Battery box replacement method for mobile battery replacement vehicle and electric device

Abstract

The application provides a mobile battery replacement vehicle and a battery box replacement method for an electric device. The mobile battery replacement vehicle is used for replacing a battery box for an electric device, and comprises a chassis, a battery box taking 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 for carrying a battery box, wherein n is a positive integer; the battery box taking and placing device is arranged on the chassis and is configured to grasp a battery box from one position, move and release the battery box to a battery mounting position of the electric device or grasp a battery box from a battery mounting position of the electric device and move and release the battery box to one position; the driving device is drivingly connected 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 a taking and placing device state parameter of the battery box taking and placing device; and the control device is signal-connected 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 parameter.

Description

Technical Field

[0001] This application relates to the field of new energy equipment technology, and in particular to a method for replacing the battery box of a mobile battery swapping vehicle and electrical equipment. Background Technology

[0002] Currently, electric construction machinery, such as electric excavators and electric loaders, has a limited operating time after a single charge due to the limitation of battery energy density. When the battery is depleted, there are two options: direct charging or battery replacement. Direct charging requires the electric construction machinery to be located near a designated charging station and takes a long time. Battery replacement is a faster and more convenient way to replenish energy. However, since the current battery swapping process is entirely manual, the swapping efficiency is low, the swapping time is long, and manual operation is prone to errors and has poor safety performance.

[0003] The above statements are for the purpose of providing background information in relation to this application only, and do not necessarily constitute prior art. Summary of the Invention

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

[0005] This application provides a mobile battery swapping vehicle for replacing battery boxes for electrical equipment, comprising a chassis, a battery box loading and unloading device, a drive unit, a first detection device, and a control device. The chassis has n compartments, each compartment for carrying one battery box, where n is a positive integer. The battery box loading and unloading device is disposed on the chassis and configured to either grab a battery box from one of the compartments, move the battery box, and release it to a battery mounting position on the electrical equipment, or grab a battery box from one battery mounting position on the electrical equipment and move and release it to one of the compartments. The drive unit is drivenly connected to the battery box loading and unloading device and configured to drive the battery box loading and unloading device to operate. The first detection device is configured to detect the status parameters of the loading and unloading device. The control device is signal-connected to the first detection device and the drive unit and configured to control the drive unit to operate according to the status parameters of the loading and unloading device.

[0006] Another aspect of this application provides a method for replacing the battery box of an electrical device, using the mobile battery swapping vehicle described in the first aspect of this application to replace the battery box of the electrical device. The method includes: the control device controlling the movement of the drive device according to the state parameters of the picking and placing device, so that the battery box picking and placing device picks up the battery box from one of the compartments and moves and releases the battery box to a battery mounting position of the electrical device, or picks up the battery box from one of the battery mounting positions of the electrical device and moves and releases the battery box to one of the compartments.

[0007] Based on the mobile battery swapping vehicle provided in this application, the control device controls the operation of the drive device according to the data from the detection device. Under the command of the control device, the drive device automatically drives the battery box picking and placing device. This device can complete the movements of its various moving parts with high precision and efficiency, facilitating the rapid and accurate grabbing, moving, and releasing of battery boxes, thereby shortening battery box replacement time and improving replacement efficiency. By reducing human intervention, abnormal operations caused by differences in operator skill level, proficiency, or condition during manual operation can be minimized.

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

[0009] Other features and advantages of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0010] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

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

[0012] Figure 2 for Figure 1 A schematic diagram of the gripping unit of the mobile battery swapping vehicle in the illustrated embodiment.

[0013] Figure 3 for Figure 1 The diagram shows the location of the battery swapping compartments and the location of the electrical equipment and battery installation positions in the mobile battery swapping vehicle according to the embodiment shown.

[0014] Figure 4 for Figure 1 A schematic diagram of the interactive device structure of the mobile battery swapping vehicle in the embodiment shown.

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

[0016] Figure 6 For application Figure 1 The flowchart shown in the embodiment illustrates the automatic capture steps of a method for replacing the battery box of an electrical device using a mobile battery swapping vehicle.

[0017] Figure 7 For application Figure 1 The illustrated embodiment shows a flowchart of the automatic placement steps of a method for replacing the battery box of an electrical device using a mobile battery swapping vehicle.

[0018] Figure 8 For application Figure 1 The flowchart shown in the embodiment illustrates the automatic reset step of the battery box replacement method for electrical equipment using a mobile battery swapping vehicle. Detailed Implementation

[0019] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this application or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0020] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0021] In the description of this application, it should be understood that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this application.

[0022] Furthermore, the technical features involved in the different embodiments of this 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 in the figure, this application embodiment provides a mobile battery swapping vehicle 1 for replacing battery boxes B for electrical equipment 2. The mobile battery swapping vehicle 1 includes a chassis 11, a battery box loading and unloading device 12, a drive device 13, a first detection device 14, and a control device 15. The chassis 11 is provided with n compartments Z, each compartment Z is used to carry one battery box B, where n is a positive integer. The battery box loading and unloading device 12 is disposed on the chassis 11 and is configured to grab a battery box B from one compartment Z and move and release the battery box B to a battery mounting position 21 of the electrical equipment 2, or grab a battery box B from one battery mounting position 21 of the electrical equipment 2 and move and release the battery box B to a compartment Z. The drive device 13 is drivenly connected to the battery box loading and unloading device 12 and is configured to drive the battery box loading and unloading device 12 to operate. The first detection device 14 is configured to detect the loading and unloading device status parameters of the battery box loading and unloading device 12. The control device 15 is signal-connected to the first detection device 14 and the drive device 13, and is configured to control the drive device 13 to operate according to the status parameters of the pick-up and put-down device.

[0024] Battery box B is a battery pack consisting of several individual batteries, a box, a battery management system, and related installation components.

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

[0026] In the mobile battery swapping vehicle 1 of this application embodiment, the control device 15 controls the operation of the drive device 13 based on the data from the detection device 14. Under the command of the control device 15, the drive device 13 automatically drives the battery box picking and placing device 12. The battery box picking and placing device 12 can complete the movements of its various moving parts with high precision and efficiency, facilitating the rapid and accurate grabbing, moving, and releasing of the battery box B, thereby shortening the battery box B replacement time and improving replacement efficiency. Because manual intervention is reduced, abnormal operations caused by differences in operator skill level, proficiency, or condition during manual operation can be minimized.

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

[0028] The m-th initialization state parameter in the n-group initialization state parameters is the 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 the state of having completed the grabbing of the battery box B carried in the m-th compartment 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 grab the battery box B from the m-th compartment Z or to control the battery box picking and placing device 12 to move and release the grabbed battery box B to the m-th compartment Z according to the m-th initialization state parameter.

[0029] The initial state parameters are the state parameters of the battery box loading / unloading device 12 detected by the first detection device 14 when the device is in its initial state. The control device 15 is configured to control the battery box loading / unloading device 12 to move back to its initial state based on the initial state parameters.

[0030] The initial state is the non-operating state of the battery box loading and unloading device 12 of the mobile battery swapping vehicle 1, for example, the state of the battery box loading and unloading device 12 when the mobile battery swapping vehicle 1 is in a drivable state, such as... Figure 1 In the embodiment shown, the state of the battery box loading and unloading device 12 of the mobile battery swapping vehicle 1 corresponds to its original state.

[0031] The storage device 19, which is signal-connected to the control device 15, stores n sets of initialization state parameters. When it is necessary to retrieve or place battery boxes B from or into each compartment Z, the control device 15 can directly call the initialization state parameters. Based on the initialization state parameters, the drive device 13 is controlled to drive the battery box retrieval and placement device 12 to quickly position it to the target compartment Z, which helps to shorten the battery box B replacement time and improve replacement efficiency. The storage device 19, which is signal-connected to the control device 15, stores the original state parameters. When it is necessary for the battery box retrieval and placement device 12 to move 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 retrieval and placement device 12 to quickly move to the original state, which shortens the reset time of the battery box retrieval and placement device 12 and improves reset efficiency.

[0032] In some embodiments, such as Figure 4 and Figure 5As shown, the mobile battery swapping vehicle 1 also includes an interaction device D. The interaction device D is signal-connected to the control device 15 and is configured to issue control commands to the control device 15. The interaction device D has at least one of the following interaction sections: n one-key grab command input sections D1, n one-key placement command input sections D2, and a one-key reset command input section D3. The m-th one-key grab command input section D1 of the n one-key grab command input sections D1 is configured to issue the m-th one-key grab command to the control device 15, so that the control device automatically controls the battery box retrieval and placement device 12 to grab the battery box B from the m-th compartment Z according to the m-th set of initialization state parameters. The m-th one-key placement command input section D2 of the n one-key placement command input sections D2 is configured to issue the m-th one-key placement command to the control device 15, so that the control device automatically controls the battery box retrieval and placement device 12 to move and release the grabbed battery box B to the m-th compartment Z. The one-key reset command input unit D3 is configured to send a one-key reset command to the control device 15 so that the control device 15 can automatically control the battery box loading and unloading device 12 to move to the original state according to the original state parameters.

[0033] In related technologies, manually replacing battery box B requires operators to complete complex procedures such as selecting the compartment, positioning the boom, locating the various moving parts of the gripper, and confirming the grip. However, this mobile battery swapping vehicle 1 utilizes at least one of the following three interactive units: n one-button gripping command input units D1, n one-button placement command input units D2, and one-button reset command input units D3. This reduces the multi-step operations associated with the interactive units into a single button press, thereby lowering the operator's workload, improving human-machine collaboration efficiency and error prevention capabilities, and ultimately enhancing the ease of operation of the mobile battery swapping vehicle 1 and the efficiency of battery box B replacement.

