Battery replacement method and battery replacement robot for plateau green construction equipment

Abstract

The invention discloses a battery replacement method and a battery replacement robot for plateau green construction equipment, and relates to the technical field of operation and maintenance of green construction equipment. A plurality of pieces of equipment to be subjected to battery replacement, which are loaded with target battery replacement batteries, are placed under a test condition with the same actual working environment temperature for a full-load experiment; in a preset construction area, a control terminal of the current battery replacement robot is used for collecting residual electric quantity data returned by a battery management system of a plurality of to-be-replaced devices in a working state in real time, and the size relation between the residual electric quantity data and preset electric quantity data is judged; and when any residual electric quantity data reaches the preset electric quantity data, it is judged that the electric quantity of the target replacement battery is exhausted, the current battery replacement robot is controlled to move to the position where the target equipment corresponding to the residual electric quantity data reaching the preset electric quantity data is located, the battery replacement operation is completed, the risk of power failure and shutdown is avoided, and the construction efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of green construction equipment operation and maintenance, and in particular to a battery replacement method and a battery replacement robot for plateau green construction equipment. Background Art

[0002] The unique environmental conditions of the plateau region place higher demands on construction equipment. Traditional construction equipment primarily relies on fuel engines, but to reduce pollution and improve efficiency, green construction equipment is becoming a growing trend. These devices typically use rechargeable batteries as a power source, replacing traditional fuel energy sources. With technological advancements, battery technology for construction equipment in plateau regions continues to advance, significantly improving battery life and optimizing its adaptability to high-altitude environmental conditions such as low oxygen and low temperatures. Battery replacement technology has also evolved to ensure continuous operation of equipment in remote or extreme environments.

[0003] Current plateau green construction equipment is typically equipped with electronic displays or other indicator systems to display the battery charge status. When the battery level drops below a set value, the system alerts the operator through visual or audible signals to replace the battery. These reminder mechanisms often rely on a battery management system (BMS) to monitor the battery's real-time status and transmit this information to a display unit via wired or wireless means. Such power monitoring and notification technologies can improve the efficiency of construction equipment to a certain extent.

[0004] Under the low temperatures of the plateau, the power consumption of green construction equipment primarily stems from the equipment's own use and the battery's wear and tear caused by the temperature drop. This wear and tear can lead to inaccurate monitoring of the remaining charge in active batteries using the battery management system. During infrastructure construction in the plateau, the immobility of some construction equipment makes battery replacement more difficult, leading to the risk of power outages and downtime, impacting construction efficiency. Summary of the Invention

[0005] The main purpose of this invention is to propose a battery replacement method and a battery replacement robot for plateau green construction equipment, aiming to solve the technical problem that when carrying out infrastructure construction on the plateau in the existing technology, some construction equipment is not easy to move, which makes battery replacement more difficult, resulting in the risk of power outages and shutdowns of corresponding equipment, affecting construction efficiency.

[0006] To achieve the above objectives, in a first aspect, the present invention provides a method for replacing batteries in plateau green construction equipment, comprising the following steps:

[0007] Place multiple devices to be replaced, each equipped with a target battery replacement, under test conditions with the same temperature as their actual working environment, and conduct full-load tests to obtain the preset working time of all the target battery replacement batteries;

[0008] In the preset construction area, the control terminal of the current battery-swapping robot is used to collect in real time the remaining power data transmitted back by the battery management systems of multiple working devices to be replaced; wherein, the battery management system is installed on each of the target battery-swapping batteries, and the battery management system is used to monitor the power data of the target battery-swapping batteries;

[0009] Determining the magnitude relationship between each of the remaining power data and the preset power data;

[0010] When any of the remaining power data reaches the preset power data, it is determined that the target replacement battery is exhausted;

[0011] Control the current battery-changing robot to move until the remaining power data reaches the target device location corresponding to the preset power data, and complete the battery replacement operation.

[0012] In one embodiment, the step of controlling the current battery-swapping robot to move to the location of the target device corresponding to the preset power data when the remaining power data reaches the preset power data to complete the battery replacement operation includes:

[0013] When the current battery-changing robot and the device to be replaced are powered on, the device to be replaced and the corresponding target working battery are powered off, and the battery-changing robot is controlled by the control terminal to replace the current battery-changing battery it carries with the corresponding target battery-changing battery to complete the battery replacement operation.

[0014] In one embodiment, when the current battery-swapping robot and the device to be replaced are powered on, the device to be replaced and the corresponding target working battery are powered off, and the battery-swapping robot is controlled by the control terminal to replace the current battery-swapping battery it carries with the corresponding target battery-swapping battery. After completing the battery replacement operation, the method further includes:

[0015] When the battery replacement installation work is completed, the power is disconnected between the current battery replacement person and the device to be replaced, and the current battery replacement battery and the device to be replaced are powered on to continue the construction work.

[0016] In one embodiment, after the step of determining the magnitude relationship between each of the remaining power data and the preset power data, the method further includes:

[0017] When at least two of the remaining power data reach the preset power data, it is determined that the corresponding remaining power data signal of the battery management system fails to be returned due to signal interference;

[0018] Through the control terminal of the current battery-changing robot, a corresponding number of target battery-changing robots are mobilized to carry new standard battery-changing batteries to the corresponding locations of the equipment to be replaced, and perform battery replacement operations on the battery-changing equipment.

