom drive unit 131 includes a first drive unit 1311, a second drive unit 1312 and a third drive unit 1313. The first drive unit 1311 is drive-connected to the boom 121 and is configured to drive the boom 121 to rotate relative to the chassis 11. The first drive unit 1311 includes, for example, a hydraulic motor or an electric motor, a reducer and a slewing bearing. The second drive unit 1312 is drive-connected to adjacent arm sections and is configured to drive adjacent arm sections to rotate relative to each other. The second drive unit 1312 is, for example, a hydraulic cylinder connected between adjacent arm sections. The third drive unit 1313 is drive-connected to the telescopic arm 1212 and is configured to drive the telescopic arm 1212 to extend and retract. The third drive unit 1313 is, for example, a hydraulic cylinder.

[0139] The gripper drive unit 132 is drivingly connected to the gripper 122 and is configured to drive the gripper 122 to move relative to the boom 121 and / or to drive different parts of the gripper 122 to move relative to each other. The gripper drive unit 132 includes a fourth drive unit 1321, a fifth drive unit 1322, a sixth drive unit 1323, and a seventh drive unit 1324. The fourth drive unit 1321 is drivingly connected to the mounting base 1221 and is configured to drive the mounting base 1221 to rotate relative to the second end of the boom 121 about a first horizontal axis. The fourth drive unit 1321 is, for example, a hydraulic cylinder. The fifth drive unit 1322 is drivingly connected to the rotating connection unit 1222 and is configured to drive the rotating connection unit 1222 to rotate relative to the mounting base 1221 about a second axis perpendicular to the first horizontal axis. The fifth drive unit 1322 includes, for example, a hydraulic motor or an electric motor, a reducer, and a slewing bearing. The sixth driving unit 1323 is drivingly connected to the grabbing unit 1223 and is configured to drive the grabbing unit 1223 to move up and down relative to the rotating connecting unit 1222. The sixth driving unit 1323 may include, for example, a hydraulic cylinder, a pulley assembly, and a steel wire rope wound around the pulley assembly. The ends of the steel wire rope are respectively connected to the hydraulic cylinder and the grabbing unit 1223. The seventh driving unit 1324 is drivingly connected to the grabbing unit 1223 and is configured to drive the grabbing unit 1223 to grasp or release the battery box B. The seventh driving unit 1324 may be, for example, a locking cylinder.

[0140] The carrier drive unit 133 is drivingly connected to the battery box carrier 123 and is configured to drive the battery box carrier 123 to move relative to the chassis 11. The carrier drive unit 133 includes an eighth drive unit 1331. The eighth drive unit 1331 is drivingly connected to the base 1231 and is configured to drive the base 1231 to rotate relative to the chassis 11. The eighth drive unit 1331 includes, for example, a hydraulic motor or an electric motor, a speed reducer, and a slewing bearing.

[0141] The first detection device 14 is configured to detect the state parameters of the battery box picking and placing device 12. The first detection device 14 includes an arm detection unit 141, a gripper detection unit 142 and a carrying device detection unit 143.

[0142] The boom detection unit 141 is configured to detect boom state parameters of the boom 121. The boom detection unit 141 includes a first angle detection device 1411, a second angle detection device 1412, and a length detection device 1413. The first angle detection device 1411 is configured to detect a first rotation angle of the boom 121 relative to the chassis 11. The first angle detection device 1411 is, for example, a rotary encoder. The second angle detection device 1412 is configured to detect a first angle between adjacent arm segments. The second angle detection device 1412 is, for example, a rotary encoder. The length detection device 1413 is configured to detect the telescopic length of the telescopic arm 1212. The length detection device 1413 is, for example, a wire sensor.

[0143] The gripper detection unit 142 is configured to detect gripper state parameters of the gripper 122. The gripper detection unit 142 includes a third angle detection device 1421, a fourth angle detection device 1422, a first distance detection device 1423, and a position detection device 1424. The third angle detection device 1421 is configured to detect a second angle of the mounting base 1221 relative to the horizontal plane. The third angle detection device 1421 is, for example, a rotary encoder. The fourth angle detection device 1422 is configured to detect a second rotational angle of the rotating connection 1222 relative to the mounting base 1221. The fourth angle detection device 1422 is, for example, a rotary encoder. The first distance detection device 1423 is configured to detect a first distance between the gripping portion 1223 and the rotating connection 1222. The first distance detection device 1423 is, for example, a displacement sensor. The position detection device 1424 is configured to detect gripping state information of the gripping portion 1223. The position detection device 1424 is, for example, a displacement sensor.

[0144] The carrier detection unit 143 is configured to detect the carrier state parameters of the battery box carrier 123, and includes a fifth angle detection device 1431. The fifth angle detection device 1431 is configured to detect a third rotation angle of the base 1231 relative to the chassis 11. The fifth angle detection device 1431 is, for example, a rotary encoder.

[0145] The state parameters of the pick-and-place device include arm state parameters, gripper state parameters, and load-bearing device state parameters. The arm state parameters include the first rotation angle of the arm 121 relative to the chassis 11, the first angle between adjacent arm segments, and the telescopic length of the telescopic arm 1212. The gripper state parameters include the second angle of the mounting base 1221 relative to the horizontal plane, the second rotation angle of the rotating connection 1222 relative to the mounting base 1221, the first distance of the gripper 1223 relative to the rotating connection 1222, and the gripping state information of the gripper 1223. The load-bearing device state parameters include the third rotation angle of the base 1231 relative to the chassis 11.

[0146] The control device 15 is signal-connected to the first detection device 14 and the driving device 13 , and is configured to control the operation of the driving device 13 according to the state parameters of the pick-and-place device.

[0147] like Figure 5 As shown, the control device 15 is signal-connected to the boom detection unit 141 and the boom drive unit 131, and is configured to control the operation of the boom drive unit 131 based on the boom state parameters. Specifically, the control device 15 is signal-connected to the first angle detection device 1411 and the first drive unit 1311, and is configured to control the operation of the first drive unit 1311 based on the first rotation angle; the control device 15 is signal-connected to the second angle detection device 1412 and the second drive unit 1312, and is configured to control the operation of the second drive unit 1312 based on the first angle; and the control device 15 is signal-connected to the length detection device 1413 and the third drive unit 1313, and is configured to control the operation of the third drive unit 1313 based on the telescopic length.

[0148] like Figure 5 As shown, the control device 15 is signal-connected to the gripper detection unit 142 and the gripper drive unit 132, and is configured to control the movement of the gripper drive unit 132 based on the gripper state parameters. Specifically, the control device 15 is signal-connected to the third angle detection device 1421 and the fourth drive unit 1321, and is configured to control the movement of the fourth drive unit 1321 based on the second angle; the control device 15 is signal-connected to the fourth angle detection device 1422 and the fifth drive unit 1322, and is configured to control the movement of the fifth drive unit 1322 based on the second rotation angle; the control device 15 is signal-connected to the first distance detection device 1423 and the sixth drive unit 1323, and is configured to control the movement of the sixth drive unit 1323 based on the first distance; and the control device 15 is signal-connected to the position detection device 1424 and the seventh drive unit 1324, and is configured to control the movement of the seventh drive unit 1324 based on the gripping state information.

