Battery replacement trolley control method and system, electronic device and storage medium

Abstract

The application discloses a control method and system of a battery replacement trolley, electronic equipment and a storage medium, and the method comprises the following steps: controlling the battery replacement trolley to walk towards the bottom of the battery replacement vehicle; collecting a plurality of battery replacement scene images of a preset area during walking; obtaining the battery replacement scene images that meet the preset condition to determine the walking amount corresponding to the battery replacement trolley; and controlling the battery replacement trolley to walk according to the walking amount to reach the preset battery replacement position corresponding to the bottom of the battery replacement vehicle. Based on the visual image technology, the application can effectively avoid the situation that the battery replacement equipment cannot accurately reach the preset battery replacement position due to the deviation of the walking amount caused by slipping and the like, accurately controls the battery replacement equipment to reach the battery replacement position, ensures the precision of the walking control, and improves the battery replacement efficiency.

Description

Technical Field

[0001] This invention relates to the field of new energy battery swapping control technology, and in particular to a control method, system, electronic device and storage medium for a battery swapping vehicle. Background Technology

[0002] With the development and popularization of new energy vehicles, battery pack quick-swap technology has also developed rapidly. Currently, quick-swap technology is most mature in small passenger vehicles. Since passenger vehicle batteries are fixed to the vehicle chassis, specialized battery swapping equipment needs to be moved to the bottom of the vehicle for battery removal or installation when replacing the battery pack. Moreover, due to the relatively small weight of passenger vehicles, the battery pack is also relatively small, making battery replacement very convenient.

[0003] However, for large vehicles, such as heavy-duty or light-duty trucks, the large vehicle body and cargo weight result in high demands for battery pack capacity. Sufficiently large electrical capacity is required to support the vehicle's range of hundreds of kilometers. Therefore, in current technology, large new energy vehicles typically use a top-mounted method to fix a large battery container to the vehicle's frame, with the battery container positioned close to the cab. This creates significant safety hazards for the driver and the vehicle itself during driving and the top-mounted battery swapping process. Furthermore, battery malfunctions can directly cause personal injury to the driver. Additionally, the top-mounted method requires a large enough area for the battery swapping station to operate the hoisting equipment, transfer batteries, and store them, leading to high construction costs.

[0004] Therefore, there is an urgent need for a safer, more reliable, and easier-to-adopt battery swapping model for large vehicles. For example, a chassis-based battery swapping model for passenger cars could be adopted. In the chassis-based battery swapping model, before removing or installing the battery pack, the battery swapping equipment (or battery swapping trolley) needs to be moved to the swapping position under the vehicle. Then, the battery swapping platform on the equipment is lifted, and the battery pack is removed or installed to complete the entire battery swapping process.

[0005] However, existing battery swapping equipment control methods generally rely on pre-programmed travel control schemes. Vehicles of the same model move to the bottom of the corresponding swapping vehicle according to the preset travel distance under this scheme. However, due to the large size and weight of batteries in large vehicles, this travel control scheme does not take into account the possibility of slippage when the swapping equipment is heavy (especially when carrying heavy battery packs). As a result, the bottom position of the swapping vehicle reached according to the preset travel distance is not the preset swapping position at all. There is a positional deviation between the two, which ultimately makes it impossible to effectively complete the subsequent swapping operation and fails to meet the actual swapping needs. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art in terms of low driving control accuracy for battery swapping vehicles such as heavy trucks or light trucks, which cannot meet the actual battery swapping needs, and to provide a control method, system, electronic equipment and storage medium for battery swapping vehicles.

[0007] The present invention solves the above-mentioned technical problems through the following technical solution:

[0008] This invention provides a control method for a battery swapping vehicle, which is applied in a bottom-mounted battery swapping mode. The battery swapping vehicle has a beam for locking the quick-swap battery pack, and the battery swapping vehicle is used to install and remove the quick-swap battery pack from the bottom of the vehicle. The control method includes the following steps:

[0009] Control the battery swapping trolley to move towards the bottom of the battery swapping vehicle;

[0010] During the movement of the battery swapping vehicle, several battery swapping scene images of a preset area are collected;

[0011] Acquire images of the battery swapping scenario that meet preset conditions to determine the travel distance of the battery swapping vehicle;

[0012] The battery swapping trolley is controlled to travel according to the travel distance to reach the preset battery swapping position corresponding to the bottom of the battery swapping vehicle.

[0013] In this solution, the battery swapping trolley is dynamically photographed in real time during its movement, capturing images of the battery swapping scene in a preset area (such as the corresponding area directly above it). Once the battery swapping scene image meets the preset conditions, the remaining distance the trolley needs to travel is calculated, and the trolley is controlled to move at this distance, ultimately reaching the preset battery swapping position below the bottom of the truck or other battery swapping vehicle. This effectively avoids situations where the battery swapping equipment cannot accurately reach the preset battery swapping position due to slippage or other reasons, achieving accurate control of the battery swapping equipment's arrival at the swapping position, ensuring the precision of movement control, and improving battery swapping efficiency.

[0014] Preferably, the bottom of the battery swapping vehicle is provided with N marking points;

[0015] The step of acquiring the battery swapping scene image that meets preset conditions to determine the travel distance of the battery swapping vehicle includes:

[0016] Determine whether the battery swapping scene image includes M of the marker points. If so, based on the current battery swapping scene image, determine the first position offset between the first position region where the M marker points are located and the preset reference position region; where 1 < M ≤ N and M and N are both integers.

[0017] Based on the first position offset, the distance traveled by the battery swapping vehicle from the preset battery swapping position is calculated.

[0018] In this scheme, several marker points are set at designated locations on the bottom of the battery swapping vehicle. The marker information is then obtained in a timely and accurate manner from captured images of the battery swapping scene. Based on the offset of the marker points from the center of the battery swapping scene image, the offset of the battery swapping vehicle from the preset battery swapping position is directly and accurately calculated, ultimately determining the distance the battery swapping vehicle needs to travel. By using visual images and segmenting the nodes of the vehicle's movement based on the distribution of markers in the image to meet preset conditions, the timeliness and accuracy of the movement control of the battery swapping equipment are ensured.

[0019] Preferably, the battery swapping vehicle is provided with two marking points symmetrically arranged on both sides of the center position at the bottom;

[0020] The step of determining whether the battery swapping scene image includes M marker points, and if so, determining the first position offset between the first position region where the M marker points are located and the preset reference position region based on the current battery swapping scene image, includes:

[0021] When the battery swapping scene image includes two of the marker points, the first position information corresponding to the two marker points in the battery swapping scene image is obtained;

[0022] Obtain the second position information corresponding to the two marked points being located at the center position of the battery swapping scene image;

[0023] Based on the first position information and the second position information, the first position offset of the two marked points from the center position of the bottom is calculated.

