Vehicle battery swapping positioning method and device, electronic equipment and readable storage medium

Abstract

The application discloses a vehicle battery replacement positioning method and device, electronic equipment and a readable storage medium, which are applied to a vehicle battery replacement positioning system, the vehicle battery replacement positioning system comprises a positioning deceleration strip, and the vehicle battery replacement positioning method comprises the following steps: acquiring a battery pack ranging difference of ranging of a to-be-positioned vehicle at a first ranging point and a second ranging point; determining a battery pack inclination angle of the to-be-positioned vehicle according to a spacing calibration value between the first ranging point and the second ranging point and the battery pack ranging difference, wherein the battery pack inclination angle is used to represent an inclination angle between the battery pack and the vertical direction of the positioning deceleration strip; and performing battery replacement positioning on the to-be-positioned vehicle according to the battery pack inclination angle to obtain a battery replacement positioning result. The application solves the technical problem of low positioning accuracy of vehicle battery replacement positioning.

Description

Vehicle battery swapping positioning methods, devices, electronic equipment and readable storage media Technical Field

[0001] This application relates to the field of vehicle battery swapping technology, and in particular to a vehicle battery swapping positioning method, device, electronic device, and readable storage medium. Background Technology

[0002] With the continuous development of technology, new energy vehicles are becoming increasingly popular in the market due to their low-carbon and environmentally friendly characteristics. At the same time, the battery swapping measures that are compatible with new energy vehicles are also constantly being iterated. Taking heavy-duty trucks as an example, batteries are swapped through corresponding heavy-duty truck battery swapping stations.

[0003] Currently, during vehicle battery swapping, the vehicle is typically positioned initially by determining the distance between the front wheel axle and the center of the battery pack. This involves checking if the front wheels have reached the expected position of the speed bump and then accurately locating the actual position of the battery pack so that the lifting device can grab it for replacement. However, due to differences in vehicle models, the distance between the front wheel axle and the center of the battery pack varies, which can lead to situations such as the lifting device failing to grab the battery pack or the vehicle repeatedly driving over the speed bump. Therefore, the current positioning accuracy for vehicle battery swapping is low. Summary of the Invention

[0004] The main objective of this application is to provide a vehicle battery swapping positioning method, device, electronic device, and readable storage medium, aiming to solve the technical problem of low positioning accuracy in the prior art for vehicle battery swapping positioning.

[0005] To achieve the above objectives, this application provides a vehicle battery swapping positioning method, applied to a vehicle battery swapping positioning system, wherein the vehicle battery swapping positioning system includes positioning speed bumps, and the vehicle battery swapping positioning method includes:

[0006] Obtain the battery pack distance difference when measuring the distance to the vehicle to be located at the first and second distance measuring points.

[0007] Based on the distance calibration value between the first ranging point and the second ranging point and the battery pack ranging difference, the battery pack tilt angle of the vehicle to be positioned is determined, wherein the battery pack tilt angle is used to characterize the tilt angle between the battery pack and the vertical direction of the positioning speed bump.

[0008] Based on the tilt angle of the battery pack, the vehicle to be located is positioned for battery swapping, and the battery swapping positioning result is obtained.

[0009] To achieve the above objectives, this application also provides a vehicle battery swapping positioning device, applied to a vehicle battery swapping positioning system, wherein the vehicle battery swapping positioning system includes a positioning speed bump, and the vehicle battery swapping positioning device includes:

[0010] The acquisition module is used to acquire the battery pack distance difference when measuring the distance to the vehicle to be located at the first and second distance measuring points.

[0011] The determination module is used to determine the battery pack tilt angle of the vehicle to be positioned based on the distance calibration value between the first ranging point and the second ranging point and the battery pack ranging difference, wherein the battery pack tilt angle is used to characterize the tilt angle between the battery pack and the vertical direction of the positioning speed bump.

[0012] The positioning module is used to locate the vehicle to be located for battery swapping based on the tilt angle of the battery pack, and obtain the battery swapping positioning result.

[0013] This application also provides an electronic device, the electronic device comprising: at least one processor and a memory communicatively connected to the at least one processor, the memory storing instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the steps of the vehicle battery swapping positioning method described above.

[0014] This application also provides a computer-readable storage medium storing a program for implementing a vehicle battery swapping and positioning method, wherein when the program for the vehicle battery swapping and positioning method is executed by a processor, it implements the steps of the vehicle battery swapping and positioning method as described above.

[0015] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the vehicle battery swapping positioning method described above.

[0016] This application provides a vehicle battery swapping positioning method, device, electronic device, and readable storage medium, applied to a vehicle battery swapping positioning system. The vehicle battery swapping positioning system includes a positioning speed bump; specifically, it acquires the battery pack distance difference between a first distance measuring point and a second distance measuring point for measuring the distance to the vehicle to be positioned; determines the battery pack tilt angle of the vehicle to be positioned based on the distance calibration value between the first and second distance measuring points and the battery pack distance difference, wherein the battery pack tilt angle characterizes the tilt angle between the battery pack and the vertical direction of the positioning speed bump; and performs battery swapping positioning on the vehicle to be positioned based on the battery pack tilt angle to obtain a battery swapping positioning result.