[0149] like Figure 5As shown, the control device 15 is signal-connected to the carrier detection unit 143 and the carrier drive unit 133, and is configured to control the operation of the carrier drive unit 133 based on the carrier state parameter. Specifically, the control device 15 is signal-connected to the fifth angle detection device 1431 and the eighth drive unit 1331, and is configured to control the operation of the eighth drive unit 1331 based on the third rotation angle.

[0150] The second detection device 17 is configured to detect the relative position information between the gripper 122 of the battery box picking and placing device 12 and the battery box B to be picked up, or the relative position information between the battery box B picked up by the gripper 122 and the bin Z where the battery box B is to be placed. The second detection device 17 is, for example, a camera.

[0151] like Figure 5 As shown, the control device 15 is signal-connected to the second detection device 17 and is configured to control the action of the driving device 13 according to the relative position information to correct the deviation between the target position and the real-time position of the gripper 122.

[0152] The third detection device 18 is configured to detect a second distance between the battery box taking and placing device 12 and surrounding objects. The third detection device 18 is, for example, a laser radar or an ultrasonic radar.

[0153] like Figure 5 As shown, the control device 15 is signal-connected to the third detection device 18 and is configured to control the driving device 13 to operate according to the second distance to prevent the battery box taking and placing device 12 from interfering with surrounding objects.

[0154] The storage device 19 stores three groups of initialization state parameters and one group of original state parameters corresponding to the three bins Z one by one.

[0155] The mth group of initialization state parameters among the three groups of initialization state parameters are the state parameters of the battery box picking and placing device 12 detected by the first detection device 14 when the battery box picking and placing device 12 has completed grabbing the battery box B carried in the mth bin Z, where m is any integer from 1 to 3. The original state parameters are the state parameters of the battery box picking and placing device 12 detected by the first detection device 14 when the battery box picking and placing device 12 is in its original state.

[0156] During the process of controlling the movement of the driving device 13 , the control device 15 can plan the movement trajectory of the battery box picking and placing device 12 based on the picking and placing device state parameters detected in real time by the first detection device 14 and the initialization state parameters or original state parameters.

[0157] The control device 15 is capable of controlling the operation of the drive device 13 based on the three sets of initialization state parameters to control the battery box pick-up and placement device 12 to perform three automatic grasping steps and three automatic placement steps. The mth automatic grasping step of the three automatic grasping steps includes the control device 15 controlling the battery box pick-up and placement device 12 to grasp the battery box B from the mth bin Z based on the mth set of initialization state parameters. The mth automatic placement step of the three automatic placement steps includes the control device 15 controlling the battery box pick-up and placement device 12 to move and release the grasped battery box B to the mth bin Z based on the mth set of initialization state parameters.

[0158] The control device 15 can control the driving device 13 to operate according to the original state parameters to control the battery box pick-up and placement device 12 to perform an automatic reset step. The automatic reset step includes the control device 15 controlling the battery box pick-up and placement device 12 to move to the original state according to the original state parameters.

[0159] like Figure 4 As shown, the interactive device D is configured to issue control instructions to the control device 15. The interactive device D has three groups of interactive parts. The first group of interactive parts includes three one-key grab instruction input parts D1. The second group of interactive parts includes three one-key placement instruction input parts D2. The third group of interactive parts includes one one-key reset instruction input part D3. The number of one-key grab instruction input parts D1 and one-key placement instruction input parts D2 of the interactive device D respectively matches the number of bins Z, for example Figures 1 to 8 In the embodiment shown, there are three of them.

[0160] After pressing the one-key grabbing instruction input part D1 button corresponding to the m-th bin Z of the interactive device D, the control device 15 starts to automatically execute the m-th automatic grabbing step. Figure 6 As shown, the automatic grasping steps shown therein are applicable to any one (the mth) of the three grasping steps, including steps S101 to S112.

[0161] First, steps S101 and S102 are executed simultaneously. Step S101: The control device 15 controls the second drive unit 1312 to drive adjacent arm segments to rotate relative to each other, thereby increasing the angle between the adjacent arm segments. Step S102: The control device 15 controls the eighth drive unit 1331 to drive the base 1231 to rotate to the mth base initialization position corresponding to the mth third rotation angle in the mth set of initialization state parameters.

[0162] After step S101 is completed, steps S103, S104, and S105 are executed synchronously. Step S103: The control device 15 controls the fourth driving unit 1321 to operate according to the mth second angle in the mth group of initialization state parameters, so as to drive the mounting base 1221 to rotate to the mth mounting base initialization position corresponding to the mth second angle. Step S104: The control device 15 controls the fifth driving unit 1322 to operate according to the mth second rotation angle in the mth group of initialization state parameters, so as to drive the rotating connection unit 1222 to rotate relative to the mounting base 1221 to the mth rotating connection unit initialization position corresponding to the mth second rotation angle. Step S105: The control device 15 controls the first driving unit 1311 to operate according to the mth first rotation angle in the mth group of initialization state parameters, so as to drive the arm 121 to rotate relative to the chassis 11 to the mth arm initialization position corresponding to the mth first rotation angle.

[0163] After steps S102, S104, and S105 are completed, step S106 is executed. Step S106: The control device 15 controls the second driving unit 1312 to operate according to the mth first angle in the mth group of initialization state parameters, so as to drive the adjacent arm segments to rotate relative to each other to the mth adjacent arm segment initialization relative position corresponding to the mth first angle.

[0164] After steps S103 and S106 are completed, step S107 is executed. Step S107: The control device 15 controls the third driving unit 1313 to operate according to the mth telescopic length in the mth group of initialization state parameters, so as to drive the telescopic arm 1212 to extend to the mth telescopic arm initialization length corresponding to the mth telescopic length.

[0165] After step S107, step S108 is executed. Step S108: the control device 15 controls the sixth driving unit 1323 to drive the gripping unit 1223 to move so that the gripping unit 1223 and the battery box B carried on the m-th position Z have a first preset distance (along the vertical direction), the first preset distance being, for example, 300 mm.

[0166] After step S108, step S109 is executed. Step S109: The second detection device 17 detects the relative position information between the gripper 122 and the battery box B carried by the m-th bin Z. The control device 15 controls the drive device 13 to operate according to the relative position information to correct the deviation between the target position and the real-time position of the gripper 122.

[0167] After step S109 is completed, step S110 is executed. Step S110: The control device 15 controls the sixth driving portion 1323 to operate according to the mth first distance in the mth group of initialization state parameters, so as to drive the grasping portion 1223 to the mth grasping portion initialization relative position corresponding to the mth first distance relative to the rotating connecting portion 1222 so that the grasping portion 1223 reaches the battery box B placed on the mth bin Z of the base 1231.

[0168] After step S110 is completed, step S111 is executed. Step S111: The control device 15 controls the seventh driving unit 1324 to operate according to the mth grasping state information in the mth group of initialization state parameters, so as to drive the grasping unit 1223 to reach the mth grasping unit initialization grasping position corresponding to the mth grasping state information relative to the battery box B, so that the grasping unit 1223 locks with the battery box B and grasps the battery box B.

