Battery replacement operation control method and device applied to mobile battery replacement equipment

Abstract

The invention relates to the technical field of electric control, in particular to a battery replacement operation control method and device applied to mobile battery replacement equipment. The method comprises the following steps: acquiring leaning state information and mechanism state information of the mobile battery replacement equipment; the attaching state information is generated according to an interactive operation of manually driving an execution mechanism of the mobile battery replacement equipment to be attached to a target old battery of the equipment to be subjected to battery replacement, performing old battery removal operation on the equipment to be subjected to battery replacement according to the attaching state information and the mechanism state information, and recording an old battery removal position; and according to the old battery removal position, performing new battery installation operation on the equipment to be subjected to battery replacement so as to complete battery replacement operation. When the old battery is removed, the position of the battery is positioned in a manual attaching and confirming mode, the position when the old battery is removed is stored, the positioning accuracy is high, the reliability of the battery replacement operation is improved, the positioning process is not affected by the structure difference of machine types, and the adaptability to engineering machines of different machine types can be improved.

Description

Technical Field

[0001] This invention belongs to the field of electric control technology, specifically relating to a battery swapping operation control method and device applied to mobile battery swapping equipment. Background Technology

[0002] With the electrification of construction machinery, excavators, loaders, and mining dump trucks are increasingly adopting standardized batteries as their primary power source. Because construction machinery is large, operates in dispersed locations, and is not easily moved frequently, battery replacement is difficult to complete using fixed battery swapping facilities. Currently, mobile battery swapping vehicles, capable of flexibly moving around the construction site, are primarily used to remove and install batteries in the construction machinery, thus completing the battery replacement process.

[0003] However, in practice, it has been found that due to the structural differences between different types and models of engineering machinery, their battery installation height and installation position are often different. This makes it difficult for mobile battery swapping vehicles to position the battery when performing battery swapping operations, which can easily lead to malfunctions, omissions, or errors in process stages. As a result, the reliability of battery swapping operations is low, and mobile battery swapping vehicles are not very adaptable to different models of engineering machinery.

[0004] Therefore, improving the reliability of mobile battery swapping equipment in performing battery swapping operations and its adaptability to different types of engineering machinery are urgent technical problems that need to be solved. Summary of the Invention

[0005] The purpose of this invention is to provide a battery swapping operation control method and device for mobile battery swapping equipment, aiming to improve the reliability of mobile battery swapping equipment in performing battery swapping operations and its adaptability to different types of engineering machinery.

[0006] To address the aforementioned technical problems, the first aspect of this invention discloses a battery swapping operation control method applied to mobile battery swapping equipment, the method comprising: The attachment status information and mechanism status information of the mobile battery swapping device are obtained. The attachment status information is generated based on the interactive operation of manually driving the actuator of the mobile battery swapping device to attach to the target old battery of the device to be swapped. The mechanism status information is the working status information of the actuator of the mobile battery swapping device at the current moment. Based on the contact status information and the mechanism status information, the old battery removal operation is performed on the battery swapping device, and the old battery removal position is recorded; Based on the location where the old battery was removed, a new battery installation operation is performed on the device to be replaced to complete the battery replacement work.

[0007] As an optional implementation, in the first aspect of the present invention, the step of performing an old battery removal operation on the battery swapping device based on the contact state information and the mechanism state information, and recording the old battery removal position, includes: The old battery is grasped based on the contact status information and the mechanism status information to obtain the old battery grasping result. If the old battery grabbing determination result indicates that the actuator of the mobile battery swapping device is in a grabbing state and is close to the target old battery, then the actuator of the mobile battery swapping device is controlled to perform an old battery grabbing operation on the target old battery, and the position corresponding to the old battery grabbing operation is recorded as the old battery removal position. Obtain the execution result of the old battery grabbing operation; If the operation result indicates that the target old battery has been captured, then the actuator controlling the mobile battery swapping device will place the target old battery in a pre-set old battery storage location.

[0008] As an optional implementation, in the first aspect of the present invention, the step of performing a new battery installation operation on the device to be replaced according to the location where the old battery was removed, to complete the battery replacement operation, includes: The system acquires pre-set new battery location information and controls the actuator of the mobile battery swapping device to perform a new battery grabbing operation based on the new battery location information, so as to obtain the target new battery to be installed. The actuator of the mobile battery swapping device is controlled to install the target new battery at the location where the old battery was removed, so as to complete the battery replacement operation.

[0009] As an optional implementation, in a first aspect of the invention, the actuator controlling the mobile battery swapping device installs the target new battery to the old battery removal position to complete the battery replacement operation, including: The actuator controlling the mobile battery swapping device moves the target new battery toward the location where the old battery is removed; Obtain battery installation operation information for mobile battery swapping equipment; the battery installation operation information includes: actuator location information, or actuator location information and battery alignment information; Based on the battery installation operation information, a new battery installation determination is made to obtain the new battery installation determination result. If the new battery installation determination result indicates that the position of the actuator of the mobile battery swapping device corresponds to the position of the old battery removal, or if the new battery installation determination result indicates that the position of the actuator of the mobile battery swapping device corresponds to the position of the old battery removal and the battery is correctly aligned, then control the actuator of the mobile battery swapping device to install the target new battery to the position of the old battery removal. The actuator position information is the real-time position information of the actuator of the mobile battery swapping device, and the battery alignment information is generated by a visual sensing device installed on the mobile battery swapping device based on the relative position of the attachments of the mobile battery swapping device and the target new battery.

[0010] As an optional implementation, in the first aspect of the present invention, before obtaining the contact status information and mechanism status information of the mobile battery swapping device, the method further includes: Perform system initialization on the mobile battery swapping device; The actuator of the mobile battery swapping device is controlled to move to the preset initial operation position according to the preset initial operation position parameters, and the operation of obtaining the contact status information and mechanism status information of the mobile battery swapping device is triggered.

[0011] As an optional implementation, in the first aspect of the invention, after performing a new battery installation operation on the device to be replaced according to the location where the old battery was removed to complete the battery replacement operation, the method further includes: The actuator of the mobile battery swapping device is reset to end the battery swapping operation.

[0012] As an optional implementation, in the first aspect of the present invention, the battery alignment information includes at least one of lateral deviation information, longitudinal deviation information, and angular deviation information.