[0017] In this application, when performing battery swapping positioning on a vehicle to be positioned, the distance difference between the first and second ranging points of the battery pack of the vehicle to be positioned is first obtained. That is, the distance difference between the different ranging points measuring the distance to the battery pack of the vehicle to be positioned is obtained. Then, the tilt angle of the battery pack of the vehicle to be positioned is determined based on the distance difference. Finally, the battery swapping positioning of the vehicle to be positioned is performed based on the tilt angle of the battery pack, and the battery swapping positioning result is obtained. In other words, during the vehicle repositioning process, the battery pack is pre-positioned using the tilt angle of the battery pack. Since the tilt angle of the battery pack is used to characterize the tilt angle between the battery pack and the positioning speed bump in the vertical direction, the relative positional relationship between the vehicle to be positioned and the positioning speed bump can be intuitively reflected by the tilt angle of the battery pack. That is, the purpose of determining whether the front wheels of the vehicle to be positioned have reached the expected position of the positioning speed bump is achieved by using the tilt angle of the battery pack.

[0018] Since the determination of the battery pack tilt angle depends on the fixed distance between the first and second ranging points, and the distance difference between the first and second ranging points when measuring the battery pack in real time, the determination of the battery pack tilt angle depends only on the distance difference between different ranging points. Therefore, the battery pack tilt angle can achieve the purpose of real-time feedback on the relative positional relationship between the vehicle to be located and the speed bump by the real-time changing distance difference, so as to accurately perform preliminary positioning of the vehicle to be located.

[0019] Based on this, this application determines the tilt angle between the battery pack and the positioning speed bump by using the distance difference between the battery pack of the vehicle to be positioned at different ranging points and the corresponding spacing calibration values ​​at different ranging points. Then, the tilt angle is used to perform battery swapping positioning of the vehicle to be positioned, thus obtaining the final battery swapping positioning result. That is, the vehicle to be positioned relies on the battery pack tilt angle, which provides real-time feedback on the relative positional relationship between the vehicle to be positioned and the positioning speed bump, for battery swapping positioning, rather than using the distance between the vehicle's front axle and the center of the battery pack for initial positioning. Therefore, it overcomes the technical defects caused by the different distances between the front axle and the center of the battery pack due to different vehicle models, which can easily lead to problems such as the lifting device failing to grab the battery pack or the vehicle repeatedly driving over the positioning speed bump. Therefore, it improves the positioning accuracy of vehicle battery swapping positioning. Attached Figure Description

[0020] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0021] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 is a schematic diagram of battery swapping for a heavy-duty truck using the vehicle battery swapping positioning method provided in Embodiment 1 of this application;

[0023] Figure 2 is a flowchart illustrating the vehicle battery swapping positioning method provided in Embodiment 1 of this application;

[0024] Figure 3 is a schematic diagram of the laser ranging sensor scanning the surface of the battery pack in the vehicle battery swapping positioning method provided in Embodiment 1 of this application;

[0025] Figure 4 is a top view of the battery pack tilt angle of the vehicle battery swapping positioning method provided in Embodiment 1 of this application;

[0026] Figure 5 is a schematic diagram of the battery pack position of the vehicle to be located under different operating conditions in the vehicle battery swapping positioning method provided in Embodiment 1 of this application.

[0027] Figure 6 is a schematic diagram of the battery pack located in the battery swapping channel in the vehicle battery swapping positioning method provided in Embodiment 1 of this application;

[0028] Figure 7 is a schematic diagram of the positional relationship between the battery pack and different ranging points in the vehicle battery swapping positioning method provided in Embodiment 1 of this application;

[0029] Figure 8 is a top view of the battery pack structure of the vehicle battery swapping positioning method provided in Embodiment 1 of this application;

[0030] Figure 9 is a schematic diagram of the swing of the battery pack before and after battery swapping in the vehicle battery swapping positioning method provided in Embodiment 1 of this application.

[0031] Figure 10 is a schematic diagram of the failure of distance measurement at the distance measurement point in the vehicle battery swapping positioning method provided in Embodiment 1 of this application;

[0032] Figure 11 is a flowchart illustrating the vehicle battery swapping positioning method provided in Embodiment 2 of this application;

[0033] Figure 12 is a schematic diagram of the vehicle battery swapping positioning device provided in Embodiment 3 of this application;

[0034] Figure 13 is a schematic diagram of the structure of the electronic device provided in Embodiment 4 of this application.

