Battery box hoisting method and apparatus

Abstract

A battery box hoisting method and apparatus. The battery box hoisting method comprises: when a vehicle (10) waiting battery swap stops in a battery swapping area, acquiring first measurement data and second measurement data; when the number of sudden changes in the distance measurement value of a first rangefinder (22) and the number of sudden changes in the distance measurement value of a second rangefinder (23) are each less than or equal to two, driving the first rangefinder (22) and the second rangefinder (23) to move until the first rangefinder (22) and the second rangefinder (23) each undergo the fourth sudden change in the distance measurement value and then stop moving, and acquiring the first measurement data and the second measurement data to obtain the tilt state of a battery box (13); and when the tilt state comprises a first tilt state of a forward / backward tilt state, acquiring the center point of the top surface of the battery box (13), and then a grabbing robot (30) moving horizontally until the vertical projection of the center point of the grabbing robot (30) coincides with the position where the center point of the battery box (13) is horizontally offset toward the vehicle front by a first movement value, then descending until a hoisting seat (336) abuts against a battery, and then grabbing a hoisting portion (132). By means of the configurations above, the problem of how to grab a tilted battery box is solved.

Description

Battery box hoisting method and device Technical Field

[0001] The present invention relates to the technical field of vehicle charging, and in particular to a battery box hoisting method and device. Background Art

[0002] With the rapid development of technology, new energy vehicles are gradually replacing traditional fuel vehicles due to their environmental friendliness, fast power response, low noise, and minimal vibration. When considering whether to purchase a new energy vehicle, users often have major concerns about the battery's cycle life and the lengthy recharging time. Battery swapping can effectively address both of these issues.

[0003] Currently, new energy vehicle battery replacement typically involves driving the vehicle to a battery swap station, where a battery swap robot removes the battery from the vehicle's roof. However, vehicle vibrations during driving can cause the battery to tilt, or uneven distribution of the vehicle's cargo weight can cause the battery to tilt, making it difficult for the robot to securely grasp the battery. Summary of the Invention

[0004] In order to solve the problem of how to grab a tilted battery box, the present invention provides a battery box hoisting method and device.

[0005] In a first aspect, the present invention provides a battery box hoisting method, comprising:

[0006] Step S11: Based on the battery swapping vehicle entering and stopping in the battery swapping area, first measurement data of the first rangefinder and second measurement data of the second rangefinder are obtained; wherein the first measurement data includes the number of sudden changes N1 in the range value of the first rangefinder; the second measurement data includes the number of sudden changes N2 in the range value of the second rangefinder; the sudden change includes a change in the range value that is greater than a first set range within a first set time;

[0007] Step S12: based on the fact that N1 and N2 are respectively less than or equal to two, drive the first rangefinder and the second rangefinder to move toward the body direction of the battery-swapping vehicle until the ranging values ​​of the first rangefinder and the second rangefinder respectively undergo a fourth sudden change, and stop, and obtain the first measurement data and the second measurement data; wherein, the measurement position of the second rangefinder during the measurement process is higher than the measurement position of the first rangefinder during the measurement process;

[0008] Step S13, obtaining a tilt state of the battery box based on the first measurement data and the second measurement data;

[0009] Step S14: obtaining the center point of the top surface of the battery box based on the tilt state including a first tilt state of a front-to-back tilt state; wherein the first tilt state includes a distance measurement value of the first rangefinder undergoing a third sudden change before a distance measurement value of the second rangefinder; and a distance moved by the first rangefinder during a period from the third sudden change in the distance measurement value of the first rangefinder to the third sudden change in the distance measurement value of the second rangefinder being within a second set range;

[0010] Step S15: Based on the center point of the top surface of the battery box, the grasping robot moves horizontally until the vertical projection of the center point of the grasping robot coincides with the position of the center point of the battery box horizontally offset by a first movement value toward the front of the vehicle, and the grasping robot descends;

[0011] Step S16 , when the grasping robot descends until the bottom surface of the lifting seat of the grasping robot abuts against the top surface of the lifting part of the battery, the grasping robot grasps the lifting part.

[0012] In some embodiments, the step S13 includes: step S131, obtaining the front and rear tilt state of the battery box based on the first measurement data and the second measurement data; wherein the front and rear tilt state includes the first tilt state; step S132, obtaining the left and right tilt state of the battery box based on the first measurement data, the second measurement data, and the front and rear tilt state; step S133, obtaining the axial tilt state of the battery box based on the first measurement data, the second measurement data, the front and rear tilt state, and the left and right tilt state.

[0013] In some embodiments, the battery box hoisting method also includes: step S1411, based on the front and rear tilt states including a second tilt, obtaining the top surface center point of the battery box; wherein, the second tilt includes the distance measurement value of the second rangefinder undergoing a third mutation before the distance measurement value of the first rangefinder; the distance moved by the first rangefinder during the time from the third mutation of the distance measurement value of the second rangefinder to the third mutation of the distance measurement value of the first rangefinder is within a second set range; step S1412, based on obtaining the top surface center point of the battery box, the grasping robot moves horizontally until the vertical projection of the center point of the grasping robot coincides with the position where the center point of the battery box is horizontally offset by the second movement value toward the vehicle body, and the grasping robot descends.

[0014] In some embodiments, the battery box hoisting method also includes: step S1421, based on the left and right tilt states including a third tilt, obtaining the center point of the top surface of the battery box; wherein, the third tilt includes the distance measurement value of the first rangefinder being larger than the distance measurement value of the second rangefinder by a third set range; step S1422, based on obtaining the center point of the top surface of the battery box, the grasping robot moves horizontally to a position where the vertical projection of the center point of the grasping robot coincides with the position where the center point of the battery box is horizontally offset by the third movement value in the direction close to the distance measurement component, and the grasping robot descends.

[0015] In some embodiments, the battery box hoisting method also includes: step S1431, based on the left and right tilt states including a fourth tilt, obtaining the center point of the top surface of the battery box; wherein, the fourth tilt includes the distance measurement value of the second rangefinder being larger than the distance measurement value of the first rangefinder by a third set range; step S1432, based on obtaining the center point of the top surface of the battery box, the grasping robot moves horizontally to a position where the vertical projection of the center point of the grasping robot coincides with the position where the center point of the battery box is horizontally offset by the fourth movement value in the direction away from the distance measurement component, and the grasping robot descends.

[0016] In some embodiments, the battery box hoisting method also includes: step S1441, based on the axial tilt state including the fifth tilt or the sixth tilt, obtaining the top surface center point of the battery box; wherein, the fifth tilt includes the distance measurement value of the first rangefinder showing a trend of increasing between the third mutation and the fourth mutation; the sixth tilt includes the distance measurement value of the first rangefinder showing a trend of decreasing between the third mutation and the fourth mutation; the distance measurement value of the first rangefinder showing a trend of increasing or decreasing between the third mutation and the fourth mutation is within a fourth set range; step S1442, based on obtaining the top surface center point of the battery box, the grasping robot descends.