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

[0035] The real-time state parameters of the first detection device 14 provide feedback on the actual position and orientation information of the battery box retrieval device 12. The control device 15 compares and analyzes the real-time state parameters of the retrieval device with the initialization parameters or original state parameters that serve as target parameters, automatically plans the motion trajectory of the battery box retrieval device 12, and controls the drive device 13 to drive the battery box retrieval device 12 to move according to the planned motion trajectory. While efficiently achieving its control objectives, it also helps to reduce mechanical impact, energy consumption, and time consumption.

[0036] In some embodiments, such as Figure 1 , Figure 2 and Figure 5As shown, the battery box loading / unloading device 12 includes a boom 121, a gripper 122, and a battery box carrying device 123. The drive unit 13 includes a boom drive unit 131, a gripper drive unit 132, and a carrying device drive unit 133. The first detection device 14 includes a boom detection unit 141, a gripper detection unit 142, and a carrying device detection unit 143. A first end of the boom 121 is connected to the chassis 11, and the boom 121 is configured to drive the gripper 122 to move. The boom drive unit 131 is driven by the boom 121 and configured to drive the boom 121 to move. The boom detection unit 141 is configured to detect the boom status parameters of the boom 121, which are included in the loading / unloading device status parameters. 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 boom drive unit 131 to move according to the boom status parameters. A gripper 122 is connected to the second end of the boom 121 and is configured to grip and release the battery box B. A drive unit 13 includes a gripper drive unit 132, which is motive-connected to the gripper 122 and configured to drive the gripper 122 to move relative to the boom 121 and / or drive different parts of the gripper 122 to move relative to each other. A gripper detection unit 142 is configured to detect gripper status parameters of the gripper 122, including the gripper status parameters. A control unit 15 is signal-connected to the gripper detection unit 142 and the gripper drive unit 132 and is configured to control the operation of the gripper drive unit 132 according to the gripper status parameters. A battery box carrier 123 is movably mounted on the chassis 11, and at least one compartment Z is mounted on the battery box carrier 123. The drive unit 13 includes a carrier drive unit 133, which is driveably connected to the battery box carrier 123 and configured to drive the battery box carrier 123 to move relative to the chassis 11. A carrier detection unit 143 is configured to detect carrier status parameters of the battery box carrier 123, including the carrier status parameters. A control unit 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 boom drive unit 131, gripper drive unit 132, and carrier drive unit 133 of the drive device 13 are respectively driven and connected to the boom 121, gripper 122, and battery box carrier 123 of the battery box loading and unloading device 12. The boom detection unit 141, gripper detection unit 142, and carrier detection unit 143 of the first detection device 14 respectively detect the boom status parameters of the boom 121, the gripper status parameters of the gripper 122, and the carrier status parameters of the battery box carrier 123. The control device 15 can control the boom drive unit 131, gripper drive unit 132, and carrier drive unit 133 to operate according to these parameters, thereby achieving automatic control of the boom 121, gripper 122, and battery box carrier 123. The movement of the boom 121 allows for a larger working range, adapting to the positions of different electrical equipment 2 and their battery mounting positions 21, as well as different compartments Z of the mobile battery swapping vehicle 1. The gripper 122 can quickly and accurately grab or release battery box B. The battery box carrying device 123, in coordination with the boom 121 and the gripper 122, allows the gripper 122 to reach a suitable relative position with the battery box B to be grabbed, or with the battery box B grabbed by the gripper 122 and the storage compartment Z where the battery box B is to be placed, thus improving the efficiency of battery box B replacement. When the battery box carrying device 123 is movable, the arrangement range of battery box B can be widened if the boom 121 and gripper 122 have the same structure. Conversely, if the arrangement range of battery box B is the same, the range of motion of the boom 121 and gripper 122 can be reduced. For example, the number of telescopic boom sections or the number of adjacent boom sections with variable angles can be reduced, thereby reducing the cost and operational difficulty of the boom 121. Battery box B can be installed along the length or width of the mobile battery swapping vehicle 1 using battery box carrier 123. Battery box carrier 123 can be rotary and / or movable to expand the range of motion of battery box B relative to chassis 11, facilitating the gripper 122 on boom 121 to grab or place battery box B. In addition, by configuring independent drive units and detection units for boom 121, gripper 122 and battery box carrier 123 respectively, each boom 121, gripper 122 and battery box carrier 123 can operate in parallel or independently under the control of control device 15, which helps to improve the replacement efficiency of battery box B.

[0038] In some embodiments, such as Figure 1 , Figure 2 and Figure 5 As shown, the battery box loading / unloading device 12, the drive device 13, the first detection device 14, and the control device 15 are each 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 drive-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, configured to detect a first slewing angle of the boom 121 relative to the chassis 11; the boom status parameters include the first slewing angle. The control device 15 is signal-connected to the first angle detection device 1411 and the first drive unit 1311, and configured to control the operation of the first drive unit 1311 based on the first slewing angle.

[0040] Boom 121 includes adjacent boom segments with variable included angles. Boom drive unit 131 includes a second drive unit 1312, which is drivenly connected to the adjacent boom segments and configured to drive the adjacent boom segments to rotate relative to each other. 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 status parameters include the first angle. 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 according to the first angle.

[0041] Boom 121 includes a telescopic boom 1212. Boom drive unit 131 includes a third drive unit 1313, which is drive-connected to the telescopic boom 1212 and configured to drive the telescopic boom 1212 to extend or retract. Boom detection unit 141 includes a length detection device 1413, which is configured to detect the extension / retraction length of the telescopic boom 1212. Boom status parameters include the extension / retraction length. 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 according to the extension / retraction length.

[0042] The gripper 122 includes a mounting base 1221 connected to the second end of the boom 121, a rotating connection 1222 connected to the mounting base 1221, and a gripping part 1223 connected to the rotating connection 1222 for gripping and releasing the battery box B. The gripper drive unit 132 includes a fourth drive unit 1321, which is motive-connected to the mounting base 1221 and configured to drive the mounting base 1221 to rotate about a horizontal first axis relative to the second end of the boom 121. The gripper detection unit 142 includes a third angle detection device 1421, configured to detect a second angle of the mounting base 1221 relative to the horizontal plane; the gripper status parameters include 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 according to the second angle.

[0043] The gripper 122 includes a mounting base 1221 connected to the second end of the boom 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 fifth drive unit 1322, which is motive-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 a first axis. The gripper detection unit 142 includes a fourth angle detection device 1422, configured to detect a second rotation angle of the rotating connection portion 1222 relative to the mounting base 1221; the gripper status parameters include the second rotation angle. The control device 15 is signal-connected to the fourth angle detection device 1422 and the fifth drive unit 1322 and configured to control the operation of the fifth drive unit 1322 according to the second rotation angle.

[0044] The gripper 122 includes a mounting base 1221 connected to the second end of the boom 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 sixth drive unit 1323, which is drively 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 unit 142 includes a first distance detection device 1423, configured to detect a first distance between the gripping portion 1223 and the rotating connection portion 1222; the gripper status parameters include the first distance. 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 operation of the sixth drive unit 1323 based on the first distance.

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

[0046] The battery compartment support device 123 includes a base 1231, which is rotatably mounted on the chassis 11, and n compartments Z are disposed on the base 1231. The support device drive unit 133 includes an eighth drive unit 1331, which is drively connected to the base 1231 and configured to drive the base 1231 to rotate relative to the chassis 11. The support 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 support device status parameters include the third rotation angle. 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 according to the third rotation angle.

[0047] The first angle detection device 1411 detects the first rotation angle of the boom 121 relative to the chassis 11 in real time. The control device 15 controls the first drive unit 1311 to operate according to the first rotation angle to control the rotational movement of the boom 121 relative to the chassis 11. This allows the boom 121 to adapt to the position of the electrical equipment 2 and its battery mounting position 21 and the different compartments Z of the mobile battery swapping vehicle 1 through its own rotational movement relative to the chassis 11.

[0048] The second angle detection device 1412 detects the first angle between adjacent boom segments in real time. The control device 15 controls the second drive unit 1312 to operate according to the first angle to control the relative rotation of adjacent boom segments. This allows the boom 121 to adapt to the position of the electrical equipment 2 and its battery installation position 21 and the different compartments Z of the mobile battery swapping vehicle 1 through the relative rotation of adjacent boom segments.

[0049] The length detection device 1413 detects the telescopic length of the telescopic arm 1212 in real time. The control device controls the third drive unit 1313 to move according to the telescopic length to drive the telescopic arm 1212 to extend and retract. This allows the boom 121 to adapt to the position of the electrical equipment 2 and its battery mounting position 21 and the different compartments Z of the mobile battery swapping 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. The control device 15 controls the fourth drive unit 1321 to operate according to the second angle to control the second end of the mounting base 1221 relative to the boom 121 to rotate around the first horizontal axis. This can make the mounting base 1221 and the gripper at the required 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 (which also includes the battery box B when gripping the battery box B) remains stable when moving, thereby reducing the impact of the movement of related components such as changes in the first angle relative to the adjacent boom section on the stability of the gripper 122 or the gripper 122 and the battery box B on it.

[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 drive 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 a second axis perpendicular to the first axis. Thus, the rotation of the rotating connection part 1222 relative to the mounting base 1221 can match the accurate position required when the gripping part 1223 of the gripper 122 grabs or releases the battery box B.

[0052] The first distance detection device 1423 detects the first distance between the gripping part 1223 and the rotating connection part 1222. The control device 15 controls the sixth drive part 1323 to move according to the first distance to drive the gripping part 1223 to move up and down relative to the rotating connection part 1222. Thus, the up and down movement of the gripping part 1223 relative to the rotating connection part 1222 can match the accurate position required when the gripping part 1223 of the gripper 122 grabs or releases the battery box B.