[0024] In this scheme, for the actual battery swapping scenario with two markers on both sides of the center position at the bottom of the battery swapping vehicle, the offset of the battery swapping vehicle from the preset battery swapping position is directly calculated based on the offset of the two markers in the battery swapping scenario image. While achieving the accuracy of the battery swapping vehicle's movement control, this scheme effectively simplifies the calculation compared to implementation schemes with three or more markers, ensures the efficiency and timeliness of movement control, and thus improves the overall battery swapping efficiency.

[0025] Preferably, after the battery swapping trolley has traveled the specified distance, the control method further includes the following steps:

[0026] Control the battery swapping trolley to stop moving;

[0027] Acquire a first scene image above the battery swapping vehicle;

[0028] When the marker point in the first scene image is located in the preset reference position area, it is determined that the battery swapping vehicle has reached the preset battery swapping position below the bottom.

[0029] In this scheme, after controlling the battery swapping trolley to move based on the travel distance, it is temporarily stopped. At this time, the scene image directly above the stationary trolley is promptly acquired. If the marker point is at the set reference position (such as the center of the image), it is determined that the battery swapping trolley has reached the preset battery swapping position; otherwise, it is determined that the battery swapping trolley has not reached the preset battery swapping position and further fine-tuning is required until it reaches the preset battery swapping position. That is, the battery swapping trolley's travel position is corrected twice. Combined with battery swapping positioning detection, the accuracy of travel control is effectively guaranteed, avoiding errors caused by special factors, thus ensuring the smoothness and effectiveness of subsequent battery swapping operations and improving the overall battery swapping efficiency.

[0030] Preferably, the control method further includes:

[0031] If the marker point in the first scene image is not located in the preset reference position area, the step of obtaining the first position information corresponding to the two marker points in the battery swapping scene image is executed again until the two marker points are located in the preset reference position area in the first scene image.

[0032] In this scheme, after controlling the battery swapping trolley to move based on the walking distance, it is controlled to stop; the battery swapping scene image directly above it when it is stationary is collected. If the marker point is not in the set reference position, it means that the battery swapping trolley has not yet moved to the correct position and needs to be fine-tuned until it reaches the preset battery swapping position; that is, the battery swapping trolley's movement position is corrected a second time. If it does not meet the requirements, the position of the battery swapping trolley is adjusted and controlled in a timely and accurate manner, which effectively ensures the timeliness and accuracy of the movement control.

[0033] Preferably, the battery swapping vehicle is equipped with an image acquisition device;

[0034] The steps of acquiring several battery swapping scene images in a preset area include:

[0035] Using the image acquisition device, several battery swapping scene images corresponding to the preset area are acquired according to a set acquisition frequency.

[0036] In this solution, image acquisition devices (such as cameras) are installed on the battery swapping vehicle to continuously acquire images of the battery swapping scene based on a set frequency. By analyzing and processing each acquired battery swapping scene image, images containing two marker points can be identified in a timely manner, thereby ensuring the timeliness of the travel data acquisition and improving the timeliness and accuracy of the battery swapping vehicle's travel control.

[0037] Preferably, the battery swapping scene image that meets the preset conditions is an image that includes a plurality of the marker points on the bottom of the battery swapping vehicle.

[0038] In this scheme, when a certain number (e.g., ≥2) of marker points are identified in the battery swapping scene image, it indicates that the battery swapping equipment is relatively close to the preset battery swapping location. At this time, the overall offset of these marker points can be determined by the distribution of multiple marker points in the image, thereby inferring the actual offset of the battery swapping equipment from the preset battery swapping location. Here, using multiple marker points as the judgment condition ensures the feasibility, reliability, and effectiveness of determining the offset of the battery swapping equipment compared to the case of 1 marker point.

[0039] Preferably, the battery swapping trolley is equipped with supplemental lighting;

[0040] The control method further includes:

[0041] Obtain the light intensity in a battery swapping scenario;

[0042] When the light intensity is less than a set threshold, the supplementary lighting device is automatically turned on to provide a preset shooting environment for the image acquisition device.

[0043] In this solution, based on the intensity of light in the actual battery swapping scenario, the supplementary lighting equipment is turned on in a timely manner when the light is dim to ensure the clarity of the battery swapping scenario images, thereby ensuring the accuracy of the analysis of the marked points in the battery swapping scenario images and thus ensuring the precision of vehicle control; when the light is strong, the automatic supplementary lighting equipment is turned off to avoid unnecessary energy consumption.

[0044] Preferably, the control method further includes:

[0045] Before the battery swapping scene image meets the preset conditions, control the battery swapping vehicle to move in the first walking mode;

[0046] After determining that the battery swapping scene image meets the preset conditions, the battery swapping vehicle is controlled to move in the second walking mode;

[0047] The walking speed in the first walking mode is greater than the walking speed in the second walking mode.

[0048] In this scheme, before the battery swapping scene image meets the preset conditions, the battery swapping trolley is controlled to move quickly. After it is determined that the battery swapping scene image meets the preset conditions, the battery swapping trolley is controlled to move slowly. By adjusting the walking speed in the two control stages, the battery swapping equipment can reach the bottom of the battery swapping vehicle as reasonably and quickly as possible, thus ensuring the overall efficiency of battery swapping control while ensuring control accuracy.

[0049] Preferably, after controlling the battery swapping trolley to travel according to the travel distance, the control method further includes:

[0050] Obtain the actual location information of the battery swapping vehicle;

[0051] When the actual location information reaches a preset limit position, the battery swapping trolley is controlled to stop moving.

[0052] In this solution, the actual location information of the battery swapping vehicle is used to promptly identify whether it has reached the preset limit position. Once it does, the battery swapping vehicle is stopped in time to avoid unnecessary collision damage and other safety hazards, thus ensuring the safety of the battery swapping vehicle control.

[0053] The present invention also provides a control system for a battery swapping vehicle, the control system being applied in a bottom-mounted battery swapping mode of the battery swapping vehicle, the battery swapping vehicle having a beam for locking the quick-swap battery pack, the battery swapping vehicle being used to install and remove the quick-swap battery pack from the bottom of the battery swapping vehicle, the control system comprising:

[0054] The walking control module is used to control the battery swapping trolley to walk towards the bottom of the battery swapping vehicle;

[0055] The battery swapping scene image acquisition module is used to acquire several battery swapping scene images in a preset area during the movement of the battery swapping vehicle;

[0056] The walking distance determination module is used to acquire the battery swapping scene image that meets preset conditions in order to determine the walking distance corresponding to the battery swapping vehicle;

[0057] The walking control module is also used to control the battery swapping trolley to walk according to the walking distance, so as to reach the preset battery swapping position corresponding to the bottom of the battery swapping vehicle.