[0017] In some embodiments, the angle between the first rangefinder and the second rangefinder includes a fifth setting range.

[0018] In some embodiments, the step S15 includes: step S151, based on obtaining the center point of the top surface of the battery box, the grasping robot moves horizontally; step S152, based on the grasping robot moving horizontally to the position where the vertical projection of the center point of the grasping robot coincides with the position where the center point of the battery box is horizontally offset by a first movement value toward the front of the vehicle, the grasping robot descends at a first speed; step S153, based on the grasping robot descending at the first speed until the guide part abuts against the lifting part, the grasping robot descends at a second speed; wherein, the second speed is less than the first speed.

[0019] In some embodiments, step S11 includes: step S111, based on the battery swapping vehicle entering the battery swapping area and the ranging value of the first rangefinder mutates for the first time, the driver steps on the brake pedal of the battery swapping vehicle; step S112, based on the battery swapping vehicle stopping, obtaining the number of times the ranging value of the first rangefinder mutates; step S113, based on the number N1 of times the ranging value of the first rangefinder mutates is greater than 2, the first rangefinder moves horizontally toward the front of the vehicle until the ranging value of the first rangefinder mutates N1-2 times.

[0020] In a second aspect, the present invention provides a battery box hoisting device, comprising:

[0021] A battery-swap vehicle, comprising a front end, a body, and a battery box; the front end is detachably connected to the body; the battery box is detachably connected to the front end; the battery box comprises a battery body, a hoisting portion, and a battery cell; the hoisting portion is fixedly connected to the top of the battery body; the battery cell is detachably connected to the battery body;

[0022] The distance measuring component includes a base, a first rangefinder, a second rangefinder, and a first driving unit; the first rangefinder is movably connected to the base; the second rangefinder is movably connected to the base; the first driving unit is drivably connected to the first rangefinder; the first driving unit drives the first rangefinder to move horizontally; the first driving unit is drivably connected to the second rangefinder; the first driving unit drives the second rangefinder to move horizontally;

[0023] The lifting mechanism is a lifting mechanism, and the lifting mechanism is a lifting mechanism, and a lifting mechanism is installed in the lifting position along the lifting line, and the lifting position is detachable, so that the lifting seat can be lifted up and down by the lifting member.

[0024] A control unit is electrically connected to the grasping robot; the control unit is electrically connected to the distance measuring component.

[0025] To solve the problem of how to grab a tilted battery box, the present invention has the following advantages:

[0026] The battery compartment of a battery swapping vehicle may tilt due to vibrations during driving, uneven cargo weights, or uneven ground at the battery swapping station. When a battery swapping vehicle enters and stops at the battery swapping area, the first and second measurement data can determine the vehicle's position. If the number of sudden changes in the first and second rangefinder's ranging values ​​(N1 and N2) are both less than or equal to two, the control unit can determine that the first and second rangefinders are measuring at a location close to the front of the vehicle and that the battery compartment is not detected. This facilitates the first and second rangefinders to scan the battery compartment, thereby accurately determining the battery compartment's tilt. When the battery compartment is in the first tilted state, tilting forward and backward, the gripper robot can first horizontally move to the center of the battery compartment, offset horizontally by a first movement value toward the front of the vehicle, and then descend to the lifting seat to abut the lifting portion. In this way, even if the battery compartment is tilted, the gripper robot can achieve accurate and stable gripping and complete battery compartment lifting. It can also reduce the gripper robot's swing during horizontal movement, improving the gripper robot's stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] FIG1 shows a schematic diagram of a battery box hoisting method according to an embodiment;

[0028] FIG2 shows a schematic diagram of a battery box lifting device according to an embodiment;

[0029] FIG3 shows a schematic diagram of a battery box lifting device according to another embodiment;

[0030] FIG4 shows a schematic diagram of a battery-swap vehicle according to an embodiment.

[0031] Figure numerals: 10 battery-swapping vehicle; 11 front of the vehicle; 12 vehicle body; 13 battery box; 131 battery body; 132 lifting part; 133 battery cell; 20 distance measuring component; 21 base; 22 first distance measuring device; 23 second distance measuring device; 24 first driving part; 30 grasping robot; 31 hanging seat; 32 moving unit; 321 second driving part; 322 moving seat; 33 lifting unit; 331 third driving part; 332 pulley; 333 cable; 334 grasping part; 335 guide part; 336 lifting seat; 40 control unit. DETAILED DESCRIPTION

[0032] The present disclosure will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and implement the present disclosure, rather than to imply any limitation on the scope of the present disclosure.

[0033] As used herein, the term "including" and its variations are to be interpreted as open-ended terms meaning "including, but not limited to." The term "based on" is to be interpreted as "based, at least in part, on." The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment." The term "another embodiment" is to be interpreted as "at least one other embodiment." Terms such as "upper," "lower," "left," "right," "front," "back," "top," "bottom," "inner," "outer," "vertical," "horizontal," "transverse," and "longitudinal" indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. These terms are primarily intended to better describe the present application and its embodiments and are not intended to limit the devices, elements, or components indicated to having a specific orientation, or to being constructed and operated in a specific orientation. Furthermore, some of the above terms may be used to indicate other meanings besides orientation or positional relationships. For example, the term "on" may, in certain circumstances, be used to indicate a dependency or connection relationship. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances. Furthermore, the terms "installed," "disposed," "provided with," "connected," and "connected" are to be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection, an indirect connection through an intermediate medium, or an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances. In addition, the terms "first", "second", etc. are mainly used to distinguish different devices, elements, or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance or quantity of the indicated devices, elements, or components. Unless otherwise specified, "plurality" means two or more.

[0034] This embodiment discloses a battery box hoisting method, as shown in FIG1 , which may include:

[0035] Step S11: Based on the battery swapping vehicle 10 entering and stopping in the battery swapping area, obtain the first measurement data of the first rangefinder 22 and the second measurement data of the second rangefinder 23; wherein the first measurement data includes the number of sudden changes N1 in the distance measurement value of the first rangefinder 22; the second measurement data includes the number of sudden changes N2 in the distance measurement value of the second rangefinder 23; the sudden change includes the change of the distance measurement value that is greater than the first set range within the first set time;

[0036] Step S12: Based on the fact that N1 and N2 are respectively less than or equal to two, the first rangefinder 22 and the second rangefinder 23 are driven to move toward the body 12 of the battery-swapping vehicle 10 until the ranging values ​​of the first rangefinder 22 and the second rangefinder 23 respectively undergo a fourth mutation, and then stop to obtain the first measurement data and the second measurement data; wherein the measurement position of the second rangefinder 23 during the measurement process is higher than the measurement position of the first rangefinder 22 during the measurement process;

[0037] Step S13, obtaining the tilt state of the battery box 13 based on the first measurement data and the second measurement data;

[0038] Step S14: obtaining the center point of the top surface of the battery box 13 based on the first tilt state including the front-back tilt state; wherein the first tilt state includes the distance measurement value of the first rangefinder 22 undergoing a third sudden change before the distance measurement value of the second rangefinder 23; and the distance moved by the first rangefinder 22 during the time from the third sudden change in the distance measurement value of the first rangefinder 22 to the third sudden change in the distance measurement value of the second rangefinder 23 being within a second set range;

[0039] Step S15: Based on the center point of the top surface of the battery box 13, the grasping robot 30 moves horizontally until the vertical projection of the center point of the grasping robot 30 coincides with the position of the center point of the battery box 13 horizontally offset by the first movement value toward the vehicle head 11, and the grasping robot 30 descends;

[0040] In step S16 , the grasping robot 30 grasps the hanging part 132 when the grasping robot 30 descends until the bottom surface of the lifting base 336 of the grasping robot 30 abuts against the top surface of the hanging part 132 of the battery.