[0013] A second aspect of the present invention discloses a battery swapping operation control device for mobile battery swapping equipment, the device comprising: The information acquisition module is used to acquire the contact status information and mechanism status information of the mobile battery swapping device. The contact status information is generated based on the interactive operation of manually driving the actuator of the mobile battery swapping device to contact the target old battery of the device to be swapped. The mechanism status information is the working status information of the actuator of the mobile battery swapping device at the current moment. The old battery removal module is used to perform an old battery removal operation on the battery swapping device according to the contact status information and the mechanism status information, and to record the old battery removal position. The new battery installation module is used to perform a new battery installation operation on the device to be replaced based on the location where the old battery was removed, so as to complete the battery replacement operation.

[0014] As an optional implementation, in a second aspect of the present invention, the old battery removal module performs an old battery removal operation on the device to be swapped based on the contact status information and the mechanism status information, and records the old battery removal location in the following specific manner: The old battery is grasped based on the contact status information and the mechanism status information to obtain the old battery grasping result. If the old battery grabbing determination result indicates that the actuator of the mobile battery swapping device is in a grabbing state and is close to the target old battery, then the actuator of the mobile battery swapping device is controlled to perform an old battery grabbing operation on the target old battery, and the position corresponding to the old battery grabbing operation is recorded as the old battery removal position. Obtain the execution result of the old battery grabbing operation; If the operation result indicates that the target old battery has been captured, then the actuator controlling the mobile battery swapping device will place the target old battery in a pre-set old battery storage location.

[0015] As an optional implementation, in a second aspect of the present invention, the new battery installation module performs a new battery installation operation on the device to be replaced based on the location where the old battery was removed, in order to complete the battery replacement operation, specifically in the following ways: The system acquires pre-set new battery location information and controls the actuator of the mobile battery swapping device to perform a new battery grabbing operation based on the new battery location information, so as to obtain the target new battery to be installed. The actuator of the mobile battery swapping device is controlled to install the target new battery at the location where the old battery was removed, so as to complete the battery replacement operation.

[0016] As an optional implementation, in a second aspect of the present invention, the specific method by which the new battery installation module controls the actuator of the mobile battery swapping device to install the target new battery to the old battery removal position to complete the battery replacement operation includes: The actuator controlling the mobile battery swapping device moves the target new battery toward the location where the old battery is removed; Obtain battery installation operation information for mobile battery swapping equipment; the battery installation operation information includes: actuator location information, or actuator location information and battery alignment information; Based on the battery installation operation information, a new battery installation determination is made to obtain the new battery installation determination result. If the new battery installation determination result indicates that the position of the actuator of the mobile battery swapping device corresponds to the position of the old battery removal, or if the new battery installation determination result indicates that the position of the actuator of the mobile battery swapping device corresponds to the position of the old battery removal and the battery is correctly aligned, then control the actuator of the mobile battery swapping device to install the target new battery to the position of the old battery removal. The actuator position information is the real-time position information of the actuator of the mobile battery swapping device, and the battery alignment information is generated by a visual sensing device installed on the mobile battery swapping device based on the relative position of the attachments of the mobile battery swapping device and the target new battery.

[0017] As an optional implementation, in a second aspect of the invention, the apparatus further includes: An initialization module is used to perform system initialization on the mobile battery swapping device; The operation start module is used to control the actuator of the mobile battery swapping device to move to the preset operation start position according to the preset operation start position parameters, and to trigger the information acquisition module to acquire the contact status information and mechanism status information of the mobile battery swapping device.

[0018] As an optional implementation, in a second aspect of the invention, the apparatus further includes: The mechanism reset module is used to control the actuator of the mobile battery swapping device to reset after the new battery installation module performs a new battery installation operation on the battery swapping device according to the old battery removal position to complete the battery replacement operation, so as to end the battery replacement operation.

[0019] As an optional implementation, in a second aspect of the present invention, the battery alignment information includes at least one of lateral deviation information, longitudinal deviation information, and angular deviation information.

[0020] A third aspect of the present invention discloses another battery swapping operation control device applied to mobile battery swapping equipment, the device comprising: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute a battery swapping operation control method for mobile battery swapping equipment disclosed in the first aspect of the present invention.

[0021] The fourth aspect of the present invention discloses a computer storage medium storing computer instructions, which, when invoked by a processor, are used to execute a battery swapping operation control method for mobile battery swapping equipment disclosed in the first aspect of the present invention.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows: First, the contact status information and mechanism status information of the mobile battery swapping equipment are obtained. The contact status information is generated based on the interactive operation of manually driving the actuator of the mobile battery swapping equipment to contact the target old battery of the equipment to be swapped. Then, based on the contact status information and mechanism status information, the old battery removal operation is performed on the equipment to be swapped, and the old battery removal position is recorded. Finally, based on the old battery removal position, the new battery installation operation is performed on the equipment to be swapped to complete the battery replacement operation. When removing the old battery, the battery position is located by manual contact confirmation, and the position at the time of removal is saved. The positioning accuracy is high, thereby reducing the occurrence of erroneous actions, omissions, or errors in process stage jumps, improving the reliability of battery swapping operations. Moreover, the positioning process is not affected by differences in machine model structure, which can improve the adaptability to different types of engineering machinery. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a flowchart illustrating a battery swapping operation control method for mobile battery swapping equipment disclosed in an embodiment of the present invention. Figure 2 This is a schematic diagram of the structure of a battery swapping operation control device for mobile battery swapping equipment disclosed in an embodiment of the present invention; Figure 3 This is a schematic diagram of another battery swapping operation control device for mobile battery swapping equipment disclosed in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of another battery swapping operation control device for mobile battery swapping equipment disclosed in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of another battery swapping operation control device for mobile battery swapping equipment disclosed in an embodiment of the present invention. Detailed Implementation

[0025] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, or product may include a series of steps or units, or may not be limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or processes.

[0027] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0028] With the electrification of construction machinery, excavators, loaders, and mining dump trucks are increasingly adopting standardized batteries as their primary power source. Because construction machinery is large, operates in dispersed locations, and is not easily moved frequently, battery replacement is difficult to complete using fixed battery swapping facilities. Currently, mobile battery swapping vehicles, capable of flexibly moving around the construction site, are primarily used to remove and install batteries in the construction machinery, thus completing the battery replacement process.