[0035] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0036] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] Example 1

[0038] First, it should be understood that with the continuous development of new energy vehicles, the construction of battery swapping infrastructure is also being vigorously promoted. Taking heavy-duty trucks as an example, corresponding heavy-duty truck battery swapping stations have emerged. Currently, heavy-duty truck battery swapping stations mainly include three methods: top swapping, bottom swapping, and side swapping. Among them, top swapping is the most common. Its swapping process is as follows: When a heavy-duty truck enters the battery swapping station, it is determined that the heavy-duty truck is parked within a reasonable range and meets the vehicle's battery swapping requirements when it enters the positioning speed bump installed in the battery swapping channel. Referring to Figure 1, which is a schematic diagram of a heavy-duty truck's battery swapping, 11 is the positioning speed bump, 12 is the distance between the vehicle's front wheel axle and the center of the battery pack, 13 is the heavy-duty truck, and 14 is the battery pack carried by the heavy-duty truck. During battery swapping, the heavy-duty truck 13 communicates with the station control terminal of the battery swapping station through the battery swapping controller. The station control terminal issues a vehicle unlocking command, which controls the battery pack to unlock from the vehicle end and then be unloaded by the three-axis gantry crane. After precisely locating the battery pack using visual positioning, the battery pack is lifted and transported to the battery swapping station. A fully charged battery pack is then retrieved and placed back on the heavy truck. The station control system issues a locking command. Finally, after the heavy truck performs a self-check, the entire battery swapping process is completed. Before precise visual positioning, a preliminary positioning process is performed to determine if the heavy truck has entered the designated speed bump. When the heavy truck enters the speed bump, its battery pack will form a certain angle with the speed bump's vertical direction. Traditionally, vehicle positioning is determined by checking if the distance from the truck's front axle to the center of the battery pack meets a calibrated distance. However, due to differences in vehicle models, the distance between the front axle and the battery pack center varies, easily leading to repeated damage to the speed bump and battery pack retrieval failures due to inaccurate positioning. Therefore, a method to improve the accuracy of vehicle battery swapping positioning is urgently needed.

[0039] This application provides a vehicle battery swapping positioning method, applied to a vehicle battery swapping positioning system. The vehicle battery swapping positioning system includes positioning speed bumps. In Embodiment 1 of the vehicle battery swapping positioning method of this application, referring to Figure 2, the vehicle battery swapping positioning method includes:

[0040] Step S10: Obtain the battery pack ranging difference between the first ranging point and the second ranging point for measuring the distance to the vehicle to be located.

[0041] Step S20: Determine the battery pack tilt angle of the vehicle to be positioned based on the distance calibration value between the first ranging point and the second ranging point and the battery pack ranging difference, wherein the battery pack tilt angle is used to characterize the tilt angle between the battery pack and the vertical direction of the positioning speed bump.

[0042] Step S30: Based on the tilt angle of the battery pack, perform battery swapping positioning on the vehicle to be positioned to obtain the battery swapping positioning result.

[0043] In this embodiment, it should be noted that although Figure 2 shows the logical sequence, in some cases, the steps shown or described may be performed in a different order than that shown here. The vehicle battery swapping positioning method is applied to a vehicle battery swapping positioning system, which may specifically be a PLC (Programmable Logic Controller) system. The vehicle battery swapping positioning system may be deployed at a vehicle battery swapping station, which may replace the battery pack of the vehicle to provide a power source for the vehicle. The specific composition of the vehicle battery swapping station may refer to the prior art, including a battery pack lifting device, a positioning speed bump, a battery management system, and a battery pack, etc. This application embodiment does not limit this. The vehicle to be positioned is used to represent the vehicle waiting for battery swapping positioning, which may specifically be the vehicle that has driven into the positioning speed bump of the vehicle battery swapping station. This application embodiment does not specifically limit the battery pack charge of the vehicle to be positioned.

[0044] Additionally, it should be noted that the positioning speed bumps set in the vehicle battery swapping positioning system are used for preliminary positioning of the vehicle to be positioned. The improved process of the vehicle battery swapping positioning method in this application embodiment is also a preliminary positioning process. After the preliminary positioning is completed, the current position of the battery pack is accurately located through the visual positioning system, thereby controlling the lifting mechanism to lift the battery pack and perform the battery swapping operation. To avoid the technical defects caused by relying on the distance from the front wheel axle of the vehicle to the center of the battery pack to determine whether the positioning is successful when positioning the vehicle to be positioned, the vehicle battery swapping positioning system in this application embodiment is also equipped with a laser ranging device. Specifically, the laser ranging device can be a laser ranging sensor. The laser ranging sensor is used to measure the distance of the battery pack of the vehicle to be positioned. That is, the laser ranging sensor emits a pulsed laser to the surface of the battery pack and receives the pulsed laser reflected by the battery pack through the receiver, thereby accurately outputting the distance between the current laser ranging sensor and the battery pack. For example, in one feasible embodiment, laser ranging sensors can be deployed at the first ranging point and the second ranging point respectively. The distance between the two laser ranging sensors is calibrated by the technician before performing the vehicle battery swapping positioning operation. The sensor's connection direction is perpendicular to the direction of the speed bump. The distance between the laser ranging sensor and the horizontal ground of the speed bump can depend on the height of the battery pack above the horizontal plane and the size of the battery pack. For example, assuming the lower surface of the battery pack is at height a1 and the upper surface is at height a2 when the vehicle is traveling horizontally, the laser ranging sensor can be deployed within the range of heights a1 to a2 to ensure that the laser ranging sensor performs horizontal ranging from the side of the battery pack. Alternatively, it can be set according to the positioning needs of the technicians, in which case a certain emission angle can be set. To ensure that the laser ranging sensor can project a laser onto the surface of the battery pack, in another possible implementation, the same laser ranging sensor can be deployed at a first ranging point and a second ranging point at different times. That is, referring to Figure 3, which is a schematic diagram of the laser ranging sensor scanning the surface of the battery pack, assuming that the laser ranging sensor is flexibly installed next to the battery swapping channel 21, and the current position is the first ranging point by default, after measuring the distance at the first ranging point, the laser ranging sensor is moved along the direction of the battery swapping channel to move to the second ranging point to measure the distance on the surface of the battery pack, and finally the distance difference of the battery pack at different ranging points is obtained.