[0019] In one embodiment, when at least two of the remaining power data reach the preset power data, the step of determining that the corresponding remaining power data signal of the battery management system fails to be returned due to signal interference includes:

[0020] When at least two pieces of the remaining power data reach the preset power data at the same time, it is determined that the corresponding remaining power data signal of the battery management system fails to be returned due to signal interference.

[0021] In one embodiment, after the step of determining that signal interference causes the corresponding battery management system to fail to transmit the remaining power data signal when at least two remaining power data reach the preset power data at the same time, the method further includes:

[0022] The historical remaining power data of the corresponding target battery replacement battery collected by the control terminal is used to obtain the current power data of each battery replacement battery at that moment;

[0023] The current power data is sorted again, and the position of the target battery replacement battery corresponding to the minimum value in the current power data obtained after sorting is used as the priority battery replacement position;

[0024] Controlling the current battery-swapping robot to move to the priority battery-swapping position;

[0025] At the priority battery-changing position, the steps of disconnecting the power of the device to be replaced and the corresponding target working battery while the current battery-changing robot and the device to be replaced are powered on are executed, and controlling the battery-changing robot through the control terminal to replace the current battery-changing battery it carries with the corresponding target battery-changing battery to complete the battery replacement operation.

[0026] In one embodiment, after the step of using the control terminal of the current battery swapping robot to collect the remaining power data transmitted back by the battery management systems of multiple working devices to be swapped in real time within the preset construction area, the method further includes:

[0027] Sorting all the remaining power data in descending order;

[0028] The step of determining the magnitude relationship between each of the remaining power data and the preset power data includes:

[0029] The magnitude relationship between each of the remaining power data and the preset power data is determined in order from low to high.

[0030] In one embodiment, after the step of controlling the current battery-swapping robot to move to the location of the target device corresponding to the preset power data when the remaining power data reaches the location of the target device, and completing the battery replacement operation, the method further includes:

[0031] Record the time and power status of each battery replacement;

[0032] Obtaining the current working time of the replaced battery according to the recorded time point and the power status;

[0033] The current working time is used as the updated preset working time.

[0034] In one embodiment, after the step of using the current working hours as the updated preset working hours, the method further includes:

[0035] For each target battery replacement, record the current performance parameters of the battery when each battery replacement operation is completed;

[0036] Based on all current performance parameters, adjust the battery management strategy corresponding to plateau green construction.

[0037] Based on the same technical concept, in the second aspect, the present invention also proposes a battery replacement robot for executing the battery replacement method for plateau green construction equipment described in the first aspect.

[0038] When the technical solution of the present invention is in use, multiple devices to be replaced, each equipped with a target battery for replacement, are placed under test conditions with the same temperature as their actual working environment for full-load testing to obtain the preset working time of all target battery replacement batteries. In the preset construction area, the control terminal of the current battery replacement robot is used to collect in real time the remaining power data sent back by the battery management systems of multiple devices to be replaced in working state, and the size relationship between each remaining power data and the preset power data is judged. When any remaining power data reaches the preset power data, it is determined that the target replacement battery is exhausted, and the current battery replacement robot is controlled to move to the position of the target device corresponding to the remaining power data reaching the preset power data, and the battery replacement operation is completed. When the present invention is used, it can perform battery replacement operations on construction equipment that is not easy to move. During the battery replacement operation, since the replacement time is selectively executed according to the remaining power of the battery, the present invention can ensure the maximum use of the battery power when replacing the battery, avoid the waste of electricity and the risk of power outages and shutdowns, and improve construction efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0040] Figure 1 A flow chart of the battery replacement method for plateau green construction equipment provided by the present invention;

[0041] Figure 2 for Figure 1 Flowchart of step S500 in the example;

[0042] Figure 3 Flowcharts of some specific embodiments of the present invention;

[0043] Figure 4 for Figure 3 Flowchart of another embodiment of step S600 as illustrated in FIG.

[0044] Figure 5 Flowcharts of some other specific embodiments of the present invention.

[0045] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0046] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0047] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0048] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of such features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0049] The present invention provides a battery replacement method for plateau green construction equipment and a battery replacement robot.

[0050] See also Figures 1 to 5 For ease of understanding, the battery replacement method for plateau green construction equipment includes the following steps:

[0051] S100. Place multiple devices to be replaced, each equipped with a target battery replacement battery, under test conditions with the same temperature as their actual working environment and conduct a full-load test to obtain the preset working time of all the target battery replacement batteries.

[0052] Specifically, this step tests the preset working hours of the target battery swap in multiple construction equipment to plan the timing of battery replacement. Specifically, multiple equipment to be replaced, each equipped with the target battery swap, is placed under experimental conditions consistent with the actual working environment of the equipment and a full-load test is performed.

[0053] Experimental conditions such as plateau low pressure and low temperature environment can be simulated through an environmental test chamber. For example, the temperature range is controlled at -30°C to 20°C, the air pressure is controlled at 500-700hPa, and the equipment is operated under normal load. By timing the continuous working time of the equipment, the time required for the target battery replacement battery to be fully consumed is recorded. In this step, multiple groups of experimental data can be selected to find the average, and the obtained average is used as the preset working time of the target battery replacement battery. For example, if the target battery replacement battery of a certain type of construction equipment is measured to work continuously for 200 minutes in a low-pressure and low-temperature environment, 200 minutes will be used as its preset working time.