[0058] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the above-described control method for the battery swapping vehicle.

[0059] The present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, provides the above-described control method for a battery swapping vehicle.

[0060] The positive and progressive effects of this invention are as follows:

[0061] In this invention, the battery swapping trolley is controlled to dynamically capture images of a preset area (such as the corresponding area directly above it) in real time during its movement. Once the battery swapping scene image meets the preset conditions, the distance the battery swapping trolley needs to travel next is calculated in a timely manner, and the trolley is controlled to move at this distance, eventually reaching the preset battery swapping position below the bottom of the truck or other battery swapping vehicle. This effectively avoids situations where the battery swapping equipment cannot accurately reach the preset battery swapping position due to deviations in the distance traveled caused by slippage, etc., thus achieving accurate control of the battery swapping equipment reaching the battery swapping position, ensuring the precision of the movement control, and improving the battery swapping efficiency. Attached Figure Description

[0062] Figure 1 This is a schematic diagram of the assembly structure of the battery swapping vehicle (heavy truck) and battery pack in Embodiment 1 of the present invention.

[0063] Figure 2 This is a schematic diagram of the assembly structure of the battery swapping vehicle (light truck) and battery pack in Embodiment 1 of the present invention.

[0064] Figure 3 This is a schematic diagram of the structure of the vehicle beam and locking mechanism in Embodiment 1 of the present invention.

[0065] Figure 4 This is a schematic diagram of the battery pack structure of the battery swapping vehicle according to Embodiment 1 of the present invention.

[0066] Figure 5 This is a schematic diagram of the battery swapping equipment structure for battery swapping vehicles (heavy trucks) according to Embodiment 1 of the present invention.

[0067] Figure 6 This is a schematic diagram of the battery swapping equipment structure for a battery swapping vehicle (light truck) according to Embodiment 1 of the present invention.

[0068] Figure 7 This is a flowchart of the control method for the battery swapping vehicle according to Embodiment 1 of the present invention.

[0069] Figure 8 for Figure 5 A schematic diagram of the internal structure of a battery swapping device used in heavy-duty trucks.

[0070] Figure 9 This is a flowchart of the control method for the battery swapping vehicle in Embodiment 2 of the present invention.

[0071] Figure 10 This is a schematic diagram of the control system of the battery swapping vehicle in Embodiment 3 of the present invention.

[0072] Figure 11 This is a schematic diagram of the control system of the battery swapping vehicle in Embodiment 4 of the present invention.

[0073] Figure 12This is a schematic diagram of the electronic device according to Embodiment 5 of the present invention. Detailed Implementation

[0074] The present invention will be further illustrated by way of embodiments below, but the present invention is not limited to the scope of the embodiments described herein.

[0075] Example 1

[0076] The control method for the battery swapping trolley in this embodiment is applied to the bottom-mounted battery swapping mode of the battery swapping vehicle; wherein, the battery swapping vehicle includes, but is not limited to, trucks, such as light trucks and heavy trucks. This type of battery swapping vehicle has a large body weight and strong cargo capacity. The vehicle can be divided into two parts: a cab section and a cargo box section. The cargo box section is mostly a large, independent container that can be attached to the cab section. In addition, the cab section has beams extending along the length of the vehicle body, i.e., a beam structure.

[0077] like Figure 1 As shown, the front of the heavy truck 100 can be fitted with a rear section for attaching large containers, etc. Figure 1 (Not shown in the text), which makes the heavy truck's specific high load capacity. Figure 1 The medium-heavy-duty truck 100 has beams for locking the quick-change battery pack 101, specifically two beams 102 extending along the length of the truck body. Locking mechanisms are mounted on each of the two beams 102. Figure 1 (Part of the battery pack structure is covered), and the battery pack 101 is connected via a locking mechanism. In other words, the battery pack 101 is detachably connected from the bottom of the heavy truck 100 to the vehicle beam 102, enabling a bottom-mounted battery swapping mode, improving safety during vehicle operation, and making the battery replacement process safer and more reliable. Figure 2 As shown, the light truck 200 is the lower structure of the cargo box of a light truck, namely the beam structure and wheels, etc. A small container is fixed on the beam for carrying cargo. Naturally, its cargo capacity is much smaller than that of a heavy truck, and... Figure 2 The front structure in front of the vehicle beam is not shown in the diagram. For example... Figure 2 As shown, the light truck 200 also has beams 201 for locking the quick-swap battery pack, specifically two beams 201 extending along the length of the vehicle body. Locking mechanisms are mounted on each of the two beams 201. Figure 1 (Part of the battery pack structure is covered in the middle), and the battery pack is connected by a locking mechanism.

[0078] Specifically, the connection and fit between the chassis beam and the locking structure of a heavy-duty truck, such as... Figure 3 As shown, locking mechanisms 103 are respectively installed on the two beams 102. Figure 1 (Part of the battery pack structure is covered), and the battery pack 101 is connected via a locking mechanism 103. For example... Figure 4 The diagram shown is a schematic of a detachable battery pack for a heavy-duty truck. For structural diagrams of the chassis beams and locking structure, as well as the battery pack, in light-duty trucks, please refer to [the diagrams provided]. Figure 3 and Figure 4 I will not go into details here.

[0079] Based on the aforementioned quick-swap battery pack structure for heavy and light trucks, due to the large size and weight of the batteries, replacing the battery pack necessitates using specialized battery swapping equipment to move it to the bottom of the battery swapping vehicle's beam for disassembly or installation. For example... Figure 5 The heavy-duty truck battery swapping device 300 shown is used for... Figure 1 Battery pack replacement for heavy-duty trucks, such as Figure 6 The light truck battery swapping device 400 shown is used for... Figure 2 Battery pack replacement for light trucks.

[0080] Based on the aforementioned structure, battery swapping vehicles and battery swapping equipment, such as Figure 7 As shown, the control method for the battery swapping vehicle in this embodiment includes:

[0081] S101. Control the battery swapping trolley to move towards the bottom of the battery swapping vehicle;

[0082] S102. During the movement of the battery swapping vehicle, collect several battery swapping scene images of a preset area;

[0083] S103. Obtain battery swapping scene images that meet preset conditions to determine the travel distance of the battery swapping vehicle.

[0084] S104. Control the battery swapping trolley to travel according to the distance traveled, so as to reach the preset battery swapping position corresponding to the bottom of the battery swapping vehicle.

[0085] Specifically, with Figure 1 Taking heavy trucks as an example, according to Figure 1 The heavy-duty truck 100 shown has a specific structure. When the heavy-duty truck 100 needs a battery swap, it must first be parked in a designated battery swapping area to facilitate... Figure 5 The heavy-duty truck battery swapping device 300 shown can be moved to a designated location within the battery swapping area to perform battery removal and installation operations.