[0045] Additionally, it should be noted that the spacing calibration value is used to characterize the calibrated spacing value, which can be completed before laser ranging. For example, in one feasible method, assuming the spacing calibration value is x, if there are two laser ranging sensors, they are directly arranged with a distance x between them. If there is only one laser ranging sensor, after the laser ranging sensor completes the laser ranging at the first ranging point, it moves a distance x along the battery swapping channel, and this distance is used as the second ranging point for ranging the battery pack of the vehicle to be located. The battery pack tilt angle is used to characterize the tilt angle between the battery pack and the vertical direction of the positioning speed bump. Through the battery pack tilt angle, the degree to which the vehicle to be located has passed over the positioning speed bump can be intuitively reflected. For example, in one feasible method, a preset tilt angle can be calibrated in advance, that is, the tilt angle is calibrated, and the default is that the vehicle to be located has passed over the positioning speed bump, and the tilt angle between the battery pack and the vertical direction of the positioning speed bump is the preset tilt angle. When the vehicle is tilted, the initial positioning of the vehicle to be located is completed. For example, in one feasible method, assuming the vehicle to be located is a heavy truck, refer to Figure 4, which is a top view showing the tilt angle of the battery pack. The heavy truck battery pack is the battery pack carried by the heavy truck. L1 is the distance value obtained by measuring the distance of the heavy truck battery pack at the first distance measuring point, L2 is the distance value obtained by measuring the distance of the heavy truck battery pack at the second distance measuring point, m is the distance difference of the battery pack, M is the distance calibration value between the first distance measuring point and the second distance measuring point, and a is the tilt angle of the battery pack. Then, when the tilt angle of the battery pack is the preset tilt angle, the battery swapping positioning of the heavy truck is confirmed to be completed. If the tilt angle of the battery pack is not the preset tilt angle, the loudspeaker deployed by the vehicle battery swapping positioning system will broadcast "move the vehicle again" until the preset tilt angle is reached, thereby completing the initial positioning of the heavy truck, and then performing subsequent visual precise positioning and battery pack grabbing for battery swapping, etc.

[0046] Additionally, it should be noted that since specific distance values ​​need to be measured at both the first and second distance measuring points in order to determine the battery pack tilt angle, in the preliminary positioning process of the vehicle to be positioned in this application embodiment, it is necessary to constrain the relative positional relationship between the first distance measuring point and the battery pack, as well as the relative positional relationship between the second distance measuring point and the battery pack, to ensure that the corresponding distance values ​​can be measured at both the first and second distance measuring points. That is, when performing vehicle battery swapping positioning, it depends on the relative positional relationship between the battery pack and different distance measuring points, as well as the battery pack tilt angle.

[0047] As an example, steps S10 to S30 include: obtaining a first ranging value for measuring the distance of the battery pack of the vehicle to be located at a first ranging point, and obtaining a second ranging value for measuring the distance of the battery pack of the vehicle to be located at a second ranging point; subtracting the first ranging value and the second ranging value to obtain the battery pack ranging difference, wherein the first ranging value is used to characterize the distance between the first ranging point and the pulsed laser receiving point on the battery pack, and the second ranging value is used to characterize the distance between the second ranging point and the pulsed laser receiving point on the battery pack, and the battery pack ranging difference is a positive value; obtaining a distance calibration value between the first ranging point and the second ranging point, and inputting the distance calibration value and the battery pack ranging difference into a preset tilt angle calculation model to obtain the tilt angle of the battery pack of the vehicle to be located, wherein the preset tilt angle calculation model includes a preset tilt angle calculation formula, and the preset tilt angle calculation formula is as follows:

[0048] α = ractan(m / M)

[0049] Where m is the battery pack ranging difference, M is the calibrated distance between the first ranging point and the second ranging point, and α is the battery pack tilt angle; it detects whether the battery pack tilt angle is the calibrated tilt angle. If the battery pack tilt angle is detected to be the calibrated tilt angle, the battery swap positioning result of the vehicle to be positioned is output as successful. If the battery pack tilt angle is detected to be different from the calibrated tilt angle, the battery swap positioning result of the vehicle to be positioned as unsuccessful is output, so that the driver of the vehicle to be positioned can control the vehicle to be positioned to move until the tilt angle is detected to be the preset tilt angle, and the battery swap positioning result of the vehicle to be positioned as successful is output.

