Battery replacement system

Abstract

The utility model discloses a battery replacing system, the battery replacing system comprises a storage station, a work station, a shuttling device and an information acquisition device, the storage station comprises a storage bin and a stacking machine, the storage bin is used for storing batteries, and the stacking machine is used for taking and placing the batteries; the work station comprises a working bin and a vehicle lifting machine in the working bin, and the vehicle lifting machine is arranged at a power exchange station of the working bin and used for lifting a vehicle; the shuttling equipment comprises a shuttling vehicle and a battery replacing module arranged on the shuttling vehicle, the shuttling vehicle moves back and forth between the storage bin and the working bin so as to be used for carrying batteries, and the battery replacing module is used for dismounting or mounting the batteries; the information collection equipment comprises a vibration collection assembly and a sound collection assembly, the vibration collection assembly is arranged at a driving mechanism of at least one of the stacking machine, the vehicle lifting machine, the shuttle vehicle and the battery replacement module and used for collecting vibration information of the corresponding transmission mechanism, and the sound collection assembly is arranged in at least one of the storage bin and the working bin and used for collecting sound information of the corresponding transmission mechanism. Therefore, sound information in the corresponding space can be collected.

Description

Technical Field

[0001] The present application relates to the technical field of battery swapping systems, and particularly to a battery swapping system. Background Art

[0002] As a facility for quickly replacing batteries for vehicles, with the rapid development of vehicles, the demand for battery swapping systems has also increased significantly. There are many battery swapping devices inside the battery swapping system, and the operating environment of the battery swapping system is relatively complex. Therefore, the battery swapping system has relatively high requirements for reliability during operation.

[0003] In related technologies, in order to improve the reliability of the battery swapping system during operation, before the battery swapping system is put into operation, durability tests are performed on the battery swapping devices of the battery swapping system. Although this method can improve the reliability of the battery swapping system during operation to a certain extent, it is impossible to monitor the operating state of the battery swapping devices, so it is impossible to detect and prevent the failure of the battery swapping devices in advance, which is likely to cause safety accidents.

[0004] Therefore, how to monitor the operating state of battery swapping devices is an urgent problem to be solved at present. Utility Model Content

[0005] The present application provides a battery swapping system, which can monitor the operating state of battery swapping devices.

[0006] The present application provides a battery swapping system, which includes a storage station, a working station, a shuttle device, and an information collection device. The storage station includes a storage bin and a stacker in the storage bin. The storage bin is used to store batteries, and the stacker is used to pick up and place batteries. The working station includes a working bin and a vehicle lifter in the working bin. The vehicle lifter is arranged at the battery swapping position in the working bin to lift the vehicle. The shuttle device includes a shuttle car and a battery swapping module arranged on the shuttle car. The shuttle car shuttles between the storage bin and the working bin to transport batteries, and the battery swapping module is used to disassemble or install batteries. The information collection device includes a vibration collection component and a sound collection component. The vibration collection component is arranged at the driving mechanism of at least one of the stacker, the vehicle lifter, the shuttle car, and the battery swapping module to collect vibration information at the corresponding transmission mechanism. The sound collection component is arranged in at least one of the storage bin and the working bin to collect sound information in the corresponding space.

[0007] In the technical solution provided in the embodiment of the present application, the battery exchange system includes a storage station, a workstation, a shuttle device and an information collection device, and the information collection device includes a vibration collection component and a sound collection component. Among them, the storage station includes a storage bin for storing batteries and a stacker for taking and placing batteries. The workstation includes a work bin and a vehicle lift for lifting the vehicle. The shuttle device includes a shuttle vehicle for carrying batteries and a battery exchange module for removing or installing batteries. When the vehicle is changing batteries, first, the vehicle enters the battery changing station of the working compartment, and the vehicle lift lifts the vehicle to expose the battery compartment at the bottom of the vehicle; then, the shuttle car drives to the bottom of the vehicle, and the battery changing module on the shuttle car disassembles the battery on the vehicle, and the shuttle car transports the unloaded battery to the storage bin; then, the stacker removes the battery on the shuttle car and places the fully charged battery on the shuttle car; finally, the shuttle car transports the fully charged battery to the bottom of the vehicle, and the battery changing module on the shuttle car installs the fully charged battery on the vehicle, and the vehicle lift lowers the vehicle. At this point, the battery replacement system completes the replacement of the battery on the vehicle. The vibration collection component is set at the drive mechanism of at least one of the stacker, vehicle lift, shuttle car and battery changing module to collect vibration information at the corresponding transmission mechanism. In this way, the wear trend of the drive mechanism on the corresponding equipment can be analyzed through vibration information, so as to predict the service life of the drive mechanism, so as to facilitate maintenance at the early stage of failure of the drive mechanism. In addition, vibration information can also be used to evaluate the performance and operating status of the driving mechanism on the corresponding equipment, so as to optimize the driving mechanism. The sound collection component is arranged in at least one of the storage bin and the working bin to collect sound information in the corresponding space. Here, the sound information can reflect the operating status and health status of the battery swapping equipment in the corresponding space. It can be analyzed based on the sound information whether there are problems such as excessive wear, fatigue and cracks inside the corresponding equipment. It can also be judged whether the corresponding equipment is in normal operation based on the frequency and amplitude of the sound information, thereby helping maintenance personnel to understand the maintenance needs of the battery swapping equipment in a timely manner, so as to facilitate maintenance at the early stage of failure of the battery swapping equipment. In summary, the battery swapping system can monitor the vibration information and sound information of the battery swapping equipment respectively through the information collection equipment, thereby realizing the monitoring of the operating status of the battery swapping equipment.

[0008] In some embodiments of the present application, the stacker includes a carrying frame and a loading platform, the loading platform is movably arranged on the carrying frame, the driving mechanism of the stacker includes a walking driving structure and a lifting and lowering driving structure, the walking driving structure is used to drive the carrying frame to move, the lifting and lowering driving structure is used to drive the loading platform to rise and fall on the carrying frame, and the vibration collection components are respectively arranged on the walking driving structure and the lifting and lowering driving structure to collect vibration information generated by the walking driving structure and the lifting and lowering driving structure.

[0009] In some embodiments of the present application, the traveling drive structure includes a traveling drive motor, a traveling speed reducer, and a traveling member. The power output shaft of the traveling drive motor is drivingly connected to the motor end of the traveling speed reducer. The output end of the traveling speed reducer drives the carrier frame to move through the traveling member. The lifting drive structure includes a lifting drive motor, a lifting speed reducer, and a lifting transmission assembly. The power output shaft of the lifting drive motor is drivingly connected to the motor end of the lifting speed reducer. The output end of the lifting speed reducer drives the load platform to lift on the carrier frame through the lifting transmission assembly. The vibration acquisition assembly includes a first vibration sensor and a second vibration sensor. The first vibration sensor is disposed at the outer shell of the traveling speed reducer, and the second vibration sensor is disposed at the outer shell of the lifting speed reducer.

[0010] In some embodiments of the present application, the stacker includes a fork arm. The drive mechanism of the stacker includes a fork arm drive structure for driving the fork arm to extend and retract. The vibration acquisition assembly is disposed on the fork arm drive structure to acquire vibration information generated on the fork arm drive structure.

[0011] In some embodiments of the present application, the vehicle lifter includes a bracket and a vehicle lifting member. The vehicle lifting member is movably disposed on the bracket. The drive mechanism of the vehicle lifter includes a vehicle lifting power output assembly and a vehicle lifting transmission assembly. The vehicle lifting power output assembly drives the vehicle lifting member to move up and down on the bracket through the vehicle lifting transmission assembly. The vibration acquisition assembly is disposed on at least one of the vehicle lifting power output assembly and the vehicle lifting transmission assembly to acquire vibration information at the drive mechanism of the vehicle lifter.

[0012] In some embodiments of the present application, the vehicle lifting power output assembly includes a vehicle lifting drive motor and a vehicle lifting speed reducer. The vehicle lifting transmission assembly includes a first transmission chain, a second transmission chain, and a transmission shaft. The vehicle lifting drive motor and the vehicle lifting speed reducer are disposed on the bracket. The power output shaft of the vehicle lifting drive motor is drivingly connected to the motor end of the vehicle lifting speed reducer. The output end of the vehicle lifting speed reducer is drivingly connected to the transmission shaft through the first transmission chain, and the transmission shaft is drivingly connected to the vehicle lifting member through the second transmission chain. The vibration acquisition assembly includes a third vibration sensor, and the third vibration sensor is respectively disposed on the outer shell of the vehicle lifting speed reducer and the transmission shaft to acquire vibration information at the drive mechanism of the vehicle lifter.

[0013] In some embodiments of the present application, the shuttle car includes a vehicle body and wheels. The wheels are rotatably disposed on the vehicle body. The drive mechanism of the shuttle car includes a wheel drive structure for driving the wheels to rotate. The vibration acquisition assembly is disposed on the wheel drive structure to acquire vibration information generated on the wheel drive structure.

[0014] In some embodiments of the present application, the wheel drive structure includes a wheel drive motor and a wheel speed reducer. The power output shaft of the wheel drive motor is drivingly connected to the motor end of the wheel speed reducer, and the output end of the wheel speed reducer is drivingly connected to the wheel; the vibration acquisition component includes a fourth vibration sensor. At least two fourth vibration sensors are arranged at an angle on the outer shell of the wheel speed reducer to acquire vibration information in different dimensions generated by the wheel drive structure.