[0029] However, in practice, it has been found that due to the structural differences between different types and models of engineering machinery, their battery installation height and installation position are often different. This makes it difficult for mobile battery swapping vehicles to position the battery when performing battery swapping operations, which can easily lead to malfunctions, omissions, or errors in process stages. As a result, the reliability of battery swapping operations is low, and mobile battery swapping vehicles are not very adaptable to different models of engineering machinery.

[0030] Therefore, improving the reliability of mobile battery swapping equipment in performing battery swapping operations and its adaptability to different types of engineering machinery are urgent technical problems that need to be solved.

[0031] To address the aforementioned technical problems, this invention discloses a battery swapping operation control method for mobile battery swapping equipment, aiming to improve the reliability of mobile battery swapping equipment in performing battery swapping operations and its adaptability to different types of engineering machinery. Detailed descriptions follow.

[0032] Example 1 Please see Figure 1 , Figure 1 This is a flowchart illustrating a battery swapping operation control method for mobile battery swapping equipment disclosed in an embodiment of the present invention. Figure 1The battery swapping operation control method shown can be applied to a battery swapping operation control device, which can improve the reliability of mobile battery swapping equipment in performing battery swapping operations and its adaptability to different types of engineering machinery. Furthermore, this device can be integrated into the control system of the mobile battery swapping equipment. Figure 1 As shown, the battery swapping operation control method for mobile battery swapping equipment disclosed in this embodiment of the invention includes, but is not limited to, the following operations: 101. Obtain the contact status information and mechanism status information of the mobile battery swapping device; the contact status information is generated based on the interactive operation of manually driving the actuator of the mobile battery swapping device to contact the target old battery of the device to be swapped, and the mechanism status information is the working status information of the actuator of the mobile battery swapping device at the current moment. 102. Based on the contact status information and mechanism status information, perform the old battery removal operation on the device to be swapped, and record the old battery removal location; 103. Based on the location where the old battery was removed, perform the new battery installation operation on the device to be replaced to complete the battery replacement work.

[0033] It is understood that in the embodiments of the present invention, "old battery" may refer to a battery with insufficient remaining power, and "new battery" may refer to a battery that has been fully charged, and the distinction between old and new batteries is not necessarily based on the battery's production time.

[0034] In this embodiment of the invention, the contact status information and mechanism status information of the mobile battery swapping device are first acquired. The contact status information is generated based on the interactive operation of manually driving the actuator of the mobile battery swapping device to contact the target old battery of the device to be swapped. Then, based on the contact status information and mechanism status information, the old battery removal operation is performed on the device to be swapped, and the old battery removal position is recorded. Finally, based on the old battery removal position, the new battery installation operation is performed on the device to be swapped to complete the battery replacement operation. When removing the old battery, the battery position is located by manual contact confirmation, and the position at the time of removal is saved. The positioning accuracy is high, thereby reducing the occurrence of erroneous actions, missed actions, or errors in process stage jumps, improving the reliability of the battery swapping operation. Moreover, the positioning process is not affected by differences in machine model structure, which can improve the adaptability to different models of engineering machinery.

[0035] In addition to motion parameters such as the real-time position, speed, acceleration, and joint angles of the actuator, the system status information can also include health status parameters such as the current, temperature, and vibration amplitude of each drive motor. The system performs online health assessments based on a preset mechanism health model and the real-time collected status parameters. If an abnormal current, excessive temperature rise, or excessive vibration is detected in a drive unit, a corresponding warning signal or fault code is generated, and the status is confirmed before removing the old battery. If a warning or fault indication is present in the mechanism status information, the system pauses the current operation and prompts the operator to perform maintenance or switch to a backup actuator via the human-machine interface. Furthermore, the mechanism status information can be compared and analyzed with historical operation data to predict mechanism wear and lifespan trends, providing a basis for preventative maintenance and improving the long-term operational stability and safety of mobile battery swapping equipment in complex operating environments.

[0036] The actuators of mobile battery swapping devices can also adopt a modular design, supporting the rapid replacement of end effectors with different functions to adapt to different types of battery latching structures. For example, corresponding dedicated clamping modules can be equipped for different designs such as pin-type latching batteries, knob-type latching batteries, and electromagnetic locking batteries. The actuators and clamping modules use standardized mechanical and electrical interfaces, and are equipped with physical positioning pins and electronic identification chips. When a clamp needs to be replaced, the system automatically identifies the model and functional parameters of the new clamp and loads the corresponding control drive and safety strategy. This modular design significantly improves the adaptability of mobile battery swapping devices to different battery latching structures and reduces equipment modification costs caused by changes in battery design.

[0037] The battery swapping operation control process also includes operation quality assessment and continuous optimization. After each battery swapping operation is completed, the system automatically generates an operation report, including key performance indicators such as total time, time for each stage, number of contact attempts, success rate of capture, installation alignment deviation, and changes in the health status of the mechanism. This data is anonymized and uploaded to a cloud-based analysis platform. Through big data analysis, bottlenecks and common failure modes in the operation process are identified, and optimization suggestions are fed back to the equipment. For example, if data analysis finds that the installation alignment deviation of a certain model of battery is generally large, the system can automatically adjust the visual recognition parameters or compliant control parameters of that model during the installation stage, thereby achieving data-driven adaptive optimization of control parameters and enabling the battery swapping operation system to have the ability to continuously learn and improve.

[0038] In an optional embodiment, the old battery removal operation is performed on the battery swapping device based on the contact status information and the mechanism status information, and the old battery removal location is recorded, including: The old battery is grabbed based on the contact status information and the mechanism status information, and the old battery grabbing result is obtained. If the old battery grabbing determination result indicates that the actuator of the mobile battery swapping device is in a grabbable state and is close to the target old battery, then control the actuator of the mobile battery swapping device to perform an old battery grabbing operation on the target old battery, and record the position corresponding to the old battery grabbing operation as the old battery removal position. Obtain the execution result of the old battery grabbing operation; If the operation result indicates that the target old battery has been captured, the actuator controlling the mobile battery swapping device will place the target old battery in the pre-set old battery storage location.