[0086] For example Figure 5 and Figure 8 As shown, for the heavy-duty truck battery swapping device 300, the heavy-duty truck battery swapping device 300 includes a base 301 and a traveling mechanism 302. The traveling mechanism 302 includes multiple traveling wheels 303 set at the bottom of the base 301 and a drive unit set at the bottom of the base. The drive unit drives the traveling wheels 303 to move the base 301, thereby realizing the overall movement of the heavy-duty truck battery swapping device 300.

[0087] The heavy-duty truck battery swapping equipment 300 also includes a battery swapping platform 304 disposed in the central area of ​​the base 301, and the battery swapping platform 304 is liftable and height-adjustable on the base 301. Thus, by controlling the battery swapping platform 304 to be in a lowered position, it is possible to ensure that the heavy-duty truck battery swapping equipment 300 can be smoothly moved into or out of the bottom of the light truck 200 at a lower height; and by controlling the battery swapping platform 304 to be in a raised position, it is possible to ensure sufficient height is available when performing battery removal or installation operations on the battery swapping platform 304.

[0088] Similarly, for light trucks, the running structure of the light truck battery swapping device 400 and the battery swapping process of running to the bottom of the battery swapping vehicle are the same as those of the heavy trucks mentioned above, so they will not be described again here.

[0089] In this embodiment, the battery swapping trolley is controlled to dynamically capture images of the battery swapping scene in a preset area (such as the corresponding area directly above it) in real time during its movement. Once the battery swapping scene image meets the preset conditions, the distance the battery swapping trolley needs to travel next is calculated in a timely manner, and the trolley is controlled to move at this distance, eventually reaching the preset battery swapping position below the bottom of the truck or other battery swapping vehicle. This effectively avoids the situation where the battery swapping equipment cannot accurately reach the preset battery swapping position due to slippage, thus achieving accurate control of the battery swapping equipment reaching the battery swapping position, ensuring the precision of the movement control, and improving the battery swapping efficiency.

[0090] Example 2

[0091] like Figure 9 As shown, the control method of the battery swapping vehicle in this embodiment is a further improvement on Embodiment 1, specifically:

[0092] In one feasible solution, the bottom of the battery swapping vehicle is marked with N points.

[0093] Specifically, step S103 includes:

[0094] S1031. Determine whether the battery swapping scene image includes M marker points. If so, based on the current battery swapping scene image, determine the first position offset between the first position area where the M marker points are located and the preset reference position area; where 1 < M ≤ N and M and N are both integers.

[0095] S1032. Based on the first position offset, calculate the distance traveled by the battery swapping trolley from the preset battery swapping position.

[0096] In this scheme, several marker points are set at designated locations on the bottom of the battery swapping vehicle. The marker information is then obtained in a timely and accurate manner from captured images of the battery swapping scene. Based on the offset of the marker points from the center of the battery swapping scene image, the offset of the battery swapping vehicle from the preset battery swapping position is directly and accurately calculated, ultimately determining the distance the battery swapping vehicle needs to travel. By using visual images and segmenting the nodes of the vehicle's movement based on the distribution of markers in the image to meet preset conditions, the timeliness and accuracy of the movement control of the battery swapping equipment are ensured.

[0097] In one feasible solution, the battery swapping vehicle is equipped with two symmetrically positioned markers on either side of the center of the bottom.

[0098] Step S1031 specifically includes:

[0099] When the battery swapping scene image includes two marker points, obtain the first position information corresponding to the two marker points in the battery swapping scene image;

[0100] Obtain the second position information corresponding to the two marker points being located at the center of the battery swapping scene image;

[0101] Based on the first and second position information, the first position offset of the two marker points from the center position of the bottom is calculated.

[0102] In this scheme, for the actual battery swapping scenario with two markers on both sides of the center position at the bottom of the battery swapping vehicle, the offset of the battery swapping vehicle from the preset battery swapping position is directly calculated based on the offset of the two markers in the battery swapping scenario image. While achieving the accuracy of the battery swapping vehicle's movement control, this scheme effectively simplifies the calculation compared to implementation schemes with three or more markers, ensures the efficiency and timeliness of movement control, and thus improves the overall battery swapping efficiency.

[0103] In one feasible solution, after the battery swapping vehicle has traveled a certain distance, step S104 further includes:

[0104] S105. Control the battery swapping trolley to stop moving;

[0105] S106. Acquire the first scene image above the battery swapping vehicle;

[0106] S107. When the marker point in the first scene image is in the preset reference position area, it is determined that the battery swapping vehicle has reached the preset battery swapping position below the bottom.

[0107] In this scheme, after controlling the battery swapping trolley to move based on the travel distance, it is temporarily stopped. At this time, the scene image directly above the stationary trolley is promptly acquired. If the marker point is at the set reference position (such as the center of the image), it is determined that the battery swapping trolley has reached the preset battery swapping position; otherwise, it is determined that the battery swapping trolley has not reached the preset battery swapping position and further fine-tuning is required until it reaches the preset battery swapping position. That is, the battery swapping trolley's travel position is corrected twice. Combined with battery swapping positioning detection, the accuracy of travel control is effectively guaranteed, avoiding errors caused by special factors, thus ensuring the smoothness and effectiveness of subsequent battery swapping operations and improving the overall battery swapping efficiency.

[0108] In one feasible solution, the control method of this embodiment further includes:

[0109] If the marker point in the first scene image is not in the preset reference position area, the step of obtaining the first position information corresponding to the two marker points in the battery swapping scene image is executed again until the two marker points are in the preset reference position area in the first scene image.

[0110] In this scheme, after controlling the battery swapping trolley to move based on the walking distance, it is controlled to stop; the battery swapping scene image directly above it when it is stationary is collected. If the marker point is not in the set reference position, it means that the battery swapping trolley has not yet moved to the correct position and needs to be fine-tuned until it reaches the preset battery swapping position; that is, the battery swapping trolley's movement position is corrected a second time. If it does not meet the requirements, the position of the battery swapping trolley is adjusted and controlled in a timely and accurate manner, which effectively ensures the timeliness and accuracy of the movement control.

[0111] In one feasible solution, the battery swapping vehicle is equipped with an image acquisition device.

[0112] Step S102 includes:

[0113] S1021. Using an image acquisition device, several battery swapping scene images corresponding to a preset area are acquired according to a set acquisition frequency.

[0114] In this solution, image acquisition devices (such as cameras) are installed on the battery swapping vehicle to continuously acquire images of the battery swapping scene based on a set frequency. By analyzing and processing each acquired battery swapping scene image, images containing two marker points can be identified in a timely manner, thereby ensuring the timeliness of the travel data acquisition and improving the timeliness and accuracy of the battery swapping vehicle's travel control.