[0015] In some embodiments of the present application, the workstation further includes a rotating platform. The rotating platform is arranged at the battery swapping station in the working bin to rotate the shuttle car. The vibration acquisition component is arranged at the driving mechanism of the rotating platform to acquire vibration information at the driving mechanism on the rotating platform.

[0016] In some embodiments of the present application, the rotating platform includes a turntable. There is a parking space for the shuttle car on the turntable. The driving mechanism of the rotating platform includes a rotation drive motor and a rotation speed reducer. The power output shaft of the rotation drive motor is drivingly connected to the motor end of the rotation speed reducer, and the output end of the rotation speed reducer is drivingly connected to the turntable; the vibration acquisition component includes a fifth vibration sensor. The fifth vibration sensor is arranged on the outer shell of the rotation speed reducer to acquire vibration information at the driving mechanism on the rotating platform.

[0017] In some embodiments of the present application, the battery swapping module includes a disassembly and assembly structure. The driving mechanism of the battery swapping module includes a lifting power output component and a lifting transmission component. The lifting power output component drives the disassembly and assembly structure to lift through the lifting transmission component; the vibration acquisition component is arranged on at least one of the lifting power output component and the lifting transmission component to acquire vibration information at the driving mechanism on the battery swapping module.

[0018] In some embodiments of the present application, the lifting power output component includes a lifting drive motor and a lifting speed reducer. The lifting transmission component includes a lead screw, a nut slider, and a scissor structure. The power output shaft of the lifting drive motor is drivingly connected to the motor end of the lifting speed reducer, the output end of the lifting speed reducer is drivingly connected to the lead screw, the nut slider is arranged on the lead screw, and the nut slider is connected to the disassembly and assembly structure through the scissor structure; the vibration acquisition component includes a sixth vibration sensor. The sixth vibration sensor is respectively arranged on the outer shell of the lifting speed reducer, the lead screw, and the nut slider to acquire vibration information at the driving mechanism on the battery swapping module.

[0019] In some embodiments of the present application, the sound acquisition component includes a first microphone array and a second microphone array. At least one group of the first microphone arrays is arranged in the storage bin to acquire sound information in the storage bin, and at least one group of the second microphone arrays is arranged in the working bin to acquire sound information in the working bin. Description of the Drawings

[0020] Various other advantages and benefits will become clear to those of ordinary skill in the art by reading the following detailed description of the preferred embodiments. The drawings are only for the purpose of illustrating the preferred embodiments and are not considered to be a limitation of the present application. Also, in all the drawings, the same reference numerals are used to denote the same components. In the drawings:

[0021] Figure 1 Schematic diagram of the architecture of the battery swapping system provided by an embodiment of the present application (the first example);

[0022] Figure 2 Schematic diagram of the architecture of the battery swapping system provided by an embodiment of the present application (the second example);

[0023] Figure 3 Schematic diagram of the structures of the storage bin and the working bin in the battery swapping system

[0024] Figure 4 is Figure 1 Schematic diagram of the structure of the stacker in

[0025] Figure 5 is Figure 1 Schematic diagram of the structure of the vehicle lifter in

[0026] Figure 6 is Figure 1 Schematic diagram of the structure of the shuttle car in

[0027] Figure 7 is Figure 1 Schematic diagram of the structure of the rotary platform in

[0028] Figure 8 is Figure 1 Schematic diagram of the structure of the driving mechanism on the battery swapping module in

[0029] Figure 9 Schematic diagram of the vehicle centering mechanism in the workstation.

[0030] Explanation of the reference numerals:

[0031] 1 - Storage station; 11 - Storage bin; 12 - Stacker; 121 - Carrying frame; 122 - Loading platform; 123 - Travel drive structure; 1231 - Travel drive motor; 1232 - Travel speed reducer; 1233 - Traveling member; 124 - Lifting drive structure; 1241 - Lifting drive motor; 1242 - Lifting speed reducer; 1243 - Lifting transmission component; 125 - Fork arm; 126 - Fork arm drive structure; 2 - Workstation; 21 - Work bin; 22 - Vehicle lifter; 221 - Bracket; 222 - Vehicle lifting member; 223 - Vehicle lifting power output component; 2231 - Vehicle lifting drive motor; 2232 - Vehicle lifting speed reducer; 224 - Vehicle lifting transmission component; 2241 - First transmission chain; 2242 - Second transmission chain; 2243 - Transmission shaft; 23 - Rotating platform; 231 - Turntable; 232 - Rotation drive motor; 233 - Rotation speed reducer; 24 - Vehicle centering mechanism; 241 - Baffle; 242 - Pulley block; 3 - Shuttle device; 31 - Shuttle car; 311 - Vehicle body; 312 - Wheels; 313 - Wheel drive structure; 3131 - Wheel drive motor; 3132 - Wheel speed reducer; 32 - Battery swapping module; 321 - Lifting power output component; 3211 - Lifting drive motor; 3212 - Lifting speed reducer; 322 - Lifting transmission component; 3221 - Lead screw; 3222 - Nut slider; 3223 - Scissor lift structure; 4 - Information acquisition device; 41 - Vibration acquisition component; 411 - First vibration sensor; 412 - Second vibration sensor; 413 - Third vibration sensor; 414 - Fourth vibration sensor; 415 - Fifth vibration sensor; 416 - Sixth vibration sensor; 42 - Sound acquisition component; 421 - First microphone array; 422 - Second microphone array; 5 - Server. Detailed implementation mode

[0032] The embodiments of the technical solution of the present application will be described in detail below with reference to the accompanying drawings. The following embodiments are only used to illustrate the technical solution of the present application more clearly, so they are only examples and cannot be used to limit the protection scope of the present application.

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and drawings of this application are intended to cover non-exclusive inclusion.

[0034] In the description of the embodiments of the present application, the technical terms "first", "second", "third", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0035] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0036] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0037] In the description of the embodiments of the present application, the orientation or position relationship indicated by technical terms such as "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed, operated or used in a specific orientation. Therefore, they should not be understood as limitations on the embodiments of the present application.

[0038] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0039] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, the technical term "contact" should be understood in a broad sense, and may be direct contact or contact through an intermediate medium layer. It may be contact with essentially no interaction force between the two contacting parties, or it may be contact with interaction force between the two contacting parties.

[0040] A battery swapping system is a facility specifically designed to provide battery replacement services for vehicles. The battery swapping system uniformly manages and services a large number of batteries through a centralized charging station. These batteries receive services such as centralized storage, charging, and unified distribution within the battery swapping system to provide rapid battery replacement for vehicles. The essence of the battery swapping system is to explore the full life cycle value of the battery and realize the redistribution of the interests of enterprises and consumers. Simply put, instead of charging, the vehicle directly meets its cruising range by replacing the battery. Such a facility that separates the vehicle and the battery for energy replenishment is called a battery swapping system.

[0041] During the operation of the battery swapping system, issues such as environmental climate, vehicle status, and biological invasion need to be considered. Moreover, there are many battery swapping devices inside the battery swapping system. Therefore, the battery swapping system has relatively high requirements for the reliability during operation. In related technologies, to improve the reliability of the battery swapping system during operation, durability tests are carried out on the battery swapping devices inside the battery swapping system before it is put into operation.

[0042] However, technicians found that although conducting durability tests on the battery swapping devices can improve the reliability of the battery swapping system to a certain extent, it is impossible to monitor the operating status of the battery swapping devices, thus unable to detect and prevent the failure of the battery swapping devices in advance, which is likely to cause safety accidents.

[0043] Based on the related technologies, how to monitor the operating status of the battery swapping devices is an urgent problem to be solved currently. The embodiments of this application provide a battery swapping system. Referring to Figure 1 、 Figure 2 and Figure 3 , the battery swapping system includes a storage station 1, a work station 2, a shuttle device 3, and an information collection device 4. The storage station 1 includes a storage bin 11 and a stacker 12 inside the storage bin 11. The storage bin 11 is used to store batteries, and the stacker 12 is used to pick up and place batteries; the work station 2 includes a work bin 21 and a vehicle lifter 22 inside the work bin 21. The vehicle lifter 22 is arranged at the battery swapping position of the work bin 21 to lift the vehicle; the shuttle device 3 includes a shuttle car 31 and a battery swapping module 32 arranged on the shuttle car 31. The shuttle car 31 shuttles between the storage bin 11 and the work bin 21 to transport batteries, and the battery swapping module 32 is used to disassemble or install batteries; the information collection device 4 includes a vibration collection component 41 and a sound collection component 42. The vibration collection component 41 is arranged at the driving mechanism of at least one of the stacker 12, the vehicle lifter 22, the shuttle car 31, and the battery swapping module 32 to collect vibration information at the corresponding transmission mechanism; the sound collection component 42 is arranged in at least one of the storage bin 11 and the work bin 21 to collect sound information in the corresponding space.

[0044] In the embodiment of the present application, a battery rack and a plug-in control mechanism may further be provided in the storage bin 11. The battery rack is provided with storage positions for storing batteries. The output part of the plug-in control mechanism is connected to the charging plug of the battery rack to drive the charging plug of the battery rack to insert into or pull out of the charging socket. In addition, a charger is further provided in the storage bin 11 for charging and discharging the batteries on the battery rack to detect the health status of the batteries.