[0169] After step S111 is completed, step S112 is executed. Step S112: The control device 15 controls the sixth driving unit 1323 to drive the grasping unit 1223 and the grasped battery box B to rise. After step S112 is completed, the mth automatic grasping step is completed.

[0170] After pressing the one-key placement instruction input unit D2 button corresponding to the mth bin Z of the interactive device D, the control device 15 starts to automatically execute the mth automatic grabbing step. Figure 7 As shown, the automatic grasping steps shown therein are applicable to any one (the mth) of the three grasping steps, including steps S201 to S212.

[0171] First, steps S201 and S202 are executed simultaneously. Step S201: The control device 15 controls the second drive unit 1312 to drive adjacent arm segments to rotate relative to each other, thereby increasing the angle between the adjacent arm segments. Step S202: The control device 15 controls the eighth drive unit 1331 to drive the base 1231 to rotate to the mth base initialization position corresponding to the mth third rotation angle in the mth set of initialization state parameters.

[0172] After step S201 is completed, steps S203, S204, and S205 are synchronously executed. Step S203: The control device 15 controls the fourth driving unit 1321 to operate according to the mth second angle in the mth group of initialization state parameters, so as to drive the mounting base 1221 to rotate to the mth mounting base initialization position corresponding to the mth second angle. Step S204: The control device 15 controls the fifth driving unit 1322 to operate according to the mth second rotation angle in the mth group of initialization state parameters, so as to drive the rotating connection unit 1222 to rotate relative to the mounting base 1221 to the mth rotating connection unit initialization position corresponding to the mth second rotation angle. Step S205: The control device 15 controls the first driving unit 1311 to operate according to the mth first rotation angle in the mth group of initialization state parameters, so as to drive the arm 121 to rotate relative to the chassis 11 to the mth arm initialization position corresponding to the mth first rotation angle.

[0173] After steps S202, S204, and S205 are completed, step S206 is executed. Step S206: The control device 15 controls the second driving unit 1312 to operate according to the mth first angle in the mth group of initialization state parameters, so as to drive the adjacent arm segments to rotate relative to each other to the mth adjacent arm segment initialization relative position corresponding to the mth first angle.

[0174] After steps S203 and S206 are completed, step S207 is executed. Step S207: The control device 15 controls the third driving unit 1313 to operate according to the mth telescopic length in the mth group of initialization state parameters, so as to drive the telescopic arm 1212 to extend to the mth telescopic arm initialization length corresponding to the mth telescopic length.

[0175] After step S207 is completed, step S208 is executed. Step S208: The control device 15 controls the sixth driving unit 1323 to drive the grasping unit 1223 to move so that the battery box B grasped by the grasping unit 1223 is at a second preset distance (in the vertical direction) from the m-th storage position Z. The second preset distance is, for example, 300 mm.

[0176] After step S208, step S209 is executed. Step S209: the second detection device 17 detects the relative position information between the battery box B grasped by the gripper 122 and the mth bin Z. The control device 15 controls the drive device 13 according to the relative position information to correct the deviation between the target position and the real-time position of the gripper 122.

[0177] After step S209 is completed, step S210 is executed. Step S210: The control device 15 controls the sixth driving portion 1323 to operate according to the mth first distance in the mth group of initialization state parameters, so as to drive the grasping portion 1223 to the mth grasping portion initialization relative position corresponding to the mth first distance relative to the rotating connection portion 1222, so that the battery box B grasped by the grasping portion 1223 is placed on the mth position Z of the base 1231.

[0178] After step S210 is completed, step S211 is executed. Step S211: The control device 15 controls the seventh driving unit 1324 to operate according to the mth grasping state information in the mth group of initialization state parameters, so as to drive the grasping unit 1223 to leave the mth grasping unit initialization grasping position corresponding to the mth grasping state information, so that the grasping unit 1223 is unlocked from the battery box B and separated from the battery box B.

[0179] After step S111 is completed, step S112 is executed. Step S212: the control device 15 controls the sixth driving part 1323 to drive the gripping part 1223 to rise. After step S212 is completed, the mth automatic placement step is completed.

[0180] After pressing the one-key reset instruction input part D3 button of the interactive device D, the control device 15 starts to execute the automatic reset step. Figure 8 As shown, the automatic resetting step includes steps S301 to S308.

[0181] First, step S301 is executed: Step S301: The control device 15 controls the second driving unit 1312 to drive adjacent arm segments to rotate relative to each other to increase the angle between the adjacent arm segments.

[0182] After step S301 is completed, steps S302, S303, S304, S305 and S306 begin to be executed synchronously. Step S302: The control device 15 controls the fourth driving part 1321 to operate according to the original second angle in the original state parameters, so as to drive the mounting base 1221 to rotate to the mounting base original position corresponding to the original second angle. Step S303: The control device 15 controls the fifth driving part 1322 to operate according to the original second rotation angle and the original state parameters in the original state parameters, so as to drive the rotating connection part 1222 to rotate relative to the mounting base 1221 to the rotating connection part original position corresponding to the original second rotation angle. Step S304: The control device 15 controls the first driving part 1311 to operate according to the original first rotation angle in the mth group of original state parameters, so as to drive the arm 121 to rotate relative to the chassis 11 to the arm 121 original position corresponding to the original first rotation angle. Step S305: The control device 15 controls the sixth driving unit 1323 to operate based on the original first distance in the original state parameter, thereby driving the gripping unit 1223 to reach the gripping unit's original relative position corresponding to the original first distance. Step S306: The control device 15 controls the seventh driving unit 1324 to operate based on the original gripping state information in the original state parameter, thereby driving the gripping unit 1223 to reach the gripping unit's original position corresponding to the original gripping state information.

[0183] After steps S302, S303, S304, S305 and S306 are completed, step S307 is executed. Step S307: the control device 15 controls the third driving part 1313 to operate according to the original telescopic length in the original state parameter, so as to drive the telescopic arm 1212 to extend to the original telescopic arm length corresponding to the original telescopic length.

[0184] After step S307, step S308 begins. In step S308, control device 15 controls second drive unit 1312 based on the original first angle in the original state parameter to rotate adjacent arm segments relative to their original relative positions corresponding to the original first angle. After step S308, the automatic reset step is complete.

[0185] Those skilled in the art will understand that, in the above-mentioned method of a specific embodiment, the writing order of each step does not mean a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of each step should be determined by its function and possible internal logic.

[0186] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit them. Although the present application has been described in detail with reference to preferred embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present application can still be modified or some technical features can be replaced by equivalents, which should all be included in the scope of the technical solutions requested for protection in this application.