[0115] In one feasible solution, the battery swapping scenario image that meets the preset conditions is an image containing several marker points on the bottom of the battery swapping vehicle.

[0116] In this scheme, when a certain number (e.g., ≥2) of marker points are identified in the battery swapping scene image, it indicates that the battery swapping equipment is relatively close to the preset battery swapping location. At this time, the overall offset of these marker points can be determined by the distribution of multiple marker points in the image, thereby inferring the actual offset of the battery swapping equipment from the preset battery swapping location. Here, using multiple marker points as the judgment condition ensures the feasibility, reliability, and effectiveness of determining the offset of the battery swapping equipment compared to the case of 1 marker point.

[0117] In one feasible solution, the battery swapping vehicle is equipped with supplemental lighting.

[0118] The control method in this embodiment also includes:

[0119] Obtain the light intensity in a battery swapping scenario;

[0120] When the light intensity is less than a set threshold, the supplementary lighting device is automatically turned on to provide a preset shooting environment for the image acquisition device.

[0121] In this solution, based on the intensity of light in the actual battery swapping scenario, the supplementary lighting equipment is turned on in a timely manner when the light is dim to ensure the clarity of the battery swapping scenario images, thereby ensuring the accuracy of the analysis of the marked points in the battery swapping scenario images and thus ensuring the precision of vehicle control; when the light is strong, the automatic supplementary lighting equipment is turned off to avoid unnecessary energy consumption.

[0122] In one feasible solution, the control method of this embodiment further includes:

[0123] Before the battery swapping scene image meets the preset conditions, control the battery swapping vehicle to walk in the first walking mode;

[0124] After confirming that a battery swapping scenario image meets the preset conditions, the battery swapping trolley is controlled to move in the second walking mode.

[0125] The walking speed in the first walking mode is greater than the walking speed in the second walking mode.

[0126] In this scheme, before the battery swapping scene image meets the preset conditions, the battery swapping trolley is controlled to move quickly. After it is determined that the battery swapping scene image meets the preset conditions, the battery swapping trolley is controlled to move slowly. By adjusting the walking speed in the two control stages, the battery swapping equipment can reach the bottom of the battery swapping vehicle as reasonably and quickly as possible, thus ensuring the overall efficiency of battery swapping control while ensuring control accuracy.

[0127] In one feasible solution, after controlling the battery swapping trolley to move according to the distance traveled, the control method of this embodiment further includes:

[0128] Obtain the actual location information of the battery swapping vehicle;

[0129] When the actual location information reaches the preset limit position, the battery swapping trolley is controlled to stop moving.

[0130] In this solution, the actual location information of the battery swapping vehicle is used to promptly identify whether it has reached the preset limit position. Once it does, the battery swapping vehicle is stopped in time to avoid unnecessary collision damage and other safety hazards, thus ensuring the safety of the battery swapping vehicle control.

[0131] In this embodiment, the battery swapping trolley is controlled to dynamically capture images of the battery swapping scene in a preset area (such as the corresponding area directly above it) in real time during its movement. Once the battery swapping scene image meets the preset conditions, the distance the battery swapping trolley needs to travel next is calculated in a timely manner, and the trolley is controlled to move at this distance, eventually reaching the preset battery swapping position below the bottom of the truck or other battery swapping vehicle. This effectively avoids situations where the battery swapping equipment cannot accurately reach the preset battery swapping position due to deviations in the distance traveled caused by slippage, etc., thus achieving accurate control of the battery swapping equipment reaching the battery swapping position, ensuring the precision of the movement control, and improving the battery swapping efficiency.

[0132] Example 3

[0133] The driving control system of the battery swapping equipment in this embodiment is applied in the bottom-mounted battery swapping mode of the battery swapping vehicle; wherein, the battery swapping vehicle includes, but is not limited to, trucks, such as light trucks and heavy trucks. This type of battery swapping vehicle has a large body weight and strong cargo capacity. The vehicle can be divided into two parts: a cab section and a cargo box section. The cargo box section is mostly a large, independent container that can be attached to the cab section. In addition, the cab section has beams extending along the length of the vehicle body, i.e., a beam structure.

[0134] like Figure 1 As shown, the front of the heavy truck 100 can be fitted with a rear section for attaching large containers, etc. Figure 1 (Not shown in the text), which makes the heavy truck's specific high load capacity. Figure 1 The medium-heavy-duty truck 100 has beams for locking the quick-change battery pack 101, specifically two beams 102 extending along the length of the truck body. Locking mechanisms are mounted on each of the two beams 102. Figure 1 (Part of the battery pack structure is covered), and the battery pack 101 is connected via a locking mechanism. In other words, the battery pack 101 is detachably connected from the bottom of the heavy truck 100 to the vehicle beam 102, enabling a bottom-mounted battery swapping mode, improving safety during vehicle operation, and making the battery replacement process safer and more reliable. Figure 2As shown, the light truck 200 is the lower structure of the cargo box of a light truck, namely the beam structure and wheels, etc. A small container is fixed on the beam for carrying cargo. Naturally, its cargo capacity is much smaller than that of a heavy truck, and... Figure 2 The front structure in front of the vehicle beam is not shown in the diagram. For example... Figure 2 As shown, the light truck 200 also has beams 201 for locking the quick-swap battery pack, specifically two beams 201 extending along the length of the vehicle body. Locking mechanisms are mounted on each of the two beams 201. Figure 1 (Part of the battery pack structure is covered in the middle), and the battery pack is connected by a locking mechanism.

[0135] Specifically, the connection and fit between the chassis beam and the locking structure of a heavy-duty truck, such as... Figure 3 As shown, locking mechanisms 103 are respectively installed on the two beams 102. Figure 1 (Part of the battery pack structure is covered), and the battery pack 101 is connected via a locking mechanism 103. For example... Figure 4 The diagram shown is a schematic of a detachable battery pack for a heavy-duty truck. For structural diagrams of the chassis beams and locking structure, as well as the battery pack, in light-duty trucks, please refer to [the diagrams provided]. Figure 3 and Figure 4 I will not go into details here.

[0136] Based on the aforementioned quick-swap battery pack structure for heavy and light trucks, due to the large size and weight of the batteries, replacing the battery pack necessitates using specialized battery swapping equipment to move it to the bottom of the battery swapping vehicle's beam for disassembly or installation. For example... Figure 5 The heavy-duty truck battery swapping device 300 shown is used for... Figure 1 Battery pack replacement for heavy-duty trucks, such as Figure 6 The light truck battery swapping device 400 shown is used for... Figure 2 Battery pack replacement for light trucks.