[0045] In the technical solution provided by the embodiment of the present application, the battery swapping system includes a storage station 1, a work station 2, a shuttle device 3, and an information acquisition device 4. The information acquisition device 4 includes a vibration acquisition component 41 and a sound acquisition component 42. Among them, the storage station 1 includes a storage bin 11 for storing batteries and a stacker 12 for picking and placing batteries. The work station 2 includes a work bin 21 and a vehicle lifter 22 for lifting the vehicle. The shuttle device 3 includes a shuttle car 31 for transporting batteries and a battery swapping module 32 for disassembling or installing batteries. When the vehicle is swapping batteries, first, the vehicle drives into the battery swapping position of the work bin 21, and the vehicle lifter 22 lifts the vehicle to expose the battery compartment at the bottom of the vehicle; then, the shuttle car 31 drives under the vehicle, and the battery swapping module 32 on the shuttle car 31 disassembles the battery on the vehicle, and the shuttle car 31 transports the removed battery to the storage bin 11; then, the stacker 12 takes the battery on the shuttle car 31 and places the fully charged battery on the shuttle car 31; finally, the shuttle car 31 transports the fully charged battery under the vehicle, and the battery swapping module 32 on the shuttle car 31 installs the fully charged battery on the vehicle, and the vehicle lifter 22 lowers the vehicle. Thus, the battery swapping system completes the replacement of the battery on the vehicle. The vibration acquisition component 41 is arranged at the driving mechanism of at least one of the stacker 12, the vehicle lifter 22, the shuttle car 31, and the battery swapping module 32 to acquire the vibration information at the corresponding transmission mechanism. In this way, the wear trend of the driving mechanism on the corresponding device can be analyzed through the vibration information, so as to predict the service life of the driving mechanism, so as to perform maintenance in the early stage when the driving mechanism fails. In addition, the vibration information can also be used to evaluate the performance and operating status of the driving mechanism on the corresponding device, so as to optimize the driving mechanism. The sound acquisition component 42 is arranged in at least one of the storage bin 11 and the work bin 21 to acquire the sound information in the corresponding space. Here, the sound information can reflect the operating status and health condition of the battery swapping equipment in the corresponding space. It can be analyzed according to the sound information whether there are problems such as excessive wear, fatigue, and cracks inside the corresponding equipment. It can also be judged whether the corresponding equipment is in a normal operating state according to the frequency and amplitude of the sound information, so as to help the maintenance personnel timely understand the maintenance requirements of the battery swapping equipment, so as to perform maintenance in the early stage when the battery swapping equipment fails. In summary, the battery swapping system can respectively monitor the vibration information and sound information of the battery swapping equipment through the information acquisition device 4, so as to realize the monitoring of the operating status of the battery swapping equipment.

[0046] In the embodiments of the present application, the driving mechanism refers to a mechanism that transmits power to the working part of a machine to achieve the expected motion and function. When the stacker 12, the vehicle lifter 22, the shuttle car 31, and the battery swapping module 32 are working, the driving mechanisms of the stacker 12, the vehicle lifter 22, the shuttle car 31, and the battery swapping module 32 will all generate vibrations. The vibration acquisition component 41 can selectively acquire vibration information according to actual needs. For example, the vibration acquisition component 41 can be respectively arranged at the driving mechanisms of the stacker 12, the vehicle lifter 22, the shuttle car 31, and the battery swapping module 32 to acquire the vibration information generated by the driving mechanisms on the stacker 12, the vehicle lifter 22, the shuttle car 31, and the battery swapping module 32; it can also be selectively arranged on the stacker 12, the vehicle lifter 22, and the shuttle car 31 to acquire the vibration information generated by the driving mechanisms on the stacker 12, the vehicle lifter 22, and the shuttle car 31; or it can be independently arranged at the driving mechanism of the stacker 12 to acquire the vibration information generated by the driving mechanism on the stacker 12. The embodiments of the present application do not limit this.

[0047] In the embodiments of the present application, there are various possibilities for the installation position of the sound acquisition component 42. For example, the sound acquisition component 42 can be only arranged in the storage bin 11, or only arranged in the working bin 21, or can be arranged in both the storage bin 11 and the working bin 21 at the same time. The embodiments of the present application do not limit this.

[0048] Referring to Figure 1 and Figure 2 In the embodiments of the present application, the battery swapping system may further include a server 5. The vibration acquisition component 41 and the sound acquisition component 42 are respectively electrically connected to the server 5. The vibration acquisition component 41 transmits the acquired vibration information to the server 5. The sound acquisition component 42 transmits the acquired sound information to the server 5.

[0049] In the embodiments of the present application, the vibration acquisition component 41 and the sound acquisition component 42 are electrically connected to the server 5 for the purpose of transmitting the acquired vibration information and sound information to the server 5. Therefore, there are various possibilities for the connection method between the vibration acquisition component 41 and the sound acquisition component 42 and the server 5. For example, the vibration acquisition component 41 can be connected to the server 5 through a signal transmission line, or can be electrically connected to the server 5 through a wireless transmission module. The sound acquisition component 42 can be connected to the server 5 through a signal transmission line, or can be electrically connected to the server 5 through a wireless transmission module. The embodiments of the present application do not limit this.

[0050] In the embodiments of the present application, the stacker 12, the vehicle lifter 22, the shuttle car 31, and the battery swapping module 32 are all core devices in the battery swapping process, and all need to bear large loads during the battery swapping process. Therefore, the probability of failure of the stacker 12, the vehicle lifter 22, the shuttle car 31, and the battery swapping module 32 during the battery swapping process is relatively high. The vibration acquisition component 41 selects the stacker 12, the vehicle lifter 22, the shuttle car 31, and the battery swapping module 32 as the monitoring objects, which can not only obtain the overall operating state of the battery swapping system through the vibration information of these devices, but also avoid occupying too much space for the collected vibration information due to the excessive number of monitoring objects, so as to avoid affecting the storage and analysis of these information by the server 5 and reduce the operating cost of the battery swapping system.

[0051] Referring to Figure 2 , in the embodiments of the present application, the information acquisition device 4 may further include a device gateway. The vibration acquisition component 41 may include a vibration acquisition card, and the sound acquisition component 42 may include a sound acquisition card. After the vibration acquisition component 41 acquires the vibration information, the acquired vibration information is first transmitted to the device gateway through the vibration acquisition card, and then the device gateway transmits the vibration information to the server 5. After the sound acquisition component 42 acquires the sound information, the acquired sound information is first transmitted to the device gateway through the sound acquisition card, and then the device gateway transmits the sound information to the server 5.

[0052] In the embodiments of the present application, since the vibration information acquired by the vibration acquisition component 41 has a high frequency and occupies a large space, the vibration acquisition component 41 needs to preprocess the vibration data before transmitting the vibration information to the server 5. The preprocessing process includes extracting the vibration data when the driving mechanism is in the load state in the vibration information and extracting the time-domain characteristics and frequency-domain characteristics of the vibration data.

[0053] It should be noted that in the embodiments of the present application, the driving mechanism being in the load state means the working state of the driving mechanism under the action of an external load. Here, the external load may be a structure within the battery swapping system, such as the carrier 121 of the stacker 12. Since the carrier 121 is always connected to the carrier 121 when the stacker 12 is working, as long as the traveling driving structure 123 drives the carrier 121 to move, the traveling driving structure 123 is in the load state. The external load may also be a structure outside the battery swapping system, such as a vehicle entering the battery swapping system for battery swapping. Since there is a certain distance between the lifting member 222 and the vehicle when the driving mechanism of the vehicle lifter 22 drives the lifting member 222 to lift the vehicle, the driving mechanism of the vehicle lifter 22 is in the no-load state during this process; after the vehicle is carried on the lifting member 222, the driving mechanism of the vehicle lifter 22 is in the load state.

[0054] In the embodiments of the present application, the stacker 12, the vehicle lifter 22, the shuttle car 31, and the battery swapping module 32 are all controlled by a Programmable Logic Controller (PLC). The vibration information processing module can extract the vibration data of the drive system in the load state from the vibration information according to the step number of the programmable logic controller from the vibration sensor.

[0055] In the embodiments of the present application, the time-domain features may include one or several of the maximum value, minimum value, peak-to-peak value, average value, root mean square value, standard deviation, variance, skewness, kurtosis, waveform index, pulse index, peak index, and margin index, and the embodiments of the present application do not limit this. The frequency-domain features may include one or several of the center frequency, mean square frequency, and frequency variance, and the embodiments of the present application do not limit this. In an implementable manner provided by the embodiments of the present application, the time-domain features may include the maximum value, minimum value, peak-to-peak value, average value, root mean square value, standard deviation, variance, skewness, kurtosis, waveform index, pulse index, peak index, and margin index. The frequency-domain features include the center frequency, mean square frequency, and frequency variance. The time-domain features and the frequency-domain features together include sixteen-dimensional features.