[0053] The position detection device 1424 detects the gripping status information of the gripping unit 1223 in real time. The gripping status information can provide feedback on the connection status between the gripping unit 1223 and the battery box B. The control device 15 controls the seventh drive unit 1324 to drive the gripping unit 1223 to move according to the gripping status information. This can enable the gripping unit 1223 to connect with the battery box B to complete the action of gripping the battery box B, or to separate the gripping unit 1223 from 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 1231 relative to the chassis 11 in real time. The control device 15 controls the eighth drive unit 1331 to operate according to the third rotation angle 1231 to drive the base 1231 to rotate relative to the chassis 11. Thus, the rotation of the base 1231 relative to the chassis 11 can make the compartment Z or the battery box B on the compartment Z reach the matching position with the gripper 122 as soon as possible, thereby improving the replacement efficiency of the battery box B.

[0055] In some embodiments, such as Figure 2 and Figure 5As shown, the mobile site-changing 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 pick-and-place 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 storage location Z (target storage location) where the battery box B is to be placed. The control device 15 is signal-connected to the second detection device 17 and is configured to control the drive device 13 to operate 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 pick-and-place device 12 and surrounding objects. The control device 15 is signal-connected to the third detection device 18 and is configured to control the drive device 13 to operate based on the second distance to prevent interference between the battery box pick-and-place device 12 and surrounding objects.

[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 between the battery box B picked up by the gripper 122 and the compartment Z where the battery box B is to be placed. 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, which is conducive to the precise docking of the gripper 122 and the battery box B, or the battery box B and the compartment 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 parts or devices on the mobile battery swapping vehicle 1, and other surrounding equipment or personnel other than electrical equipment 2 and the mobile battery swapping vehicle). The control device 15 controls the drive 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, which is conducive to protecting the battery box picking and placing device 12 and other parts or devices of the mobile battery swapping vehicle 1, such as the battery box B and electrical equipment 2.

[0057] This application embodiment also provides a method for replacing the battery box of an electrical device, using the mobile battery swapping vehicle 1 in the aforementioned embodiment to replace the battery box B of the electrical device 2. The battery box replacement method includes: the control device 15 controlling the drive device 13 to move according to the state parameters of the pick-and-place device, so that the battery box pick-and-place device 12 picks up the battery box B from one compartment Z and moves and releases the battery box B to a battery mounting position 21 of the electrical device 2, or picks up the battery box B from one battery mounting position 21 of the electrical device 2 and moves and releases the battery box B to a compartment Z.

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

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

[0060] Obtain n sets of initialization state parameters and store them in storage device 19. Among the n sets of initialization state parameters, the m-th initialization state parameter is the 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 the state of having completed the grabbing of the battery box B carried in the m-th compartment Z. m is any integer from 1 to n. There are also n automatic grabbing steps or n automatic placement steps. The m-th 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 m-th compartment Z according to the m-th initialization state parameters. The m-th automatic placement step includes the control device 15 controlling the battery box picking and placing device 12 to move and release the grabbed battery box B to the m-th compartment Z according to the m-th initialization state parameters.

[0061] The system acquires and stores the original state parameters in the storage device 19. The original state parameters are the state parameters of the battery box pick-up and place device 12 detected by the first detection device 14 when the battery box pick-up and place device 12 is in its original state. The system also includes an automatic reset step, which includes the control device 15 controlling the battery box pick-up and place device 12 to move back to its original state based on the original state parameters.

[0062] In some embodiments, such as Figure 4 As shown, the mobile battery swapping vehicle 1 also includes an interaction device D, which is signal-connected to the control device 15 and configured to issue control commands to the control device 15. The interaction device D has at least one of the following interaction sections: n one-key grab command input sections D1, n one-key placement command input sections D2, and a one-key reset command input section D3. The battery box replacement method includes at least one of the following steps: issuing the m-th one-key grab command to the control device 15 through the m-th one-key grab command input section D1, so that the control device automatically executes the m-th automatic grab step; issuing the m-th one-key placement command to the control device 15 through the m-th one-key placement command input section D2, so that the control device automatically executes the m-th automatic placement step; and issuing a one-key reset command to the control device 15 through the one-key reset command input section D3, so that the control device 15 automatically executes the automatic reset step.

[0063] In some embodiments, such as Figure 5 As shown, during the process of controlling the movement of the drive device 13, the control device 15 plans the movement trajectory of the battery box picking and placing device 12 based on the real-time detection of the picking and placing device status parameters and the initialization status parameters or original status parameters by the first detection device 14.

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

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

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

[0067] The carrier detection unit 143 detects the carrier status parameters of the battery box carrier 123. The pick-and-place device status parameters include the carrier status parameters. The control unit 15 controls the carrier drive unit 133 to move according to the carrier status parameters. The carrier drive unit 133 moves the battery box carrier 123 relative to the chassis 11.

[0068] In some embodiments, such 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 boom 121 relative to the chassis 11. The boom status parameters include the first rotation angle. The control device 15 controls the first drive unit 1311 to operate according to the first rotation angle. The first drive unit 1311 drives the boom 121 to rotate relative to the chassis 11.

[0070] The second angle detection device 1412 detects the first angle between adjacent boom segments, and the boom status parameters include the first angle; the control device 15 controls the second drive unit 1312 to operate according to the first angle; the second drive unit 1312 drives the adjacent boom segments to rotate relative to each other.

[0071] The length detection device 1413 detects the telescopic length of the telescopic boom 1212, and the boom status parameters include the telescopic length; the control device 15 controls the third drive unit 1313 to operate according to the telescopic length; the third drive unit 1313 drives the telescopic boom 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 status parameters include the second angle; the control device 15 controls the fourth drive unit 1321 to operate according to the second angle; the fourth drive unit 1321 drives the mounting base 1221 to rotate about the first horizontal axis relative to the second end of the boom 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. The gripper status parameters include the second rotation angle. The control device 15 controls the fifth drive part 1322 to operate according to the second rotation angle. The fifth drive part 1322 drives the rotating connection part 1222 to rotate relative to the mounting base 1221 around a second axis that is perpendicular to the first axis.

[0074] The first distance detection device 1423 detects the first distance between the gripping part 1223 and the rotating connection part 1222. The gripping state parameters include the first distance. The control device 15 controls the sixth drive part 1323 to operate according to the first distance. The sixth drive part 1323 drives the gripping part 1223 to move up and down relative to the rotating connection part 1222.

[0075] The position detection device 1424 detects the gripping status information of the gripping unit 1223, and the gripping status parameters include the gripping status information; the control device 15 controls the seventh drive unit 1324 to operate according to the gripping status information; the seventh drive unit 1324 drives the gripping unit 1223 to grip or release the battery box B.

[0076] The fifth angle detection device 1431 detects the third rotation angle of the base support 1231 relative to the chassis 11. The bearing device status parameters include the third rotation angle. The control device 15 controls the eighth drive unit 1331 to operate according to the third rotation angle. The eighth drive unit 1331 drives the base support 1231 to rotate relative to the chassis 11.

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

[0078] The battery box replacement method for the electrical equipment in the above embodiments has the same advantages as the corresponding mobile battery swapping vehicle 1, and will not be described again here.

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

[0080] S102, The control device 15 controls the eighth drive 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.

[0081] S103, the control device 15 controls the fourth drive 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 drive 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 part 1222 to rotate relative to the mounting base 1221 to the mth initialization position of the rotating connection part corresponding to the mth second rotation angle.

[0083] S105, the control device 15 controls the first drive unit 1311 to operate according to the mth first slewing 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 slewing angle.

[0084] S106. The control device 15 controls the second drive 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 drive 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 and retract to the mth telescopic arm initialization length corresponding to the mth telescopic length.

[0086] S110, the control device 15 controls the sixth drive unit 1323 to operate according to the mth first distance in the mth initialization state parameters, so as to drive the gripping unit 1223 to reach the mth gripping unit initialization relative position corresponding to the mth first distance relative to the rotating connection unit 1222, so that the gripping unit 1223 reaches the battery box B placed on the mth compartment Z of the base tray 1231;

[0087] S111, The control device 15 controls the seventh drive unit 1324 to operate according to the m-th grasping state information in the m-th initialization state parameters, so as to drive the grasping unit 1223 to reach the m-th grasping position corresponding to the m-th 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 drive unit 1323 to operate, so as to drive the gripping unit 1223 and the battery box B it grips to rise.

[0089] By executing the aforementioned steps in the m-th automatic grasping step, the control device 15 can control the battery box picking and placing device 12 to automatically grasp the battery box B located in the m-th compartment Z according to the m-th initialization state parameters. This helps to shorten the replacement time of the battery box B, improve replacement efficiency, and reduce manual intervention by executing the m-th automatic grasping step.

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

[0091] Executing different steps simultaneously helps to shorten the time to complete the grabbing of battery box B, which in turn helps to further shorten the replacement time of battery box B and improve replacement efficiency.

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

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

[0094] In some embodiments, such as Figure 6 As shown, the mobile battery swapping vehicle 1 also has a second detection device 17 that is signal-connected to the control device 15. The m-th automatic grasping step further 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 drive unit 1323 to operate, so as to drive the gripping unit 1223 to operate so that there is a first preset distance between the gripping unit 1223 and the battery box B carried by the m-th compartment Z.

[0096] S109. After step S108 and before step S110, the second detection device 17 detects the relative position information of the gripper 122 and the battery box B carried by the m-th compartment 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.

[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 unit 1223 and the battery box B carried in the m-th compartment Z (target compartment Z), so that the gripper 122 can accurately grip the battery box B on the m-th compartment Z.

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

[0099] S202, the control device 15 controls the eighth drive 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 drive 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 drive 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 part 1222 to rotate relative to the mounting base 1221 to the mth initialization position of the rotating connection part corresponding to the mth second rotation angle.

[0102] S205, the control device 15 controls the first drive unit 1311 to operate according to the mth first slewing 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 slewing angle.