Claims

1. A mobile battery-changing vehicle (1) for replacing a battery box (B) for an electrical device (2), characterized in that: include: A chassis (11), wherein n positions (Z) are provided on the chassis (11), each position (Z) being used to carry one battery box (B), wherein n is a positive integer; A battery box picking and placing device (12) is provided on the chassis (11) and is configured to grab the battery box (B) from one of the storage locations (Z) and move and release the battery box (B) to a battery installation location (21) of the electric device (2), or to grab the battery box (B) from a battery installation location (21) of the electric device (2) and move and release the battery box (B) to one of the storage locations (Z); A driving device (13) is connected to the battery box taking and placing device (12) and is configured to drive the battery box taking and placing device (12) to move; A first detection device (14) configured to detect a state parameter of the battery box picking and placing device (12); and The control device (15) is connected to the first detection device (14) and the driving device (13) by signals and is configured to control the action of the driving device (13) according to the state parameters of the pick-and-place device.

2. The mobile battery-swapping vehicle (1) according to claim 1, characterized in that: It also includes a storage device (19), which is connected to the control device (15) by signal and is configured to store n groups of initialization state parameters and store at least one of original state parameters; wherein, The mth group of initialization state parameters among the n groups of initialization state parameters are the state parameters of the battery box picking and placing device detected by the first detection device (14) when the battery box picking and placing device (12) is in a state of completing grabbing the battery box (B) carried in the mth bin (Z), m is any integer from 1 to n, and the control device (15) is configured to control the battery box picking and placing device (12) to grab the battery box (B) from the mth bin (Z) or control the battery box picking and placing device (12) to move the grabbed battery box (B) and release it to the mth bin (Z) according to the mth group of initialization state parameters; The original state parameter is a state parameter of the battery box picking and placing device detected by the first detection device (14) when the battery box picking and placing device (12) is in an original state, and the control device (15) is configured to control the battery box picking and placing device (12) to move to the original state according to the original state parameter.

3. The mobile battery-swapping vehicle (1) according to claim 2, characterized in that: The system further comprises an interaction device (D), wherein the interaction device (D) is connected to the control device (15) by signal and is configured to issue a control instruction to the control device (15), and the interaction device (D) has at least one of the following interaction parts: n one-key grabbing instruction input parts (D1), wherein the mth one-key grabbing instruction input part (D1) is configured to send the mth one-key grabbing instruction to the control device (15), so that the control device automatically controls the battery box picking and placing device (12) to grab the battery box (B) from the mth storage position (Z) according to the mth group of initialization state parameters; n one-key placement instruction input units (D2), wherein the m-th one-key placement instruction input unit (D2) is configured to send the m-th one-key placement instruction to the control device (15), so that the control device automatically controls the battery box pick-up and placement device (12) to move the battery box (B) it has grasped and release it to the m-th storage location (Z); A one-key reset instruction input unit (D3) is configured to send a one-key reset instruction to the control device (15), so that the control device (15) automatically controls the battery box taking and placing device (12) to move to the original state according to the original state parameters.

4. The mobile battery-swapping vehicle (1) according to claim 2, characterized in that: The control device (15) is configured to plan the motion trajectory of the battery box pick-up and placement device (12) according to the state parameters of the pick-up and placement device detected in real time by the first detection device (14) and the initialization state parameters or the original state parameters during the process of controlling the movement of the drive device (13).

5. The mobile battery-swapping vehicle (1) according to any one of claims 1 to 4, characterized in that: The battery box taking and placing device (12) comprises an arm (121), a gripper (122) and a battery box carrying device (123); The driving device (13) comprises an arm driving portion (131), a gripper driving portion (132) and a carrying device driving portion (133); The first detection device (14) comprises an arm detection portion (141), a gripper detection portion (142) and a carrying device detection portion (143); wherein The first end of the arm (121) is connected to the chassis (11), the arm (121) is configured to drive the gripper (122) to move, the arm driving unit (131) is connected to the arm (121) and configured to drive the arm (121) to move, the arm detection unit (141) is configured to detect the arm state parameters of the arm (121), the pick-and-place device state parameters include the arm state parameters, the control device (15) is connected to the arm detection unit (141) and the arm driving unit (131) by signal, and is configured to control the arm driving unit (131) to move according to the arm state parameters; The gripper (122) is connected to the second end of the arm (121), and the gripper (122) is configured to grip and release the battery box (B). The gripper drive unit (132) is connected to the gripper (122) and is configured to drive the gripper (122) to move relative to the arm (121) and / or drive different parts of the gripper (122) to move relative to each other. The gripper detection unit (142) is configured to detect gripper state parameters of the gripper (122), and the pick-and-place device state parameters include the gripper state parameters. The control device (15) is connected to the gripper detection unit (142) and the gripper drive unit (132) by signal, and is configured to control the gripper drive unit (132) to move according to the gripper state parameters. The battery box carrying device (123) is movably arranged on the chassis (11), at least one of the bins (Z) is arranged on the battery box carrying device (123), the carrying device driving unit (133) is drivingly connected to the battery box carrying device (123), and is configured to drive the battery box carrying device (123) to move relative to the chassis (11), the carrying device detection unit (143) is configured to detect the carrying device state parameters of the battery box carrying device (123), the picking and placing device state parameters include the carrying device state parameters, and the control device (15) is signal-connected to the carrying device detection unit (143) and the carrying device driving unit (133), and is configured to control the operation of the carrying device driving unit (133) according to the carrying device state parameters.