[0056] In the embodiments of the present application, the information acquisition device 4 may include a vibration information processing module, and the vibration information processing module can extract the vibration data of the drive mechanism in the load state from the vibration information. Here, the vibration data may contain important information about the health status of the drive mechanism, such as problems like structural damage, poor balance, looseness, or wear. When the drive mechanism is in the load state, the load will amplify the vibration signal in the vibration data, making the vibration signal easier to monitor and analyze, so that it is easier to detect in advance in the early stage of the failure of the drive mechanism, so as to facilitate the maintenance of the drive mechanism about to fail in advance, further improving the safety during the operation of the battery swapping system. The vibration information processing module also extracts the time-domain features and frequency-domain features of the vibration data. Here, the time-domain feature refers to the characteristics of the vibration signal in the vibration data on the time axis, which describes the behavior of the vibration signal in the vibration data changing with time. The frequency-domain feature refers to the characteristics of the vibration signal in the vibration data on the frequency axis, which describes the composition of the vibration signal frequency in the vibration data. When the server 5 analyzes the vibration data, combining the time-domain features and the frequency-domain features can more comprehensively understand and analyze the vibration data. In addition, the vibration information processing module transmits the preprocessed vibration information to the server 5, which can reduce the storage requirements for the server 5, facilitate the long-term storage of the preprocessed vibration information by the server 5, and is beneficial for the server 5 to conduct long-term operation trend analysis of the battery swapping system and formulate predictive maintenance strategies.

[0057] Refer to Figure 4In the embodiment of the present application, the stacker 12 includes a carrier frame 121 and a loading platform 122, and the loading platform 122 is movably arranged on the carrier frame 121. The driving mechanism of the stacker 12 includes a walking driving structure 123 and a lifting and lowering driving structure 124. The walking driving structure 123 is used to drive the carrier frame 121 to move, and the lifting and lowering driving structure 124 is used to drive the loading platform 122 to rise and fall on the carrier frame 121. The vibration collection component 41 is respectively arranged on the walking driving structure 123 and the lifting and lowering driving structure 124 to collect vibration information generated on the walking driving structure 123 and the lifting and lowering driving structure 124.

[0058] In the embodiment of the present application, the stacker 12 includes a carrier 121 and a loading platform 122, and the loading platform 122 is movably arranged on the carrier 121. The carrier 121 is a key component of the stacker 12, which supports the structure of the entire stacker 12. The function of the loading platform 122 is to carry the battery when the stacker 12 carries the battery. The driving mechanism of the stacker 12 includes a walking driving structure 123 and a lifting and lowering driving structure 124, the walking driving structure 123 is used to drive the carrier 121 to move, and the lifting and lowering driving structure 124 is used to drive the loading platform 122 to rise and fall on the carrier 121. Here, when the stacker 12 carries the battery, first, the carrier 121 is driven by the walking driving structure 123 to move to the target position, and then the lifting and lowering driving structure 124 drives the loading platform 122 to rise and fall on the carrier 121 to pick up and place the battery on the battery rack. The walking driving structure 123 and the lifting and lowering driving structure 124 can generate vibration information. Here, the walking drive structure 123 and the lifting and lowering drive structure 124 both need to bear a large load when working. The information collection device 4 collects the vibration information of the walking drive structure 123 and the lifting and lowering drive structure 124 to obtain more specific vibration information of the drive mechanism on the stacker 12, which is convenient for analyzing the wear trend of the walking drive structure 123 and the lifting and lowering drive structure 124, thereby predicting the service life of the walking drive structure 123 and the lifting and lowering drive structure 124, so as to facilitate early maintenance of the walking drive structure 123 and the lifting and lowering drive structure 124. In addition, the vibration information can also be used to evaluate the performance and operating status of the walking drive structure 123 and the lifting and lowering drive structure 124, so as to optimize the walking drive structure 123 and the lifting and lowering drive structure 124.

[0059] In the embodiment of the present application, the function of the travel drive structure 123 is to drive the carrier 121 to move so as to realize the horizontal movement of the stacker 12. The structural design of the travel drive structure 123 has many possibilities. For example, the travel drive structure 123 may include a travel wheel and a travel servo motor. The power output end of the travel drive motor 1231 is connected to the travel wheel in a transmission manner so as to drive the carrier 121 to move through the travel wheel. The vibration collection component 41 may be arranged on the housing of the travel servo motor.

[0060] Reference Figure 4 In an implementable manner provided in the embodiment of the present application, the traveling drive structure 123 includes a traveling drive motor 1231, a traveling speed reducer 1232, and a traveling member 1233. The power output shaft of the traveling drive motor 1231 is drivingly connected to the motor end of the traveling speed reducer 1232. The output end of the traveling speed reducer 1232 drives the carrier 121 to move through the traveling member 1233. The lifting drive structure 124 includes a lifting drive motor 1241, a lifting speed reducer 1242, and a lifting transmission assembly 1243. The power output shaft of the lifting drive motor 1241 is drivingly connected to the motor end of the lifting speed reducer 1242. The output end of the lifting speed reducer 1242 drives the load platform 122 to lift on the carrier 121 through the lifting transmission assembly 1243. The vibration acquisition assembly 41 includes a first vibration sensor 411 and a second vibration sensor 412. The first vibration sensor 411 is disposed at the outer shell of the traveling speed reducer 1232, and the second vibration sensor 412 is disposed at the outer shell of the lifting speed reducer 1242.

[0061] In the embodiment of the present application, the traveling drive structure 123 includes a traveling drive motor 1231, a traveling speed reducer 1232, and a traveling member 1233. The traveling speed reducer 1232 can convert the high speed and low torque of the traveling drive motor 1231 into low speed and high torque to meet the specific requirements of the traveling drive structure 123 for rotational speed and torque. The lifting drive structure 124 includes a lifting drive motor 1241, a lifting speed reducer 1242, and a lifting transmission assembly 1243. The lifting speed reducer 1242 can convert the high speed and low torque of the lifting drive motor 1241 into low speed and high torque to meet the specific requirements of the lifting drive structure 124 for rotational speed and torque. The vibration acquisition assembly 41 includes a first vibration sensor 411 and a second vibration sensor 412. Vibration signals will attenuate during transmission, especially when the distance between the vibration acquisition assembly 41 and the acquisition target point is relatively far. By disposing the first vibration sensor 411 at the outer shell of the traveling speed reducer 1232 and the second vibration sensor 412 at the outer shell of the lifting speed reducer 1242, the distance between the vibration acquisition assembly 41 and the acquisition target point can be shortened, thereby reducing the attenuation of vibration signals during transmission and improving the acquisition accuracy of the vibration acquisition assembly 41. In addition, the structure of the speed reducer is usually more robust than that of the motor. Therefore, the speed reducer can provide better signal isolation, thereby reducing the interference of external noise.

[0062] Reference Figure 4, in the embodiment of the present application, the stacker 12 includes a fork arm 125. The driving mechanism of the stacker 12 includes a fork arm driving structure, which is used to drive the fork arm 125 to perform telescopic movement. The vibration acquisition component 41 is arranged on the fork arm driving structure to acquire the vibration information generated on the fork arm driving structure. Here, the main function of the fork arm 125 is to fork the battery on the carrier 122 to the battery rack, or fork the battery on the battery rack to the carrier 122. The main function of the fork arm driving structure is to drive the fork arm 125 to perform telescopic movement. The fork arm driving structure can generate vibration information. Here, the fork arm driving structure needs to bear a large load when the fork arm 125 forks the battery. The information acquisition device 42 acquires the vibration information of the fork arm driving structure, which can more specifically obtain the vibration information of the driving mechanism on the stacker 12, facilitate the analysis of the wear trend of the fork arm driving structure, and thus predict the service life of the fork arm driving structure, so as to perform maintenance in the early stage when the fork arm driving structure fails.

[0063] In the embodiment of the present application, the main function of the fork arm driving structure is to drive the fork arm 125 to perform telescopic movement, so that the fork arm 125 can complete the actions of forking, transporting and stacking the battery. There are various possible structural designs for the fork arm driving structure. For example, the fork arm driving structure can include a hydraulic cylinder, and the power output end of the hydraulic cylinder is connected to the fork arm 125 to drive the fork arm 125 to perform telescopic movement. In an implementable manner provided by the embodiment of the present application, the fork arm driving structure 116 includes a fork arm servo motor, a fork arm reducer, a fork arm sprocket and a fork arm chain. The fork arm servo motor is fixed on the carrier 122, the power output shaft of the fork arm servo motor is in transmission connection with the motor end of the fork arm reducer, the fork arm sprocket is arranged at the output end of the fork arm reducer, the fork arm chain is meshed with the fork arm sprocket, and the fork arm 125 is fixed to the fork arm chain. When the fork arm 125 forks the battery, the fork arm servo motor drives the fork arm sprocket to rotate through the fork arm reducer, thereby driving the fork arm 125 on the fork arm chain to perform telescopic movement. The vibration acquisition component 41 can be arranged on the outer shell of the fork arm servo motor or on the outer shell of the fork arm reducer. The embodiment of the present application does not limit this.

[0064] Refer to Figure 5 , in the embodiment of the present application, the vehicle lifter 22 includes a bracket 221 and a vehicle lifting member 222. The vehicle lifting member 222 is movably arranged on the bracket 221. The driving mechanism of the vehicle lifter 22 includes a vehicle lifting power output component 223 and a vehicle lifting transmission component 224. The vehicle lifting power output component 223 drives the vehicle lifting member 222 to move up and down on the bracket 221 through the vehicle lifting transmission component 224; the vibration acquisition component 41 is arranged on at least one of the vehicle lifting power output component 223 and the vehicle lifting transmission component 224 to acquire the vibration information at the driving mechanism of the vehicle lifter 22.