[0050] In this embodiment, the distance to the battery pack of the vehicle to be positioned is measured at the first and second ranging points, respectively, to obtain the distance difference of the battery pack at different ranging points. Then, the tilt angle between the battery pack and the positioning speed bump is obtained by using the calibrated distance between the first and second ranging points and the battery pack distance difference. Finally, the battery pack tilt angle is used as a reference to perform battery swapping positioning of the vehicle to be positioned, and the battery swapping positioning result is obtained. That is, the purpose of battery swapping positioning of the vehicle to be positioned is achieved by relying on the relative positional relationship between the battery pack and different ranging points and the battery pack tilt angle, rather than by using the distance between the front wheel axle of the vehicle to be positioned and the center of the battery pack. At the same time, since the battery pack tilt angle can provide real-time feedback on the relative positional relationship between the vehicle to be positioned and the positioning speed bump, the positioning accuracy of vehicle battery swapping positioning is improved.

[0051] On the other hand, it should be emphasized that, regarding the current issue of positioning accuracy for vehicles to be located, different specifications of positioning speed bumps are usually configured for different models of vehicles to be located, thereby achieving a certain degree of accuracy in the initial positioning. However, the deployment of multiple positioning speed bumps will increase the battery swapping cost of the vehicles to be located, and at the same time, it will also affect the driver's battery swapping experience to some extent. In contrast, the embodiment of this application locates the vehicles to be located based on the tilt angle of the battery pack, which not only has the accuracy of the initial positioning, but also reduces the deployment of positioning speed bumps. By configuring a single universal positioning speed bump, the purpose of battery swapping for different vehicles to be located can be achieved. Therefore, while reducing the battery swapping cost of the vehicles to be located, the driver's vehicle battery swapping experience is also improved.

[0052] The battery swapping positioning result includes a positioning success result and a positioning failure result. The step of performing battery swapping positioning on the vehicle to be positioned based on the battery pack tilt angle to obtain the battery swapping positioning result includes:

[0053] Step A10: Detect whether the tilt angle of the battery pack is greater than a preset tilt angle threshold;

[0054] Step A20: If yes, then generate the location failure result;

[0055] Step A30: If not, then generate the location success result.

[0056] In this embodiment, it should be noted that, on the one hand, determining the successful battery swapping positioning of the vehicle to be positioned only under a single preset tilt angle places excessive demands on the driver. That is, the driver has to perform multiple minor movement operations on the vehicle, which greatly affects the driver's driving experience. At the same time, it will also affect the battery swapping efficiency of the vehicle to be positioned. On the other hand, when the vehicle to be positioned is located within the positioning speed bump, a certain angle is formed between the battery pack and the horizontal plane. Therefore, the lifting and straightening process of the battery pack during the replacement process will cause the battery pack and the front fairing of the vehicle to interfere with each other. Referring to Figure 5, Figure 5 is a schematic diagram showing the battery pack position of the vehicle to be positioned under different working conditions. (a) shows the battery pack position of the vehicle to be positioned under the station entry condition, and (b) shows the battery pack position of the vehicle to be positioned under the battery swapping condition. As can be seen from Figure 5, the distance between the battery pack and the front of the vehicle will decrease during the straightening process, which will lead to the risk of interference between the battery pack and the front fairing of the vehicle. This will lead to the risk of damage to the battery swapping lifting equipment of the vehicle battery swapping positioning system. Therefore, it is necessary to avoid this technical defect in the existing vehicle battery swapping positioning process.

[0057] Additionally, it should be noted that the preset tilt angle threshold is a pre-set limit value for the tilt angle. That is, if the current tilt angle of the battery pack is less than or equal to the preset tilt angle threshold, it means that there will be no interference between the battery pack and the front fairing. If the current tilt angle of the battery pack is greater than the preset tilt angle threshold, it means that there will be interference between the battery pack and the front fairing. Thus, by setting the preset tilt angle threshold, the risk of damage to the battery swapping hoisting equipment during the battery swapping positioning process of the vehicle to be positioned is avoided. The preset tilt angle threshold is a calibration value obtained by technicians in the early testing phase. For different vehicles to be positioned, since the distance between the battery pack and the front of the vehicle is different, different preset tilt angle thresholds are set for different vehicles to be positioned.