[0041] In this embodiment, the battery-swapping vehicle 10 can generally use two battery-swapping methods: hoisting and lateral. The lateral battery-swapping method places higher demands on the battery-swapping equipment when replacing a heavy battery box 13, and the control logic is more complex. The hoisting battery-swapping method is simpler in structure and has simpler control logic than the lateral battery-swapping method, so hoisting battery-swapping is more widely used. As shown in Figure 2, the battery box 13 hoisting device may include a distance measuring component 20, a gripping robot 30, and a control unit 40. The control unit 40 may be electrically connected to the distance measuring component 20 and the gripping robot 30, respectively, so that the distance measuring component 20 and the gripping robot 30 can work according to a predetermined program and successfully complete the lifting of the battery box 13. The distance measuring component 20 may include a base 21, a first rangefinder 22, a second rangefinder 23, and a first drive unit 24. The first rangefinder 22 may be movably connected to the base 21. The first drive unit 24 may drive the first rangefinder 22 to move horizontally on the base 21. The second rangefinder 23 can be movably connected to the base 21. The first driving unit 24 can drive the second rangefinder 23 to move horizontally on the base 21. The grasping robot 30 may include a hanging seat 31, a moving unit 32, and a lifting unit 33. The moving unit 32 can be movably connected to the hanging seat 31, and can move horizontally according to the instructions of the control unit 40. The moving unit 32 can be movably connected to the lifting unit 33, and can be raised and lowered according to the instructions of the control unit 40. The vibration generated by the battery swap vehicle 10 during driving and the uneven weight distribution of the goods loaded on the battery swap vehicle 10 may cause the battery box 13 of the battery swap vehicle 10 to tilt. In order to ensure that the grasping robot 30 can still firmly grasp the battery box 13 when the battery box 13 is tilted, a battery box 13 lifting method is proposed.

[0042] As shown in FIG. 1 , the method for hoisting the battery box 13 may include steps S11 to S16 , and each step will be described in detail below.

[0043] In step S11, when the driver operates the battery-swapping vehicle 10 to enter and stop in the battery-swapping area in the direction in which the front end 11 takes precedence over the body 12, the control unit 40 can begin to obtain the number of sudden changes in the distance measurement value of the first rangefinder 22 (i.e., the first measurement data of the first rangefinder 22), and the second measurement data including the number of sudden changes in the distance measurement value of the second rangefinder 23 (i.e., the second measurement data of the second rangefinder 23), so that the control unit 40 can make a correct judgment on the next instruction based on the first measurement data and the second measurement data. The sudden change in the distance measurement value of the first rangefinder 22 can include the distance measurement value of the first rangefinder 22 changing within a first set range (the first set range can be greater than 1 meter) within a first set time (the first set time can be 0.3~0.5 seconds), thereby determining the position of the battery-swapping vehicle 10 and providing analysis data for the hoisting of the battery box 13.

[0044] In step S12, when the number of mutations N1 of the ranging value of the first rangefinder 22 and the number of mutations N2 of the ranging value of the second rangefinder 23 are respectively less than or equal to two, the control unit 40 can determine that the measurement positions of the first rangefinder 22 and the second rangefinder 23 are at the position where the battery box 13 is close to the front of the vehicle 11, and the battery box 13 is not detected. The control unit 40 can then control the first drive unit 24 to drive the first rangefinder 22 and the second rangefinder 23 to move toward the body 12 of the battery-swap vehicle 10 until the ranging values ​​of the first rangefinder 22 and the second rangefinder 23 respectively mutate for the fourth time, and the control unit 40 can stop the first rangefinder 22 and the second rangefinder 23 from moving. During the movement of the first rangefinder 22 and the second rangefinder 23, the control unit 40 can continuously obtain the first measurement data and the second measurement data, which can provide a reference for the next step. In order to have an accurate judgment result on the tilt state of the battery box 13, the measuring position of the second rangefinder 23 during the measurement process can be made higher than the measuring position of the first rangefinder 22 during the measurement process. This method can also avoid the abnormality of part of the surface of the battery box 13 causing the first measurement data and the second measurement data to be inaccurate, thereby ensuring that the control unit 40 makes an accurate judgment on the tilt state of the battery box 13.

[0045] In step S13, the control unit 40 can obtain the tilt state of the battery box 13 based on the first measurement data and the second measurement data, so as to accurately control the motion trajectory of the grasping robot 30, and ensure that no unnecessary swing occurs during the lifting process of the battery box 13, thereby avoiding damage to the battery box 13.

[0046] In step S14, when the distance measured by the first rangefinder 22 undergoes a third mutation before the distance measured by the second rangefinder 23, and the distance moved by the first rangefinder 22 is within the second set range (the second set range can be 0.05 to 0.2 meters) during the time from the third mutation of the distance measured by the first rangefinder 22 to the third mutation of the distance measured by the second rangefinder 23, the control unit 40 can determine that the current tilt state of the battery box 13 is the first tilt state of the front-to-back tilt state. The center point of the top surface of the battery box 13 can then be obtained to provide a reference point for analyzing the moving direction and distance of the grasping robot 30. At this time, the corner of the battery box 13 close to the ground on the side close to the front of the vehicle 11 is further away from the vehicle body 12 than the corner of the battery box 13 close to the ground on the side close to the front of the vehicle 11. In other embodiments, when the distance measurement value of the first rangefinder 22 undergoes a third mutation before the distance measurement value of the second rangefinder 23, and the distance moved by the first rangefinder 22 is less than 0.05 meters during the time from the third mutation of the distance measurement value of the first rangefinder 22 to the third mutation of the distance measurement value of the second rangefinder 23, the control unit 40 may deem that the battery box 13 has not tilted; when the distance measurement value of the first rangefinder 22 undergoes a third mutation before the distance measurement value of the second rangefinder 23, and the distance moved by the first rangefinder 22 is greater than 0.2 meters during the time from the third mutation of the distance measurement value of the first rangefinder 22 to the third mutation of the distance measurement value of the second rangefinder 23, the control unit 40 may deem that the tilt angle of the battery box 13 is too large, and issue a warning signal to request manual intervention, so as to prevent accidents during the lifting process of the battery box 13.