[0054] S200: Within a predetermined construction area, use the control terminal of the current battery swapping robot to collect, in real time, remaining power data transmitted back by the battery management systems of multiple working devices to be swapped; wherein the battery management system is installed on each of the target swapping batteries, and the battery management system is used to monitor the remaining power data of the target swapping batteries.

[0055] Specifically, this step uses automated monitoring to obtain data on the remaining battery charge of construction equipment, providing real-time support for subsequent judgment and replacement operations. Within the preset construction area, the control terminal of the current battery swapping robot is connected to the battery management system of each device to be swapped, collecting real-time data on the remaining charge of each target battery.

[0056] The battery management system is installed on each target battery for battery swapping. Its core functions include remaining charge measurement, data storage, and wireless transmission. The remaining charge is measured using the voltage method, for example. This method estimates the remaining charge percentage in real time based on a curve showing the relationship between battery voltage changes and charge level. The battery management system's built-in wireless communication module transmits the remaining charge data to the battery swap robot's control terminal via Bluetooth Low Energy or a LoRa network.

[0057] For example, within a construction area, there are three pieces of construction equipment. Their battery management systems report back data showing that the remaining charge of equipment A is 30%, equipment B is 20%, and equipment C is 15%. This step helps monitor the real-time status of the equipment and provides a basis for subsequent battery level assessments.

[0058] S300: Determine the size relationship between each of the remaining power data and the preset power data.

[0059] Specifically, this step compares the remaining power of each device to be replaced with a pre-set power threshold to screen out the devices that need battery replacement. The threshold can be determined based on the discharge characteristics of the target battery and the power consumption requirements of the construction equipment, for example, set to 10%.

[0060] For example, if the remaining power of device A is 30%, which is greater than the threshold of 20%, it is determined that no replacement is required; while the remaining power of device B is 8% and the remaining power of C is 5%, both of which are less than or equal to the threshold, and it is necessary to determine that the target battery is exhausted.

[0061] S400: When any one of the remaining power data reaches a preset power data, it is determined that the target replacement battery is exhausted.

[0062] Specifically, this step, based on the previous judgment result, determines that the target device with a power level less than the preset power threshold is exhausted and is ready to enter the battery replacement process. By analyzing the results of step S300, when the power level of any device reaches or falls below the threshold, the device is marked as "waiting for battery replacement."

[0063] Taking the data in step S300 as an example, if the remaining power data of device B and device C have met the threshold condition, it is determined that the batteries of these two devices need to be replaced.

[0064] S500, control the current battery-changing robot to move to the location of the target device where the remaining power data reaches the preset power data, and complete the battery replacement operation.

[0065] Specifically, the control terminal sends dispatch instructions to the battery swapping robot, controlling its movement to the location of the device in the "waiting for battery swapping state." The battery swapping robot uses real-time path planning technologies, such as SLAM algorithms, to achieve precise navigation and avoid obstacles through LiDAR sensors and environmental map data.

[0066] Upon reaching the target device, the battery swap robot activates the battery swap operation module and automatically completes battery removal and installation through the device's reserved quick-swap interface. After the operation is completed, the battery management system performs an initialization test on the newly replaced target battery and uploads the status data to the control terminal.

[0067] Taking device B as an example, the battery swap robot arrives at its location, uses a robotic arm to locate and replace its target battery. This operation can usually be completed within 5 minutes. The detection data after the battery swap shows that the remaining power of the newly installed battery is 100%.

[0068] Through the above steps, the plateau green construction equipment battery replacement method exemplified by the present invention can effectively cope with the challenge of difficult movement of construction equipment in plateau environments, and achieve accurate and efficient battery replacement through real-time monitoring and automated operation, thereby improving the continuity and safety of the construction process. Compared with traditional methods, the present invention can obtain the preset working time of the target battery replacement through experiments, providing reliable data support for optimizing battery replacement; using the battery management system to return the remaining power data in real time to ensure the scientific and dynamic nature of battery replacement judgment; using a battery replacement robot to automatically complete the battery replacement operation, reducing the complexity and potential risks of manual participation; comprehensively improving construction efficiency and equipment utilization, and reducing economic losses caused by power outages and work stoppages.