[0103] S206. The control device 15 controls the second drive 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 drive 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 and retract to the mth telescopic arm initialization length corresponding to the mth telescopic length.

[0105] S210, the control device 15 controls the sixth drive unit 1323 to operate according to the mth first distance in the mth initialization state parameters, so as to drive the gripping unit 1223 to reach the mth gripping unit initialization relative position corresponding to the mth first distance relative to the rotating connection unit 1222, so that the battery box B gripped by the gripping unit 1223 is placed on the mth compartment Z of the base tray 1231;

[0106] S211, The control device 15 controls the seventh drive unit 1324 to operate according to the m-th grasping state information in the m-th group of initialization state parameters, so as to drive the grasping unit 1223 to leave the m-th grasping unit initialization grasping position corresponding to the m-th 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 drive unit 1323 to operate, thereby driving the gripping unit 1223 to rise.

[0108] By executing the aforementioned steps in the m-th automatic placement step, the control device 15 can control the battery box retrieval and placement device 12 to automatically place the battery box B in the m-th compartment Z according to the m-th set of initialization state parameters. This helps to shorten the replacement time of the battery box B, improve replacement efficiency, and reduce manual intervention by executing the automatic placement step.

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

[0110] Executing different steps simultaneously helps to shorten the time required to place battery box B, further shortens the replacement time of battery box B, and improves replacement efficiency.

[0111] In some embodiments, such as Figure 7 As shown, the m-th automatic placement step further includes the following steps: S201, before steps S205 and S206, the control device 15 controls the second drive unit 1312 to operate, so as to drive the adjacent arm segments to rotate relative to each other and increase the included angle between the adjacent arm segments.

[0112] Before the boom 121 rotates and the telescopic boom 1212 moves, the second drive unit 1312 is controlled to increase the included angle between adjacent boom segments. This helps to prevent the boom 121, gripper 122, and the battery box B gripped by the gripper 122 from colliding with other parts or objects other than the boom 121, gripper 122, and the battery box B gripped by the gripper 122 when the boom 121 rotates or the telescopic boom 1212 extends.

[0113] In some embodiments, such as Figure 7 As shown, the mobile battery swapping vehicle 1 also has a second detection device 17 that is signal-connected to the control device 15. The m-th automatic placement step further 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 drive unit 1323 to operate, so as to drive the gripping unit 1223 to operate so that the battery box B gripped by the gripping unit 1223 has a second preset distance between it and the m-th compartment Z.

[0115] S209. After step S208 and before step S210, the second detection device 17 detects the relative position information of the battery box B grabbed by the gripper 122 and the m-th compartment 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.

[0116] The deviation between the target position and the real-time position of the gripper 122 is corrected when the battery box B gripped by the gripper 1223 is at a second preset distance between the m-th compartment Z (target compartment Z), so as to facilitate the accurate placement of the battery box B by the gripper 122 on the m-th compartment Z.

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

[0118] S302, the control device 15 controls the fourth drive unit 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 original position of the mounting base corresponding to the original second angle;

[0119] S303, the control device 15 controls the fifth drive unit 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 original position of the rotating connection part corresponding to the original second rotation angle.

[0120] S304. The control device 15 controls the first drive unit 1311 to operate according to the original first slewing angle in the m-th group of original state parameters, so as to drive the boom 121 to rotate relative to the chassis 11 to the original position of the boom 121 corresponding to the original first slewing angle.

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

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

[0123] S307, The control device 15 controls the third drive unit 1313 to operate according to the original telescopic length in the original state parameters, so as to drive the telescopic arm 1212 to extend and retract to the original telescopic arm length corresponding to the original telescopic length.

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

[0125] By executing the aforementioned steps in the automatic reset procedure, the control device 15 can control the battery box loading and unloading device 12 to automatically reset to its original state based on the original state parameters. This helps to shorten the reset time, improve the reset efficiency, and reduce manual intervention by executing the automatic reset procedure.

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

[0127] Executing different steps simultaneously helps to shorten the time for the battery box loading and unloading device 12 to automatically reset, further improving the reset efficiency.

[0128] In some embodiments, such as Figure 8 As shown, the automatic reset step also includes the following steps: S301, before steps S302 to S308, the control device 15 controls the second drive unit 1312 to operate, so as to drive the adjacent arm segments to rotate relative to each other and increase the included angle between the adjacent arm segments.

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

[0130] The mobile battery swapping 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 detecting a second distance between the battery box pick-up and drop device 12 and surrounding objects, and the control device 15 controlling the drive device 13 to operate according to the second distance to prevent the battery box pick-up and drop device 12 from interfering with the surrounding objects.

[0131] The following combination Figures 1 to 8 The method for replacing the battery box of the mobile battery swapping vehicle and electrical equipment according to the embodiments of this application will be described in more detail.

[0132] like Figure 1 Hezhi Figure 5As shown, the mobile battery swapping vehicle 1 is used to replace the battery box B for the electrical equipment 2. The mobile battery swapping vehicle 1 includes a chassis 11, a battery box loading and unloading device 12, a drive 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 loading and unloading device 12 includes a boom 121, a gripper 122, and a battery box carrying device 123. The first end of the boom 121 is located at the rear end of the chassis 11. The battery box carrying device 123 is located in the middle of the chassis 11.

[0134] The boom 121 includes a basic boom 1211 and a telescopic boom 1212. The first end of the basic boom 1211 ( Figure 1 The lower end of the boom 121 is rotatably connected to the chassis 11 about a vertical axis, thereby rotatably connecting the first end of the boom 121 to the chassis 11 about a vertical axis. The telescopic boom 1212 includes three interlocking boom sections. The outermost boom section of the three boom sections of the telescopic boom 1212 is connected to the second end of the base boom 1211 (… Figure 1 The upper and middle sections are hinged and rotatably configured relative to the base arm 1211, so that the outermost sections of the base arm 1211 and the telescopic arm 1212 form adjacent arm segments with a variable included angle. The gripper 122 is connected to the innermost of the three sections of the telescopic arm 1212 at the end furthest from the base arm 1211, so that the gripper 122 is connected to the second end of the boom 121.

[0135] The gripper 122 includes a mounting base 1221, a rotatable connecting portion 1222, and a gripping portion 1223. The mounting base 1221 is rotatably connected to the second end of the boom 121 about a horizontal first axis. The rotatable connecting 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 rotatable connecting portion 1222, allowing vertical movement relative to it.

[0136] The battery box support device 123 is mounted on the chassis 11. The battery box support device 123 includes a base support 1231 that rotates about a vertical axis relative to the chassis 11. Three compartments Z are arranged side by side on the base support 1231. Each compartment Z can hold one battery box B.

[0137] The drive unit 13 includes a boom drive unit 131, a gripper drive unit 132, and a load-bearing device drive unit 133.

[0138] The boom drive unit 131 is driven connected to the boom 121 and 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 driven connected to the boom 121 and 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 electric motor, a reducer, and a slewing bearing. The second drive unit 1312 is driven connected to adjacent boom segments and configured to drive the adjacent boom segments to rotate relative to each other. The second drive unit 1312 is, for example, a hydraulic cylinder connected between adjacent boom segments. The third drive unit 1313 is driven connected to the telescopic boom 1212 and configured to drive the telescopic boom 1212 to extend or retract. The third drive unit 1313 is, for example, a hydraulic cylinder.

[0139] The gripper drive unit 132 is drivably connected to the gripper 122 and configured to drive the gripper 122 to move relative to the boom 121 and / or 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 drivably connected to the mounting base 1221 and configured to drive the mounting base 1221 to rotate about a horizontal first axis relative to a second end of the boom 121. The fourth drive unit 1321 is, for example, a hydraulic cylinder. The fifth drive unit 1322 is drivably connected to the rotating connection 1222 and configured to drive the rotating connection 1222 to rotate about a second axis perpendicular to the horizontal first axis relative to the mounting base 1221. The fifth drive unit 1322 includes, for example, a hydraulic motor or electric motor, a reducer, and a slewing bearing. The sixth drive unit 1323 is drivably connected to the gripping unit 1223 and is configured to drive the gripping unit 1223 to move up and down relative to the rotating connection unit 1222. The sixth drive unit 1323 includes, for example, a hydraulic cylinder, a pulley block, and a wire rope wound around the pulley block, with both ends of the wire rope connected to the hydraulic cylinder and the gripping unit 1223, respectively. The seventh drive unit 1324 is drivably connected to the gripping unit 1223 and is configured to drive the gripping unit 1223 to grip or release the battery box B. The seventh drive unit 1324 is, for example, a locking cylinder.

[0140] The carrier drive unit 133 is driven 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 driven 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 electric motor, a reducer, and a slewing bearing.

[0141] The first detection device 14 is configured to detect the status parameters of the battery box loading and unloading device 12. The first detection device 14 includes a boom detection unit 141, a gripper detection unit 142, and a load-bearing device detection unit 143.

[0142] The boom detection unit 141 is configured to detect boom status 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 boom 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 boom 1212. The length detection device 1413 is, for example, a drawwire sensor.

[0143] The gripper detection unit 142 is configured to detect the gripper status 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 rotation angle of the rotating connection portion 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 gripper portion 1223 and the rotating connection portion 1222. The first distance detection device 1423 is, for example, a displacement sensor. The position detection device 1424 is configured to detect the gripping status information of the gripper portion 1223. The position detection device 1424 is a displacement sensor.

[0144] The carrier detection unit 143 is configured to detect the carrier status parameters of the battery box carrier 123, including a fifth angle detection device 1431. The fifth angle detection device 1431 is configured to detect the 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 status parameters of the pick-and-place device include boom status parameters, gripper status parameters, and load-bearing device status parameters. Boom status parameters include the first rotation angle of boom 121 relative to chassis 11, the first angle between adjacent boom segments, and the extension length of telescopic boom 1212. Gripper status parameters include the second angle of mounting base 1221 relative to the horizontal plane, the second rotation angle of rotating connection 1222 relative to mounting base 1221, the first distance of gripping part 1223 relative to rotating connection 1222, and gripping status information of gripping part 1223. Load-bearing device status parameters include the third rotation angle of base support 1231 relative to chassis 11.