[0047] In step S15, after the control unit 40 obtains the center point of the top surface of the battery box 13, it can use the center point of the top surface of the battery box 13 as a reference area for the grasping robot 30. The grasping robot 30 can be controlled to move horizontally until the vertical projection of the grasping robot 30's center point coincides with the position of the center point of the battery box 13 horizontally offset by a first displacement value (the first displacement value can be 0.05-0.2 meters) toward the vehicle front 11. Then, the lifting unit 33 of the grasping robot 30 is controlled to descend. In this manner, after the lifting unit 33 descends until it abuts the hanging portion 132 of the battery box 13 and continues to descend, the guide portion 335 of the lifting unit 33 can slide along the top surface of the hanging portion 132 toward the vehicle body 12. During this sliding process, the guide portion 335 can gradually enter the hanging portion 132, allowing the grasping portion 334 of the lifting unit 33 to firmly grasp the hanging portion 132, thereby preventing the battery box 13 from shaking during the lifting process and causing damage to the battery box 13.

[0048] In step S16, when the control component controls the grasping robot 30 to descend until the bottom surface of the lifting seat 336 of the grasping robot 30 abuts the top surface of the lifting part 132 of the battery, the control component can consider that the grasping robot 30 has moved to a position where it can be grasped stably. The grasping robot 30 can grasp the lifting part 132 so that the battery box 13 and the lifting seat 336 can be relatively fixed, thereby ensuring stability during the lifting process.

[0049] In some embodiments, step S13 includes: step S131, obtaining the front and rear tilt state of the battery box 13 based on the first measurement data and the second measurement data; wherein the front and rear tilt state includes the first tilt state; step S132, obtaining the left and right tilt state of the battery box 13 based on the first measurement data, the second measurement data, and the front and rear tilt state; step S133, obtaining the axial tilt state of the battery box 13 based on the first measurement data, the second measurement data, the front and rear tilt state, and the left and right tilt states.

[0050] In this embodiment, step S13 may include steps S131 to S133 , and each step will be described in detail below.

[0051] In step S131, after the control unit 40 obtains the first measurement data of the first rangefinder 22 and the second measurement data of the second rangefinder 23, it can be analyzed that the current front and rear tilt state of the battery box 13 is the first tilt state, which provides a reference for the subsequent control strategy of the grasping robot 30, thereby ensuring that the grasping robot 30 can also stably complete the lifting work when the battery box 13 is in a tilted state.

[0052] In step S132, after the control unit 40 obtains the first measurement data, the second measurement data, and the front and rear tilt states, it can obtain the left and right tilt states of the current battery box 13, and provide reference data for the moving direction of the grasping robot 30 to ensure that the battery box 13 can be successfully lifted even in a tilted state.

[0053] In step S133, after the control unit 40 obtains the first measurement data, the second measurement data, the front and rear tilt state, and the left and right tilt state, the axial tilt state of the current battery box 13 can be obtained. The front and rear tilt state, the left and right tilt state, and the axial tilt state can be obtained in sequence during a single movement of the first rangefinder 22 and the second rangefinder 23. While ensuring a smooth lifting process of the battery box 13, the efficiency of battery replacement can be improved.

[0054] In some embodiments, the method for hoisting the battery box 13 also includes: step S1411, based on the front and rear tilt states including the second tilt, obtaining the top surface center point of the battery box 13; wherein, the second tilt includes the distance measurement value of the second rangefinder 23 undergoing a third mutation before the distance measurement value of the first rangefinder 22; the distance moved by the first rangefinder 22 during the time from the third mutation of the distance measurement value of the second rangefinder 23 to the third mutation of the distance measurement value of the first rangefinder 22 is within a second set range; step S1412, based on obtaining the top surface center point of the battery box 13, the grasping robot 30 moves horizontally until the vertical projection of the center point of the grasping robot 30 coincides with the position where the center point of the battery box 13 is horizontally offset by the second movement value toward the vehicle body 12, and the grasping robot 30 descends.

[0055] In this embodiment, the method for hoisting the battery box 13 may further include step S1411 and step S1412, and each step will be described in detail below.

[0056] In step S1411, when the second tilt includes the third sudden change in the distance measured by the second rangefinder 23 before the third sudden change in the distance measured by the first rangefinder 22, and the distance moved by the first rangefinder 22 between the third sudden change in the distance measured by the second rangefinder 23 and the third sudden change in the distance measured by the first rangefinder 22 is within a second set range (the second set range may be 0.05 to 0.2 meters), the control unit 40 may obtain the center point of the top surface of the battery box 13 to provide a reference point for analyzing the movement direction and distance of the grasping robot 30. At this time, the corner of the battery box 13 on the side closer to the front of the vehicle 11 and farther from the ground is further away from the vehicle body 12 than the corner of the battery box 13 on the side closer to the ground and farther from the vehicle body 12. In other embodiments, when the distance measurement value of the second rangefinder 23 undergoes a third mutation before the distance measurement value of the first rangefinder 22, and the distance moved by the first rangefinder 22 during the time from the third mutation of the distance measurement value of the second rangefinder 23 to the third mutation of the distance measurement value of the first rangefinder 22 is less than 0.05 meters, the control unit 40 may deem that the battery box 13 has not tilted; when the distance measurement value of the second rangefinder 23 undergoes a third mutation before the distance measurement value of the first rangefinder 22, and the distance moved by the first rangefinder 22 during the time from the third mutation of the distance measurement value of the second rangefinder 23 to the third mutation of the distance measurement value of the first rangefinder 22 is greater than 0.2 meters, the control unit 40 may deem that the tilt angle of the battery box 13 is too large, and issue a warning signal to request manual intervention, so as to prevent accidents during the lifting process of the battery box 13.

[0057] In step S1412, after the control component obtains the center point of the top surface of the battery box 13, it can use the center point of the top surface of the battery box 13 as a reference area for the grasping robot 30. The grasping robot 30 can be controlled to move horizontally until the vertical projection of the grasping robot 30's center point coincides with the position of the center point of the battery box 13 horizontally offset by a second displacement value (the second displacement value can be 0.05 to 0.2 meters) toward the vehicle body 12. Then, the lifting unit 33 of the grasping robot 30 is controlled to descend. In this manner, after the lifting unit 33 descends until it abuts the hoisting portion 132 of the battery box 13 and continues to descend, the guide portion 335 of the lifting unit 33 can slide along the top surface of the hoisting portion 132 toward the vehicle front 11. During this sliding process, the guide portion 335 can gradually enter the hoisting portion 132, allowing the grasping portion 334 of the lifting unit 33 to firmly grasp the hoisting portion 132, thereby achieving hoisting of the tilted battery box 13.

[0058] In some embodiments, the method for hoisting the battery box 13 also includes: step S1421, based on the left and right tilt states including the third tilt, obtaining the center point of the top surface of the battery box 13; wherein the third tilt includes the distance measurement value of the first rangefinder 22 being larger than the distance measurement value of the second rangefinder 23 by a third set range; step S1422, based on obtaining the center point of the top surface of the battery box 13, the grasping robot 30 moves horizontally to the position where the vertical projection of the center point of the grasping robot 30 coincides with the position where the center point of the battery box 13 is horizontally offset by the third movement value in the direction close to the distance measuring component 20, and the grasping robot 30 descends.