[0065] In the embodiment of the present application, the vehicle lift 22 includes a bracket 221 and a vehicle-lifting member 222. The vehicle-lifting member 222 is movably arranged on the bracket 221. The lifting drive structure includes a vehicle-lifting power output assembly 223 and a vehicle-lifting transmission assembly 224. The vehicle-lifting power output assembly 223 is connected to the lifting member through the vehicle-lifting transmission assembly 224 to drive the lifting member to move up and down on the bracket 221. Here, the vehicle-lifting power output assembly 223 is connected to the lifting member through the vehicle-lifting transmission assembly 224. When the lifting member is collided, the vehicle-lifting transmission assembly 224 can play a buffering role to reduce the vibration and noise of the vehicle-lifting power output assembly 223, improving the smoothness of the lifting drive structure during operation. The vibration acquisition assembly 41 is arranged on at least one of the vehicle-lifting power output assembly 223 and the vehicle-lifting transmission assembly 224 to acquire the vibration information at the drive mechanism of the vehicle lift 22. Here, the vibration acquisition assembly 41 can be separately arranged on the vehicle-lifting power output assembly 223. As the power source of the drive mechanism on the vehicle lift 22, the vehicle-lifting power output assembly 223, by detecting the vibration information on the vehicle-lifting power output assembly 223, can analyze the wear degree, damage condition and fatigue state of the vehicle-lifting power output assembly 223 through the vibration magnitude and frequency, so as to predict the service life of the vehicle-lifting power output assembly 223, facilitating maintenance in the early stage when the vehicle-lifting power output assembly 223 fails. The vibration acquisition assembly 41 can also be separately arranged on the vehicle-lifting transmission assembly 224. By detecting the vibration information on the vehicle-lifting transmission assembly 224, the vibration acquisition assembly 41 can analyze the energy loss situation of the vehicle-lifting transmission assembly 224, such as frictional loss and elastic deformation, through the vibration magnitude and frequency; it can also judge whether there are cracks, fractures or other structural integrity problems inside the vehicle-lifting transmission assembly 224 by whether the vibration is abnormal, so as to predict the service life of the vehicle-lifting transmission assembly 224, facilitating maintenance in the early stage when the vehicle-lifting transmission assembly 224 fails. The vibration acquisition assembly 41 can also be respectively arranged on the vehicle-lifting power output assembly 223 and the vehicle-lifting transmission assembly 224. In this way, the vibration acquisition assembly 41 can simultaneously detect the vibration information on the vehicle-lifting power output assembly 223 and the vehicle-lifting transmission assembly 224, and can simultaneously predict the service lives of the vehicle-lifting power output assembly 223 and the vehicle-lifting transmission assembly 224, facilitating maintenance in the early stage when the vehicle-lifting power output assembly 223 and the vehicle-lifting transmission assembly 224 fail, further improving the reliability of the lifting drive structure during operation.

[0066] In the embodiment of the present application, the function of the vehicle-lifting power output assembly 223 is to provide a power source for the drive mechanism on the vehicle lifter 22. Therefore, there are various possibilities for the structural design of the vehicle-lifting power output assembly 223. For example, the vehicle-lifting power output assembly 223 may include a hydraulic cylinder. The function of the vehicle-lifting transmission assembly 224 is to transmit the power output by the vehicle-lifting power output assembly 223 to the lifting member to drive the vehicle-lifting member 222 to move up and down on the bracket 221. Therefore, there are various possibilities for the transmission form of the vehicle-lifting transmission assembly 224. For example, the transmission form of the vehicle-lifting transmission assembly 224 may be belt transmission or gear transmission, and the embodiment of the present application does not limit this.

[0067] Referring to Figure 5 , in the embodiment of the present application, the vehicle-lifting power output assembly 223 includes a vehicle-lifting drive motor 2231 and a vehicle-lifting speed reducer 2232, the vehicle-lifting transmission assembly 224 includes a first transmission chain 2241, a second transmission chain 2242 and a transmission shaft 2243. The vehicle-lifting drive motor 2231 and the vehicle-lifting speed reducer 2232 are arranged on the bracket 221. The power output shaft of the vehicle-lifting drive motor 2231 is in transmission connection with the motor end of the vehicle-lifting speed reducer 2232. The output end of the vehicle-lifting speed reducer 2232 is in transmission connection with the transmission shaft 2243 through the first transmission chain 2241. The transmission shaft 2243 is in transmission connection with the vehicle-lifting member 222 through the second transmission chain 2242. The vibration acquisition assembly 41 includes a third vibration sensor 413. The third vibration sensor 413 is respectively arranged on the outer shell of the vehicle-lifting speed reducer 2232 and the transmission shaft 2243 to acquire the vibration information at the drive mechanism on the vehicle lifter 22.

[0068] In the embodiment of the present application, the vehicle-lifting power output assembly 223 includes a vehicle-lifting drive motor 2231 and a vehicle-lifting speed reducer 2232. The vehicle-lifting speed reducer 2232 can convert the high speed and low torque of the vehicle-lifting drive motor 2231 into low speed and high torque to meet the specific requirements of the drive mechanism on the vehicle lifter 22 for rotational speed and torque. The vehicle-lifting transmission assembly 224 includes a first transmission chain 2241, a second transmission chain 2242, and a transmission shaft 2243. The power output by the vehicle-lifting power output assembly 223 is transmitted to the vehicle-lifting member 222 through the first transmission chain 2241, the transmission shaft 2243, and the second transmission chain 2242 in sequence to drive the vehicle-lifting member 222 to move up and down on the bracket 221. The vibration acquisition assembly 41 includes a third vibration sensor 413. The third vibration sensor 413 is respectively arranged on the outer shell of the vehicle-lifting speed reducer 2232 and the transmission shaft 2243 to acquire the vibration information at the drive mechanism of the vehicle lifter 22. By respectively arranging the third vibration sensor 413 on the transmission shaft 2243 and the outer shell of the vehicle-lifting speed reducer 2232, the distance between the vibration acquisition assembly 41 and the acquisition target point can be shortened, thereby reducing the attenuation of the vibration signal during transmission and improving the acquisition accuracy of the vibration acquisition assembly 41. In addition, the structure of the speed reducer is usually more robust than that of the motor. Therefore, the speed reducer can provide better signal isolation, thereby reducing the interference of external noise.

[0069] In the embodiment of the present application, when the third vibration sensor 413 is arranged on the transmission shaft 2243, for the convenience of installing the third vibration sensor 413, the third vibration sensor 413 can be arranged on the bearing seat for fixing the transmission shaft 2243. The embodiment of the present application does not limit this.

[0070] Referring to Figure 6 , in the embodiment of the present application, the shuttle car 31 includes a car body 311 and wheels 312. The wheels 312 are rotatably arranged on the car body 311. The drive mechanism of the shuttle car 31 includes a wheel drive structure 313. The wheel drive structure 313 is used to drive the wheels 312 to rotate. The vibration acquisition assembly 41 is arranged on the wheel drive structure 313 to acquire the vibration information generated on the wheel drive structure 313.

[0071] In the embodiments of the present application, the shuttle car 31 includes a car body 311 and wheels 312, and the wheels 312 are arranged at the bottom of the car body 311. The car body 311 is a key component of the shuttle car 31, and the car body 311 moves through the wheels 312. The drive system of the shuttle car 31 includes a wheel drive structure 313, and the wheel drive structure 313 is used to drive the wheels 312 to rotate. When the shuttle car 31 needs to move, the wheel drive structure 313 drives the wheels 312 to rotate, thereby realizing the movement of the shuttle car 31. The vibration acquisition component 41 is arranged on the wheel drive structure 313 to acquire the vibration information generated on the wheel drive structure 313. Here, the wheel drive structure 313 needs to bear a large load when driving the wheels 312 to rotate. The information acquisition device 4 acquires the vibration information of the wheel drive structure 313 to more specifically obtain the vibration information of the drive mechanism on the shuttle car 31, which is convenient for analyzing the wear trend of the wheel drive structure 313, thereby predicting the service life of the wheel drive structure 313, so as to perform maintenance in the early stage when the wheel drive structure 313 fails.

[0072] Referring to Figure 4 , in the embodiments of the present application, the wheel drive structure 313 includes a wheel drive motor 3131 and a wheel speed reducer 3132. The power output shaft of the wheel drive motor 3131 is in transmission connection with the motor end of the wheel speed reducer 3132, and the output end of the wheel speed reducer 3132 is in transmission connection with the wheels 312; the vibration acquisition component 41 includes a fourth vibration sensor 414, and at least two fourth vibration sensors 414 are arranged at an angle on the outer shell of the wheel speed reducer 3132 to acquire vibration information in different dimensions generated by the wheel drive structure 313.

[0073] It should be noted that when at least two fourth vibration sensors 414 are arranged on the outer shell of the wheel speed reducer 3132, the number of the fourth vibration sensors 414 can be two, three, or four, and the embodiments of the present application do not limit this. In addition, the different fourth vibration sensors 414 are arranged at an angle to monitor the vibration information on the wheel drive structure 313 from different angles. Therefore, the angle between the different fourth vibration sensors 414 can be set according to the monitoring needs. For example, the angle between the different fourth vibration sensors 414 can be 30 degrees, 40 degrees, or 90 degrees, and the embodiments of the present application do not limit this.