[0146] The control device 15 is signal-connected to the first detection device 14 and the drive device 13, and is configured to control the drive device 13 to operate according to the status parameters of the pick-up and put-down 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 boom drive unit 131 to operate according to 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 first drive unit 1311 to operate according to a first slewing 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 second drive unit 1312 to operate according to a first angle; 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 third drive unit 1313 to operate according to 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 gripper drive unit 132 to operate according to gripper status 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 fourth drive unit 1321 to operate according to a 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 fifth drive unit 1322 to operate according to a 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 sixth drive unit 1323 to operate according to a first distance; 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 seventh drive unit 1324 to operate according to gripping status information.

[0149] like Figure 5As shown, the control device 15 is signal-connected to the load-bearing device detection unit 143 and the load-bearing device drive unit 133, and is configured to control the operation of the load-bearing device drive unit 133 according to the load-bearing device status parameters. Furthermore, 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 according to 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 compartment 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 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.

[0152] The third detection device 18 is configured to detect a second distance between the battery box loading / unloading device 12 and surrounding objects. The third detection device 18 is, for example, a lidar or 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 drive device 13 to operate according to the second distance to prevent the battery box loading and unloading device 12 from interfering with its surrounding objects.

[0154] Storage device 19 stores three sets of initialization state parameters and one set of original state parameters, each corresponding to one of the three compartments Z.

[0155] The m-th initialization state parameter group is the state parameter detected by the first detection device 14 when the battery box retrieval device 12 is in the state of having completed the grabbing of the battery box B carried in the m-th compartment Z, where m is any integer from 1 to 3. The original state parameter group is the state parameter detected by the first detection device 14 when the battery box retrieval device 12 is in the original state.

[0156] During the movement of the drive device 13, the control device 15 can plan the movement trajectory of the battery box picking and placing device 12 based on the real-time detection of the picking and placing device status parameters and the initialization or original status parameters by the first detection device 14.

[0157] The control device 15 can control the drive device 13 to operate according to three sets of initialization state parameters, thereby controlling the battery box pick-and-place device 12 to perform three automatic grasping steps and three automatic placement steps. The m-th automatic grasping step involves the control device 15 controlling the battery box pick-and-place device 12 to grasp battery box B from the m-th compartment Z according to the m-th set of initialization state parameters. The m-th automatic placement step involves the control device 15 controlling the battery box pick-and-place device 12 to move and release the grasped battery box B to the m-th compartment Z according to the m-th set of initialization state parameters.

[0158] The control device 15 can control the drive device 13 to operate according to the original state parameters to control the battery box loading and unloading device 12 to perform an automatic reset step. The automatic reset step includes the control device 15 controlling the battery box loading and unloading device 12 to move back 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 commands to the control device 15. The interactive device D has three sets of interactive sections. The first set includes three one-button grab command input sections D1. The second set includes three one-button place command input sections D2. The third set includes one one-button reset command input section D3. The number of one-button grab command input sections D1 and the number of one-button place command input sections D2 of the interactive device D are respectively matched to the number of storage positions Z, for example... Figures 1 to 8 In the embodiments shown, there are 3 in each case.

[0160] After pressing the button on the one-key grabbing command input section D1 of the interactive device D corresponding to the m-th compartment Z, the control device 15 begins to automatically execute the m-th automatic grabbing step. For example... Figure 6 As shown, the automatic grabbing steps shown apply to any one of the three grabbing steps (the m-th step), including steps S101 to S112.

[0161] First, steps S101 and S102 are executed simultaneously. Step S101: Control device 15 controls the second drive unit 1312 to operate, thereby driving the adjacent arm segments to rotate relative to each other, increasing the included angle between the adjacent arm segments. Step S102: Control device 15 controls the eighth drive unit 1331 to operate according to the m-th third rotation angle in the m-th initialization state parameters, thereby driving the base support 1231 to rotate to the m-th base support initialization position corresponding to the m-th third rotation angle.

[0162] After step S101 is completed, steps S103, S104, and S105 are executed synchronously. Step S103: Control device 15 controls the fourth drive unit 1321 to operate according to the m-th second angle in the m-th group of initialization state parameters, driving the mounting base 1221 to rotate to the m-th mounting base initialization position corresponding to the m-th second angle. Step S104: Control device 15 controls the fifth drive unit 1322 to operate according to the m-th second rotation angle in the m-th group of initialization state parameters, driving the rotating connection part 1222 to rotate relative to the mounting base 1221 to the m-th rotating connection part initialization position corresponding to the m-th second rotation angle. Step S105: Control device 15 controls the first drive unit 1311 to operate according to the m-th first rotation angle in the m-th group of initialization state parameters, driving the boom 121 to rotate relative to the chassis 11 to the m-th boom initialization position corresponding to the m-th 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 drive unit 1312 to operate according to the m-th first angle in the m-th group of initialization state parameters, so as to drive the adjacent arm segments to rotate relative to each other to the m-th initial relative position of the adjacent arm segments corresponding to the m-th first angle.

[0164] After steps S103 and S106 are completed, step S107 is executed. Step S107: The control device 15 controls the third drive 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 and retract to the mth telescopic arm initialization length corresponding to the mth telescopic length.

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

[0166] After step S108 is completed, 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 compartment 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 drive unit 1323 to operate according to the m-th first distance in the m-th initialization state parameters, so as to drive the gripping unit 1223 relative to the rotating connection unit 1222 to reach the m-th gripping unit initialization relative position corresponding to the m-th first distance, so that the gripping unit 1223 reaches the battery box B placed on the m-th compartment Z of the base tray 1231.

[0168] After step S110 is completed, step S111 is executed. Step S111: The control device 15 controls the seventh drive unit 1324 to operate according to the m-th grasping state information in the m-th group of initialization state parameters, so as to drive the grasping unit 1223 to reach the m-th grasping position corresponding to the m-th 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: Control device 15 controls the sixth drive unit 1323 to operate, thereby driving the gripping unit 1223 and the battery box B it grips to rise. After step S112 is completed, the m-th automatic gripping step is finished.

[0170] After pressing the button D2 on the one-click placement command input section corresponding to the m-th compartment Z of the interactive device D, the control device 15 automatically executes the m-th automatic grasping step. For example... Figure 7 As shown, the automatic grabbing steps shown apply to any one of the three grabbing steps (the m-th step), including steps S201 to S212.

[0171] First, steps S201 and S202 are executed simultaneously. Step S201: Control device 15 controls the second drive unit 1312 to operate, thereby driving the adjacent arm segments to rotate relative to each other and increasing the included angle between the adjacent arm segments. Step S202: Control device 15 controls the eighth drive unit 1331 to operate according to the m-th third rotation angle in the m-th initialization state parameters, thereby driving the base support 1231 to rotate to the m-th base support initialization position corresponding to the m-th third rotation angle.

[0172] After step S201 is completed, steps S203, S204, and S205 are executed synchronously. Step S203: Control device 15 controls the fourth drive unit 1321 to operate according to the m-th second angle in the m-th group of initialization state parameters, driving the mounting base 1221 to rotate to the m-th mounting base initialization position corresponding to the m-th second angle. Step S204: Control device 15 controls the fifth drive unit 1322 to operate according to the m-th second rotation angle in the m-th group of initialization state parameters, driving the rotating connection part 1222 to rotate relative to the mounting base 1221 to the m-th rotating connection part initialization position corresponding to the m-th second rotation angle. Step S205: Control device 15 controls the first drive unit 1311 to operate according to the m-th first rotation angle in the m-th group of initialization state parameters, driving the boom 121 to rotate relative to the chassis 11 to the m-th boom initialization position corresponding to the m-th 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 drive unit 1312 to operate according to the m-th first angle in the m-th group of initialization state parameters, so as to drive the adjacent arm segments to rotate relative to each other to the m-th initial relative position of the adjacent arm segments corresponding to the m-th first angle.

[0174] After steps S203 and S206 are completed, step S207 is executed. Step S207: The control device 15 controls the third drive 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 and retract 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 drive unit 1323 to operate, so as to drive the gripping unit 1223 to operate so that the battery box B gripped by the gripping unit 1223 has a second preset distance (in the vertical direction) between it and the m-th compartment Z. The second preset distance is, for example, 300mm.

[0176] After step S208 is completed, step S209 is executed. Step S209: The second detection device 17 detects the relative position information of the battery box B grabbed by the gripper 122 and the m-th compartment 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.

[0177] After step S209 is completed, step S210 is executed. Step S210: The control device 15 controls the sixth drive unit 1323 to operate according to the m-th first distance in the m-th initialization state parameters, so as to drive the gripping unit 1223 to reach the m-th gripping unit initialization relative position corresponding to the m-th first distance relative to the rotating connection unit 1222, so that the battery box B gripped by the gripping unit 1223 is placed on the m-th compartment Z of the base tray 1231.

[0178] After step S210 is completed, step S211 is executed. Step S211: The control device 15 controls the seventh drive unit 1324 to operate according to the m-th grasping state information in the m-th group of initialization state parameters, so as to drive the grasping unit 1223 to leave the m-th grasping position corresponding to the m-th 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. In step S212, the control device 15 controls the sixth drive unit 1323 to operate, thereby driving the gripping unit 1223 to rise. After step S212 is completed, the m-th automatic placement step is completed.

[0180] After pressing the one-key reset command input button D3 on the interactive device D, the control device 15 begins to execute the automatic reset procedure. For example... Figure 8 As shown, the automatic reset steps include steps S301 to S308.