6. The mobile battery-swapping vehicle (1) according to claim 5, characterized in that: The battery box taking and placing device (12), the driving device (13), the first detection device (14), and the control device (15) are respectively configured to have at least one of the following settings: The first end of the arm (121) is rotatably connected to the chassis (11); the arm driving unit (131) includes a first driving unit (1311); the first driving unit (1311) is drivingly connected to the arm (121) and is configured to drive the arm (121) to rotate relative to the chassis (11); the arm detection unit (141) includes a first angle detection device (1411); the first angle detection device (1411) is configured to detect a first rotation angle of the arm (121) relative to the chassis (11); the arm state parameter includes the first rotation angle; the control device (15) is signal-connected to the first angle detection device (1411) and the first driving unit (1311), and is configured to control the action of the first driving unit (1311) according to the first rotation angle; The boom (121) includes adjacent arm segments with variable included angles; the boom driving unit (131) includes a second driving unit (1312); the second driving unit (1312) is drivingly connected to the adjacent arm segments and configured to drive the adjacent arm segments to rotate relative to each other; the boom detection unit (141) includes a second angle detection device (1412); the second angle detection device (1412) is configured to detect a first angle between the adjacent arm segments; the boom state parameter includes the first angle; the control device (15) is signal-connected to the second angle detection device (1412) and the second driving unit (1312), and is configured to control the movement of the second driving unit (1312) according to the first angle; The boom (121) includes a telescopic arm (1212), the boom driving unit (131) includes a third driving unit (1313), the third driving unit (1313) is drivingly connected to the telescopic arm (1212), and is configured to drive the telescopic arm (1212) to be telescopic, the boom detection unit (141) includes a length detection device (1413), the length detection device (1413) is configured to detect the telescopic length of the telescopic arm (1212), the boom state parameter includes the telescopic length, the control device (15) is signal-connected to the length detection device (1413) and the third driving unit (1313), and is configured to control the action of the third driving unit (1313) according to the telescopic length; The gripper (122) includes a mounting base (1221), a rotating connection portion (1222) connected to the mounting base (1221), and a gripping portion (1223) connected to the rotating connection portion (1222) for gripping and releasing the battery box (B). The gripper drive portion (132) includes a fourth drive portion (1321), the fourth drive portion (1321) being drive-connected to the mounting base (1221) and configured to drive the mounting base (1221) relative to the arm (121). The second end rotates around a horizontal first axis, the gripper detection portion (142) includes a third angle detection device (1421), the third angle detection device (1421) is configured to detect a second angle of the mounting base (1221) relative to a horizontal plane, the gripper state parameter includes the second angle, the control device (15) is connected to the third angle detection device (1421) and the fourth drive portion (1321) via signals, and is configured to control the action of the fourth drive portion (1321) according to the second angle; The gripper (122) includes a mounting base (1221), a rotating connection portion (1222) connected to the mounting base (1221), and a gripping portion (1223) connected to the rotating connection portion (1222) for gripping and releasing the battery box (B). The gripper driving portion (132) includes a fifth driving portion (1322), which is drivingly connected to the rotating connection portion (1222) and is configured to drive the rotating connection portion (1222) relative to the mounting base (1221) around a first rotation perpendicular to a horizontal axis. The second axis of the axis rotates, the gripper detection part (142) includes a fourth angle detection device (1422), the fourth angle detection device (1422) is configured to detect a second rotation angle of the rotation of the rotating connection part (1222) relative to the mounting base (1221), the gripper state parameter includes the second rotation angle, the control device (15) is connected to the fourth angle detection device (1422) and the fifth drive part (1322) by signal, and is configured to control the action of the fifth drive part (1322) according to the second rotation angle; The gripper (122) includes a mounting base (1221), a rotating connection portion (1222) connected to the mounting base (1221), and a gripping portion (1223) connected to the rotating connection portion (1222) for gripping and releasing the battery box (B). The gripper drive portion (132) includes a sixth drive portion (1323) that is drivingly connected to the gripping portion (1223) and configured to drive the gripping portion (1223) relative to the rotating connection portion (1222). ) moves up and down, the gripper detection portion (142) includes a first distance detection device (1423), the first distance detection device (1423) is configured to detect a first distance between the gripping portion (1223) and the rotating connection portion (1222), the gripper state parameter includes the first distance, the control device (15) is connected to the first distance detection device (1423) and the sixth driving portion (1323) by signal, and is configured to control the action of the sixth driving portion (1323) according to the first distance; The gripper (122) includes a mounting base (1221), a rotating connection portion (1222) connected to the mounting base (1221), and a gripping portion (1223) connected to the rotating connection portion (1222) for gripping and releasing the battery box (B). The gripper drive portion (132) includes a seventh drive portion (1324), which is drivably connected to the gripping portion (1223) and is configured to drive the gripping portion (1223) to grip or release the battery box (B). The battery box (B) is placed, the gripper detection unit (142) includes a position detection device (1424), the position detection device (1424) is configured to detect gripping state information of the gripping unit (1223), the gripper state parameter includes the gripping state information, the control device (15) is connected to the position detection device (1424) and the seventh drive unit (1324) by signal, and is configured to control the action of the seventh drive unit (1324) according to the gripping state information; and The battery box carrying device (123) includes a base (1231), the base (1231) is rotatably arranged on the chassis (11), and the n positions (Z) are arranged on the base (1231). The carrying device driving part (133) includes an eighth driving part (1331), and the eighth driving part (1331) is drivingly connected to the base (1231) and is configured to drive the base (1231) to rotate relative to the chassis (11). The carrying device detection part ( 143) includes a fifth angle detection device (1431), the fifth angle detection device (1431) is configured to detect a third rotation angle of the base (1231) relative to the chassis (11), the state parameter of the bearing device includes the third rotation angle, the control device (15) is connected to the fifth angle detection device (1431) and the eighth drive unit (1331) by signal, and is configured to control the action of the eighth drive unit (1331) according to the third rotation angle.

7. The mobile battery-swapping vehicle (1) according to any one of claims 1 to 4, characterized in that: It also includes at least one of a second detection device (17) and a third detection device (18), wherein The second detection device (17) is configured to detect relative position information between the gripper (122) of the battery box picking and placing device (12) and the battery box (B) to be picked up, or between the battery box (B) picked up by the gripper (122) and the bin (Z) where the battery box (B) is to be placed. The control device (15) is connected to the second detection device (17) by signal and is configured to control the action of the driving device (13) according to the relative position information to correct the deviation between the target position and the real-time position of the gripper (122); The third detection device (18) is configured to detect a second distance between the battery box picking and placing device (12) and objects around it. The control device (15) is connected to the third detection device (18) by signal and is configured to control the action of the driving device (13) according to the second distance to prevent the battery box picking and placing device (12) from interfering with objects around it.

8. A method for replacing a battery box of an electrical device, characterized in that: The mobile battery-exchanging vehicle (1) according to any one of claims 1 to 7 is used to replace a battery box (B) for an electric device (2), comprising: the control device (15) controls the movement of the driving device (13) according to the state parameters of the picking and placing device, so that the battery box picking and placing device (12) grabs the battery box (B) from one of the positions (Z) and moves and releases the battery box (B) to a battery installation position (21) of the electric device (2), or grabs the battery box (B) from a battery installation position (21) of the electric device (2) and moves and releases the battery box (B) to one of the positions (Z).

9. The battery box replacement method according to claim 8, characterized in that: The mobile battery-swapping vehicle (1) further includes a storage device (19), wherein the storage device (19) is signal-connected to the control device (15); The battery box replacement method includes at least one of the following steps: Obtaining n groups of initialization state parameters and storing them in the storage device (19), wherein the mth group of initialization state parameters among the n groups of initialization state parameters are the state parameters of the pick-up and placement device detected by the first detection device (14) when the battery box pick-up and placement device (12) is in a state of completing grabbing the battery box (B) carried in the mth bin (Z), and m is any integer from 1 to n; and n automatic grabbing steps or n automatic placement steps, wherein the mth automatic grabbing step includes the control device (15) controlling the battery box pick-up and placement device (12) to grab the battery box (B) from the mth bin (Z) according to the mth group of initialization state parameters, and the mth automatic placement step includes the control device (15) controlling the battery box pick-up and placement device (12) to move the grabbed battery box (B) and release it to the mth bin (Z) according to the mth group of initialization state parameters; Obtaining original state parameters and storing them in the storage device (19), wherein the original state parameters are state parameters of the battery box picking and placing device detected by the first detection device (14) when the battery box picking and placing device (12) is in the original state; and an automatic resetting step, wherein the automatic resetting step includes the control device (15) controlling the battery box picking and placing device (12) to move to the original state according to the original state parameters.