[0069] In order to better illustrate the present invention, it can be understood that the overall concept of the present invention is: first, at least two devices to be replaced with batteries of the same specifications are placed under preset temperature conditions (the preset temperature conditions are the same as the current ambient temperature of the devices to be replaced when actually working) to conduct a full-load experiment, and obtain the preset working time of the battery to be replaced respectively. In a pre-set target construction area, the control terminal of the current battery replacement robot loaded with the battery to be replaced is used to collect in real time the remaining power data of the corresponding target working batteries transmitted back by the battery management systems of multiple devices to be replaced that are in working state; and the control terminal on the current battery replacement robot is used to sort the remaining power data in descending order. When any one of the remaining power data reaches the preset power data, the judgment program of the control terminal is started (the judgment program is to judge the current state of the corresponding target working battery, the current state includes power exhaustion or signal interference resulting in signal return failure, and the judgment result is that the basic condition for the signal interference resulting in signal return failure is that the remaining power data corresponding to at least two target working batteries reach the preset power data at the same time, and the preset power data is 5% of the fully charged state). When the judgment result is that any one of the remaining power data reaches the preset power data, the control terminal controls the current battery-changing robot to move to the location of the corresponding device to be replaced. When the current battery-changing robot and the device to be replaced are in a powered-on state, the device to be replaced and the corresponding target working battery are powered-off, and the control terminal controls the battery-changing robot to replace the current battery-changing battery it carries with the corresponding target battery-changing battery to complete the battery-changing installation operation. When the battery-changing installation operation is completed, the current battery-changing person and the device to be replaced are powered-on, and the current battery-changing battery and the device to be replaced are powered-on and the construction operation continues. When the judgment result is that the signal return fails due to signal interference, the control terminal on the current battery-exchanging robot mobilizes a corresponding number of target battery-exchanging robots to carry new standard battery-exchanging batteries and move them to the corresponding positions of the equipment to be replaced respectively, and performs battery replacement operations on the equipment to be replaced. When the target battery-exchanging battery of the equipment to be replaced is disconnected from the control terminal due to signal interference, the remaining power data of the corresponding target battery-exchanging battery collected by the control terminal can also be used to judge the remaining power data of each target battery-exchanging battery, and the position of the target battery-exchanging battery with the least remaining power is taken as the priority battery-exchanging position, and the battery-exchanging position is executed when the current battery-exchanging robot and the equipment to be replaced are in the powered-on state, so that the equipment to be replaced and the corresponding target working battery are powered-on, and the battery-exchanging robot is controlled by the control terminal to replace the current battery-exchanging battery it carries with the corresponding target battery-exchanging battery to complete the battery-exchanging installation operation. When the battery-exchanging installation operation is completed, the current battery-exchanging person and the equipment to be replaced are powered-on, and the current battery-exchanging battery and the equipment to be replaced are powered-on and the construction operation continues.

[0070] In this embodiment, multiple devices to be replaced, each equipped with a target battery for replacement, are placed under test conditions with the same temperature as their actual working environment for full-load testing to obtain the preset working time of all target battery replacement batteries. In the preset construction area, the control terminal of the current battery replacement robot is used to collect in real time the remaining power data sent back by the battery management systems of multiple devices to be replaced in working state, and the size relationship between each remaining power data and the preset power data is judged. When any remaining power data reaches the preset power data, it is determined that the target replacement battery is exhausted, and the current battery replacement robot is controlled to move to the position of the target device corresponding to the remaining power data reaching the preset power data, and the battery replacement operation is completed, so that the present invention can perform battery replacement operations on construction equipment that is not easy to move when in use. During the battery replacement operation, since the replacement time is selectively executed according to the remaining power of the battery, the present invention can ensure the maximum use of the battery power when replacing the battery, avoid the waste of electricity and the risk of power outages and shutdowns, and improve construction efficiency.

[0071] In one embodiment, step S500 includes:

[0072] S510. When the current battery-exchange robot and the device to be replaced are powered on, the device to be replaced and the corresponding target working battery are powered off, and the battery-exchange robot is controlled by the control terminal to replace the current battery-exchange battery it carries with the corresponding target battery-exchange battery to complete the battery replacement operation.

[0073] Specifically, in this step, the current battery-swapping robot completes the replacement of the target working battery with the new battery on the premise that both it and the device to be replaced are powered on, ensuring the efficiency and safety of the entire battery-swapping process.

[0074] During the operation, the control terminal first sends a signal to the current battery swapping robot and the device to be swapped to disconnect the device from its target working battery. Disconnection involves switching the device's main power supply to a backup power supply via a hardware interface relay to prevent data loss or device reset during the power outage.

[0075] Next, the battery swap robot unloads the target working battery using its onboard loading and unloading module. In actual operation, after the robot's internal sensors confirm the correct position, it uses its automated robotic arm to approach the battery hatch where the target working battery is located. The robotic arm's plug-in module then docks with the target working battery's interface and performs a quick disconnect.

[0076] The robot then removes the new battery from its vehicle and inserts it into the device's battery compartment, following the reverse process to ensure a stable connection. All connection processes are performed under safety protocols to avoid arcing or short circuits.

[0077] Once the battery replacement is complete, the control terminal sends a restart signal via the communication module, switching the device to normal operation and updating the device's power status in real time. The entire operation is precisely scheduled and monitored by a central control system, ensuring stability and reliability.

[0078] For example, the remaining power of the device to be replaced is detected to be 7%, which is lower than the preset safety value of 10%. The battery replacement robot executes the above steps to complete the battery replacement. After the new battery is connected, the working status of the device returns to normal.

[0079] In one embodiment, after step S510, the method further includes:

[0080] S520. When the battery replacement installation operation is completed, the power is cut off between the current battery replacement person and the device to be replaced, and the power is connected between the current battery replacement person and the device to be replaced to continue the construction operation.

[0081] Specifically, after the current battery swap robot completes the battery replacement and installation, a power-off command is first sent to the current battery swap robot through the control terminal, disconnecting the temporary power supply connection between it and the device to be replaced. This power-off process uses a staged power-off method, first disconnecting high-power circuits and then low-power control circuits, to avoid circuit shock caused by sudden power outages.

[0082] In one embodiment, after step S300, the method further includes:

[0083] S600: When at least two of the remaining power data reach the preset power data, it is determined that the signal interference causes the corresponding remaining power data signal of the battery management system to fail to be returned.

[0084] This step is used to identify and address abnormalities in remaining power data transmission due to signal interference. When the remaining power data of multiple devices to be replaced approaches or reaches the set threshold at the same time, the system compares their historical working cycles with actual on-site working conditions to determine whether this is an abnormality.