[0039] In this optional embodiment, if the old battery grabbing result does not meet the requirements for performing the old battery grabbing operation, the actuator of the mobile battery swapping device will suspend the current action. If the operation execution result indicates that the target old battery has not been grabbed, the actuator of the mobile battery swapping device will suspend the current action.

[0040] In another optional embodiment, in addition to relying on the contact status information and mechanism status information, a vision-assisted gripping point verification step can be introduced during the old battery gripping determination process. Specifically, a visual sensing device is installed on the gripping fixture of the actuator. After the actuator moves to the preset gripping preparation position according to the contact status information, the visual sensing device acquires an image of the target old battery latch or positioning mark, and the image recognition and matching algorithm determines whether the gripping point matches the preset battery model template. If the matching degree is higher than a set threshold, it is determined to be in a gripping state; if the matching degree is insufficient, a gripping point deviation alarm is generated, and the position can be compensated through the fine-tuning function of the actuator, or the operator is prompted to re-perform the contact operation. This vision-assisted verification mechanism can further reduce the risk of gripping failure due to incorrect battery model identification or gripping position deviation, and is especially suitable for mixed operation scenarios of multiple battery models.

[0041] In another optional embodiment, during the old battery removal operation, a battery status detection and registration step can be added before placing the old battery in the storage location. Specifically, a battery information reader and a voltage and internal resistance detection device are installed at the old battery storage location. After the actuator places the old battery in the storage location, the system automatically reads the identity information from the battery's built-in RFID or QR code and simultaneously detects electrical parameters such as voltage, internal resistance, and temperature. The detection results are bound to the battery identity information and recorded in the battery swapping operation log, and uploaded to the cloud-based battery management platform for battery life assessment, charging scheduling, and retirement determination. If any abnormalities such as short circuits, severe imbalances, or leakage are detected in the battery, the system immediately issues an alarm and recommends isolation, thereby preventing the abnormal battery from entering subsequent charging cycles and causing safety hazards.

[0042] In another optional embodiment, a new battery installation operation is performed on the device to be replaced based on the location where the old battery was removed, to complete the battery replacement operation, including: Obtain the pre-set new battery location information, and control the actuator of the mobile battery swapping device to perform a new battery grabbing operation based on the new battery location information, so as to obtain the target new battery to be installed; The actuator that controls the mobile battery swapping equipment installs the target new battery at the location where the old battery was removed to complete the battery replacement operation.

[0043] In another optional embodiment, a new battery storage location management and optimal scheduling step can be added before the new battery grabbing operation. Specifically, the new battery storage area built into the mobile battery swapping device has multiple independent storage locations, each equipped with a battery information reading device and a power detection unit. The system intelligently selects the optimal new battery from the available storage locations for grabbing based on factors such as the current battery swapping task requirements, battery model matching degree, battery SOC status, and historical cycle count. For example, batteries with an SOC above 85%, fewer cycle counts, and a model that perfectly matches the device to be swapped are prioritized. If multiple batteries meet the criteria, a secondary optimization can be performed based on the path length from the storage location to the actuator to shorten battery retrieval time and improve overall battery swapping efficiency. This scheduling mechanism can be synchronized in real time with the cloud-based battery management platform, supporting dynamic allocation of battery resources when multiple mobile battery swapping devices are operating collaboratively.

[0044] In another optional embodiment, the actuator controlling the mobile battery swapping device installs the target new battery into the old battery removal location to complete the battery replacement operation, including: The actuator that controls the mobile battery swapping equipment moves the target new battery toward the location where the old battery is removed; Obtain battery installation operation information for mobile battery swapping equipment; battery installation operation information includes: actuator location information, or actuator location information and battery alignment information; Based on the battery installation operation information, a new battery installation determination is made, and the new battery installation determination result is obtained. If the new battery installation determination result indicates that the position of the actuator of the mobile battery swapping device corresponds to the position of the old battery removal, or if the new battery installation determination result indicates that the position of the actuator of the mobile battery swapping device corresponds to the position of the old battery removal and the battery is correctly aligned, then control the actuator of the mobile battery swapping device to install the target new battery to the position of the old battery removal. Among them, the actuator location information is the real-time location information of the actuator of the mobile battery swapping equipment, and the battery alignment information is generated by the visual perception device installed on the mobile battery swapping equipment based on the relative position of the attachments of the mobile battery swapping equipment and the target new battery.

[0045] The battery alignment information includes at least one of the following: lateral deviation information, longitudinal deviation information, and angular deviation information.

[0046] In this optional embodiment, the visual sensing device can be a TOF depth camera, which collects spatial depth information to calculate battery alignment information. In some implementation scenarios, the battery alignment information can be sent to the remote control terminal of the mobile battery swapping equipment operator to provide alignment assistance prompts. Furthermore, during the process of grabbing the old battery, the visual sensing device can also provide the operator with image information of the battery position to assist in manually completing the attachment operation or confirming the attachment status.

[0047] If the new battery installation determination result does not meet the requirements for performing the new battery installation operation, the actuator of the mobile battery swapping equipment will stop the current action.

[0048] In another optional embodiment, a force-guided compliant installation strategy can be introduced during the process of controlling the actuator of the mobile battery swapping device to install the target new battery to the location where the old battery has been removed. Specifically, during the installation phase, a six-dimensional force sensor at the end of the actuator continuously monitors the contact force information between the battery and the device's installation interface. When the battery approaches the installation position, the system automatically switches to a compliant control mode based on the change in contact force fed back by the force sensor, allowing the actuator to make elastic fine adjustments in the installation direction to avoid jamming or impact caused by positional errors or uneven docking. During installation, if the lateral or axial force detected exceeds the safety threshold, the system immediately pauses the installation action and attempts installation again after positional compensation based on the force feedback information. This compliant installation strategy is particularly suitable for battery compartments in engineering machinery where installation space is limited and docking accuracy is required, and can significantly reduce the risk of mechanical damage during installation.