[0137] Based on the aforementioned structure, battery swapping vehicles and battery swapping equipment, such as Figure 10 As shown, the control system of the battery swapping vehicle in this embodiment includes:

[0138] Walking control module 1 is used to control the battery swapping trolley to walk towards the bottom of the battery swapping vehicle;

[0139] The battery swapping scene image acquisition module 2 is used to acquire several battery swapping scene images in a preset area during the movement of the battery swapping vehicle.

[0140] The walking distance determination module 3 is used to acquire battery swapping scene images that meet preset conditions in order to determine the walking distance of the battery swapping vehicle.

[0141] The walking control module 1 is also used to control the battery swapping trolley to walk according to the walking distance, so as to reach the preset battery swapping position corresponding to the bottom of the battery swapping vehicle.

[0142] Specifically, with Figure 1 Taking heavy trucks as an example, according to Figure 1 The heavy-duty truck 100 shown has a specific structure. When the heavy-duty truck 100 needs a battery swap, it must first be parked in a designated battery swapping area to facilitate... Figure 5 The heavy-duty truck battery swapping device 300 shown can be moved to a designated location within the battery swapping area to perform battery removal and installation operations.

[0143] For example Figure 5 and Figure 8 As shown, for the heavy-duty truck battery swapping device 300, the heavy-duty truck battery swapping device 300 includes a base 301 and a traveling mechanism 302. The traveling mechanism 302 includes multiple traveling wheels 303 set at the bottom of the base 301 and a drive unit set at the bottom of the base. The drive unit drives the traveling wheels 303 to move the base 301, thereby realizing the overall movement of the heavy-duty truck battery swapping device 300.

[0144] The heavy-duty truck battery swapping equipment 300 also includes a battery swapping platform 304 disposed in the central area of ​​the base 301, and the battery swapping platform 304 is liftable and height-adjustable on the base 301. Thus, by controlling the battery swapping platform 304 to be in a lowered position, it is possible to ensure that the heavy-duty truck battery swapping equipment 300 can be smoothly moved into or out of the bottom of the light truck 200 at a lower height; and by controlling the battery swapping platform 304 to be in a raised position, it is possible to ensure sufficient height is available when performing battery removal or installation operations on the battery swapping platform 304.

[0145] Similarly, for light trucks, the running structure of the light truck battery swapping device 400 and the battery swapping process of running to the bottom of the battery swapping vehicle are the same as those of the heavy trucks mentioned above, so they will not be described again here.

[0146] In this embodiment, the battery swapping trolley is controlled to dynamically capture images of the battery swapping scene in a preset area (such as the corresponding area directly above it) in real time during its movement. Once the battery swapping scene image meets the preset conditions, the distance the battery swapping trolley needs to travel next is calculated in a timely manner, and the trolley is controlled to move at this distance, eventually reaching the preset battery swapping position below the bottom of the truck or other battery swapping vehicle. This effectively avoids situations where the battery swapping equipment cannot accurately reach the preset battery swapping position due to deviations in the distance traveled caused by slippage, etc., thus achieving accurate control of the battery swapping equipment reaching the battery swapping position, ensuring the precision of the movement control, and improving the battery swapping efficiency.

[0147] Example 4

[0148] like Figure 11 As shown, the control system of the battery swapping vehicle in this embodiment is a further development of Embodiment 3, specifically:

[0149] In one feasible solution, the bottom of the battery swapping vehicle is marked with N points.

[0150] Walking distance determination module 3 includes:

[0151] Judgment unit 4 is used to determine whether the battery swapping scene image includes M marker points. If so, the first offset determination unit 5 is called.

[0152] The first offset determination unit 5 is used to determine the first position offset between the first position area where M markers are located and the preset reference position area based on the current battery swapping scene image; where 1 < M ≤ N and M and N are both integers.

[0153] The travel distance calculation unit is used to calculate the travel distance of the battery swapping trolley from the preset battery swapping position based on the first position offset.

[0154] In this scheme, several marker points are set at designated locations on the bottom of the battery swapping vehicle. The marker information is then obtained in a timely and accurate manner from captured images of the battery swapping scene. Based on the offset of the marker points from the center of the battery swapping scene image, the offset of the battery swapping vehicle from the preset battery swapping position is directly and accurately calculated, ultimately determining the distance the battery swapping vehicle needs to travel. By using visual images and segmenting the nodes of the vehicle's movement based on the distribution of markers in the image to meet preset conditions, the timeliness and accuracy of the movement control of the battery swapping equipment are ensured.

[0155] In one feasible solution, the battery swapping vehicle is equipped with two symmetrically positioned markers on either side of the center of the bottom.

[0156] The first offset determination unit 5 is used to obtain the first position information corresponding to the two marker points in the battery swapping scene image when the battery swapping scene image includes two marker points; obtain the second position information corresponding to the two marker points being at the center position of the battery swapping scene image; and calculate the first position offset of the two marker points from the center position of the bottom based on the first position information and the second position information.

[0157] In this scheme, for the actual battery swapping scenario with two markers on both sides of the center position at the bottom of the battery swapping vehicle, the offset of the battery swapping vehicle from the preset battery swapping position is directly calculated based on the offset of the two markers in the battery swapping scenario image. While achieving the accuracy of the battery swapping vehicle's movement control, this scheme effectively simplifies the calculation compared to implementation schemes with three or more markers, ensures the efficiency and timeliness of movement control, and thus improves the overall battery swapping efficiency.

[0158] In one feasible solution, after the battery swapping trolley has traveled a certain distance, the travel control module 1 is also used to control the battery swapping trolley to stop traveling.

[0159] The control system in this embodiment also includes:

[0160] The first scene image acquisition module 6 is used to acquire the first scene image above the battery swapping vehicle;

[0161] The first judgment module 7 is used to determine that the battery swapping vehicle has reached the preset battery swapping position below the bottom when the marker point in the first scene image is in the preset reference position area.

[0162] In this scheme, after controlling the battery swapping trolley to move based on the travel distance, it is temporarily stopped. At this time, the scene image directly above the stationary trolley is promptly acquired. If the marker point is at the set reference position (such as the center of the image), it is determined that the battery swapping trolley has reached the preset battery swapping position; otherwise, it is determined that the battery swapping trolley has not reached the preset battery swapping position and further fine-tuning is required until it reaches the preset battery swapping position. That is, the battery swapping trolley's travel position is corrected twice. Combined with battery swapping positioning detection, the accuracy of travel control is effectively guaranteed, avoiding errors caused by special factors, thus ensuring the smoothness and effectiveness of subsequent battery swapping operations and improving the overall battery swapping efficiency.

[0163] In one feasible solution, the first judgment module 7 is further used to call the first offset determination unit 5 again when the marker point in the first scene image is not in the preset reference position area, until the two marker points are in the preset reference position area in the first scene image.