[0085] In practice, if the system detects that the remaining battery power data of at least two devices has reached a preset power threshold simultaneously, it further analyzes the current operating status and expected operating time of these devices. Using on-site signal monitoring devices, it detects the strength and interference of electromagnetic signals around the devices to determine whether there are high-frequency wireless interference sources. For example, at a construction site on a plateau, if the signal monitoring device records an abnormally high-energy radio band signal, it may cause device data transmission to be interrupted or delayed.

[0086] In this case, the decision to replace the battery needs to be postponed. The control terminal triggers the device management system to recheck the remaining power of the problematic device and record the data fluctuations. If, after recollecting the data, it is confirmed that signal interference is the primary cause of the data transmission failure, the system will issue an alarm and record the event, adjusting the system's adaptive capabilities for subsequent signal transmission.

[0087] S700. Mobilize a corresponding number of target battery-swapping robots through the control terminal of the current battery-swapping robot, each carrying a new standard battery-swapping battery to move to the corresponding location of the device to be battery-swapped, and perform battery-swapping operations on the battery-swapping device.

[0088] Once the control terminal identifies the number of target devices requiring battery swapping, it triggers the deployment of the battery swapping robots. The cloud-based scheduling platform calls the control terminal of the current battery swapping robot and allocates a corresponding number of target battery swapping robots based on the location of each device to be swapped. Each battery swapping robot carries a standard swapping battery and reaches the designated device location according to a predetermined priority and route plan.

[0089] After the equipment confirms the need for a battery swap, the robot uses its built-in navigation and obstacle avoidance system to navigate around other equipment and obstacles on the construction site and accurately reach its target location. Upon reaching the target equipment, the robot performs the standard replacement process, including removing the old battery, installing the new one, and performing preliminary current and voltage checks to ensure the equipment can function properly with the new battery.

[0090] In one embodiment, step S600 includes:

[0091] S610: When at least two pieces of the remaining power data reach the preset power data at the same time, it is determined that the signal interference causes the corresponding remaining power data signal of the battery management system to fail to be returned.

[0092] In specific implementation, the control terminal records the time when the remaining power data of each device to be replaced is reported through a timestamp and arranges these data in a time series. When the system detects that the remaining power data of two or more devices reaches the preset power threshold at the same time within the same time period (for example, the time difference is less than 5 seconds), the signal interference judgment process is triggered.

[0093] More specifically, at a certain plateau construction site, a total of 8 construction equipment were operating simultaneously. Among them, the remaining power data of equipment A, C, and F suddenly dropped from 25%, 28%, and 30% respectively to the preset power threshold of 10% during the time period from 10:15:23 to 10:15:27.

[0094] At this point, the system further analyzes the geographical distribution of these devices. If these devices are distributed in different areas of the construction site and their respective workloads are different, their battery consumption rates should be different. By comparing the historical power consumption data of the devices, if it is found that the power consumption rates of these devices in the past working cycles are significantly different (for example, device A consumes an average of 5% power per hour, device C consumes an average of 4% power per hour, and device F consumes an average of 6% power per hour), and this time they all reach the preset power threshold, the system will determine that the data is abnormal due to signal interference.

[0095] Upon identifying signal interference, the system immediately activates a backup communication channel and attempts to retrieve battery status data from these devices. For example, it switches from Bluetooth Low Energy communication to a LoRa network or satellite communication to ensure reliable data transmission. The system also records the signal interference event, including the time of occurrence, the range of devices affected, and the duration of the interference, providing data support for subsequent signal optimization.

[0096] In actual applications, taking a certain type of excavator group as an example, when three excavators simultaneously reported that their power level was less than 20% at a construction site at an altitude of 4,500 meters, the system analyzed their working hours (4 hours, 5 hours, and 3.5 hours, respectively) and workloads (full load, medium load, and light load, respectively), confirmed that this simultaneous power alarm did not conform to normal conditions, and determined that the data was abnormal due to signal interference. Subsequently, the system switched to the backup communication channel and successfully obtained accurate power data (35%, 42%, and 38%, respectively), avoiding unnecessary battery replacement operations.

[0097] In one embodiment, after step S610, the method further includes:

[0098] S620. Obtain the historical remaining power data of the corresponding target battery-exchange battery collected by the control terminal to obtain the current power data of each battery-exchange battery at that moment.

[0099] During implementation, the control terminal first establishes a backup communication connection with each device to be swapped, for example, via satellite communication or a low-power wide area network (LPWAN), bypassing the main communication channel that may be subject to interference. The control terminal then accesses the system database to extract the historical remaining power data for each target battery, including information such as the power change curve, discharge rate, and load conditions over the past 24 hours.

[0100] By analyzing historical data, the control terminal uses a power prediction algorithm to calculate the actual power state of each target battery at the current moment. This algorithm takes into account factors such as battery discharge characteristics, device workload, and ambient temperature, and can provide a relatively accurate power estimate in the event of a communication interruption.

[0101] S630. Sort the current power data again, and take the position of the target battery replacement battery corresponding to the least current power data obtained after sorting as the priority battery replacement position.

[0102] This step establishes a battery replacement priority based on the current power data obtained and determines the location of the equipment that most needs emergency battery replacement.