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

[0182] After step S301 is completed, steps S302, S303, S304, S305, and S306 begin to execute synchronously. Step S302: Control device 15 controls the fourth drive unit 1321 to operate according to the original second angle in the original state parameters, driving the mounting base 1221 to rotate to the original position of the mounting base corresponding to the original second angle. Step S303: Control device 15 controls the fifth drive unit 1322 to operate according to the original second rotation angle and the original state parameters, driving the rotating connection part 1222 to rotate relative to the mounting base 1221 to the original position of the rotating connection part corresponding to the original second rotation angle. Step S304: Control device 15 controls the first drive unit 1311 to operate according to the original first rotation angle in the m-th set of original state parameters, driving the boom 121 to rotate relative to the chassis 11 to the original position of the boom 121 corresponding to the original first rotation angle. Step S305: The control device 15 controls the sixth drive unit 1323 to operate according to the original first distance in the original state parameters, so as to drive the gripping unit 1223 to reach the original relative position of the gripping unit corresponding to the original first distance. Step S306: The control device 15 controls the seventh drive unit 1324 to operate according to the original gripping state information in the original state parameters, so as to drive the gripping unit 1223 to reach the original position of the gripping unit 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 drive unit 1313 to operate according to the original telescopic length in the original state parameters, so as to drive the telescopic arm 1212 to extend and retract to the original telescopic arm length corresponding to the original telescopic length.

[0184] After step S307 is completed, step S308 is executed. Step S308: The control device 15 controls the second drive unit 1312 to operate according to the original first angle in the original state parameters, driving the adjacent arm segments to rotate relative to each other to the original relative position of the adjacent arm segments corresponding to the original first angle. After step S308 is completed, the automatic reset step is finished.

[0185] Those skilled in the art will understand that, in the methods described in the specific embodiments, the order in which the steps are written does not imply 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 this application and not to limit them; although this application has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications can still be made to the specific implementation of this application or equivalent substitutions can be made to some technical features, all of which should be covered within the scope of the technical solutions claimed in this application.

Claims

1. A mobile battery swapping vehicle (1) for replacing the battery box (B) of electrical equipment (2), characterized in that, include: A chassis (11) is provided with n compartments (Z), each compartment (Z) is used to carry one battery box (B), where n is a positive integer; A battery box loading and unloading device (12), disposed on the chassis (11), is configured to grab the battery box (B) from one of the compartments (Z) and move and release the battery box (B) to a battery mounting position (21) of the electrical equipment (2) or grab the battery box (B) from one of the battery mounting positions (21) of the electrical equipment (2) and move and release the battery box (B) to one of the compartments (Z). The drive unit (13) is driven to be connected to the battery box pick-and-place device (12) and is configured to drive the battery box pick-and-place device (12) to operate. The first detection device (14) is configured to detect the status parameters of the battery box pick-up and place device (12); The control device (15), which is signal-connected to the first detection device (14) and the drive device (13), is configured to control the operation of the drive device (13) according to the state parameters of the pick-up and put-down device; and Storage device (19), which is signal-connected to control device (15), is configured to store at least one of n sets of initialization state parameters and original state parameters; wherein, The m-th initialization state parameter in the n-th initialization state parameter group is the 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 the state of having completed picking up the battery box (B) carried in the m-th compartment (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 pick up the battery box (B) from the m-th compartment (Z) or to control the battery box picking and placing device (12) to move and release the picked-up battery box (B) to the m-th compartment (Z) according to the m-th initialization state parameter group. The original state parameter is the state parameter of the battery box pick-up and place device (12) detected by the first detection device (14) when the battery box pick-up and place device (12) is in the original state. The control device (15) is configured to control the battery box pick-up and place device (12) to move to the original state according to the original state parameter.

2. The mobile battery swapping vehicle (1) according to claim 1, characterized in that, It also includes an interactive device (D) that is signal-connected to the control device (15) and configured to issue control commands to the control device (15). The interactive device (D) has at least one of the following interactive features: n one-click grabbing instruction input units (D1), wherein the m-th one-click grabbing instruction input unit (D1) is configured to send the m-th one-click 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 compartment (Z) according to the m-th set of initialization state parameters. n one-click placement command input units (D2), wherein the m-th one-click placement command input unit (D2) is configured to issue the m-th one-click placement command 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 grabs and release it to the m-th compartment (Z). The one-key reset command input unit (D3) is configured to send a one-key reset command to the control device (15) so that the control device (15) automatically controls the battery box loading and unloading device (12) to move to the original state according to the original state parameters.

3. The mobile battery swapping vehicle (1) according to claim 1, characterized in that, The control device (15) is configured to plan the movement trajectory of the battery box picking and placing device (12) based on the state parameters of the picking and placing 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).

4. The mobile battery swapping vehicle (1) according to any one of claims 1 to 3, characterized in that: The battery box loading and unloading device (12) includes a boom (121), a gripper (122), and a battery box carrying device (123). The drive unit (13) includes a boom drive unit (131), a gripper drive unit (132), and a load-bearing device drive unit (133). The first detection device (14) includes a boom detection unit (141), a gripper detection unit (142), and a load-bearing device detection unit (143); wherein The first end of the boom (121) is connected to the chassis (11). The boom (121) is configured to drive the gripper (122) to move. The boom drive unit (131) is driven connected to the boom (121) and is configured to drive the boom (121) to move. The boom detection unit (141) is configured to detect the boom status parameters of the boom (121). The pick-and-place device status parameters include the boom status parameters. 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 boom drive unit (131) to move according to the boom status parameters. The gripper (122) is connected to the second end of the boom (121), and the gripper (122) is configured to grip and release the battery box (B). The gripper drive unit (132) is drivenly connected to the gripper (122) and is configured to drive the gripper (122) to move relative to the boom (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 status parameters of the gripper (122). The pick-and-place device status parameters include the gripper status parameters. 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 action of the gripper drive unit (132) according to the gripper status parameters. The battery box carrier (123) is movably mounted on the chassis (11), at least one compartment (Z) is mounted on the battery box carrier (123), the carrier drive unit (133) is drivenly connected to the battery box carrier (123) and configured to drive the battery box carrier (123) to move relative to the chassis (11), the carrier detection unit (143) is configured to detect the carrier status parameters of the battery box carrier (123), the pick-and-place device status parameters include the carrier status parameters, the control device (15) is signal connected to the carrier detection unit (143) and the carrier drive unit (133) and configured to control the carrier drive unit (133) to operate according to the carrier status parameters.

5. The mobile battery swapping vehicle (1) according to claim 4, characterized in that, The battery box loading / unloading device (12), the driving device (13), the first detection device (14), and the control device (15) are each configured to have at least one of the following settings: 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 drivenly 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 slewing angle of the boom (121) relative to the chassis (11). The boom state parameters include the first slewing 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 first drive unit (1311) to operate according to the first slewing angle. The boom (121) includes adjacent boom segments with variable included angles. The boom drive unit (131) includes a second drive unit (1312), which is drivenly 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 the adjacent boom segments. 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 operation of the second drive unit (1312) according to the first angle. The boom (121) includes a telescopic boom (1212), the boom drive unit (131) includes a third drive unit (1313), the third drive unit (1313) is drivenly connected to the telescopic boom (1212) and configured to drive the telescopic boom (1212) to extend and retract, the boom detection unit (141) includes a length detection device (1413), the length detection device (1413) is configured to detect the extension and retraction length of the telescopic boom (1212), the boom status parameters include the extension and retraction 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 third drive unit (1313) to operate according to the extension and retraction length; The gripper (122) includes a mounting base (1221), a rotating connection (1222) connected to the mounting base (1221), and a gripping part (1223) connected to the rotating connection (1222) for gripping and releasing the battery box (B). The gripper drive unit (132) includes a fourth drive unit (1321), which is motive-connected to the mounting base (1221) and configured to drive the mounting base (1221) relative to the boom (121). The second end rotates about a horizontal first axis. The gripper detection unit (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 the horizontal plane. The gripper state parameters include 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) according to the second angle. The gripper (122) includes a mounting base (1221), a rotating connection (1222) connected to the mounting base (1221), and a gripping part (1223) connected to the rotating connection (1222) for gripping and releasing the battery box (B). The gripper drive unit (132) includes a fifth drive unit (1322), which is driven connected to the rotating connection (1222) and configured to drive the rotating connection (1222) relative to the mounting base (1221) around a first perpendicular to the horizontal. The second axis of the axis rotates, and the gripper detection unit (142) includes a fourth angle detection device (1422). The fourth angle detection device (1422) is configured to detect the second rotation angle of the rotating connection part (1222) relative to the mounting base (1221). The gripper state parameters include the second rotation 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) according to the second rotation angle. The gripper (122) includes a mounting base (1221), a rotating connection (1222) connected to the mounting base (1221), and a gripping part (1223) connected to the rotating connection (1222) for gripping and releasing the battery box (B). The gripper drive unit (132) includes a sixth drive unit (1323), which is motive-connected to the gripping part (1223) and configured to drive the gripping part (1223) relative to the rotating connection (1222). The gripper moves up and down. The gripper detection unit (142) includes a first distance detection device (1423). The first distance detection device (1423) is configured to detect a first distance between the gripper (1223) and the rotating connection unit (1222). The gripper state parameters include the first distance. 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 sixth drive unit (1323) to operate according to the first distance. The gripper (122) includes a mounting base (1221), a rotating connection (1222) connected to the mounting base (1221), and a gripping part (1223) connected to the rotating connection (1222) for gripping and releasing the battery box (B). The gripper drive unit (132) includes a seventh drive unit (1324), which is drivenly connected to the gripping part (1223) and configured to drive the gripping part (1223) to grip or release. The battery box (B) is placed therein. The gripper detection unit (142) includes a position detection device (1424), which is configured to detect the gripping state information of the gripping unit (1223). The gripper state parameters include the gripping state 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) according to the gripping state information. The battery box support device (123) includes a base (1231) rotatably mounted on the chassis (11), and n compartments (Z) are disposed on the base (1231). The support device drive unit (133) includes an eighth drive unit (1331) drivenly connected to the base (1231) and configured to drive the base (1231) to rotate relative to the chassis (11). The support device detection unit (… 143) includes a fifth angle detection device (1431) configured to detect a third rotation angle of the base (1231) relative to the chassis (11), the bearing device status parameters include the third rotation angle, 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) according to the third rotation angle.