[0049] In another optional embodiment, the process of acquiring the contact status information of the mobile battery swapping device can be further enhanced by introducing a composite confirmation mechanism based on force sensing and position feedback. Specifically, a combined sensing unit of a six-dimensional force sensor and a proximity switch is installed at the end of the actuator of the mobile battery swapping device. When the operator drives the actuator to approach the target old battery of the device to be swapped via remote control or local operation, the six-dimensional force sensor detects the force and torque information of the contact surface between the actuator and the battery in real time, and the proximity switch detects the relative distance between the actuator and the battery. When the force and torque information meets the preset contact force threshold range, and the relative distance information is less than or equal to the set contact distance threshold, the system determines that the contact operation has been completed, generates the corresponding contact status information, and uses the spatial position and attitude information of the actuator at this moment as the contact position reference. This composite confirmation mechanism can effectively avoid contact errors caused by false alarms from a single sensor or operator judgment errors, further improving the reliability and positioning accuracy of the contact stage. In addition, the contact status information can also include the normal vector information of the contact plane and the coordinates of the contact center point. This information can be used for pose compensation calculations during subsequent gripping and placement processes, thereby adapting to the slight tilt angles and unevenness of different battery mounting surfaces.

[0050] In yet another optional embodiment, before acquiring the contact status information and mechanism status information of the mobile battery swapping device, the battery swapping operation control method for mobile battery swapping devices disclosed in this embodiment of the invention further includes: Perform system initialization on the mobile battery swapping equipment; The actuator of the mobile battery swapping device is controlled to move to the preset initial position of the operation according to the preset initial position parameters, and the operation of obtaining the contact status information and mechanism status information of the mobile battery swapping device is triggered.

[0051] In another optional embodiment, the system initialization process can be further refined into two modes: cold start initialization and hot recovery initialization. Cold start initialization is suitable for situations where the equipment has been completely powered off and then powered on again, including a complete self-test process such as zeroing of all actuator joints, sensor calibration, communication module self-test, and safety loop testing. Hot recovery initialization is suitable for rapid recovery after temporary pauses or abnormal interruptions during operation. The system automatically saves the operation status and location information before the interruption, and the initialization process only performs partial re-testing and status synchronization of functional modules that may have been involved during the interruption, thereby reducing restart time and improving operation continuity. The two initialization modes can be intelligently switched according to the actual operation scenario, and the type, time, and result of each initialization are recorded, providing data support for equipment reliability analysis.

[0052] In another optional embodiment, after performing a new battery installation operation on the battery swapping device according to the location where the old battery was removed to complete the battery replacement operation, the battery swapping operation control method for mobile battery swapping devices disclosed in this embodiment of the invention further includes: The actuator of the mobile battery swapping equipment is reset to end the battery swapping operation.

[0053] In another optional embodiment, the reset operation of the actuator of the mobile battery swapping device also includes reset path optimization and obstacle avoidance functions. Specifically, the system dynamically plans a collision-free reset trajectory with smooth joint movement based on the current position of the actuator and the target reset position (usually the device's storage posture), combined with real-time environmental perception data. During the planning process, the system considers the movement limits, speed, and acceleration constraints of each joint of the actuator and avoids passing through temporary obstacle areas within the work area. Before the reset action is executed, the system displays a preview of the planned reset path on the operation interface, which can only be executed after confirmation by the operator. If a new obstacle is detected on the path during the reset process, the system can pause and automatically replan the detour path, thereby ensuring the safety and efficiency of the reset process.

[0054] Example 2 Please see Figure 2 , Figure 2 This is a schematic diagram of the structure of a battery swapping operation control device for mobile battery swapping equipment disclosed in an embodiment of the present invention. Figure 2 The apparatus shown can be used to perform the method described in Embodiment 1. This apparatus improves the reliability of mobile battery swapping equipment in performing battery swapping operations and its adaptability to different types of engineering machinery. Furthermore, this apparatus can be integrated into the control system of the mobile battery swapping equipment. Figure 2 As shown, an embodiment of the present invention discloses a battery swapping operation control device for mobile battery swapping equipment, including but not limited to: The information acquisition module 201 is used to acquire the contact status information and mechanism status information of the mobile battery swapping device. The contact status information is generated based on the interactive operation of manually driving the actuator of the mobile battery swapping device to contact the target old battery of the device to be swapped. The mechanism status information is the working status information of the actuator of the mobile battery swapping device at the current moment. The old battery removal module 202 is used to perform old battery removal operation on the battery swapping equipment according to the contact status information and the mechanism status information, and record the old battery removal position; The new battery installation module 203 is used to perform a new battery installation operation on the device to be replaced based on the location where the old battery was removed, so as to complete the battery replacement operation.

[0055] In this embodiment of the invention, the contact status information and mechanism status information of the mobile battery swapping device are first acquired. The contact status information is generated based on the interactive operation of manually driving the actuator of the mobile battery swapping device to contact the target old battery of the device to be swapped. Then, based on the contact status information and mechanism status information, the old battery removal operation is performed on the device to be swapped, and the old battery removal position is recorded. Finally, based on the old battery removal position, the new battery installation operation is performed on the device to be swapped to complete the battery replacement operation. When removing the old battery, the battery position is located by manual contact confirmation, and the position at the time of removal is saved. The positioning accuracy is high, thereby reducing the occurrence of erroneous actions, missed actions, or errors in process stage jumps, improving the reliability of the battery swapping operation. Moreover, the positioning process is not affected by differences in machine model structure, which can improve the adaptability to different models of engineering machinery.

[0056] In addition to motion parameters such as the real-time position, speed, acceleration, and joint angles of the actuator, the system status information can also include health status parameters such as the current, temperature, and vibration amplitude of each drive motor. The system performs online health assessments based on a preset mechanism health model and the real-time collected status parameters. If an abnormal current, excessive temperature rise, or excessive vibration is detected in a drive unit, a corresponding warning signal or fault code is generated, and the status is confirmed before removing the old battery. If a warning or fault indication is present in the mechanism status information, the system pauses the current operation and prompts the operator to perform maintenance or switch to a backup actuator via the human-machine interface. Furthermore, the mechanism status information can be compared and analyzed with historical operation data to predict mechanism wear and lifespan trends, providing a basis for preventative maintenance and improving the long-term operational stability and safety of mobile battery swapping equipment in complex operating environments.