[0103] In the specific implementation process, the control terminal first sorts the current power data of all devices affected by signal interference, sorting them from lowest to highest power level. When sorting, it considers not only the absolute value of power but also the importance of the device and the urgency of the work.

[0104] For example, at a construction site on a plateau, three devices are affected by signal interference. Their estimated current battery levels are: Excavator A at 18%, Loader B at 20%, and Bulldozer C at 15%. Sorting the power levels from lowest to highest would prioritize Bulldozer C > Excavator A > Loader B.

[0105] However, if we consider that excavator A is performing a construction task on a critical road section and its work is more urgent, the priority can be adjusted to: excavator A>bulldozer C>loader B.

[0106] After the sorting is complete, the control terminal determines the location of the device with the lowest battery level or the highest overall priority as the priority location for battery swapping. Location information includes the device's geographic coordinates, surrounding environmental characteristics, and optimal approach path, providing a basis for the battery swap robot's navigation.

[0107] S640. Control the current battery-swapping robot to move to the priority battery-swapping position.

[0108] In actual operation, the control terminal first sends the coordinates of the priority battery swap location to the current battery swap robot. After receiving the navigation instruction, the battery swap robot activates its navigation system to plan the optimal path from the current location to the target location.

[0109] Path planning takes into account factors such as the construction site's topographical characteristics, obstacle distribution, and the location of other equipment. For example, in mountainous construction environments, the battery-swap robot prioritizes paths with gentle slopes and relatively flat surfaces, avoiding soft terrain and temporarily piled construction materials.

[0110] During navigation, the battery-swap robot uses its multi-sensor system (including lidar, ultrasonic sensors, and visual sensors) to perceive its surroundings in real time and perform dynamic obstacle avoidance. If a moving obstacle (such as a worker or another vehicle) is detected ahead, the robot will slow down or temporarily stop, waiting for the obstacle to move away before continuing forward.

[0111] S650. At the priority battery replacement position, when the current battery replacement robot and the device to be replaced are powered on, the device to be replaced and the corresponding target working battery are powered off, and the battery replacement robot is controlled by the control terminal to replace the current battery replacement battery it carries with the corresponding target battery replacement battery, thereby completing the battery replacement operation.

[0112] When the battery-swapping robot arrives at the priority swapping location, it first establishes a connection with the device to be swapped via near-field communication to confirm the device's identity and battery status. The robot then maintains power to the device. This ensures the device's core systems (such as the control system and communication system) can continue to operate during the swap, avoiding system restarts and data loss caused by a complete power outage.

[0113] After confirming the connection is correct, the control terminal sends a power-off command to disconnect the device to be replaced from its target working battery. The power-off process adopts a hierarchical power-off strategy, first disconnecting high-power loads, then low-power systems, and finally the main battery circuit, ensuring a safe and controllable power-off process.

[0114] After the battery is disconnected, the battery swap robot activates its battery swap actuator to remove the target battery from the device being swapped. During the removal process, the robot's robotic arm precisely controls force and position to avoid damage to the battery and the device. The removed battery is temporarily stored in the robot's battery compartment, awaiting subsequent recycling.

[0115] The robot then removes the current battery from its battery compartment and installs it into the battery compartment of the device to be replaced. The installation process involves two steps: physical fixation and electrical connection, ensuring that the new battery is securely fixed to the device and reliably connected to the device's electrical system.

[0116] After installation is complete, the control terminal sends a power-on command, establishing an electrical connection between the newly installed battery and the device to be replaced. The power-on process also uses a hierarchical power-on strategy, first connecting the battery's main circuit, then low-power systems, and finally high-power loads, ensuring a smooth and safe power-on process.

[0117] In one embodiment, after step S200, the method further includes:

[0118] S800: Sort all the remaining power data in descending order.

[0119] In practice, the control terminal first collects the remaining battery data of all construction equipment. This data may be returned via real-time communication or calculated from the equipment's historical data, comprehensively reflecting the current battery status of multiple construction equipment.

[0120] Next, the control terminal sorts the collected remaining power data from highest to lowest. This sorting process is based on standard numerical calculation methods and can employ conventional algorithms such as quick sort or merge sort to reduce computation time and improve efficiency. The sorting results, including the remaining power data and its corresponding device identification number, are stored in a data buffer for subsequent steps.

[0121] Step S300 includes:

[0122] The magnitude relationship between each of the remaining power data and the preset power data is determined in order from low to high.

[0123] During the specific implementation process, the control terminal sequentially reads the values ​​of each item in the sorted remaining power data list and compares them one by one with the preset power data. For example, the preset power data can be set to 10% based on construction requirements. That is, when the remaining power of a device is less than or equal to 10%, the device needs to perform a battery replacement operation.

[0124] During the comparison process, the system evaluates each device individually, sorting the remaining battery level from lowest to highest, processing only one device's data at a time to avoid logical conflicts caused by multitasking. For example, if device D in the sorted data list has a remaining battery level of 9%, lower than the preset 10% battery level, it will be immediately determined to require a battery replacement. Next, device E will be processed, but its remaining battery level is 25%, higher than 10%, so it is skipped and no battery replacement is required.

[0125] For equipment that may require battery replacement, the system generates a battery replacement task instruction, including the equipment location, power data and other key parameter information, and stores it in the task scheduling queue, preparing to call the battery replacement robot to perform the battery replacement work.