[0164] In this scheme, after controlling the battery swapping trolley to move based on the walking distance, it is controlled to stop; the battery swapping scene image directly above it when it is stationary is collected. If the marker point is not in the set reference position, it means that the battery swapping trolley has not yet moved to the correct position and needs to be fine-tuned until it reaches the preset battery swapping position; that is, the battery swapping trolley's movement position is corrected a second time. If it does not meet the requirements, the position of the battery swapping trolley is adjusted and controlled in a timely and accurate manner, which effectively ensures the timeliness and accuracy of the movement control.

[0165] In one feasible solution, the battery swapping vehicle is equipped with an image acquisition device.

[0166] The battery swapping scene image acquisition module 2 is used to acquire several battery swapping scene images corresponding to a preset area using an image acquisition device at a set acquisition frequency.

[0167] In this solution, image acquisition devices (such as cameras) are installed on the battery swapping vehicle to continuously acquire images of the battery swapping scene based on a set frequency. By analyzing and processing each acquired battery swapping scene image, images containing two marker points can be identified in a timely manner, thereby ensuring the timeliness of the travel data acquisition and improving the timeliness and accuracy of the battery swapping vehicle's travel control.

[0168] In one feasible solution, the battery swapping scenario image that meets the preset conditions is an image containing several marker points on the bottom of the battery swapping vehicle.

[0169] In this scheme, when a certain number (e.g., ≥2) of marker points are identified in the battery swapping scene image, it indicates that the battery swapping equipment is relatively close to the preset battery swapping location. At this time, the overall offset of these marker points can be determined by the distribution of multiple marker points in the image, thereby inferring the actual offset of the battery swapping equipment from the preset battery swapping location. Here, using multiple marker points as the judgment condition ensures the feasibility, reliability, and effectiveness of determining the offset of the battery swapping equipment compared to the case of 1 marker point.

[0170] In one feasible solution, the battery swapping vehicle is equipped with supplemental lighting.

[0171] The control system of the battery swapping vehicle in this embodiment also includes:

[0172] Light intensity acquisition module 8 is used to acquire light intensity in battery swapping scenarios;

[0173] The second judgment module 9 is used to automatically turn on the supplementary lighting device when the light intensity is less than a set threshold, so as to provide a preset shooting environment for the image acquisition device.

[0174] In this solution, based on the intensity of light in the actual battery swapping scenario, the supplementary lighting equipment is turned on in a timely manner when the light is dim to ensure the clarity of the battery swapping scenario images, thereby ensuring the accuracy of the analysis of the marked points in the battery swapping scenario images and thus ensuring the precision of vehicle control; when the light is strong, the automatic supplementary lighting equipment is turned off to avoid unnecessary energy consumption.

[0175] In one feasible solution, the walking control module 1 is used to control the battery swapping trolley to walk in a first walking mode before the battery swapping scene image meets the preset conditions;

[0176] The walking control module 1 is also used to control the battery swapping trolley to walk in the second walking mode after determining that there is a battery swapping scene image that meets the preset conditions;

[0177] The walking speed in the first walking mode is greater than the walking speed in the second walking mode.

[0178] In this scheme, before the battery swapping scene image meets the preset conditions, the battery swapping trolley is controlled to move quickly. After it is determined that the battery swapping scene image meets the preset conditions, the battery swapping trolley is controlled to move slowly. By adjusting the walking speed in the two control stages, the battery swapping equipment can reach the bottom of the battery swapping vehicle as reasonably and quickly as possible, thus ensuring the overall efficiency of battery swapping control while ensuring control accuracy.

[0179] In one feasible solution, after controlling the battery swapping trolley to move according to the distance traveled, the control system also includes:

[0180] The actual location information acquisition module 10 is used to acquire the actual location information of the battery swapping vehicle.

[0181] The walking control module 1 is also used to control the battery swapping trolley to stop walking when the actual position information reaches the preset limit position.

[0182] In this solution, the actual location information of the battery swapping vehicle is used to promptly identify whether it has reached the preset limit position. Once it does, the battery swapping vehicle is stopped in time to avoid unnecessary collision damage and other safety hazards, thus ensuring the safety of the battery swapping vehicle control.

[0183] In this embodiment, the battery swapping trolley is controlled to dynamically capture images of the battery swapping scene in a preset area (such as the corresponding area directly above it) in real time during its movement. Once the battery swapping scene image meets the preset conditions, the distance the battery swapping trolley needs to travel next is calculated in a timely manner, and the trolley is controlled to move at this distance, eventually reaching the preset battery swapping position below the bottom of the truck or other battery swapping vehicle. This effectively avoids situations where the battery swapping equipment cannot accurately reach the preset battery swapping position due to deviations in the distance traveled caused by slippage, etc., thus achieving accurate control of the battery swapping equipment reaching the battery swapping position, ensuring the precision of the movement control, and improving the battery swapping efficiency.

[0184] Example 5

[0185] Figure 12 This is a schematic diagram of an electronic device provided in Embodiment 5 of the present invention. The electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the control method of the battery swapping vehicle in Embodiment 1 or 2. Figure 12 The electronic device 30 shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of the present invention.

[0186] like Figure 12As shown, the electronic device 30 can be represented in the form of a general computing device, such as a server device. The components of the electronic device 30 may include, but are not limited to: at least one processor 31, at least one memory 32, and a bus 33 connecting different system components (including memory 32 and processor 31).

[0187] Bus 33 includes a data bus, an address bus, and a control bus.

[0188] The memory 32 may include volatile memory, such as random access memory (RAM) 321 and / or cache memory 322, and may further include read-only memory (ROM) 323.

[0189] The memory 32 may also include a program / utility 325 having a set (at least one) of program modules 324, including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0190] The processor 31 executes various functional applications and data processing by running computer programs stored in the memory 32, such as the control method of the battery swapping vehicle in Embodiment 1 or 2 of the present invention.

[0191] Electronic device 30 can also communicate with one or more external devices 34 (e.g., keyboard, pointing device, etc.). This communication can be performed via input / output (I / O) interface 35. Furthermore, the model-generating device 30 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 36. Figure 12 As shown, network adapter 36 communicates with other modules of the model-generated device 30 via bus 33. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with the model-generated device 30, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (disk array) systems, tape drives, and data backup storage systems.

[0192] It should be noted that although several units / modules or sub-units / modules of the electronic device have been mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, according to embodiments of the present invention, the features and functions of two or more units / modules described above can be embodied in one unit / module. Conversely, the features and functions of one unit / module described above can be further divided and embodied by multiple units / modules.

[0193] Example 6

[0194] This embodiment provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps in the control method of the battery swapping vehicle in embodiment 1 or 2.

[0195] The readable storage medium may be more specifically adopted, including but not limited to: portable disk, hard disk, random access memory, read-only memory, erasable programmable read-only memory, optical storage device, magnetic storage device, or any suitable combination thereof.