10. The battery box replacement method according to claim 9, characterized in that: The mobile battery-swapping vehicle (1) further comprises an interaction device (D), the interaction device (D) being connected to the control device (15) by signal and configured to issue a control instruction to the control device (15), the interaction device (D) comprising at least one of the following interaction parts: n one-key grab instruction input parts (D1), n ​​one-key placement instruction input parts (D2), and a one-key reset instruction input part (D3); The battery box replacement method includes at least one of the following steps: Sending the mth one-key grabbing instruction to the control device (15) through the mth one-key grabbing instruction input unit (D1), so that the control device automatically executes the mth automatic grabbing step; Sending the mth one-key placement instruction to the control device (15) through the mth one-key placement instruction input unit (D2), so that the control device automatically executes the mth automatic placement step; A one-key reset instruction is sent to the control device (15) via a one-key reset instruction input unit (D3), so that the control device (15) automatically executes the automatic reset step.

11. The battery box replacement method according to claim 9, characterized in that: The control device (15) plans the motion trajectory of the battery box pick-up and placement device (12) based on the state parameters of the pick-up and placement device detected in real time by the first detection device (14) and the initialization state parameters or the original state parameters during the process of controlling the movement of the drive device (13).

12. The battery box replacement method according to any one of claims 8 to 11, characterized in that: The battery box taking and placing device (12) comprises an arm (121), a gripper (122) and a battery box carrying device (123); The driving device (13) comprises an arm driving portion (131), a gripper driving portion (132) and a carrying device driving portion (133); The first detection device (14) comprises an arm detection portion (141), a gripper detection portion (142) and a carrying device detection portion (143); wherein, The first end of the boom (121) is connected to the chassis (11), the boom driving unit (131) is drivingly connected to the boom (121), and the control device (15) is signal-connected to the boom detection unit (141) and the boom driving unit (131); The gripper (122) is connected to the second end of the arm (121), the gripper drive unit (132) is drive-connected to the gripper (122), and the control device (15) is signal-connected to the gripper detection unit (142) and the gripper drive unit (132); and The battery box carrying device (123) is movably arranged on the chassis (11), at least one of the bins (Z) is arranged on the battery box carrying device (123), the carrying device driving unit (133) is drivingly connected to the battery box carrying device (123), and the control device (15) is signal-connected to the carrying device detection unit (143) and the carrying device driving unit (133); The battery box replacement method comprises the following steps: The arm detection unit (141) detects the arm state parameters of the arm (121), the pick-and-place device state parameters include the arm state parameters, the control device (15) controls the arm drive unit (131) to move according to the arm state parameters, the arm drive unit (131) drives the arm (121) to move, and the arm (121) drives the gripper (122) to move; The gripper detection unit (142) detects gripper state parameters of the gripper (122), the pick-and-place device state parameters include the gripper state parameters, the control device (15) controls the gripper drive unit (132) to move according to the gripper state parameters, the gripper drive unit (132) drives the gripper (122) to move relative to the arm (121) and / or drives different parts of the gripper (122) to move relative to each other, and the gripper (122) grasps and releases the battery box (B); and The carrying device detection unit (143) detects the carrying device state parameters of the battery box carrying device (123), the picking and placing device state parameters include the carrying device state parameters, and the control device (15) controls the operation of the carrying device driving unit (133) according to the carrying device state parameters, and the carrying device driving unit (133) drives the battery box carrying device (123) to move relative to the chassis (11).

13. The battery box replacement method according to claim 12, characterized in that: The battery box taking and placing device (12), the driving device (13), the first detection device (14), the control device (15), and the battery box replacement method have at least one of the following configurations: The first end of the arm (121) is rotatably connected to the chassis (11), the arm drive unit (131) includes a first drive unit (1311), the first drive unit (1311) is drive-connected to the arm (121), the arm detection unit (141) includes a first angle detection device (1411), and the control device (15) is signal-connected to the first angle detection device (1411) and the first drive unit (1311); the battery box replacement method includes the following steps: the first angle detection device (1411) detects a first rotation angle of the arm (121) relative to the chassis (11), the arm state parameter includes the first rotation angle, the control device (15) controls the first drive unit (1311) to operate according to the first rotation angle, and the first drive unit (1311) drives the arm (121) to rotate relative to the chassis (11); The arm (121) includes adjacent arm segments with variable included angles, the arm drive unit (131) includes a second drive unit (1312), the second drive unit (1312) is drive-connected to the adjacent arm segments, the arm detection unit (141) includes a second angle detection device (1412), and the control device (15) is signal-connected to the second angle detection device (1412) and the second drive unit (1312); the battery box replacement method includes the following steps: the second angle detection device (1412) detects a first angle between the adjacent arm segments, the arm state parameter includes the first angle, the control device (15) controls the second drive unit (1312) to operate according to the first angle, and the second drive unit (1312) drives the adjacent arm segments to rotate relative to each other; The arm (121) includes a telescopic arm (1212), the arm drive unit (131) includes a third drive unit (1313), the third drive unit (1313) is drive-connected to the telescopic arm (1212), the arm detection unit (141) includes a length detection device (1413), and the control device (15) is signal-connected to the length detection device (1413) and the third drive unit (1313); the battery box replacement method includes the following steps: the length detection device (1413) detects the telescopic length of the telescopic arm (1212), the arm state parameter includes the telescopic length, the control device (15) controls the action of the third drive unit (1313) according to the telescopic length, and the third drive unit (1313) drives the telescopic arm (1212) to extend and retract; The gripper (122) includes a mounting base (1221) connected to the second end of the arm (121), a rotating connection portion (1222) connected to the mounting base (1221), and a gripping portion (1223) connected to the rotating connection portion (1222) for gripping and releasing the battery box (B). The gripper driving portion (132) includes a fourth driving portion (1321) which is drivingly connected to the mounting base (1221). The gripper detecting portion (142) includes a third angle detecting device (1421). The control device ( 15) is connected to the third angle detection device (1421) and the fourth drive unit (1321) by signal; the battery box replacement method comprises the following steps: the third angle detection device (1421) detects a second angle of the mounting base (1221) relative to the horizontal plane, the gripper state parameter includes the second angle, the control device (15) controls the fourth drive unit (1321) to operate according to the second angle, and the fourth drive unit (1321) drives the mounting base (1221) to rotate around a horizontal first axis relative to the second end of the arm (121); The gripper (122) includes a mounting base (1221) connected to the second end of the arm (121), a rotating connection portion (1222) connected to the mounting base (1221), and a gripping portion (1223) connected to the rotating connection portion (1222) for gripping and releasing the battery box (B). The gripper driving portion (132) includes a fifth driving portion (1322) which is drivingly connected to the rotating connection portion (1222). The gripper detecting portion (142) includes a fourth angle detecting device (1422). The control device (15) is connected to the fourth angle detecting device. The device (142) is signal-connected to the fifth drive unit (1322); the battery box replacement method comprises the following steps: the fourth angle detection device (1422) detects a second rotation angle of the rotating connection unit (1222) relative to the mounting base (1221), the gripper state parameter includes the second rotation angle, the control device (15) controls the action of the fifth drive unit (1322) according to the second rotation angle, and the fifth drive unit (1322) drives the rotating connection unit (1222) to rotate relative to the mounting base (1221) around a second axis perpendicular to the horizontal first axis; The gripper (122) includes a mounting base (1221) connected to the second end of the arm (121), a rotating connection portion (1222) connected to the mounting base (1221), and a gripping portion (1223) connected to the rotating connection portion (1222) for gripping and releasing the battery box (B). The gripper driving portion (132) includes a sixth driving portion (1323) which is drivingly connected to the gripping portion (1223). The gripper detecting portion (142) includes a first distance detecting device (1423). The control device (1 5) signal connection with the first distance detection device (1423) and the sixth drive unit (1323); the battery box replacement method comprises the following steps: the first distance detection device (1423) detects a first distance between the gripping portion (1223) and the rotating connection portion (1222), the gripper state parameter includes the first distance, the control device (15) controls the action of the sixth drive unit (1323) according to the first distance, and the sixth drive unit (1323) drives the gripping portion (1223) to move up and down relative to the rotating connection portion (1222); The gripper (122) includes a mounting base (1221) connected to the second end of the arm (121), a rotating connection portion (1222) connected to the mounting base (1221), and a gripping portion (1223) connected to the rotating connection portion (1222) for gripping and releasing the battery box (B). The gripper driving portion (132) includes a seventh driving portion (1324) which is drivingly connected to the gripping portion (1223). The gripper detecting portion (142) includes a position detecting device (1424). , the control device (15) is signal-connected to the position detection device (1424) and the seventh drive unit (1324); the battery box replacement method comprises the following steps: the position detection device (1424) detects the gripping state information of the gripping unit (1223), the gripper state parameter includes the gripping state information, the control device (15) controls the seventh drive unit (1324) to move according to the gripping state information, and the seventh drive unit (1324) drives the gripping unit (1223) to grip or release the battery box (B); and The battery box carrying device (123) includes a base (1231), the base (1231) is rotatably arranged on the chassis (11), and n positions (Z) are arranged on the base (1231). The carrying device driving part (133) includes an eighth driving part (1331), and the eighth driving part (1331) is drivingly connected to the base (1231). The carrying device detection part (143) includes a fifth angle detection device (1431), and the control device (15) is connected to the fifth angle detection device ( 1431) and the eighth drive unit (1331) are connected by signal; the battery box replacement method includes the following steps: the fifth angle detection device (1431) detects a third rotation angle of the base support (1231) relative to the chassis (11), the state parameter of the bearing device includes the third rotation angle, the control device (15) controls the action of the eighth drive unit (1331) according to the third rotation angle, and the eighth drive unit (1331) drives the base support (1231) to rotate relative to the chassis (11).