[0126] Through step-by-step judgment, accurate matching of equipment battery replacement needs can be achieved, giving priority to equipment with the lowest power consumption, and ensuring the effective allocation of battery replacement resources.

[0127] In one embodiment, after step S500, the method further includes:

[0128] S11. Record the time point and power status of each battery replacement.

[0129] During implementation, the control terminal automatically records the time and battery status information after each battery replacement operation. Recorded time information includes the time the battery was first used, the time the battery was replaced, and the distribution of battery operating time under different loads. Battery status information includes the initial battery level, the remaining battery level at the time of replacement, and characteristic points on the discharge curve.

[0130] This data is stored in the system's database in a standardized format. Each record contains a unique battery identification code, device identification code, and operation batch number, ensuring data traceability and integrity. To ensure data accuracy, the system uses multiple verification mechanisms, including time synchronization calibration, power sensor calibration, and data consistency checks.

[0131] S12. Obtain the current working time of the replaced battery according to the recorded time point and the power status.

[0132] In practice, the control terminal first extracts the battery's historical usage records from a database, including all of the battery's usage cycles. For each usage cycle, the system calculates the time difference between the battery's initial use and its replacement to obtain the original operating time.

[0133] Then, the control terminal corrects the original working time. Specifically, first, the original working time is converted into an equivalent working time under a standard load according to the recorded load rate data.

[0134] S13: Using the current working time as the updated preset working time.

[0135] This step updates the calculated current operating time to the system's preset operating time, achieving adaptive optimization of battery management parameters.

[0136] During the specific implementation process, the system will not simply replace the preset working hours with the current working hours. Instead, it will adopt a weighted average method to comprehensively consider historical data and new data to ensure the stability and reliability of parameter updates.

[0137] The update formula can be expressed as:

[0138] New preset working time = α × old preset working time + (1-α) × current working time

[0139] Among them, α is the weight coefficient, which ranges from 0 to 1 and is usually set to 0.7 to 0.8 to maintain the stability of parameter updates.

[0140] For example, if the old preset working hours are 10 hours, the current calculated working hours are 9.2 hours, and the weight coefficient α is 0.75, then the new preset working hours are:

[0141] 0.75×10+0.25×9.2=9.8 hours

[0142] The system also dynamically adjusts the weighting factor based on battery usage and aging. For new batteries, the system prioritizes current operating hours to quickly adapt to the battery's actual performance. For batteries that have been used extensively, the system prioritizes historical data to mitigate the impact of single outliers.

[0143] The updated preset operating time is immediately applied to the battery management algorithm of the battery management system, which is used to predict the remaining battery operating time, schedule battery replacements, and optimize resource allocation. For example, if the preset operating time of a certain battery model is updated from 10 hours to 9.8 hours, the system will adjust the battery replacement time accordingly to ensure that the battery replacement operation is completed before the battery is depleted.

[0144] In one embodiment, after step S13, the method further includes:

[0145] S14. For each of the target battery replacement batteries, record the current performance parameters of the battery when each battery replacement operation is completed.

[0146] During the specific implementation process, the control terminal immediately uploads the current performance parameters of the target battery from the battery swapping device after each battery swap operation. Performance parameters include but are not limited to: the battery's remaining capacity, internal resistance, output voltage, temperature, number of charge and discharge cycles, and the remaining life cycle after factor correction.

[0147] These parameters are uploaded to a central database via wireless communication and stored in a structured data table indexed by battery number and timestamp. For example, a high-performance lithium-ion battery HX-55 was replaced at 14:23:12 on June 16, 2023. Its performance records include: 86% remaining capacity, 15mΩ internal resistance, 3.8V output voltage, 22°C temperature, 150 charge and discharge cycles, and an estimated remaining lifespan of 85%.

[0148] To ensure data accuracy, the system incorporates multi-level signal detection and verification, including redundant signal transmission and abnormal data screening. For example, in construction sites at higher altitudes, the battery management system prioritizes battery temperature parameters. Any abnormal data outside the standard deviation range will be flagged and issued an alert. Furthermore, this information can be transmitted to a remote monitoring center for centralized analysis, enabling a comprehensive assessment of equipment status.

[0149] S15. Based on all current performance parameters, adjust the battery management strategy corresponding to plateau green construction.

[0150] During the specific implementation process, the system summarizes the performance parameters of all target batteries under different usage conditions and uses this data to calibrate and optimize the current battery management strategy. The optimization process includes the following key steps:

[0151] The system uses big data analytics to conduct an in-depth analysis of all performance parameters, identifying patterns in how specific environments affect battery performance. Based on these analysis results, the system uses control algorithms to adjust battery management parameters. By comparing historical performance with the effectiveness of current strategies, the system adjusts parameter weights and update cycles, gradually improving battery management performance.

[0152] Based on the same technical concept, in the second aspect, the present invention also proposes a battery replacement robot for use in the battery replacement method for plateau green construction equipment described in the first aspect.

[0153] The battery replacement robot provided in this application adopts the battery replacement method for plateau green construction equipment in the above-mentioned embodiment. It can solve the technical problem that when carrying out infrastructure construction on the plateau, some construction equipment is not easy to move, making battery replacement more difficult, resulting in the corresponding equipment being at risk of power outages and shutdowns, thereby affecting construction efficiency. Compared with the prior art, the beneficial effects of the battery replacement robot provided in this application are the same as the beneficial effects of the battery replacement method for plateau green construction equipment provided in the above-mentioned embodiment, and the other technical features of the battery replacement robot are the same as those disclosed in the previous embodiment, which will not be repeated here.