[0057] The actuators of mobile battery swapping devices can also adopt a modular design, supporting the rapid replacement of end effectors with different functions to adapt to different types of battery latching structures. For example, corresponding dedicated clamping modules can be equipped for different designs such as pin-type latching batteries, knob-type latching batteries, and electromagnetic locking batteries. The actuators and clamping modules use standardized mechanical and electrical interfaces, and are equipped with physical positioning pins and electronic identification chips. When a clamp needs to be replaced, the system automatically identifies the model and functional parameters of the new clamp and loads the corresponding control drive and safety strategy. This modular design significantly improves the adaptability of mobile battery swapping devices to different battery latching structures and reduces equipment modification costs caused by changes in battery design.

[0058] The battery swapping operation control process also includes operation quality assessment and continuous optimization. After each battery swapping operation is completed, the system automatically generates an operation report, including key performance indicators such as total time, time for each stage, number of contact attempts, success rate of capture, installation alignment deviation, and changes in the health status of the mechanism. This data is anonymized and uploaded to a cloud-based analysis platform. Through big data analysis, bottlenecks and common failure modes in the operation process are identified, and optimization suggestions are fed back to the equipment. For example, if data analysis finds that the installation alignment deviation of a certain model of battery is generally large, the system can automatically adjust the visual recognition parameters or compliant control parameters of that model during the installation stage, thereby achieving data-driven adaptive optimization of control parameters and enabling the battery swapping operation system to have the ability to continuously learn and improve.

[0059] In an optional embodiment, the old battery removal module 202 performs an old battery removal operation on the device to be swapped based on the contact status information and the mechanism status information, and records the specific method of the old battery removal location, including: The old battery is grabbed based on the contact status information and the mechanism status information, and the old battery grabbing result is obtained. If the old battery grabbing determination result indicates that the actuator of the mobile battery swapping device is in a grabbable state and is close to the target old battery, then control the actuator of the mobile battery swapping device to perform an old battery grabbing operation on the target old battery, and record the position corresponding to the old battery grabbing operation as the old battery removal position. Obtain the execution result of the old battery grabbing operation; If the operation result indicates that the target old battery has been captured, the actuator controlling the mobile battery swapping device will place the target old battery in the pre-set old battery storage location.

[0060] In this optional embodiment, if the old battery grabbing result does not meet the requirements for performing the old battery grabbing operation, the actuator of the mobile battery swapping device will suspend the current action. If the operation execution result indicates that the target old battery has not been grabbed, the actuator of the mobile battery swapping device will suspend the current action.

[0061] In another optional embodiment, in addition to relying on the contact status information and mechanism status information, a vision-assisted gripping point verification step can be introduced during the old battery gripping determination process. Specifically, a visual sensing device is installed on the gripping fixture of the actuator. After the actuator moves to the preset gripping preparation position according to the contact status information, the visual sensing device acquires an image of the target old battery latch or positioning mark, and the image recognition and matching algorithm determines whether the gripping point matches the preset battery model template. If the matching degree is higher than a set threshold, it is determined to be in a gripping state; if the matching degree is insufficient, a gripping point deviation alarm is generated, and the position can be compensated through the fine-tuning function of the actuator, or the operator is prompted to re-perform the contact operation. This vision-assisted verification mechanism can further reduce the risk of gripping failure due to incorrect battery model identification or gripping position deviation, and is especially suitable for mixed operation scenarios of multiple battery models.

[0062] In another optional embodiment, during the old battery removal operation, a battery status detection and registration step can be added before placing the old battery in the storage location. Specifically, a battery information reader and a voltage and internal resistance detection device are installed at the old battery storage location. After the actuator places the old battery in the storage location, the system automatically reads the identity information from the battery's built-in RFID or QR code and simultaneously detects electrical parameters such as voltage, internal resistance, and temperature. The detection results are bound to the battery identity information and recorded in the battery swapping operation log, and uploaded to the cloud-based battery management platform for battery life assessment, charging scheduling, and retirement determination. If any abnormalities such as short circuits, severe imbalances, or leakage are detected in the battery, the system immediately issues an alarm and recommends isolation, thereby preventing the abnormal battery from entering subsequent charging cycles and causing safety hazards.

[0063] In yet another optional embodiment, the new battery installation module 203 performs a new battery installation operation on the device to be replaced based on the location where the old battery was removed, in order to complete the battery replacement operation, specifically in the following ways: Obtain the pre-set new battery location information, and control the actuator of the mobile battery swapping device to perform a new battery grabbing operation based on the new battery location information, so as to obtain the target new battery to be installed; The actuator that controls the mobile battery swapping equipment installs the target new battery at the location where the old battery was removed to complete the battery replacement operation.

[0064] In another optional embodiment, a new battery storage location management and optimal scheduling step can be added before the new battery grabbing operation. Specifically, the new battery storage area built into the mobile battery swapping device has multiple independent storage locations, each equipped with a battery information reading device and a power detection unit. The system intelligently selects the optimal new battery from the available storage locations for grabbing based on factors such as the current battery swapping task requirements, battery model matching degree, battery SOC status, and historical cycle count. For example, batteries with an SOC above 85%, fewer cycle counts, and a model that perfectly matches the device to be swapped are prioritized. If multiple batteries meet the criteria, a secondary optimization can be performed based on the path length from the storage location to the actuator to shorten battery retrieval time and improve overall battery swapping efficiency. This scheduling mechanism can be synchronized in real time with the cloud-based battery management platform, supporting dynamic allocation of battery resources when multiple mobile battery swapping devices are operating collaboratively.

[0065] In yet another optional embodiment, the new battery installation module 203 controls the actuator of the mobile battery swapping device to install the target new battery at the old battery removal location to complete the battery replacement operation. The specific manner in which this is done includes: The actuator that controls the mobile battery swapping equipment moves the target new battery toward the location where the old battery is removed; Obtain battery installation operation information for mobile battery swapping equipment; battery installation operation information includes: actuator location information, or actuator location information and battery alignment information; Based on the battery installation operation information, a new battery installation determination is made, and the new battery installation determination result is obtained. If the new battery installation determination result indicates that the position of the actuator of the mobile battery swapping device corresponds to the position of the old battery removal, or if the new battery installation determination result indicates that the position of the actuator of the mobile battery swapping device corresponds to the position of the old battery removal and the battery is correctly aligned, then control the actuator of the mobile battery swapping device to install the target new battery to the position of the old battery removal. Among them, the actuator location information is the real-time location information of the actuator of the mobile battery swapping equipment, and the battery alignment information is generated by the visual perception device installed on the mobile battery swapping equipment based on the relative position of the attachments of the mobile battery swapping equipment and the target new battery.