[0058] Additionally, it should be noted that the positioning failure result indicates that the battery swap positioning of the vehicle to be positioned has failed, while the positioning success result indicates that the battery swap positioning of the vehicle to be positioned has been successful. That is, after the positioning failure result is generated, the loudspeaker deployed by the vehicle battery swap positioning system will broadcast "move the vehicle again" until the positioning success result is obtained.

[0059] As an example, steps A10 to A30 include: detecting whether the tilt angle of the battery pack is greater than a preset tilt angle threshold; if the tilt angle of the battery pack is detected to be greater than the preset tilt angle threshold, a positioning failure result is generated; if the tilt angle of the battery pack is detected to be less than or equal to the preset tilt angle threshold, a positioning success result is generated. Since a preset tilt angle threshold allows for the determination of whether the vehicle to be positioned has successfully completed its battery swapping and positioning based on the angular relationship between the preset tilt angle threshold and the battery pack tilt angle, it eliminates the need to rely solely on a single calibrated tilt angle to determine whether the vehicle has successfully completed its battery swapping and positioning. Furthermore, the preset tilt angle threshold can classify whether there is a risk of interference between the battery pack and the front fairing during the battery swapping process. Therefore, while ensuring positioning accuracy, it avoids the technical defects of interference between the battery pack and the front fairing during existing vehicle battery swapping and positioning processes, thus improving the stability of the battery swapping and positioning system.

[0060] Prior to the step of determining the battery pack tilt angle of the vehicle to be located based on the distance calibration value between the first ranging point and the second ranging point and the battery pack ranging difference, the vehicle battery swapping positioning method further includes:

[0061] Step B10: Obtain the initial distance value between the battery pack of the positioning vehicle and the front of the positioning vehicle;

[0062] Step B20: Based on the first size parameter of the battery pack, determine the battery pack's lateral displacement value under a preset tilt angle threshold, wherein the lateral displacement value refers to the lateral offset value before and after battery swapping.

[0063] Step B30: Determine the minimum distance between the battery pack and the front of the vehicle based on the initial distance value and the lateral offset value;

[0064] Step B40: Based on the second size parameter of the battery swapping channel corresponding to the battery pack and the minimum spacing value, calibrate the spacing between the first and second ranging points to obtain the spacing calibration value.

[0065] In this embodiment, it should be noted that, in order to avoid interference between the battery pack and the front fairing of the vehicle to be positioned during the battery swapping and positioning process, corresponding spacing calibration values ​​need to be configured for different vehicles to be positioned. That is, the spacing calibration value is set based on a preset tilt angle threshold. In this way, when the actual tilt angle of the battery pack is less than or equal to the preset tilt angle threshold, there will be no risk of interference between the battery pack and the front fairing of the vehicle to be positioned when the battery pack is lifted back to the center position.

[0066] Additionally, it should be noted that since the distance between the front of the vehicle and the battery pack may vary between different vehicles to be located, it is first necessary to determine the initial distance value of the vehicle to be located. This initial distance value is the distance value marked at the factory. For example, in one feasible approach, K represents the initial distance value of the vehicle to be located, and K can be 120mm, 130mm, or 140mm, etc. The first dimension parameter can specifically be length, width, and height, etc. The battery swapping lateral displacement value refers to the lateral offset value before and after the battery swap. Since the distance between the battery pack and the front of the vehicle will decrease at some points during the battery swapping process, the lateral displacement of the battery pack during the lifting and returning to center process can be determined by the battery swapping offset. The lateral displacement is specific to the deployment location. The lateral movement of the battery pack relative to the horizontal plane of the speed bump is considered. The battery swapping channel is used for vehicles to be positioned to stop and swap batteries. The second dimension parameter is the channel width. Referring to Figure 6, Figure 6 is a schematic diagram showing the battery pack located in the battery swapping channel. The battery pack follows the vehicle to be positioned into the battery swapping channel according to the centering and straightening logic. 1000mm represents the width of the battery swapping channel, and 85mm represents the distance between the surface of the battery pack and the surface of the battery swapping channel. Referring to Figure 7, Figure 7 is a schematic diagram showing the positional relationship between the battery pack and different distance measuring points. 70mm is the minimum distance value between the battery pack and the front of the vehicle. To ensure that the battery pack does not interfere with the front of the vehicle during the lifting and straightening process, the distance calibration value M = 1000 - [(70+85)*2] = 710mm.

[0067] As an example, steps B10 to B40 include: obtaining an initial distance value between the battery pack of the positioning vehicle and the front of the positioning vehicle; determining the battery pack's lateral displacement value under a preset tilt angle threshold based on the first size parameter of the battery pack, wherein the lateral displacement value refers to the lateral offset value before and after battery swapping; subtracting the initial distance value from the lateral offset value to obtain a minimum distance value between the battery pack and the front of the vehicle, wherein the minimum distance value is used to characterize the minimum distance between the battery pack and the front of the vehicle during the lifting and straightening process, and the minimum distance value is a positive value; subtracting the channel width of the battery swapping channel corresponding to the battery pack from the width of the battery pack to obtain the free width of the battery pack in the battery swapping channel; and calculating the distance calibration value between the first ranging point and the second ranging point based on the free width, the channel width, and the minimum distance value.