6. The mobile battery swapping vehicle (1) according to any one of claims 1 to 3, 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 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 between the battery box (B) picked up by the gripper (122) and the compartment (Z) where the battery box (B) is to be placed. The control device (15) is signal-connected to the second detection device (17) and is configured to control 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). The third detection device (18) is configured to detect a second distance between the battery box pick-up and drop device (12) and its surrounding objects. The control device (15) is signal-connected to the third detection device (18) and is configured to control the drive device (13) to operate according to the second distance to prevent the battery box pick-up and drop device (12) from interfering with its surrounding objects.

7. A method for replacing the battery box of an electrical device, characterized in that, The mobile battery swapping vehicle (1) according to any one of claims 1 to 6 is used to replace the battery box (B) of the electrical equipment (2), comprising: the control device (15) controlling the drive device (13) to move 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 compartments (Z) and moves and releases the battery box (B) to a battery mounting position (21) of the electrical equipment (2) or grabs the battery box (B) from one of the battery mounting positions (21) of the electrical equipment (2) and moves and releases the battery box (B) to one of the compartments (Z).

8. The battery box replacement method according to claim 7, characterized in that, The mobile battery swapping vehicle (1) also includes a storage device (19), which is signal-connected to the control device (15); The battery box replacement method includes at least one of the following steps: Obtain n sets of initialization state parameters and store them in the storage device (19). The m-th initialization state parameter in the n sets is the 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 the state of having completed the grabbing of the battery box (B) carried in the m-th compartment (Z). m is any integer from 1 to n. There are n automatic grabbing steps or n automatic placement steps. The m-th 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 m-th compartment (Z) according to the m-th initialization state parameters. The m-th automatic placement step includes the control device (15) controlling the battery box picking and placing device (12) to move and release the grabbed battery box (B) to the m-th compartment (Z) according to the m-th initialization state parameters. The original state parameters are obtained and stored in the storage device (19). The original state parameters are the state parameters of the battery box pick-up and place device (12) detected by the first detection device (14) when the battery box pick-up and place device (12) is in the original state. The automatic reset step includes the control device (15) controlling the battery box pick-up and place device (12) to move to the original state according to the original state parameters.

9. The battery box replacement method according to claim 8, characterized in that, The mobile battery swapping vehicle (1) also includes an interactive device (D), which is signal-connected to the control device (15) and configured to issue control commands to the control device (15). The interactive device (D) has at least one of the following interactive parts: n one-key grab command input parts (D1), n ​​one-key place command input parts (D2), and one-key reset command input parts (D3). The battery box replacement method includes at least one of the following steps: The m-th one-click grabbing command is sent to the control device (15) through the m-th one-click grabbing command input unit (D1) so that the control device automatically executes the m-th automatic grabbing step; The m-th one-key placement command is sent to the control device (15) through the m-th one-key placement command input unit (D2) so that the control device automatically executes the m-th automatic placement step; A one-key reset command is sent to the control device (15) through the one-key reset command input unit (D3) so that the control device (15) automatically executes the automatic reset step.

10. The battery box replacement method according to claim 8, characterized in that, During the process of controlling the movement of the drive device (13), the control device (15) plans the movement trajectory of the battery box pick-up and place device (12) based on the state parameters of the pick-up and place device detected in real time by the first detection device (14) and the initialization state parameters or the original state parameters.

11. The battery box replacement method according to any one of claims 7 to 10, characterized in that, The battery box loading and unloading device (12) includes a boom (121), a gripper (122), and a battery box carrying device (123). The drive unit (13) includes a boom drive unit (131), a gripper drive unit (132), and a load-bearing device drive unit (133). The first detection device (14) includes a boom detection unit (141), a gripper detection unit (142), and a load-bearing device detection unit (143); wherein, The first end of the boom (121) is connected to the chassis (11), the boom drive unit (131) is drivenly connected to the boom (121), and the control device (15) is signal connected to the boom detection unit (141) and the boom drive unit (131). The gripper (122) is connected to the second end of the boom (121), the gripper drive unit (132) is drivenly 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 carrier (123) is movably mounted on the chassis (11), at least one compartment (Z) is mounted on the battery box carrier (123), the carrier drive unit (133) is drivenly connected to the battery box carrier (123), and the control device (15) is signal connected to the carrier detection unit (143) and the carrier drive unit (133). The battery box replacement method includes the following steps: The boom detection unit (141) detects the boom status parameters of the boom (121). The status parameters of the pick-and-place device include the boom status parameters. The control device (15) controls the boom drive unit (131) to move according to the boom status parameters. The boom drive unit (131) drives the boom (121) to move. The boom (121) drives the gripper (122) to move. The gripper detection unit (142) detects the gripper status parameters of the gripper (122). The state parameters of the pick-and-place device include the gripper status parameters. The control device (15) controls the gripper drive unit (132) to operate according to the gripper status parameters. The gripper drive unit (132) drives the gripper (122) to move relative to the boom (121) and / or drives different parts of the gripper (122) to move relative to each other. The gripper (122) grips and releases the battery box (B). The carrier detection unit (143) detects the carrier status parameters of the battery box carrier (123). The pick-and-place device status parameters include the carrier status parameters. The control device (15) controls the carrier drive unit (133) to move according to the carrier status parameters. The carrier drive unit (133) moves the battery box carrier (123) relative to the chassis (11).

12. The battery box replacement method according to claim 11, characterized in that, The battery box loading / unloading 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 boom (121) is rotatably connected to the chassis (11). The boom drive unit (131) includes a first drive unit (1311), which is drivenly connected to the boom (121). The boom detection unit (141) includes a first angle detection device (1411). 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 boom (121) relative to the chassis (11). The boom status parameters include the first rotation angle. The control device (15) controls the first drive unit (1311) to operate according to the first rotation angle. The first drive unit (1311) drives the boom (121) to rotate relative to the chassis (11). The boom (121) includes adjacent boom segments with variable included angles. The boom drive unit (131) includes a second drive unit (1312), which is drivenly connected to the adjacent boom segments. The boom detection unit (141) includes a second angle detection device (1412). 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 boom segments. The boom status parameters include the first angle. The control device (15) controls the second drive unit (1312) to operate according to the first angle. The second drive unit (1312) drives the adjacent boom segments to rotate relative to each other. The boom (121) includes a telescopic boom (1212), the boom drive unit (131) includes a third drive unit (1313), the third drive unit (1313) is drivenly connected to the telescopic boom (1212), the boom 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 boom (1212), the boom status parameters include the telescopic length, the control device (15) controls the third drive unit (1313) to operate according to the telescopic length, and the third drive unit (1313) drives the telescopic boom (1212) to extend and retract; The gripper (122) includes a mounting base (1221) connected to the second end of the boom (121), a rotating connection (1222) connected to the mounting base (1221), and a gripping part (1223) connected to the rotating connection (1222) for gripping and releasing the battery box (B). The gripper drive unit (132) includes a fourth drive unit (1321) which is drivenly connected to the mounting base (1221). The gripper detection unit (142) includes a third angle detection device (1421). The control device ( 15) Signal connection with the third angle detection device (1421) and the fourth drive unit (1321); The battery box replacement method includes the following steps: the third angle detection device (1421) detects the second angle of the mounting base (1221) relative to the horizontal plane, the gripper status parameters include 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 about the first horizontal axis relative to the second end of the boom (121); The gripper (122) includes a mounting base (1221) connected to the second end of the boom (121), a rotating connection (1222) connected to the mounting base (1221), and a gripping part (1223) connected to the rotating connection (1222) for gripping and releasing the battery box (B). The gripper drive unit (132) includes a fifth drive unit (1322), which is drivenly connected to the rotating connection (1222). The gripper detection unit (142) includes a fourth angle detection device (1422), and the control device (15) is connected to the fourth angle detection device. The device (142) and the fifth drive unit (1322) are signal connected; the battery box replacement method includes the following steps: the fourth angle detection device (1422) detects the second rotation angle of the rotating connection part (1222) relative to the mounting base (1221), the gripper status parameters include the second rotation angle, the control device (15) controls the fifth drive unit (1322) to operate according to the second rotation angle, and the fifth drive unit (1322) drives the rotating connection part (1222) to rotate relative to the mounting base (1221) around a second axis perpendicular to the first axis of the horizontal. The gripper (122) includes a mounting base (1221) connected to the second end of the boom (121), a rotating connection part (1222) connected to the mounting base (1221), and a gripping part (1223) connected to the rotating connection part (1222) for gripping and releasing the battery box (B). The gripper drive part (132) includes a sixth drive part (1323), which is drivenly connected to the gripping part (1223). The gripper detection part (142) includes a first distance detection device (1423). The control device (142) includes a first distance detection device (1423). 5) Signal connection with the first distance detection device (1423) and the sixth drive unit (1323); the battery box replacement method includes the following steps: the first distance detection device (1423) detects a first distance between the gripping part (1223) and the rotating connection part (1222), the gripping state parameters include the first distance, the control device (15) controls the sixth drive unit (1323) to move according to the first distance, and the sixth drive unit (1323) drives the gripping part (1223) to move up and down relative to the rotating connection part (1222); The gripper (122) includes a mounting base (1221) connected to the second end of the boom (121), a rotating connection (1222) connected to the mounting base (1221), and a gripping part (1223) connected to the rotating connection (1222) for gripping and releasing the battery box (B). The gripper drive unit (132) includes a seventh drive unit (1324), which is drivenly connected to the gripping part (1223). The gripper detection unit (142) includes a position detection 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 includes the following steps: the position detection device (1424) detects the gripping status information of the gripping unit (1223), the gripping status parameters include the gripping status information, the control device (15) controls the seventh drive unit (1324) to operate according to the gripping status information, and the seventh drive unit (1324) drives the gripping unit (1223) to grip or release the battery box (B); and The battery box support device (123) includes a base (1231) rotatably mounted on the chassis (11), and n compartments (Z) are mounted on the base (1231). The support device drive unit (133) includes an eighth drive unit (1331) drivenly connected to the base (1231). The support device detection unit (143) includes a fifth angle detection device (1431). The control device (15) is connected to the fifth angle detection device (1431). The fifth angle detection device (1431) and the eighth drive unit (1331) are connected by a signal; the battery box replacement method includes the following steps: the fifth angle detection device (1431) detects the third rotation angle of the base (1231) relative to the chassis (11), the bearing device status parameters include the third rotation angle, the control device (15) controls the eighth drive unit (1331) to operate according to the third rotation angle, and the eighth drive unit (1331) drives the base (1231) to rotate relative to the chassis (11).