[0066] The battery alignment information includes at least one of the following: lateral deviation information, longitudinal deviation information, and angular deviation information.

[0067] In this optional embodiment, the visual sensing device can be a TOF depth camera, which collects spatial depth information to calculate battery alignment information. In some implementation scenarios, the battery alignment information can be sent to the remote control terminal of the mobile battery swapping equipment operator to provide alignment assistance prompts. Furthermore, during the process of grabbing the old battery, the visual sensing device can also provide the operator with image information of the battery position to assist in manually completing the attachment operation or confirming the attachment status.

[0068] If the new battery installation determination result does not meet the requirements for performing the new battery installation operation, the actuator of the mobile battery swapping equipment will stop the current action.

[0069] In another optional embodiment, a force-guided compliant installation strategy can be introduced during the process of controlling the actuator of the mobile battery swapping device to install the target new battery to the location where the old battery has been removed. Specifically, during the installation phase, a six-dimensional force sensor at the end of the actuator continuously monitors the contact force information between the battery and the device's installation interface. When the battery approaches the installation position, the system automatically switches to a compliant control mode based on the change in contact force fed back by the force sensor, allowing the actuator to make elastic fine adjustments in the installation direction to avoid jamming or impact caused by positional errors or uneven docking. During installation, if the lateral or axial force detected exceeds the safety threshold, the system immediately pauses the installation action and attempts installation again after positional compensation based on the force feedback information. This compliant installation strategy is particularly suitable for battery compartments in engineering machinery where installation space is limited and docking accuracy is required, and can significantly reduce the risk of mechanical damage during installation.

[0070] In another optional embodiment, the process of acquiring the contact status information of the mobile battery swapping device can be further enhanced by introducing a composite confirmation mechanism based on force sensing and position feedback. Specifically, a combined sensing unit of a six-dimensional force sensor and a proximity switch is installed at the end of the actuator of the mobile battery swapping device. When the operator drives the actuator to approach the target old battery of the device to be swapped via remote control or local operation, the six-dimensional force sensor detects the force and torque information of the contact surface between the actuator and the battery in real time, and the proximity switch detects the relative distance between the actuator and the battery. When the force and torque information meets the preset contact force threshold range, and the relative distance information is less than or equal to the set contact distance threshold, the system determines that the contact operation has been completed, generates the corresponding contact status information, and uses the spatial position and attitude information of the actuator at this moment as the contact position reference. This composite confirmation mechanism can effectively avoid contact errors caused by false alarms from a single sensor or operator judgment errors, further improving the reliability and positioning accuracy of the contact stage. In addition, the contact status information can also include the normal vector information of the contact plane and the coordinates of the contact center point. This information can be used for pose compensation calculations during subsequent gripping and placement processes, thereby adapting to the slight tilt angles and unevenness of different battery mounting surfaces.

[0071] In yet another alternative embodiment, please refer to Figure 3 , Figure 3 This is a schematic diagram of another battery swapping operation control device for mobile battery swapping equipment disclosed in an embodiment of the present invention. Figure 3 As shown in the figure, the battery swapping operation control device for mobile battery swapping equipment disclosed in this embodiment of the invention further includes: Initialization module 204 is used to perform system initialization on the mobile battery swapping equipment; The operation start module 205 is used to control the actuator of the mobile battery swapping equipment to move to the preset operation start position according to the preset operation start position parameters, and to trigger the information acquisition module 201 to acquire the contact status information and mechanism status information of the mobile battery swapping equipment.

[0072] In another optional embodiment, the system initialization process can be further refined into two modes: cold start initialization and hot recovery initialization. Cold start initialization is suitable for situations where the equipment has been completely powered off and then powered on again, including a complete self-test process such as zeroing of all actuator joints, sensor calibration, communication module self-test, and safety loop testing. Hot recovery initialization is suitable for rapid recovery after temporary pauses or abnormal interruptions during operation. The system automatically saves the operation status and location information before the interruption, and the initialization process only performs partial re-testing and status synchronization of functional modules that may have been involved during the interruption, thereby reducing restart time and improving operation continuity. The two initialization modes can be intelligently switched according to the actual operation scenario, and the type, time, and result of each initialization are recorded, providing data support for equipment reliability analysis.

[0073] In yet another alternative embodiment, please refer to Figure 4 , Figure 4 This is a schematic diagram of the structure of another battery swapping operation control device for mobile battery swapping equipment disclosed in an embodiment of the present invention. Figure 4 As shown in the figure, the battery swapping operation control device for mobile battery swapping equipment disclosed in this embodiment of the invention further includes: The mechanism reset module 206 is used to control the actuator of the mobile battery swapping device to reset after the new battery installation module 203 performs the new battery installation operation on the battery swapping device according to the old battery removal position to complete the battery replacement operation, so as to end the battery replacement operation.

[0074] In another optional embodiment, the reset operation of the actuator of the mobile battery swapping device also includes reset path optimization and obstacle avoidance functions. Specifically, the system dynamically plans a collision-free reset trajectory with smooth joint movement based on the current position of the actuator and the target reset position (usually the device's storage posture), combined with real-time environmental perception data. During the planning process, the system considers the movement limits, speed, and acceleration constraints of each joint of the actuator and avoids passing through temporary obstacle areas within the work area. Before the reset action is executed, the system displays a preview of the planned reset path on the operation interface, which can only be executed after confirmation by the operator. If a new obstacle is detected on the path during the reset process, the system can pause and automatically replan the detour path, thereby ensuring the safety and efficiency of the reset process.