[0196] In a possible implementation, the present invention can also be implemented as a program product comprising program code, which, when the program product is run on a terminal device, causes the terminal device to perform the steps in the control method for the battery swapping vehicle in embodiment 1 or 2.

[0197] The program code for executing the present invention can be written using any combination of one or more programming languages. The program code can be executed entirely on the user device, partially on the user device, as a standalone software package, partially on the user device and partially on a remote device, or entirely on a remote device.

[0198] While specific embodiments of the present invention have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of the present invention is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but all such changes and modifications fall within the scope of protection of the present invention.

Claims

1. A control method for a battery swapping vehicle, characterized in that, The control method is applied in a bottom-mounted battery swapping mode of a battery swapping vehicle. The battery swapping vehicle has a beam for locking the quick-swap battery pack, and the battery swapping trolley is used to install and remove the quick-swap battery pack from the bottom of the battery swapping vehicle. The control method includes the following steps: Control the battery swapping trolley to move towards the bottom of the battery swapping vehicle; During the movement of the battery swapping vehicle, several battery swapping scene images of a preset area are collected; Acquire images of the battery swapping scenario that meet preset conditions to determine the travel distance of the battery swapping vehicle; The bottom of the battery swapping vehicle is provided with N marking points; The step of acquiring the battery swapping scene image that meets preset conditions to determine the travel distance of the battery swapping vehicle includes: Determine whether the battery swapping scene image includes M marker points. If so, based on the current battery swapping scene image, determine the first position offset between the first position region where the M marker points are located and the preset reference position region; where 1 < M ≤ N and M and N are both integers. Based on the first position offset, the distance traveled by the battery swapping vehicle from the preset battery swapping position is calculated; The battery swapping trolley is controlled to travel according to the distance traveled, so as to reach the preset battery swapping position corresponding to the bottom of the battery swapping vehicle; The battery swapping vehicle is equipped with two marking points symmetrically arranged on both sides of the center position at the bottom; The step of determining whether the battery swapping scene image includes M marker points, and if so, determining the first position offset between the first position region where the M marker points are located and the preset reference position region based on the current battery swapping scene image, includes: When the battery swapping scene image includes two of the marker points, the first position information corresponding to the two marker points in the battery swapping scene image is obtained; Obtain the second position information corresponding to the two marked points being located at the center position of the battery swapping scene image; Based on the first position information and the second position information, the first position offset of the two marker points from the center position of the bottom is calculated; The control method further includes: Before the battery swapping scene image meets the preset conditions, control the battery swapping vehicle to move in the first walking mode; After determining that the battery swapping scene image meets the preset conditions, the battery swapping vehicle is controlled to move in the second walking mode; The walking speed in the first walking mode is greater than the walking speed in the second walking mode.

2. The control method for the battery swapping vehicle as described in claim 1, characterized in that, After the battery swapping vehicle has traveled the specified distance, the control method further includes the following steps: Control the battery swapping trolley to stop moving; Acquire a first scene image above the battery swapping vehicle; When the marker point in the first scene image is located in the preset reference position area, it is determined that the battery swapping vehicle has reached the preset battery swapping position below the bottom.

3. The control method for the battery swapping vehicle as described in claim 2, characterized in that, The control method further includes: If the marker point in the first scene image is not located in the preset reference position area, the step of obtaining the first position information corresponding to the two marker points in the battery swapping scene image is executed again until the two marker points are located in the preset reference position area in the first scene image.

4. The control method for the battery swapping vehicle as described in any one of claims 1-3, characterized in that, The battery swapping vehicle is equipped with an image acquisition device; The steps of acquiring several battery swapping scene images in a preset area include: Using the image acquisition device, several battery swapping scene images corresponding to the preset area are acquired according to a set acquisition frequency.

5. The control method for the battery swapping vehicle as described in any one of claims 1-3, characterized in that, The battery swapping scene image that meets the preset conditions is an image containing several of the marked points on the bottom of the battery swapping vehicle.

6. The control method for the battery swapping vehicle as described in claim 4, characterized in that, The battery swapping vehicle is equipped with supplemental lighting; The control method further includes: Obtain the light intensity in a battery swapping scenario; When the light intensity is less than a set threshold, the supplementary lighting device is automatically turned on to provide a preset shooting environment for the image acquisition device.

7. The control method for the battery swapping vehicle as described in any one of claims 1-3, characterized in that, After controlling the battery swapping trolley to travel according to the travel distance, the control method further includes: Obtain the actual location information of the battery swapping vehicle; When the actual location information reaches a preset limit position, the battery swapping trolley is controlled to stop moving.

8. A control system for a battery swapping vehicle, characterized in that, The control system is applied in the bottom-mounted battery swapping mode of a battery swapping vehicle. The battery swapping vehicle has a beam for locking the quick-swap battery pack, and the battery swapping trolley is used to install and remove the quick-swap battery pack from the bottom of the battery swapping vehicle. The control system includes: The walking control module is used to control the battery swapping trolley to walk towards the bottom of the battery swapping vehicle; The battery swapping scene image acquisition module is used to acquire several battery swapping scene images in a preset area during the movement of the battery swapping vehicle; The walking distance determination module is used to acquire the battery swapping scene image that meets preset conditions in order to determine the walking distance corresponding to the battery swapping vehicle; The walking control module is also used to control the battery swapping trolley to walk according to the walking distance, so as to reach the preset battery swapping position corresponding to the bottom of the battery swapping vehicle; The walking distance determination module includes: The judgment unit is used to determine whether the battery swapping scene image includes M marker points. If so, the first offset determination unit is called. The first offset determination unit is used to determine the first position offset between the first position area where M marker points are located and the preset reference position area based on the current battery swapping scene image; wherein 1 < M ≤ N and M and N are both integers; when the battery swapping vehicle is provided with two marker points symmetrically arranged on both sides of the bottom center position, the first offset determination unit is used to obtain the first position information corresponding to the two marker points in the battery swapping scene image when the battery swapping scene image includes the two marker points; obtain the second position information corresponding to the two marker points being at the center position of the battery swapping scene image; and calculate the first position offset of the two marker points from the bottom center position based on the first position information and the second position information. The walking distance calculation unit is used to calculate the walking distance of the battery swapping trolley from the preset battery swapping position based on the first position offset. The walking control module is used to control the battery swapping vehicle to walk in a first walking mode before the battery swapping scene image meets the preset conditions; the walking control module is also used to control the battery swapping vehicle to walk in a second walking mode after it is determined that there is a battery swapping scene image that meets the preset conditions; wherein, the walking speed in the first walking mode is greater than the walking speed in the second walking mode.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes a computer program, it implements the control method for the battery swapping vehicle as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the control method of the battery swapping vehicle according to any one of claims 1-7.

Images