13. The battery box replacement method according to claim 12, characterized in that, The mobile battery swapping vehicle (1) also includes a storage device (19), which is signal-connected to the control device (15); The battery box replacement method includes at least one of the following steps: Obtain n sets of initialization state parameters and store them in the storage device (19). The m-th initialization state parameter in the n sets is the 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 the state of having completed the grabbing of the battery box (B) carried in the m-th compartment (Z). m is any integer from 1 to n. There are n automatic grabbing steps or n automatic placement steps. The m-th 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 m-th compartment (Z) according to the m-th initialization state parameters. The m-th automatic placement step includes the control device (15) controlling the battery box picking and placing device (12) to move and release the grabbed battery box (B) to the m-th compartment (Z) according to the m-th initialization state parameters. The original state parameters are obtained and stored in the storage device (19). The original state parameters are the state parameters of the battery box pick-up and place device (12) detected by the first detection device (14) when the battery box pick-up and place device (12) is in the original state. The automatic reset step includes the control device (15) controlling the battery box pick-up and place device (12) to move to the original state according to the original state parameters. The state parameters of the picking and placing device include at least one of the following parameters: the first rotation angle of the boom (121) relative to the chassis (11), the first angle between the adjacent boom segments, the extension length of the telescopic boom (1212), the second angle of the mounting base (1221) relative to the horizontal plane, the second rotation angle of the rotating connecting part (1222) relative to the mounting base (1221), the first distance of the gripping part (1223) relative to the rotating connecting part (1222), the gripping state information of the gripping part (1223), and the third rotation angle of the base (1231) relative to the chassis (11).

14. The battery box replacement method according to claim 13, characterized in that, The m-th automatic capture step includes the following steps: S102, The control device (15) controls the eighth drive 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; S103, The control device (15) controls the fourth drive 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 drive 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 part (1222) to rotate relative to the mounting base (1221) to the mth initialization position of the rotating connection part corresponding to the mth second rotation angle; S105, The control device (15) controls the first drive unit (1311) to operate according to the mth first slewing angle in the mth 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 slewing angle; S106. The control device (15) controls the second drive 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 initial relative position of the adjacent arm segments corresponding to the mth first angle. S107. The control device (15) controls the third drive 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 and retract to the mth telescopic arm initialization length corresponding to the mth telescopic length. S110, The control device (15) controls the sixth drive unit (1323) to operate according to the mth first distance in the mth initialization state parameters, so as to drive the gripping unit (1223) relative to the rotating connection unit (1222) to reach the mth gripping unit initialization relative position corresponding to the mth first distance so that the gripping unit (1223) reaches the battery box (B) placed on the mth compartment (Z) of the base (1231); S111, the control device (15) controls the seventh drive unit (1324) to operate according to the m-th grasping state information in the m-th group of initialization state parameters, so as to drive the grasping unit (1223) to reach the m-th grasping unit initialization grasping position corresponding to the m-th 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); S112, The control device (15) controls the sixth drive unit (1323) to operate, so as to drive the gripping unit (1223) and the battery box (B) it grips to rise.

15. The battery box replacement method according to claim 14, characterized in that, At least two of steps S102, S103, S104, and S105 are executed simultaneously; and / or Steps S103 and S106 are executed simultaneously.

16. The battery box replacement method according to claim 14, characterized in that, The m-th automatic capture step further includes the following steps: S101. Before steps S105 and S106, the control device (15) controls the second drive unit (1312) to operate, so as to drive the adjacent arm segments to rotate relative to each other and increase the included angle between the adjacent arm segments.

17. The battery box replacement method according to claim 14, characterized in that, The mobile battery swapping vehicle (1) also has a second detection device (17) that is signal-connected to the control device (15). The m-th automatic capture 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 drive unit (1323) to operate, so as to drive the gripping unit (1223) to operate so that there is a first preset distance between the gripping unit (1223) and the battery box (B) carried by the mth compartment (Z); S109. After step S108 and before step S110, the second detection device (17) detects the relative position information of the gripper (122) and the battery box (B) carried by the m-th compartment (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).

18. The battery box replacement method according to claim 14, characterized in that, The m-th automatic placement step includes the following steps: S202, The control device (15) controls the eighth drive 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 drive 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 drive 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 part (1222) to rotate relative to the mounting base (1221) to the mth initialization position of the rotating connection part corresponding to the mth second rotation angle; S205, The control device (15) controls the first drive unit (1311) to operate according to the mth first slewing angle in the mth 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 slewing angle; S206. The control device (15) controls the second drive 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 initial relative position of the adjacent arm segments corresponding to the mth first angle. S207. The control device (15) controls the third drive 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 and retract to the mth telescopic arm initialization length corresponding to the mth telescopic length. S210, the control device (15) controls the sixth drive unit (1323) to operate according to the m-th first distance in the m-th initialization state parameters, so as to drive the gripping unit (1223) to reach the m-th gripping unit initialization relative position corresponding to the m-th first distance relative to the rotating connection unit (1222) so that the battery box (B) gripped by the gripping unit (1223) is placed on the m-th compartment (Z) of the base (1231); S211, The control device (15) controls the seventh drive unit (1324) to operate according to the m-th grasping state information in the m-th group of initialization state parameters, so as to drive the grasping unit (1223) to leave the m-th grasping unit initial grasping position corresponding to the m-th 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 drive unit (1323) to operate so as to drive the gripping unit (1223) to rise.

19. The battery box replacement method according to claim 18, characterized in that, At least two of steps S202, S203, S204, and S205 are executed simultaneously; and / or Steps S203 and S206 are executed simultaneously.

20. The battery box replacement method according to claim 18, characterized in that, The m-th automatic placement step further includes the following steps: S201. Before steps S205 and S206, the control device (15) controls the second drive unit (1312) to operate, so as to drive the adjacent arm segments to rotate relative to each other and increase the included angle between the adjacent arm segments.

21. The battery box replacement method according to claim 18, characterized in that, The mobile battery swapping vehicle (1) also has a second detection device (17) that is signal-connected to the control device (15). The m-th automatic placement step further includes the following steps: S208. After steps S202, S203, S204, S205, S206 and S207 and before step S210, the control device (15) controls the sixth drive unit (1323) to operate, so as to drive the gripping unit (1223) to operate so that the battery box (B) gripped by the gripping unit (1223) has a second preset distance between it and the m-th compartment (Z); S209. After step S208 and before step S210, the second detection device (17) detects the relative position information of the battery box (B) grabbed by the gripper (122) and the m-th compartment (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).

22. The battery box replacement method according to claim 13, characterized in that, The automatic reset step includes the following steps: S302, The control device (15) controls the fourth drive unit (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 original position of the mounting base corresponding to the original second angle; S303, The control device (15) controls the fifth drive unit (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 original position of the rotating connection part corresponding to the original second rotation angle; S304. The control device (15) controls the first drive unit (1311) to operate according to the original first slewing angle in the m-th group of original state parameters, so as to drive the boom (121) to rotate relative to the chassis (11) to the original boom position corresponding to the original first slewing angle. S305, The control device (15) controls the sixth drive unit (1323) to operate according to the original first distance in the original state parameters, so as to drive the gripping unit (1223) to reach the original relative position of the gripping unit corresponding to the original first distance; S306. The control device (15) controls the seventh drive unit (1324) to operate according to the original grasping state information in the original state parameters, so as to drive the grasping unit (1223) to reach the original grasping position of the grasping unit corresponding to the original grasping state information. S307. The control device (15) controls the third drive unit (1313) to operate according to the original telescopic length in the original state parameters, so as to drive the telescopic arm (1212) to extend and retract to the original telescopic arm length corresponding to the original telescopic length. S308. The control device (15) controls the second drive unit (1312) to operate according to the original first angle in the original state parameters, so as to drive the adjacent arm segments to rotate relative to each other to the original relative position of the adjacent arm segments corresponding to the original first angle.

23. The battery box replacement method according to claim 22, characterized in that, At least two of the steps S302, S303, S304, S305, and S306 are executed simultaneously.

24. The battery box replacement method according to claim 22, characterized in that, The automatic reset step also includes the following steps: S301. Before steps S302 to S308, the control device (15) controls the second drive unit (1312) to operate, so as to drive the adjacent arm segments to rotate relative to each other and increase the included angle between the adjacent arm segments.

25. The battery box replacement method according to any one of claims 7 to 10, characterized in that, The mobile battery swapping 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 pick-up and place device (12) and its 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 place device (12) from interfering with its surrounding objects.

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