[0059] In this embodiment, the method for hoisting the battery box 13 may further include step S1421 and step S1422, and each step will be described in detail below.

[0060] In step S1421, when the distance measurement value of the first rangefinder 22 is the distance measurement value of the second rangefinder 23 plus a third set range (the third set range can be 0.05-0.15 meters), the control unit 40 can determine that the current left and right tilt state of the battery compartment 13 includes the third tilt. The control unit 40 can then obtain the center point of the top surface of the battery compartment 13, providing a reference point for analyzing the movement direction and distance of the grasping robot 30. At this time, the side of the battery compartment 13 farther from the ground is closer to the distance measurement component 20 than the side of the battery compartment 13 closer to the ground. In other embodiments, when the distance measurement value of the first rangefinder 22 is greater than the distance measurement value of the second rangefinder 23 plus 0.15 meters, the control unit 40 can determine that the battery compartment 13 tilt angle is excessive and issue a warning signal requesting manual intervention to prevent accidents during the lifting of the battery compartment 13. When the distance measurement value of the first rangefinder 22 is less than the distance measurement value of the second rangefinder 23 plus 0.05 meters, the control unit 40 can determine that the battery compartment 13 is not tilted.

[0061] In step S1422, after the control component obtains the center point of the top surface of the battery box 13, it can use the center point of the top surface of the battery box 13 as a reference area for the grasping robot 30. The grasping robot 30 can be controlled to move horizontally until the vertical projection of the center point of the grasping robot 30 coincides with the position where the center point of the battery box 13 is horizontally offset by a third displacement value (the third displacement value can be 0.05-0.15 meters) in a direction closer to the distance measuring component 20. Then, the lifting unit 33 of the grasping robot 30 is controlled to descend. In this manner, after the lifting unit 33 descends until it abuts the hanging portion 132 of the battery box 13 and continues to descend, the guide portion 335 of the lifting unit 33 can slide along the top surface of the hanging portion 132 toward the distance measuring component 20. During this sliding process, the guide portion 335 can gradually enter the hanging portion 132, allowing the grasping portion 334 of the lifting unit 33 to firmly grasp the hanging portion 132, thereby achieving the lifting of the tilted battery box 13.

[0062] In some embodiments, the method for hoisting the battery box 13 also includes: step S1431, based on the left and right tilt states including the fourth tilt, obtaining the center point of the top surface of the battery box 13; wherein the fourth tilt includes the distance measurement value of the second rangefinder 23 being larger than the distance measurement value of the first rangefinder 22 by a third set range; step S1432, based on obtaining the center point of the top surface of the battery box 13, the grasping robot 30 moves horizontally to the position where the vertical projection of the center point of the grasping robot 30 coincides with the position where the center point of the battery box 13 is horizontally offset by the fourth movement value in the direction away from the distance measuring component 20, and the grasping robot 30 descends.

[0063] In this embodiment, the method for hoisting the battery box 13 may further include step S1431 and step S1432, and each step will be described in detail below.

[0064] In step S1431, when the distance measurement value of the second rangefinder 23 is the distance measurement value of the first rangefinder 22 plus a third set range (the third set range can be 0.05-0.15 meters), the control unit 40 can determine that the current left and right tilt state of the battery box 13 includes a fourth tilt. The control unit 40 can then obtain the center point of the top surface of the battery box 13 to provide a reference point for analyzing the movement direction and distance of the grasping robot 30. At this point, the side of the battery box 13 closer to the ground is closer to the distance measurement component 20 than the side farther from the ground. In other embodiments, when the distance measurement value of the second rangefinder 23 is greater than the distance measurement value of the first rangefinder 22 plus 0.15 meters, the control unit 40 can determine that the battery box 13 tilt angle is too large and issue a warning signal requesting manual intervention to prevent accidents during the lifting of the battery box 13. When the distance measurement value of the second rangefinder 23 is less than the distance measurement value of the first rangefinder 22 plus 0.05 meters, the control unit 40 can determine that the battery box 13 is not tilted.

[0065] In step S1432, after the control component obtains the center point of the top surface of the battery box 13, it can use the center point of the top surface of the battery box 13 as a reference area for the grasping robot 30. The grasping robot 30 can be controlled to move horizontally until the vertical projection of the center point of the grasping robot 30 coincides with the position of the center point of the battery box 13 horizontally offset by a fourth movement value (the fourth movement value can be 0.05-0.15 meters) in a direction away from the distance measuring component 20. Then, the lifting unit 33 of the grasping robot 30 is controlled to descend. In this manner, after the lifting unit 33 descends until it abuts the hanging portion 132 of the battery box 13 and continues to descend, the guide portion 335 of the lifting unit 33 can slide along the top surface of the hanging portion 132 in a direction away from the distance measuring component 20. During this sliding process, the guide portion 335 can gradually enter the hanging portion 132, allowing the grasping portion 334 of the lifting unit 33 to firmly grasp the hanging portion 132, thereby achieving the lifting of the tilted battery box 13.

[0066] In some embodiments, the method for hoisting the battery box 13 also includes: step S1441, based on the axial tilt state including the fifth tilt or the sixth tilt, obtaining the top surface center point of the battery box 13; wherein, the fifth tilt includes the distance measurement value of the first rangefinder 22 showing a trend of increasing between the third mutation and the fourth mutation; the sixth tilt includes the distance measurement value of the first rangefinder 22 showing a trend of decreasing between the third mutation and the fourth mutation; the distance measurement value of the first rangefinder 22 showing a trend of increasing or decreasing between the third mutation and the fourth mutation is within a fourth set range; step S1442, based on obtaining the top surface center point of the battery box 13, the grasping robot 30 descends.

[0067] In this embodiment, the method for hoisting the battery box 13 may further include step S1441 and step S1442.

[0068] In step S1441, when the ranging value of the first rangefinder 22 shows a trend of increasing between the third mutation and the fourth mutation, and the ranging value of the first rangefinder 22 shows a trend of increasing between the third mutation and the fourth mutation and is within a fourth setting range (the fourth setting range may be 0.05 to 0.25 meters), the control unit 40 may determine that the axial tilt state of the battery box 13 includes a fifth tilt, and at this time, the end of the battery box 13 closer to the front 11 is closer to the ranging component 20 than the end of the battery box 13 closer to the vehicle body 12; when the ranging value of the first rangefinder 22 shows a trend of decreasing between the third mutation and the fourth mutation, and the ranging value of the first rangefinder 22 shows a trend of decreasing between the third mutation and the fourth mutation and is within the fourth setting range, the control unit 40 may determine that the axial tilt state of the battery box 13 includes a sixth tilt, and at this time, the end of the battery box 13 closer to the vehicle body 12 is closer to the ranging component 20 than the end of the battery box 13 closer to the vehicle front 11. When the axial tilt state includes the fifth or sixth tilt, the control unit 40 can obtain the center point of the top surface of the battery box 13 to provide a reference point for analyzing the movement direction and distance of the grasping robot 30. In other embodiments, if the range value of the first rangefinder 22 increases or decreases by more than 0.25 meters between the third and fourth mutations, the control unit 40 may determine that the tilt angle of the battery box 13 is too large and issue a warning signal to request manual intervention, thereby preventing accidents during the lifting of the battery box 13.