[0074] In the embodiment of the present application, the wheel drive structure 313 includes a wheel drive motor 3131 and a wheel speed reducer 3132. The wheel speed reducer 3132 can convert the high speed and low torque of the wheel drive motor 3131 into low speed and high torque to meet the specific requirements of the wheel drive structure 313 for speed and torque. The power output shaft of the wheel drive motor 3131 is drivingly connected to the motor end of the wheel speed reducer 3132, and the output end of the wheel speed reducer 3132 is drivingly connected to the wheel 312 to drive the shuttle car 31 to move. At least two fourth vibration sensors 414 are arranged at an angle on the outer shell of the wheel speed reducer 3132 to collect vibration information in different dimensions generated by the wheel drive structure 313. In this way, the coverage range and accuracy of the vibration acquisition component 41 can be improved. The at least two fourth vibration sensors 414 are arranged at an angle to monitor the vibration information on the wheel drive structure 313 from different angles, so as to more comprehensively understand the vibration state of the wheel drive structure 313, which helps to discover potential structural problems of the wheel drive structure 313, such as cracks and fatigue. In addition, the at least two fourth vibration sensors 414 are arranged at an angle, which can also reduce the monitoring blind area of the fourth vibration sensors 414, thereby improving the reliability of the battery swapping system. In addition, by arranging the fourth vibration sensors 414 on the outer shell of the wheel speed reducer 3132, the distance between the vibration acquisition component 41 and the acquisition target point can be shortened, thereby reducing the attenuation of the vibration signal during transmission and improving the acquisition accuracy of the vibration acquisition component 41. In addition, the structure of the speed reducer is usually more robust than that of the motor, so the speed reducer can provide better signal isolation, thereby reducing the interference of external noise.

[0075] Referring to Figure 7 , in the embodiment of the present application, the workstation 2 further includes a rotating platform 23. The rotating platform 23 is arranged at the battery swapping position of the working bin 21 for rotating the shuttle car 31. The vibration acquisition component 41 is arranged at the driving mechanism of the rotating platform 23 for collecting the vibration information at the driving mechanism on the rotating platform 23.

[0076] In the embodiment of the present application, the workstation 2 also includes a rotating platform 23, which is arranged at the battery replacement station of the work compartment 21 for rotating the shuttle 31. During the battery replacement process of the vehicle, when the shuttle 31 transports the fully charged battery to the bottom of the vehicle, the rotating platform 23 can rotate the shuttle 31 so that the battery on the shuttle 31 is aligned with the battery compartment at the bottom of the vehicle, so that the battery replacement module 32 can more accurately install the fully charged battery on the vehicle, thereby improving the battery replacement efficiency of the battery replacement system. The vibration collection component 41 is arranged at the driving mechanism of the rotating platform 23 to collect vibration information at the driving mechanism on the rotating platform 23. Here, the driving mechanism on the rotating platform 23 needs to bear a large load when driving the shuttle 31 to rotate. The vibration collection component 41 collects the vibration information at the driving mechanism on the rotating platform 23, which can more conveniently analyze the wear trend of the driving mechanism on the rotating platform 23, thereby predicting the service life of the driving mechanism on the rotating platform 23, so as to facilitate early maintenance of the driving mechanism on the rotating platform 23 when it fails. In addition, the vibration information can also be used to evaluate the performance and operating status of the driving mechanism on the rotating platform 23 , so as to optimize the driving mechanism of the rotating platform 23 .

[0077] Reference Figure 7 In the embodiment of the present application, the rotating platform 23 includes a turntable 231, and the turntable 231 has a parking space for parking the shuttle vehicle 31. The driving mechanism of the rotating platform 23 includes a rotating drive motor 232 and a rotating reducer 233. The power output shaft of the rotating drive motor 232 is transmission-connected to the motor end of the rotating reducer 233, and the output end of the rotating reducer 233 is transmission-connected to the turntable 231; the vibration collection component 41 includes a fifth vibration sensor 415, and the fifth vibration sensor 415 is arranged on the housing of the rotating reducer 233 to collect vibration information at the driving mechanism on the rotating platform 23.

[0078] In the embodiment of the present application, the rotating mechanism includes a turntable 231, and the turntable 231 has a parking space for the shuttle 31 to park. In this way, when the shuttle 31 transports the fully charged battery to the bottom of the vehicle during the battery replacement process, the shuttle 31 can be parked at the parking space of the turntable 231. The driving mechanism of the rotating platform 23 includes a rotating driving motor 232 and a rotating reducer 233, the power output shaft of the rotating driving motor 232 is connected to the motor end of the rotating reducer 233, and the output end of the rotating reducer 233 is connected to the turntable 231. In this way, the rotating driving motor 232 can drive the turntable 231 to rotate through the rotating reducer 233, thereby rotating the shuttle 31 on the turntable 231, so that the battery on the shuttle 31 is aligned with the battery compartment at the bottom of the vehicle. The vibration collection component 41 includes a fifth vibration sensor 415, which is arranged on the housing of the rotating reducer 233 to collect vibration information at the driving mechanism on the rotating platform 23. Here, the fifth vibration sensor 415 is arranged on the housing of the rotary reducer 233, so that the distance between the vibration collection component 41 and the collection target point can be shortened, thereby reducing the attenuation of the vibration signal during the transmission process, and improving the collection accuracy of the vibration collection component 41. In addition, the structure of the reducer is usually stronger than that of the motor, so the reducer can provide better signal isolation, thereby reducing the interference of external noise.

[0079] In the embodiment of the present application, the battery replacement module 32 includes a disassembly and assembly structure. Figure 8 The driving mechanism of the battery exchange module 32 includes a lifting power output component 321 and a lifting transmission component 322. The lifting power output component 321 drives the disassembly and assembly structure to lift and lower through the lifting transmission component 322; the vibration collection component 41 is arranged on at least one of the lifting power output component 321 and the lifting transmission component 322 to collect vibration information at the driving mechanism on the battery exchange module 32.

[0080] In the embodiment of the present application, the battery swapping module 32 includes a disassembly and assembly structure, and the driving mechanism of the battery swapping module 32 includes a lifting power output component 321 and a lifting transmission component 322. In this way, during the battery swapping process of the vehicle, the lifting power output component 321 drives the disassembly and assembly structure to lift through the lifting transmission component 322, so that the disassembly and assembly structure disassembles or installs the battery. In addition, the lifting power output component 321 is connected to the disassembly and assembly structure through the lifting transmission component 322. When the disassembly and assembly structure is collided, the lifting transmission component 322 can play a buffering role to reduce the vibration and noise of the lifting power output component 321, and improve the smoothness of the driving mechanism of the battery swapping module 32 during operation. The vibration acquisition component 41 is disposed on at least one of the lifting power output component 321 and the lifting transmission component 322 to acquire the vibration information at the driving mechanism of the battery swapping module 32. Here, the vibration acquisition component 41 can be separately disposed on the lifting power output component 321. As the power source of the driving mechanism of the battery swapping module 32, the vibration acquisition component 41 detects the vibration information on the lifting power output component 321, and can analyze the wear degree, damage condition and fatigue state of the lifting power output component 321 through the vibration magnitude and vibration frequency, so as to predict the service life of the lifting power output component 321, so as to facilitate maintenance in the early stage when the lifting power output component 321 fails. The vibration acquisition component 41 can also be separately disposed on the lifting transmission component 322. The vibration acquisition component 41 detects the vibration information on the lifting transmission component 322, and can analyze the energy loss condition of the lifting transmission component 322 through the vibration magnitude and vibration frequency, such as frictional loss, elastic deformation, etc.; it can also judge whether there are cracks, fractures or other structural integrity problems inside the transmission structure through whether the vibration is abnormal, so as to predict the service life of the lifting transmission component 322, so as to facilitate maintenance in the early stage when the lifting transmission component 322 fails. The vibration acquisition component 41 can also be respectively disposed on the lifting power output component 321 and the lifting transmission component 322. In this way, the vibration acquisition component 41 can simultaneously detect the vibration information on the lifting power output component 321 and the lifting transmission component 322, and can simultaneously predict the service lives of the lifting power output component 321 and the lifting transmission component 322, so as to facilitate maintenance in the early stage when the lifting power output component 321 and the lifting transmission component 322 fail, and further improve the reliability of the lifting drive structure during operation.

[0081] Refer to Figure 8, in the embodiment of the present application, the lifting power output assembly 321 includes a lifting drive motor 3211 and a lifting speed reducer 3212. The lifting transmission assembly 322 includes a lead screw 3221, a nut slider 3222 and a scissor structure 3223. The power output shaft of the lifting drive motor 3211 is drivingly connected to the motor end of the lifting speed reducer 3212. The output end of the lifting speed reducer 3212 is drivingly connected to the lead screw 3221. The nut slider 3222 is arranged on the lead screw 3221, and the nut slider 3222 is connected to the disassembly and assembly structure through the scissor structure 3223. The vibration acquisition assembly 41 includes a sixth vibration sensor 416. The sixth vibration sensor 416 is respectively arranged on the outer shell of the lifting speed reducer 3212, the lead screw 3221 and the nut slider 3222 to acquire the vibration information at the driving mechanism of the battery swapping module 32.