[0068] The first size parameter includes the battery pack length and the battery pack width. The step of determining the battery pack's lateral displacement value at a preset tilt angle threshold based on the first size parameter includes:

[0069] Step C10: Calculate the distance between the center point of the battery pack and the preset edge vertex of the battery pack based on the battery pack length value and the battery pack width value;

[0070] Step C20: Determine the actual swing value of the battery pack under the preset tilt angle threshold based on the distance value;

[0071] Step C30: Based on the actual swing value, calculate the battery pack's lateral displacement value at the preset tilt angle threshold.

[0072] In this embodiment, it should be noted that, referring to Figure 8, which is a top view of the battery pack, a preset coordinate system can be constructed with the center point of the battery pack as the origin, the direction of the vehicle's front as the x-axis, and the direction of the speed bump as the y-axis. d1 is half the length of the battery pack, d2 is half the width of the battery pack, β is the angle between the line connecting the center point of the battery pack to the preset edge vertex of the battery pack and the y-axis, γ is the angle between the line connecting the center point of the battery pack to the preset edge vertex of the battery pack and the x-axis, d1 is the distance between the center point of the battery pack and the preset edge vertex of the battery pack, d2 is the distance between the origin of the coordinate system and the preset edge, and d3 is the distance between the preset edge vertex and the origin of the coordinate system in the x-axis direction. Since the size of the battery pack is known, the distance between the center point of the battery pack and the preset edge vertex of the battery pack can be calculated.

[0073] Additionally, it should be noted that, referring to Figure 9, which is a schematic diagram showing the swing of the battery pack before and after battery swapping, d1 represents the distance between the center point of the battery pack and the preset edge vertex of the battery pack before swinging, d4 represents the distance between the center point of the battery pack and the preset edge vertex of the battery pack after swinging, d5 represents the actual swing value, d6 represents the battery swapping lateral displacement value, and θ represents the preset tilt angle threshold. The specific value of d6 can be calculated using trigonometric functions. For example, in one feasible implementation, the calculation process for the battery swapping lateral displacement value is as follows:

[0074] d5 / 2 = d2*sin(θ / 2)

[0075] λ=(180°-θ) / 2

[0076] η=λ-γ

[0077] d6 = d5 * cos(ε)

[0078] Where η is the angle between the line corresponding to d2 and the line corresponding to d6, and λ is the angle between the line corresponding to d2 and the line corresponding to d5.

[0079] As an example, steps C10 to C30 include: calculating the distance between the center point of the battery pack and a preset edge vertex of the battery pack based on the battery pack length and width values, wherein the calculation formula is as follows:

[0080] β = arctan(d² / d³)

[0081] γ=90°-β

[0082] ;

[0083] Based on the distance value, the actual swing value of the battery pack under the preset tilt angle threshold is determined; based on the actual swing value, the battery pack's lateral displacement value under the preset tilt angle threshold is calculated.

[0084] The second dimension parameter includes a channel width value. The step of calibrating the distance between the first and second ranging points based on the second dimension parameter of the battery swapping channel corresponding to the battery pack and the minimum spacing value to obtain a spacing calibration value includes:

[0085] Step D10: Obtain the preset spacing margin;

[0086] Step D20: Calculate the calibration value of the distance between the first ranging point and the second ranging point based on the channel width value, the minimum spacing value, and the preset spacing margin.

[0087] In this embodiment, it should be noted that, in order to improve the fault tolerance of the battery pack during the battery swapping process, a spacing margin is set for the spacing calibration value during the calibration process, that is, a preset spacing margin is set. In this way, under certain working conditions, it can still be ensured that there will be no interference between the battery pack and the front fairing during the battery swapping positioning process of the vehicle to be positioned.

[0088] As an example, steps D10 to D20 include: obtaining a preset spacing margin; calculating the spacing calibration value between the first ranging point and the second ranging point based on the channel width value, the minimum spacing value, and the preset spacing margin, wherein the calculation formula is as follows:

[0089] M = m - [d + d0] * 2 - m0

[0090] Where M is the spacing calibration value, m is the channel width of the battery swapping channel, d is the minimum spacing value, d0 is half the free width of the battery pack in the battery swapping channel, and m0 is the preset spacing margin, which can be 5mm or 10mm, etc.

[0091] Prior to the step of obtaining the battery pack distance difference between the first and second ranging points for measuring the distance to the vehicle to be located, the vehicle battery swapping positioning method further includes:

[0092] Step E10: Obtain the first ranging value fed back by the first ranging point and the second ranging value fed back by the second ranging point;

[0093] Step E20: Based on the first ranging value and the second ranging value, detect whether there are any abnormal ranging points for measuring the battery pack of the vehicle to be located.