[0154] The above description is merely an exemplary embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformation made by utilizing the contents of the present invention's description and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. A method for replacing batteries for plateau green construction equipment, characterized in that: The following steps are involved: Place multiple devices to be replaced, each equipped with a target battery replacement, under test conditions with the same temperature as their actual working environment, and conduct full-load tests to obtain the preset working time of all the target battery replacement batteries; In the preset construction area, the control terminal of the current battery-swapping robot is used to collect in real time the remaining power data transmitted back by the battery management systems of multiple working devices to be replaced; wherein, the battery management system is installed on each of the target battery-swapping batteries, and the battery management system is used to monitor the power data of the target battery-swapping batteries; Determining the magnitude relationship between each of the remaining power data and the preset power data; When any of the remaining power data reaches the preset power data, it is determined that the target replacement battery is exhausted; Control the current battery-changing robot to move until the remaining power data reaches the target device location corresponding to the preset power data, and complete the battery replacement operation.

2. The battery replacement method for plateau green construction equipment according to claim 1, characterized in that: The step of controlling the current battery-swapping robot to move to the location of the target device corresponding to the preset power data when the remaining power data reaches the preset power data, thereby completing the battery replacement operation, includes: When the current battery-changing robot and the device to be replaced are powered on, the device to be replaced and the corresponding target working battery are powered off, and the battery-changing robot is controlled by the control terminal to replace the current battery-changing battery it carries with the corresponding target battery-changing battery to complete the battery replacement operation.

3. The battery replacement method for plateau green construction equipment according to claim 2, characterized in that: When the current battery-swapping robot and the device to be replaced are powered on, the device to be replaced and the corresponding target working battery are powered off, and the battery-swapping robot is controlled by the control terminal to replace the current battery-swapping battery carried by it with the corresponding target battery-swapping battery. After completing the battery replacement operation, the step further includes: When the battery replacement installation work is completed, the power is disconnected between the current battery replacement person and the device to be replaced, and the current battery replacement battery and the device to be replaced are powered on to continue the construction work.

4. The battery replacement method for plateau green construction equipment according to claim 2, characterized in that: After the step of determining the magnitude relationship between each of the remaining power data and the preset power data, the method further includes: When at least two of the remaining power data reach the preset power data, it is determined that the corresponding remaining power data signal of the battery management system fails to be returned due to signal interference; Through the control terminal of the current battery-changing robot, a corresponding number of target battery-changing robots are mobilized to carry new standard battery-changing batteries to the corresponding locations of the equipment to be replaced, and perform battery replacement operations on the battery-changing equipment.

5. The battery replacement method for plateau green construction equipment according to claim 4, characterized in that: The step of determining that the corresponding battery management system fails to transmit the remaining power data signal back due to signal interference when at least two of the remaining power data reach the preset power data includes: When at least two pieces of the remaining power data reach the preset power data at the same time, it is determined that the corresponding remaining power data signal of the battery management system fails to be returned due to signal interference.

6. The battery replacement method for plateau green construction equipment according to claim 4, characterized in that: After the step of determining that, when at least two of the remaining power data reach the preset power data at the same time, signal interference causes the corresponding battery management system to fail to transmit the remaining power data signal back, the method further includes: The historical remaining power data of the corresponding target battery replacement battery collected by the control terminal is used to obtain the current power data of each battery replacement battery at that moment; The current power data is sorted again, and the position of the target battery replacement battery corresponding to the minimum value in the current power data obtained after sorting is used as the priority battery replacement position; Controlling the current battery-swapping robot to move to the priority battery-swapping position; At the priority battery-changing position, the steps of disconnecting the power of the device to be replaced and the corresponding target working battery while the current battery-changing robot and the device to be replaced are powered on are executed, and controlling the battery-changing robot through the control terminal to replace the current battery-changing battery it carries with the corresponding target battery-changing battery to complete the battery replacement operation.

7. The method for replacing batteries for plateau green construction equipment according to any one of claims 1 to 6, characterized in that: After the step of using the control terminal of the current battery swapping robot to collect the remaining power data transmitted back by the battery management systems of multiple working devices to be swapped in real time within the preset construction area, the method further includes: Sorting all the remaining power data in descending order; The step of determining the magnitude relationship between each of the remaining power data and the preset power data includes: The magnitude relationship between each of the remaining power data and the preset power data is determined in order from low to high.

8. The method for replacing batteries for plateau green construction equipment according to any one of claims 1 to 6, characterized in that: After the step of controlling the current battery-swapping robot to move to the location of the target device where the remaining power data reaches the preset power data and the battery replacement operation is completed, the method further includes: Record the time and power status of each battery replacement; Obtaining the current working time of the replaced battery according to the recorded time point and the power status; The current working time is used as the updated preset working time.

9. The battery replacement method for plateau green construction equipment according to claim 8, characterized in that: After the step of using the current working hours as the updated preset working hours, the method further includes: For each target battery replacement, record the current performance parameters of the battery when each battery replacement operation is completed; Based on all current performance parameters, adjust the battery management strategy corresponding to plateau green construction.

10. A battery replacement robot, characterized in that: Used to perform the plateau green construction equipment battery replacement method as described in any one of claims 1 to 9.

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