[0082] , in the embodiment of the present application, the lifting power output assembly 321 includes a lifting drive motor 3211 and a lifting speed reducer 3212. The lifting speed reducer 3212 can convert the high speed and low torque of the lifting drive motor 3211 into low speed and high torque to meet the specific requirements of the driving mechanism of the battery swapping module 32 for speed and torque. The lifting transmission assembly 322 includes a lead screw 3221, a nut slider 3222 and a scissor structure 3223. The power output by the lifting power output assembly 321 is sequentially transmitted to the disassembly and assembly structure through the lead screw 3221, the nut slider 3222 and the scissor structure 3223 to drive the disassembly and assembly structure to lift. The vibration acquisition assembly 41 includes a sixth vibration sensor 416. The sixth vibration sensor 416 is respectively arranged on the outer shell of the lifting speed reducer 3212, the lead screw 3221 and the nut slider 3222 to acquire the vibration information at the driving mechanism of the battery swapping module 32. By arranging the sixth vibration sensor 416 on the outer shell of the lifting speed reducer 3212, the lead screw 3221 and the nut slider 3222 respectively, the distance between the vibration acquisition assembly 41 and the acquisition target point can be shortened, thereby reducing the attenuation of the vibration signal during transmission and improving the acquisition accuracy of the vibration acquisition assembly 41. In addition, the structure of the speed reducer is usually more robust than that of the motor. Therefore, the speed reducer can provide better signal isolation, thereby reducing the interference of external noise.

[0083] , in the embodiment of the present application, the type of the sound acquisition assembly 42 has various possibilities. For example, the sound acquisition assembly 42 can be a microphone array or a capacitive microphone. The embodiment of the present application does not limit this. In addition, when the sound acquisition assembly 42 acquires sound, the sampling frequency of the sound acquisition assembly 42 has various possibilities. For example, the sampling frequency of the sound sensor can be 120 kHz, 128 kHz, or 136 kHz. The embodiment of the present application does not limit this.

[0084] Refer to Figure 3, in the embodiment of the present application, the sound collection component 42 includes a first microphone array 421 and a second microphone array 422. At least one group of the first microphone arrays 421 is arranged in the storage bin 11 to collect the sound information in the storage bin 11, and at least one group of the second microphone arrays 422 is arranged in the working bin 21 to collect the sound information in the working bin 21.

[0085] In the embodiment of the present application, the number of the first microphone arrays 421 and the second microphone arrays 422 has multiple possibilities. For example, one group, three groups or five groups of the first microphone arrays 421 can be arranged in the storage bin 11; one group, three groups or five groups of the second microphone arrays 422 can be arranged in the working bin 21. The embodiment of the present application does not limit this.

[0086] In the embodiment of the present application, the sound collection component 42 includes a first microphone array 421 and a second microphone array 422. At least one group of the first microphone arrays 421 is arranged in the storage bin 11, and at least one group of the second microphone arrays 422 is arranged in the working bin 21. In this way, the first microphone array 421 collects the sound information emitted by the power exchange equipment in the storage bin 11 during operation, such as the stacker 12, etc., and the second microphone array 422 collects the sound information emitted by the power exchange equipment in the working bin 21 during operation, such as the vehicle lifter 22, the rotary platform 23, etc. When the shuttle car 31 travels back and forth between the storage bin 11 and the working bin 21, the sound information of the shuttle car 31 can also be collected by the first microphone array 421 and the second microphone array 422. The sound information emitted by the power exchange equipment during operation can reflect the operating state and health condition of the power exchange equipment. By collecting and analyzing the sound information emitted by at least one of the stacker 12, the vehicle lifter 22, the shuttle car 31, the rotary platform 23 and the power exchange module 32, it is possible to analyze whether there are problems such as excessive wear, fatigue and cracks inside the corresponding equipment, and it is also possible to judge whether the corresponding equipment is in a normal operating state according to the frequency and amplitude of the sound information, so as to help the maintenance personnel understand the maintenance requirements of the power exchange equipment in time, so as to perform maintenance in the early stage when the power exchange equipment fails.

[0087] In the embodiment of the present application, the first microphone array 421 and the second microphone array 422 convert the captured sound into an electrical signal (voltage signal / current signal) and output it. The sound collection component converts the electrical signals at the first microphone array 421 and the second microphone array 422 into digital signals, and collects and stores them.

[0088] In the embodiments of the present application, since the frequency of the sound information collected by the sound collection component 42 is high and it occupies a large space, the information collection device 4 needs to preprocess the sound information before transmitting it to the server 5. Therefore, the information collection device 4 may include a sound processing module, and the sound processing module may extract the sound data when the battery swapping device is in a loaded state from the sound information, and extract the sound features from the sound data.

[0089] It should be noted that in the embodiments of the present application, the battery swapping device being in a loaded state means that the battery swapping device is consuming a certain amount of energy during operation. For example, the stacker 12 being in a loaded state usually means that the stacker 12 is in the process of performing a battery handling task. The vehicle lifter 22 being in a loaded state usually means that the vehicle lifter 22 is in the process of lifting or supporting a vehicle. The shuttle car 31 being in a loaded state usually means that the shuttle car 31 is in the process of performing a battery handling task between the storage bin 11 and the working bin 21. The rotating platform 23 being in a loaded state usually means that the rotating platform 23 is rotating the shuttle car 31. The battery swapping module 32 being in a loaded state usually means that the driving mechanism of the battery swapping module 32 drives the disassembly and assembly structure to lift and lower.

[0090] In the embodiments of the present application, the stacker 12, the vehicle lifter 22, the shuttle car 31, the rotating platform 23, and the battery swapping module 32 are all controlled by a programmable logic controller, and the sound information processing module can extract the sound data when the battery swapping device is in a loaded state from the sound sensor according to the step number of the programmable logic controller.

[0091] In the embodiments of the present application, when the sound processing module extracts the sound features from the sound data, it can use Mel-Frequency Cepstral Coefficients (MFCCs) to extract the sound features from the sound data. Mel-Frequency Cepstral Coefficients simulate the way the human auditory system perceives sound frequencies. Mel-Frequency Cepstral Coefficients convert the linear spectrum into a logarithmic spectrum based on the Mel scale, and then perform a discrete cosine transform to obtain a set of feature vectors, and these vectors effectively express the sound features in the sound data.

[0092] In the embodiments of the present application, the calculation steps of the Mel Frequency Cepstral Coefficient (MFCC) are as follows: First, pre-emphasize the sound data. The pre-emphasis can be achieved using a first-order high-pass filter. In this way, the high-frequency components in the sound data can be increased, making the spectrum smoother. Next, frame and window the sound data to divide the sound signal into short-time frames and apply a window function to reduce the overlapping effect between frames. When framing and windowing the sound data, the number of frame transformations and the type of window function can be determined according to the type of the battery swapping device. For example, the number of turns of the frame can be selected as 2, the frame length can be 1 second, and each frame has 20,000 data points. The Hanning window can be selected as the window function. Then, calculate the Mel Frequency Cepstral Coefficient for each working condition of the battery swapping device 1 and perform power spectrum estimation for each frame. Next, filter with a Mel filter to obtain the Mel spectrum. Then, perform a logarithmic transformation on the Mel spectrum to simulate the non-linear response of the human auditory system. Next, perform a discrete cosine transform on the logarithmic Mel spectrum, retain the 2nd to 13th coefficients of the discrete cosine transform, and discard the others. Use the energy of each frame and the 2nd to 13th coefficients of the discrete cosine transform as features to obtain a 13-dimensional feature vector. Then, calculate the 13-dimensional vectors of the first-order differential Mel Frequency Cepstral Coefficient (ΔMFCC) and the second-order differential Mel Frequency Cepstral Coefficient (Δ 2 MFCC) respectively, and jointly combine them into a 39-dimensional feature vector. Finally, calculate the 39-dimensional feature vector for each frame of the sound data when the battery swapping device 1 is in the load state and calculate the average value.

[0093] To improve the robustness of the model, reduce the model parameters and modeling time, the principal component analysis method can be used to reduce the dimension of the calculated 39-dimensional feature vector, and select the features with the cumulative variance contribution rate (Cumulative Percentage Variance, CPV) of the principal components greater than 85% as the sound features reflecting the battery swapping device 1.

[0094] In the embodiments of the present application, at least one of the stacker 12, the vehicle lifter 22, the shuttle car 31, the rotary platform 23, and the battery swapping module 32 has a servo control system, and the information acquisition device 4 can acquire the servo control quantity of the servo control system.

[0095] It should be noted that the stacker 12, the vehicle lifter 22, the shuttle car 31, the rotary platform 23, and the battery swapping module 32 all need to be controlled by a control system during operation, and there are various possibilities for the selection of the control system. For example, alternatively, at least one of the stacker 12, the vehicle lifter 22, the shuttle car 31, the rotary platform 23, and the battery swapping module 32 has a frequency converter control system, and the information acquisition device 4 can also acquire the frequency converter control quantity of the frequency converter control system.

[0096] In the embodiments of the present application, the controlled objects of the servo control systems on the stacker 12, vehicle lifter 22, shuttle car 31, rotary platform 23, and battery swapping module 32 are all servo motors. When the information acquisition device 4 acquires the servo control quantities of the servo control systems, it can acquire the speed, current, torque, acceleration, and semi-closed-loop stroke position of the servo motors, or it can only acquire the speed, current, and semi-closed-loop stroke position of the servo motors. The embodiments of the present application do not limit this.

[0097] In the embodiments of the present application, the information acquisition device 4 may include a programmable logic controller, and the server 5 obtains the servo control quantities of the servo motors through the programmable logic controller. When the information acquisition device 4 acquires the servo control quantities, the information acquisition device 4 can determine the sampling period according to actual needs. For example, the sampling period of the information acquisition device 4 can be 50 milliseconds, or 100 milliseconds, or 150 milliseconds. The embodiments of the present application do not limit this.