[0069] In step S1442, since the top surface of the battery box 13 is not tilted relative to the horizontal plane, after the control unit 40 obtains the center point of the top surface of the battery box 13, the grasping robot 30 can descend directly. During the descent, the arc portion of the guide part 335 can play a guiding role, allowing the guide part 335 to gradually enter the hoisting part 132, so that the grasping part 334 of the lifting unit 33 can firmly grasp the hoisting part 132, thereby avoiding the battery box 13 from shaking during the hoisting process and causing damage to the battery box 13.

[0070] In some embodiments, the angle between the first rangefinder 22 and the second rangefinder 23 includes a fifth setting range.

[0071] In this embodiment, while the battery-swap vehicle 10 is driving, foreign matter may adhere to the battery box 13, or the surface may be impacted, causing the surface of the battery box 13 to become abnormal, thereby affecting the first measurement data and the second measurement data. To avoid the first measurement data and the second measurement data being affected at the same time, the angle between the first rangefinder 22 and the second rangefinder 23 may include a fifth setting range (the fifth setting range may be 40°~70°), so that the control unit 40 can make a correct judgment on the tilt state of the battery box 13, thereby avoiding damage to the battery box 13 during the lifting process.

[0072] In some embodiments, step S15 includes: step S151, based on obtaining the center point of the top surface of the battery box 13, the grasping robot 30 moves horizontally; step S152, based on the grasping robot 30 moving horizontally until the vertical projection of the center point of the grasping robot 30 coincides with the position of the center point of the battery box 13 horizontally offset by the first movement value toward the front of the vehicle 11, the grasping robot 30 descends at a first speed; step S153, based on the grasping robot 30 descending at the first speed until the guide part 335 abuts against the lifting part 132, the grasping robot 30 descends at a second speed; wherein the second speed is less than the first speed.

[0073] In this embodiment, step S15 may include steps S151 to S153 , and each step will be described in detail below.

[0074] In step S151, after the control unit 40 obtains the center point of the top surface of the battery box 13, the center point of the top surface of the battery box 13 can provide analysis data for the moving direction and moving distance of the grasping robot 30, and then the control unit 40 can control the horizontal movement of the grasping robot 30 according to the analysis results, waiting for the control unit 40 to issue a descending command.

[0075] In step S152, when the grasping robot 30 moves horizontally to the point where the vertical projection of the center point of the grasping robot 30 coincides with the position where the center point of the battery box 13 is horizontally offset by the first movement value toward the vehicle head 11, the control unit 40 determines that the horizontal position of the grasping robot 30 is accurate and then controls the lifting unit 33 of the grasping robot 30 to descend at the first speed. This reduces the shaking of the grasping robot 30 during movement, thereby improving the accuracy of the grasping robot 30 in grasping the battery box 13.

[0076] In step S153, after the lifting unit 33 descends at a first speed until the guide portion 335 contacts the hoisting portion 132, the control unit 40 can slow the lifting unit 33 down to a second speed (the second speed can be lower than the first speed). The first speed can improve the efficiency of hoisting the battery box 13, and the second speed can improve the stability of hoisting the battery box 13, thereby stably completing the hoisting work of more battery swap vehicles 10 per unit time.

[0077] In some embodiments, step S11 includes: step S111, based on the battery-swapping vehicle 10 entering the battery-swapping area and the distance measurement value of the first rangefinder 22 suddenly changes for the first time, the driver steps on the brake pedal of the battery-swapping vehicle 10; step S112, based on the battery-swapping vehicle 10 stopping, obtaining the number of sudden changes in the distance measurement value of the first rangefinder 22; step S113, based on the number N1 of sudden changes in the distance measurement value of the first rangefinder 22 being greater than 2, the first rangefinder 22 moves horizontally toward the front of the vehicle 11 until the distance measurement value of the first rangefinder 22 mutates N1-2 times.

[0078] In this embodiment, step S11 may include steps S111 to S113 , and each step will be described in detail below.

[0079] In step S111, when the battery-swapping vehicle 10 enters the battery-swapping area with its front end 11 first, and reaches the measuring position where the front end 11 of the battery-swapping vehicle 10 away from the vehicle body 12 contacts the first rangefinder 22, the distance measurement value of the first rangefinder 22 may undergo a first mutation. At this time, the control unit 40 may prompt the driver to start braking. After receiving the prompt, the driver may step on the brake pedal to allow the battery-swapping vehicle 10 to complete parking with a shorter braking distance. This may facilitate the distance measuring component 20 to analyze the tilt state of the battery box 13 and the grasping robot 30 to grasp the battery box 13.

[0080] In step S112, when the driver operates the battery-swap vehicle 10 to stop and apply the parking brake, the control unit 40 can obtain the number of times the distance measurement value of the first rangefinder 22 changes suddenly, thereby determining whether the position illuminated by the first rangefinder 22 can complete the analysis of the tilt state of the battery box 13.

[0081] In step S113, if the number N1 of sudden changes in the distance measurement value of the first rangefinder 22 is greater than 2, the control unit 40 may determine that the measurement position of the first rangefinder 22 is on the surface of the battery compartment 13 or on the side of the battery compartment 13 close to the vehicle body 12, and that it is unable to complete the scan of the side of the battery compartment 13 close to the distance measurement component 20 to obtain the accurate tilt state of the battery compartment 13. In this case, the first rangefinder 22 may be controlled to move horizontally toward the front of the vehicle 11 until the distance measurement value of the first rangefinder 22 undergoes N1-2 sudden changes, so that the measurement position of the first rangefinder 22 is between the battery compartment 13 and the front of the vehicle 11. This facilitates the completion of the scan of the side of the battery compartment 13 close to the distance measurement component 20, and facilitates the control unit 40's determination of the tilt state of the battery compartment 13.

[0082] In this embodiment, a lateral battery exchange device is provided.

[0083] The battery-swapping vehicle 10 includes a front 11, a body 12, and a battery box 13; the front 11 is detachably connected to the body 12; the battery box 13 is detachably connected to the front 11; the battery box 13 includes a battery body 131, a hoisting portion 132, and a battery cell 133; the hoisting portion 132 is fixedly connected to the top of the battery body 131; the battery cell 133 is detachably connected to the battery body 131;

[0084] The distance measuring component 20 includes a base 21, a first rangefinder 22, a second rangefinder 23, and a first driving unit 24. The first rangefinder 22 is movably connected to the base 21. The second rangefinder 23 is movably connected to the base 21. The first driving unit 24 is drivably connected to the first rangefinder 22. The first driving unit 24 drives the first rangefinder 22 to move horizontally. The first driving unit 24 is drivably connected to the second rangefinder 23. The first driving unit 24 drives the second rangefinder 23 to move horizontally.