14. The battery box replacement method according to claim 13, characterized in that: The mobile battery-swapping vehicle (1) further includes a storage device (19), wherein the storage device (19) is signal-connected to the control device (15); The battery box replacement method includes at least one of the following steps: Obtaining n groups of initialization state parameters and storing them in the storage device (19), wherein the mth group of initialization state parameters among the n groups of initialization state parameters are the state parameters of the pick-up and placement device detected by the first detection device (14) when the battery box pick-up and placement device (12) is in a state of completing grabbing the battery box (B) carried in the mth bin (Z), and m is any integer from 1 to n; and n automatic grabbing steps or n automatic placement steps, wherein the mth automatic grabbing step includes the control device (15) controlling the battery box pick-up and placement device (12) to grab the battery box (B) from the mth bin (Z) according to the mth group of initialization state parameters, and the mth automatic placement step includes the control device (15) controlling the battery box pick-up and placement device (12) to move the grabbed battery box (B) and release it to the mth bin (Z) according to the mth group of initialization state parameters; Obtaining original state parameters and storing them in the storage device (19), wherein the original state parameters are state parameters of the battery box picking and placing device detected by the first detection device (14) when the battery box picking and placing device (12) is in the original state; and an automatic resetting step, wherein the automatic resetting step includes the control device (15) controlling the battery box picking and placing device (12) to move to the original state according to the original state parameters; The state parameters of the pick-and-place device include at least one of the following parameters: a first rotation angle of the arm (121) relative to the chassis (11), a first angle between adjacent arm segments, a telescopic length of the telescopic arm (1212), a second angle of the mounting base (1221) relative to a horizontal plane, a second rotation angle of the rotating connection portion (1222) relative to the mounting base (1221), a first distance of the gripping portion (1223) relative to the rotating connection portion (1222), gripping state information of the gripping portion (1223), and a third rotation angle of the base (1231) relative to the chassis (11).

15. The battery box replacement method according to claim 14, characterized in that: The mth automatic crawling step comprises the following steps: S102, the control device (15) controls the eighth driving part (1331) to operate according to the mth third rotation angle in the mth group of initialization state parameters, so as to drive the base (1231) to rotate to the mth base initialization position corresponding to the mth third rotation angle; S103, the control device (15) controls the fourth driving unit (1321) to operate according to the mth second angle in the mth group of initialization state parameters, so as to drive the mounting base (1221) to rotate to the mth mounting base initialization position corresponding to the mth second angle; S104, the control device (15) controls the fifth driving portion (1322) to operate according to the mth second rotation angle in the mth group of initialization state parameters, so as to drive the rotating connection portion (1222) to rotate relative to the mounting base (1221) to the mth rotating connection portion initialization position corresponding to the mth second rotation angle; S105, the control device (15) controls the first driving unit (1311) to operate according to the mth first rotation angle in the mth group of initialization state parameters, so as to drive the boom (121) to rotate relative to the chassis (11) to the mth boom initialization position corresponding to the mth first rotation angle; S106, the control device (15) controls the second driving unit (1312) to operate according to the mth first angle in the mth group of initialization state parameters, so as to drive the adjacent arm segments to rotate relative to each other to the mth adjacent arm segment initialization relative position corresponding to the mth first angle; S107, the control device (15) controls the third driving unit (1313) to operate according to the mth telescopic length in the mth group of initialization state parameters, so as to drive the telescopic arm (1212) to be telescopic to the mth telescopic arm initialization length corresponding to the mth telescopic length; S110, the control device (15) controls the sixth driving part (1323) to move according to the mth first distance in the mth group of initialization state parameters, so as to drive the grasping part (1223) relative to the rotating connection part (1222) to reach the mth grasping part initialization relative position corresponding to the mth first distance, so that the grasping part (1223) reaches the battery box (B) carried on the mth position (Z) placed on the base (1231); S111, the control device (15) controls the seventh driving unit (1324) to operate according to the mth grasping state information in the mth group of initialization state parameters, so as to drive the grasping unit (1223) to reach the mth grasping unit initialization grasping position corresponding to the mth grasping state information relative to the battery box (B), so that the grasping unit (1223) and the battery box (B) are locked and grasp the battery box (B); S112: The control device (15) controls the sixth driving unit (1323) to operate, so as to drive the grasping unit (1223) and the grasped battery box (B) to rise.

16. The battery box replacement method according to claim 15, wherein: At least two of steps S102, S103, S104 and S105 are performed simultaneously; and / or Steps S103 and S106 are performed synchronously.