[0098] In the embodiments of the present application, at least one of the stacker 12, vehicle lifter 22, shuttle car 31, rotary platform 23, and battery swapping module 32 has a servo control system. The servo control system can achieve high-precision position and speed control, thereby improving the control accuracy of the battery swapping equipment in the battery swapping system. The information acquisition device 4 can acquire the servo control quantities of the servo control systems. Here, the servo motor is the power source when the stacker 12, vehicle lifter 22, shuttle car 31, rotary platform 23, and battery swapping module 32 are working. By acquiring and analyzing the servo control quantities of the servo control systems, it is possible to detect in advance in the early stage when the servo motor fails, so as to repair the servo motor that is about to fail in advance, thereby improving the reliability of the power sources on the stacker 12, vehicle lifter 22, shuttle car 31, rotary platform 23, and battery swapping module 32 during the battery swapping process.

[0099] Refer to Figure 9 , in the embodiments of the present application, the workstation 2 further includes a vehicle centering mechanism 24, and the vehicle centering mechanism 24 includes a baffle 241 and a pulley set 242. The baffle 241 is usually installed on the ground of the battery swapping system to limit the movement range of the vehicle. The pulley set 242 is used to guide the tires of the vehicle so that the vehicle can move along a predetermined trajectory, thereby achieving the purpose of precise positioning.

[0100] In the embodiments of the present application, the stacker 12, vehicle lifter 22, shuttle car 31, rotary platform 23, and battery swapping module 32 in the battery swapping equipment are the key monitoring objects, and the vehicle centering mechanism 24 is the auxiliary monitoring object. The components in the vehicle centering mechanism 24 can improve reliability by increasing the design margin and threshold monitoring.

[0101] Refer to Figure 1 and Figure 2, in the embodiments of the present application, an electricity meter, an air conditioner, an Uninterruptible Power Supply (UPS), fire-fighting equipment, temperature and humidity detection equipment, a heater, and a hot air curtain are also provided in the battery swapping system. The information acquisition device 4 can respectively acquire the voltage / current signals of the electricity meter, the air conditioner, the UPS, the fire-fighting equipment, the temperature and humidity detection equipment, the heater, and the hot air curtain, and transmit the acquired voltage / current signals to the server 5. In this way, the monitoring range of the battery swapping system can be expanded, thereby further improving the reliability of the battery swapping system during operation.

[0102] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should all be covered within the scope of the specification of the present application. In particular, as long as there is no structural conflict, the technical features mentioned in each embodiment can be combined in any way.

Claims

1. A battery replacement system, characterized in that: include: A material storage station, comprising a material storage bin and a stacker in the material storage bin, wherein the material storage bin is used to store batteries and the stacker is used to take and place batteries; A workstation, comprising a work compartment and a vehicle lift in the work compartment, wherein the vehicle lift is arranged at a battery replacement station in the work compartment to lift the vehicle; A shuttle device, comprising a shuttle vehicle and a battery replacement module arranged on the shuttle vehicle, wherein the shuttle vehicle travels back and forth between the storage bin and the working bin to transport batteries, and the battery replacement module is used to remove or install batteries; The information collection device includes a vibration collection component and a sound collection component. The vibration collection component is arranged at the driving mechanism of at least one of the stacker, the vehicle lift, the shuttle car and the battery exchange module to collect vibration information at the corresponding transmission mechanism. The sound collection component is arranged in at least one of the storage bin and the working bin to collect sound information in the corresponding space.

2. The battery replacement system according to claim 1, characterized in that: The stacker includes a load frame and a loading platform, the loading platform is movably arranged on the load frame, the driving mechanism of the stacker includes a walking driving structure and a lifting and lowering driving structure, the walking driving structure is used to drive the load frame to move, and the lifting and lowering driving structure is used to drive the loading platform to rise and fall on the load frame, and the vibration collection components are respectively arranged on the walking driving structure and the lifting and lowering driving structure to collect vibration information generated by the walking driving structure and the lifting and lowering driving structure.

3. The battery replacement system according to claim 2, characterized in that: The travel drive structure includes a travel drive motor, a travel reducer and a travel member, the power output shaft of the travel drive motor is in driving connection with the motor end of the travel reducer, and the output end of the travel reducer drives the carrier to move through the travel member, and the lifting and lowering drive structure includes a lifting and lowering drive motor, a lifting and lowering reducer and a lifting and lowering transmission assembly, the power output shaft of the lifting and lowering drive motor is in driving connection with the motor end of the lifting and lowering reducer, and the output end of the lifting and lowering reducer drives the loading platform to move up and down on the carrier through the lifting and lowering transmission assembly; The vibration collection assembly includes a first vibration sensor and a second vibration sensor. The first vibration sensor is arranged at the housing of the travel reducer, and the second vibration sensor is arranged at the housing of the lifting and lowering reducer.

4. The battery replacement system according to claim 1, characterized in that: The stacker includes a fork arm, and the driving mechanism of the stacker includes a fork arm driving structure, the fork arm driving structure is used to drive the fork arm to extend and retract, and the vibration collection component is arranged on the fork arm driving structure to collect vibration information generated on the fork arm driving structure.

5. The battery replacement system according to claim 1, characterized in that: The vehicle lift comprises a bracket and a vehicle lift member, the vehicle lift member is movably arranged on the bracket, the driving mechanism of the vehicle lift comprises a vehicle lift power output assembly and a vehicle lift transmission assembly, the vehicle lift power output assembly drives the vehicle lift member to move up and down on the bracket through the vehicle lift transmission assembly; The vibration collection component is arranged on at least one of the vehicle lift power output component and the vehicle lift transmission component to collect vibration information at the driving mechanism on the vehicle lift.

6. The battery replacement system according to claim 5, characterized in that: The vehicle lifting power output assembly includes a vehicle lifting drive motor and a vehicle lifting reducer, the vehicle lifting transmission assembly includes a first transmission chain, a second transmission chain and a transmission shaft, the vehicle lifting drive motor and the vehicle lifting reducer are arranged on the bracket, the power output shaft of the vehicle lifting drive motor is transmission-connected with the motor end of the vehicle lifting reducer, the output end of the vehicle lifting reducer is transmission-connected with the transmission shaft through the first transmission chain, and the transmission shaft is transmission-connected with the vehicle lifting member through the second transmission chain; The vibration collection component includes a third vibration sensor, which is respectively arranged on the housing of the vehicle lifting reducer and the transmission shaft to collect vibration information at the driving mechanism on the vehicle lifting machine.

7. The battery replacement system according to claim 1, characterized in that: The shuttle vehicle includes a body and wheels, the wheels are rotatably arranged on the body, the driving mechanism of the shuttle vehicle includes a wheel driving structure, the wheel driving structure is used to drive the wheels to rotate, and the vibration collection component is arranged on the wheel driving structure to collect vibration information generated on the wheel driving structure.

8. The battery replacement system according to claim 7, characterized in that: The wheel drive structure comprises a wheel drive motor and a wheel reducer, the power output shaft of the wheel drive motor is drivingly connected to the motor end of the wheel reducer, and the output end of the wheel reducer is drivingly connected to the wheel; The vibration collection component includes a fourth vibration sensor. At least two fourth vibration sensors are arranged at an angle on the housing of the wheel reducer to collect vibration information of different dimensions generated by the wheel drive structure.

9. The battery replacement system according to claim 1, characterized in that: The workstation also includes a rotating platform, which is arranged at the power replacement station of the work compartment for rotating the shuttle vehicle, and the vibration collection component is arranged at the driving mechanism of the rotating platform for collecting vibration information at the driving mechanism on the rotating platform.

10. The battery replacement system according to claim 9, characterized in that: The rotating platform includes a turntable, the turntable has a parking space for the shuttle vehicle to park, the driving mechanism of the rotating platform includes a rotating drive motor and a rotating reducer, the power output shaft of the rotating drive motor is drivingly connected to the motor end of the rotating reducer, and the output end of the rotating reducer is drivingly connected to the turntable; The vibration collection component includes a fifth vibration sensor, which is arranged on the housing of the rotary reducer to collect vibration information at the driving mechanism on the rotary platform.

11. The battery replacement system according to claim 1, characterized in that: The battery exchange module includes a disassembly and assembly structure, and the driving mechanism of the battery exchange module includes a lifting power output component and a lifting transmission component, and the lifting power output component drives the disassembly and assembly structure to rise and fall through the lifting transmission component; The vibration collection component is arranged on at least one of the lifting power output component and the lifting transmission component to collect vibration information at the driving mechanism on the battery exchange module.

12. The battery replacement system according to claim 11, characterized in that: The lifting power output assembly includes a lifting drive motor and a lifting reducer, the lifting transmission assembly includes a screw rod, a nut slider and a scissor fork structure, the power output shaft of the lifting drive motor is drivingly connected to the motor end of the lifting reducer, the output end of the lifting reducer is drivingly connected to the screw rod, the nut slider is arranged on the screw rod, and the nut slider is connected to the disassembly structure through the scissor fork structure; The vibration collection component includes a sixth vibration sensor, which is respectively arranged on the housing of the lifting reducer, the screw rod and the nut slider to collect vibration information at the driving mechanism on the battery exchange module.

13. The battery replacement system according to any one of claims 1 to 12, characterized in that: The sound collection component includes a first microphone array and a second microphone array. The first microphone array is provided with at least one group in the storage bin to collect sound information in the storage bin, and the second microphone array is provided with at least one group in the working bin to collect sound information in the working bin.

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