[0075] Example 3 Please see Figure 5 , Figure 5 This is a schematic diagram of the structure of another battery swapping operation control device for mobile battery swapping equipment disclosed in an embodiment of the present invention. Figure 5 The apparatus shown can be used to perform the method described in Embodiment 1. This apparatus improves the reliability of mobile battery swapping equipment in performing battery swapping operations and its adaptability to different types of engineering machinery. Furthermore, this apparatus can be integrated into the control system of the mobile battery swapping equipment. Figure 5 As shown, an embodiment of the present invention discloses a battery swapping operation control device for mobile battery swapping equipment, including but not limited to: Memory 301 storing executable program code; Processor 302 coupled to memory 301; The processor 302 calls the executable program code stored in the memory 301 to execute some or all of the steps in the battery swapping operation control method for mobile battery swapping equipment described in Embodiment 1 of the present invention.

[0076] Example 4 This invention discloses a computer storage medium storing computer instructions. When the computer instructions are invoked by a processor, they are used to execute some or all of the steps in the battery swapping operation control method for mobile battery swapping equipment described in Embodiment 1 of this invention.

[0077] The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules. They may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0078] Through the detailed description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-Erasable Programmable Read-Only Memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0079] Finally, it should be noted that the technical content disclosed in the embodiments of the present invention is only a preferred embodiment of the present invention and is only used to illustrate the technical solutions of the present invention, and not to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling battery swapping operations in mobile battery swapping equipment, characterized in that, The method includes: The attachment status information and mechanism status information of the mobile battery swapping device are obtained. The attachment status information is generated based on the interactive operation of manually driving the actuator of the mobile battery swapping device to attach to the target old battery of the device to be swapped. The mechanism status information is the working status information of the actuator of the mobile battery swapping device at the current moment. Based on the contact status information and the mechanism status information, the old battery removal operation is performed on the battery swapping device, and the old battery removal position is recorded; Based on the location where the old battery was removed, a new battery installation operation is performed on the device to be replaced to complete the battery replacement work.

2. The battery swapping operation control method applied to mobile battery swapping equipment according to claim 1, characterized in that, The step of removing the old battery from the device to be swapped based on the contact status information and the mechanism status information, and recording the location of the old battery removal, includes: The old battery is grasped based on the contact status information and the mechanism status information to obtain the old battery grasping result. If the old battery grabbing determination result indicates that the actuator of the mobile battery swapping device is in a grabbing state and is close to the target old battery, then the actuator of the mobile battery swapping device is controlled to perform an old battery grabbing operation on the target old battery, and the position corresponding to the old battery grabbing operation is recorded as the old battery removal position. Obtain the execution result of the old battery grabbing operation; If the operation result indicates that the target old battery has been captured, then the actuator controlling the mobile battery swapping device will place the target old battery in a pre-set old battery storage location.

3. The battery swapping operation control method applied to mobile battery swapping equipment according to claim 1, characterized in that, The step of performing a new battery installation operation on the device to be replaced based on the location where the old battery was removed, in order to complete the battery replacement operation, includes: The system acquires pre-set new battery location information and controls the actuator of the mobile battery swapping device to perform a new battery grabbing operation based on the new battery location information, so as to obtain the target new battery to be installed. The actuator of the mobile battery swapping device is controlled to install the target new battery at the location where the old battery was removed, so as to complete the battery replacement operation.

4. The battery swapping operation control method applied to mobile battery swapping equipment according to claim 3, characterized in that, The actuator controlling the mobile battery swapping device installs the target new battery into the old battery removal position to complete the battery replacement operation, including: The actuator controlling the mobile battery swapping device moves the target new battery toward the location where the old battery is removed; Obtain battery installation operation information for mobile battery swapping equipment; the battery installation operation information includes: actuator location information, or actuator location information and battery alignment information; Based on the battery installation operation information, a new battery installation determination is made to obtain the new battery installation determination result. If the new battery installation determination result indicates that the position of the actuator of the mobile battery swapping device corresponds to the position of the old battery removal, or if the new battery installation determination result indicates that the position of the actuator of the mobile battery swapping device corresponds to the position of the old battery removal and the battery is correctly aligned, then control the actuator of the mobile battery swapping device to install the target new battery to the position of the old battery removal. The actuator position information is the real-time position information of the actuator of the mobile battery swapping device, and the battery alignment information is generated by a visual sensing device installed on the mobile battery swapping device based on the relative position of the attachments of the mobile battery swapping device and the target new battery.

5. The battery swapping operation control method applied to mobile battery swapping equipment according to claim 1, characterized in that, Before acquiring the contact status information and mechanism status information of the mobile battery swapping device, the method further includes: Perform system initialization on the mobile battery swapping device; The actuator of the mobile battery swapping device is controlled to move to the preset initial operation position according to the preset initial operation position parameters, and the operation of obtaining the contact status information and mechanism status information of the mobile battery swapping device is triggered.

6. The battery swapping operation control method applied to mobile battery swapping equipment according to claim 1, characterized in that, After performing a new battery installation operation on the device to be replaced based on the location where the old battery was removed to complete the battery replacement operation, the method further includes: The actuator of the mobile battery swapping device is reset to end the battery swapping operation.

7. The battery swapping operation control method applied to mobile battery swapping equipment according to claim 4, characterized in that, The battery alignment information includes at least one of lateral deviation information, longitudinal deviation information, and angular deviation information.

8. A battery swapping operation control device for mobile battery swapping equipment, characterized in that, The device includes: The information acquisition module is used to acquire the contact status information and mechanism status information of the mobile battery swapping device. The contact status information is generated based on the interactive operation of manually driving the actuator of the mobile battery swapping device to contact the target old battery of the device to be swapped. The mechanism status information is the working status information of the actuator of the mobile battery swapping device at the current moment. The old battery removal module is used to perform an old battery removal operation on the battery swapping device according to the contact status information and the mechanism status information, and to record the old battery removal position. The new battery installation module is used to perform a new battery installation operation on the device to be replaced based on the location where the old battery was removed, so as to complete the battery replacement operation.

9. A battery swapping operation control device applied to mobile battery swapping equipment, characterized in that, The device includes: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the battery swapping operation control method for mobile battery swapping equipment as described in any one of claims 1 to 7.

10. A computer storage medium, characterized in that, The computer storage medium stores computer instructions, which, when invoked by the processor, are used to execute the battery swapping operation control method for mobile battery swapping equipment as described in any one of claims 1 to 7.

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