[0085] The grabbing robot 30 includes a hanging seat 31, a mobile unit 32, and a lifting unit 33; the hanging seat 31 is movably connected to the mobile unit 32; the lifting unit 33 is movably connected to the mobile unit 32; the mobile unit 32 includes a second driving portion 321 and a mobile seat 322; the mobile seat 322 is movably connected to the hanging seat 31; the second driving portion 321 is drivably connected to the mobile seat 322, and the second driving portion 321 drives the mobile seat 322 to move horizontally; the lifting unit 33 includes a third driving portion 331, a pulley 332, a cable 333, a grabbing portion 334, a guide portion 335, a lifting seat 336, fourth driving unit; lifting seat 336 is detachably connected to pulley 332; third driving unit 331 is drivingly connected to pulley 332; one end of cable 333 is detachably connected to pulley 332, and the other end is detachably connected to movable seat 322; third driving unit 331 drives pulley 332 to tighten or release cable 333, thereby raising or lowering lifting seat 336; guide unit 335 is detachably connected to lifting seat 336; grabbing unit 334 is movably connected to lifting seat 336; fourth driving unit is drivingly connected to grabbing unit 334, and fourth driving unit drives grabbing unit 334 to realize grabbing function;

[0086] The control unit 40 is electrically connected to the grasping robot 30 ; the control unit 40 is electrically connected to the distance measuring component 20 .

[0087] In this embodiment, the battery box 13 lifting device may include a battery swap vehicle 10, a distance measuring component 20, a grasping robot 30, and a control unit 40. The control unit 40 may be electrically connected to the grasping robot 30, so that the grasping robot 30 can achieve stable and efficient lifting of the battery box 13 according to a preset program in the control unit 40. The control unit 40 may be electrically connected to the distance measuring component 20, so that the distance measuring component 20 can achieve accurate judgment of the tilt state of the battery box 13 according to the preset program in the control unit, thereby ensuring that the grasping robot 30 can accurately grasp the battery box 13.

[0088] As shown in Figure 4, the battery swap vehicle 10 may include a front 11, a body 12, and a battery box 13. The front 11 can be used to provide power, and the body 12 can be used to carry the battery box 13 and cargo. The front 11 can be detachably connected to the body, so that the front 11 can be combined with different types of bodies. The battery box 13 may include a battery body 131, a hoisting part 132, and a battery cell 133. The battery body 131 can be detachably connected to the battery cell 133, and the battery cell 133 can be accommodated in the internal cavity of the battery body 131, so that the battery body 131 protects the battery cell 133, and damaged battery cells 133 can also be quickly replaced. The hoisting part 132 can be fixedly connected to the top of the battery body 131. The fixed connection as an integrated method can improve the overall strength of the battery box 13 and improve the safety during the battery hoisting process.

[0089] As shown in Figures 2 and 3, the distance measuring component 20 includes a base 21, a first distance measuring device 22, a second distance measuring device 23, and a first driving unit 24. The first distance measuring device 22 is movably connected to the base 21, allowing the first distance measuring device 22 to move according to the instructions of the control unit 40, thereby accurately collecting the tilt state of the battery compartment 13. The second distance measuring device 23 is movably connected to the base 21, allowing the second distance measuring device 23 to move according to the instructions of the control unit 40, thereby accurately collecting the tilt state of the battery compartment 13. The first driving unit 24 is drivably connected to the first distance measuring device 22, driving the first distance measuring device 22 to move horizontally. Under the instructions of the control unit 40, the first distance measuring device 22 can provide power to the first distance measuring device 22, thereby achieving horizontal movement of the first distance measuring device 22. The first driving unit 24 is drivably connected to the second distance measuring device 23, driving the second distance measuring device 23 to move horizontally. Under the instructions of the control unit 40, the second distance measuring device 23 can provide power to the second distance measuring device 23, thereby achieving horizontal movement of the second distance measuring device 23.

[0090] The grasping robot 30 includes a hanging seat 31, a moving unit 32, and a lifting unit 33. The moving unit 32 can be movably connected to the hanging seat 31, and the moving unit 32 can move horizontally on the hanging seat 31. The lifting unit 33 can be movably connected to the moving unit 32, so that the lifting unit 33 can move in the vertical direction. The moving unit 32 can include a second driving unit 321 and a moving seat 322. The second driving unit 321 can be drivably connected to the moving seat 322, so that the second driving unit 321 can provide driving force for the moving seat 322 to move horizontally on the hanging seat 31, so that the moving seat 322 can move horizontally according to the instructions of the control unit 40. The lifting unit 33 can include a third driving unit 331, a pulley 332, a cable 333, a grasping unit 334, a guide unit 335, a lifting seat 336, and a fourth driving unit. Because pulley 332 is subject to greater wear during the lifting process than lifting seat 336, lifting seat 336 can be detachably connected to pulley 332 to facilitate maintenance of pulley 332. One end of cable 333 can be detachably connected to pulley 332, and the other end can be detachably connected to movable seat 322. Third driving unit 331 can be drivably connected to pulley 332 to provide rotational driving force for pulley 332. Third driving unit 331 can drive pulley 332 to rotate clockwise, winding cable 333 around the outer circumference of pulley 332, thereby raising lifting seat 336. Third driving unit 331 can drive pulley 332 to rotate clockwise, and third driving unit 331 can also drive pulley 332 to rotate counterclockwise, releasing cable 333 wound around the outer circumference of pulley 332, thereby lowering lifting seat 336. Because the guide portion 335 frequently abuts the hoisting portion 132 during the battery box 13 hoisting process, causing significant wear, the guide portion 335 can be detachably connected to the lifting seat 336 to facilitate replacement of the guide portion 335. The gripping portion 334 can be movably connected to the lifting seat 336. The fourth drive unit can be drivably connected to the gripping portion 334. When the lifting seat 336 abuts the hoisting portion 132, the control unit 40 can instruct the fourth drive unit to drive the gripping portion 334 to grasp the hoisting portion 132.

[0091] Those skilled in the art will appreciate that the above-mentioned embodiments are specific examples for implementing the present disclosure, and that in actual applications, various changes may be made thereto in form and detail without departing from the scope of the present disclosure.