17. The battery box replacement method according to claim 15, characterized in that: The m-th automatic crawling step further includes the following steps: S101. Before step S105 and step S106, the control device (15) controls the second driving unit (1312) to operate so as to drive the adjacent arm segments to rotate relative to each other to increase the angle between the adjacent arm segments.

18. The battery box replacement method according to claim 15, characterized in that: The mobile battery-swapping vehicle (1) further comprises a second detection device (17) connected to the control device (15) by signal; The m-th automatic crawling step further includes the following steps: S108. After steps S102, S103, S104, S105, S106, and S107 and before step S110, the control device (15) controls the sixth driving unit (1323) to operate, so as to drive the grasping unit (1223) to operate so that a first preset distance exists between the grasping unit (1223) and the battery box (B) carried by the mth position (Z); S109. After step S108 and before step S110, the second detection device (17) detects the relative position information between the gripper (122) and the battery box (B) carried by the mth bin (Z), and the control device (15) controls the action of the driving device (13) according to the relative position information to correct the deviation between the target position and the real-time position of the gripper (122).

19. The battery box replacement method according to claim 14, characterized in that: The mth automatic placement step comprises the following steps: S202, the control device (15) controls the eighth driving unit (1331) to operate according to the mth third rotation angle in the mth group of initialization state parameters, so as to drive the base (1231) to rotate to the mth base initialization position corresponding to the mth third rotation angle; S203, the control device (15) controls the fourth driving unit (1321) to operate according to the mth second angle in the mth group of initialization state parameters, so as to drive the mounting base (1221) to rotate to the mth mounting base initialization position corresponding to the mth second angle; S204, the control device (15) controls the fifth driving portion (1322) to operate according to the mth second rotation angle in the mth group of initialization state parameters, so as to drive the rotating connection portion (1222) to rotate relative to the mounting base (1221) to the mth rotating connection portion initialization position corresponding to the mth second rotation angle; S205, the control device (15) controls the first driving unit (1311) to operate according to the mth first rotation angle in the mth group of initialization state parameters, so as to drive the boom (121) to rotate relative to the chassis (11) to the mth boom initialization position corresponding to the mth first rotation angle; S206, the control device (15) controls the second driving unit (1312) to operate according to the mth first angle in the mth group of initialization state parameters, so as to drive the adjacent arm segments to rotate relative to each other to the mth adjacent arm segment initialization relative position corresponding to the mth first angle; S207, the control device (15) controls the third driving unit (1313) to operate according to the mth telescopic length in the mth group of initialization state parameters, so as to drive the telescopic arm (1212) to be telescoped to the mth telescopic arm initialization length corresponding to the mth telescopic length; S210, the control device (15) controls the sixth driving part (1323) to move according to the mth first distance in the mth group of initialization state parameters, so as to drive the grasping part (1223) to reach the mth grasping part initialization relative position corresponding to the mth first distance relative to the rotating connection part (1222), so that the battery box (B) grasped by the grasping part (1223) is placed on the mth position (Z) of the base (1231); S211, the control device (15) controls the seventh driving unit (1324) to move according to the mth grasping state information in the mth group of initialization state parameters, so as to drive the grasping unit (1223) to leave the mth grasping unit initialization grasping position corresponding to the mth grasping state information, so that the grasping unit (1223) is unlocked from the battery box (B) and separated from the battery box (B); S212: The control device (15) controls the sixth driving portion (1323) to operate, so as to drive the grasping portion (1223) to rise.

20. The battery box replacement method according to claim 19, wherein: At least two of steps S202, S203, S204 and S205 are performed simultaneously; and / or Steps S203 and S206 are performed synchronously.

21. The battery box replacement method according to claim 19, characterized in that: The m-th automatic placement step further comprises the following steps: S201. Before steps S205 and S206, the control device (15) controls the second driving unit (1312) to operate so as to drive the adjacent arm segments to rotate relative to each other to increase the angle between the adjacent arm segments.

22. The battery box replacement method according to claim 19, characterized in that: The mobile battery-swapping vehicle (1) further comprises a second detection device (17) connected to the control device (15) by signal; The m-th automatic placement step further comprises the following steps: S208. After steps S202, S203, S204, S205, S206, and S207 and before step S210, the control device (15) controls the sixth driving unit (1323) to operate, so as to drive the grasping unit (1223) to operate so that a second preset distance exists between the battery box (B) grasped by the grasping unit (1223) and the mth storage position (Z); S209. After step S208 and before step S210, the second detection device (17) detects the relative position information between the battery box (B) grasped by the gripper (122) and the mth position (Z), and the control device (15) controls the action of the driving device (13) according to the relative position information to correct the deviation between the target position and the real-time position of the gripper (122).

23. The battery box replacement method according to claim 14, characterized in that: The automatic resetting step comprises the following steps: S302, the control device (15) controls the fourth driving part (1321) to operate according to the original second angle in the original state parameter, so as to drive the mounting base (1221) to rotate to an original mounting base position corresponding to the original second angle; S303, the control device (15) controls the fifth driving part (1322) to operate according to the original second rotation angle in the original state parameters and the original state parameters, so as to drive the rotating connection part (1222) to rotate relative to the mounting base (1221) to the rotating connection part original position corresponding to the original second rotation angle; S304, the control device (15) controls the first driving unit (1311) to operate according to the original first rotation angle in the mth group of original state parameters, so as to drive the boom (121) to rotate relative to the chassis (11) to an original boom position corresponding to the original first rotation angle; S305, the control device (15) controls the sixth driving part (1323) to move according to the original first distance in the original state parameter, so as to drive the grasping part (1223) to reach the grasping part original relative position corresponding to the original first distance; S306, the control device (15) controls the seventh driving unit (1324) to move according to the original grasping state information in the original state parameter, so as to drive the grasping unit (1223) to reach the grasping unit original grasping position corresponding to the original grasping state information; S307, the control device (15) controls the third driving part (1313) to move according to the original telescopic length in the original state parameter, so as to drive the telescopic arm (1212) to be telescopic to an original length of the telescopic arm corresponding to the original telescopic length; S308. The control device (15) controls the second driving unit (1312) to operate according to the original first angle in the original state parameter, so as to drive the adjacent arm segments to rotate relative to each other to the original relative positions of the adjacent arm segments corresponding to the original first angle.

24. The battery box replacement method according to claim 23, characterized in that: At least two of steps S302, S303, S304, S305 and S306 are performed synchronously.

25. The battery box replacement method according to claim 23, characterized in that: The automatic resetting step further comprises the following steps: S301. Before steps S302 to S308, the control device (15) controls the second driving unit (1312) to operate so as to drive the adjacent arm segments to rotate relative to each other to increase the angle between the adjacent arm segments.

26. The battery box replacement method according to any one of claims 8 to 11, characterized in that: The mobile battery-swapping vehicle (1) further comprises a third detection device (18) connected to the control device (15) by signal; The battery box replacement method includes an anti-collision step, and the anti-collision step includes: The third detection device (18) detects a second distance between the battery box pick-up and placement device (12) and surrounding objects, and the control device (15) controls the drive device (13) to operate according to the second distance to prevent the battery box pick-up and placement device (12) from interfering with surrounding objects.

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