Claims

1. A battery box hoisting method, characterized in that: The battery box hoisting method includes: Step S11: Based on the battery swapping vehicle entering and stopping in the battery swapping area, first measurement data of the first rangefinder and second measurement data of the second rangefinder are obtained; wherein the first measurement data includes the number of sudden changes N1 in the range value of the first rangefinder; the second measurement data includes the number of sudden changes N2 in the range value of the second rangefinder; the sudden change includes a change in the range value that is greater than a first set range within a first set time; Step S11 includes: Step S111: based on the battery-swapping vehicle entering the battery-swapping area and the distance measurement value of the first distance meter suddenly changing for the first time, the driver steps on the brake pedal of the battery-swapping vehicle; Step S112, based on the battery-swapping vehicle stopping, obtaining the number of sudden changes in the distance measurement value of the first distance meter; Step S113: based on the number N1 of sudden changes in the distance value of the first rangefinder being greater than 2, the first rangefinder is moved horizontally toward the vehicle head until the distance value of the first rangefinder undergoes N1-2 sudden changes; Step S12: based on the fact that N1 and N2 are respectively less than or equal to two, drive the first rangefinder and the second rangefinder to move toward the body direction of the battery-swapping vehicle until the ranging values ​​of the first rangefinder and the second rangefinder respectively undergo a fourth sudden change, and stop, and obtain the first measurement data and the second measurement data; wherein, the measurement position of the second rangefinder during the measurement process is higher than the measurement position of the first rangefinder during the measurement process; Step S13, obtaining a tilt state of the battery box based on the first measurement data and the second measurement data; The tilt state in step S13 includes a front-back tilt state, a left-right tilt state, and an axial tilt state; step S13 includes: Step S131, obtaining the front-to-back tilt state of the battery box based on the first measurement data and the second measurement data; wherein the front-to-back tilt state includes a first tilt state; Step S14: obtaining the center point of the top surface of the battery box based on the tilt state including a first tilt state of a front-to-back tilt state; wherein the first tilt state includes a distance measurement value of the first rangefinder undergoing a third sudden change before a distance measurement value of the second rangefinder; and a distance moved by the first rangefinder during a period from the third sudden change in the distance measurement value of the first rangefinder to the third sudden change in the distance measurement value of the second rangefinder being within a second set range; Step S15: Based on the center point of the top surface of the battery box, the grasping robot moves horizontally until the vertical projection of the center point of the grasping robot coincides with the position of the center point of the battery box horizontally offset by a first movement value toward the front of the vehicle, and the grasping robot descends; Step S16 , when the grasping robot descends until the bottom surface of the lifting seat of the grasping robot abuts against the top surface of the lifting part of the battery, the grasping robot grasps the lifting part.

2. A battery box hoisting method according to claim 1, characterized in that: The step S13 further includes: Step S132, obtaining the left and right tilt state of the battery box based on the first measurement data, the second measurement data, and the front and rear tilt state; Step S133 , obtaining the axial tilt state of the battery box based on the first measurement data, the second measurement data, the front-to-back tilt state, and the left-to-right tilt state.

3. A battery box hoisting method according to claim 2, characterized in that: The battery box hoisting method further includes: Step S1411: obtaining the center point of the top surface of the battery box based on the front-to-back tilt state including a second tilt; wherein the second tilt includes a third sudden change in the distance value of the second rangefinder occurring before the third sudden change in the distance value of the first rangefinder; and a distance moved by the first rangefinder between the third sudden change in the distance value of the second rangefinder and the third sudden change in the distance value of the first rangefinder being within a second set range. Step S1412, based on obtaining the top center point of the battery box, the grasping robot moves horizontally until the vertical projection of the center point of the grasping robot coincides with the position where the center point of the battery box is horizontally offset by a second movement value toward the vehicle body, and the grasping robot descends.

4. A battery box hoisting method according to claim 2, characterized in that: The battery box hoisting method further includes: Step S1421: obtaining the center point of the top surface of the battery box based on the left and right tilt states including a third tilt; wherein the third tilt includes a distance value measured by the first rangefinder being greater than a distance value measured by the second rangefinder by a third set range; Step S1422, based on obtaining the center point of the top surface of the battery box, the grasping robot moves horizontally until the vertical projection of the center point of the grasping robot coincides with the position of the center point of the battery box horizontally offset by a third movement value toward the direction close to the ranging component, and the grasping robot descends.

5. A battery box hoisting method according to claim 2, characterized in that: The battery box hoisting method further includes: Step S1431: obtaining the center point of the top surface of the battery box based on the left and right tilt states including a fourth tilt; wherein the fourth tilt includes a distance value measured by the second rangefinder being greater than the distance value measured by the first rangefinder by a third set range; Step S1432, based on obtaining the center point of the top surface of the battery box, the grasping robot moves horizontally until the vertical projection of the center point of the grasping robot coincides with the position of the center point of the battery box horizontally offset by the fourth movement value in the direction away from the ranging component, and the grasping robot descends.

6. A battery box hoisting method according to claim 2, characterized in that: The battery box hoisting method further includes: Step S1441: Acquire the center point of the top surface of the battery box based on whether the axial tilt state includes a fifth tilt or a sixth tilt; wherein the fifth tilt includes a trend of the distance value measured by the first rangefinder increasing between a third mutation and a fourth mutation; the sixth tilt includes a trend of the distance value measured by the first rangefinder decreasing between a third mutation and a fourth mutation; and the trend of the distance value measured by the first rangefinder increasing or decreasing between the third mutation and the fourth mutation is within a fourth set range; Step S1442: Based on obtaining the center point of the top surface of the battery box, the grasping robot descends.

7. A battery box hoisting method according to any one of claims 2 to 5, characterized in that: The angle between the first rangefinder and the second rangefinder includes a fifth setting range.

8. A battery box hoisting method according to claim 1, characterized in that: The step S15 includes: Step S151, based on obtaining the center point of the top surface of the battery box, the grasping robot moves horizontally; Step S152, based on the grasping robot moving horizontally until the vertical projection of the center point of the grasping robot coincides with the position of the center point of the battery box horizontally offset by a first movement value toward the vehicle head, the grasping robot descends at a first speed; Step S153: Based on the grasping robot descending at the first speed until the guide portion abuts against the hoisting portion, the grasping robot descends at a second speed; wherein the second speed is less than the first speed.

9. A battery box hoisting device, characterized in that: The battery box hoisting device is applied to a battery box hoisting method according to any one of claims 1 to 8, and the battery box hoisting device comprises: A battery-swap vehicle, comprising a front end, a body, and a battery box; the front end is detachably connected to the body; the battery box is detachably connected to the front end; the battery box comprises a battery body, a hoisting portion, and a battery cell; the hoisting portion is fixedly connected to the top of the battery body; the battery cell is detachably connected to the battery body; The distance measuring component includes a base, a first rangefinder, a second rangefinder, and a first driving unit; the first rangefinder is movably connected to the base; the second rangefinder is movably connected to the base; the first driving unit is drivably connected to the first rangefinder; the first driving unit drives the first rangefinder to move horizontally; the first driving unit is drivably connected to the second rangefinder; the first driving unit drives the second rangefinder to move horizontally; The lifting mechanism is a lifting mechanism, and the lifting mechanism is a lifting mechanism, and a lifting mechanism is installed in the lifting position along the lifting line, and the lifting position is detachable, so that the lifting seat can be lifted up and down by the lifting member. A control unit is electrically connected to the grasping robot; the control unit is electrically connected to the distance measuring component.

Images