[0094] Step E30: If yes, then generate corresponding abnormal prompt information based on the abnormal ranging point;

[0095] Step E40: If not, calculate the battery pack distance difference between the first distance measurement point and the second distance measurement point based on the first distance measurement value and the second distance measurement value.

[0096] In this embodiment, it should be noted that due to the uncontrollability of the driver's operation of the vehicle to be located, after different distance measuring points have been fixed according to the distance calibration value, the distance of the battery pack cannot be measured at the distance measuring point. For example, referring to Figure 10, which is a schematic diagram of distance measuring point failure, (c) is a schematic diagram of the first distance measuring point failing to measure the distance of the battery pack, and (d) is a schematic diagram of the second distance measuring point failing to measure the distance of the battery pack. For Figure (c), the vehicle to be located needs to move forward to ensure that both the first and second distance measuring points can measure the distance of the battery pack. For Figure (d), the vehicle to be located needs to move backward to ensure that both the first and second distance measuring points can measure the distance of the battery pack.

[0097] Additionally, it should be noted that since the battery pack tilt angle can only be determined if the battery pack can be measured from both the first and second ranging points, it is necessary to ensure that both the first and second ranging points can be successfully measured before obtaining the battery pack ranging difference. The abnormal ranging point can be the first ranging point and / or the second ranging point. The abnormal prompt message is used to indicate the ranging abnormality, which can be "Please move the vehicle forward" or "Please move the vehicle backward" output by the speaker of the vehicle battery swapping system.

[0098] As an example, steps E10 to E20 include: obtaining a first ranging value fed back by a first ranging point and a second ranging value fed back by a second ranging point; detecting whether there is an abnormal ranging point for ranging the battery pack of the vehicle to be located by determining whether the first ranging value is greater than a first preset ranging threshold and whether the second ranging value is greater than a second preset ranging threshold, wherein the first preset ranging threshold and the second preset ranging threshold may be the same or different; if the abnormal ranging point is detected, generating an abnormal prompt message corresponding to the abnormal ranging point; if the abnormal ranging point is not detected, subtracting the first ranging value and the second ranging value to obtain the battery pack ranging difference between the first ranging point and the second ranging point.

[0099] Specifically, detecting the existence of the abnormal ranging point can be achieved by determining that the first ranging value is greater than a first preset ranging threshold and / or determining that the second ranging value is greater than a second preset ranging threshold.

[0100] This application provides a vehicle battery swapping positioning method, applied to a vehicle battery swapping positioning system. The vehicle battery swapping positioning system includes locating a speed bump; that is, obtaining the battery pack distance difference between a first distance measuring point and a second distance measuring point for measuring the distance to the vehicle to be positioned; determining the battery pack tilt angle of the vehicle to be positioned based on the distance calibration value between the first distance measuring point and the second distance measuring point and the battery pack distance difference, wherein the battery pack tilt angle is used to characterize the tilt angle between the battery pack and the vertical direction of the speed bump; and performing battery swapping positioning on the vehicle to be positioned based on the battery pack tilt angle to obtain a battery swapping positioning result.

[0101] In this embodiment of the application, when performing battery swapping positioning on a vehicle to be positioned, the distance difference between the first and second distance measuring points and the battery pack of the vehicle to be positioned is first obtained. That is, the distance difference between the distance measuring points of the battery pack of the vehicle to be positioned is obtained. Then, the tilt angle of the battery pack of the vehicle to be positioned is determined based on the distance difference. Finally, the battery swapping positioning of the vehicle to be positioned is performed based on the tilt angle of the battery pack, and the battery swapping positioning result is obtained. In other words, during the vehicle repositioning process, the battery pack is pre-positioned based on the tilt angle of the battery pack. Since the tilt angle of the battery pack is used to characterize the tilt angle between the battery pack and the positioning speed bump in the vertical direction, the relative positional relationship between the vehicle to be positioned and the positioning speed bump can be intuitively reflected by the tilt angle of the battery pack. That is, the purpose of determining whether the front wheels of the vehicle to be positioned have reached the expected position of the positioning speed bump is achieved by using the tilt angle of the battery pack.

[0102] Since the determination of the battery pack tilt angle depends on the fixed distance between the first and second ranging points, and the distance difference between the first and second ranging points when measuring the battery pack in real time, the determination of the battery pack tilt angle depends only on the distance difference between different ranging points. Therefore, the battery pack tilt angle can achieve the purpose of real-time feedback on the relative positional relationship between the vehicle to be located and the speed bump by the real-time changing distance difference, so as to accurately perform preliminary positioning of the vehicle to be located.

[0103] Based on this, this application determines the tilt angle between the battery pack and the positioning speed bump by using the distance difference between the battery pack of the vehicle to be positioned at different ranging points and the corresponding spacing calibration values ​​at different ranging points. Then, the tilt angle is used to perform battery swapping positioning of the vehicle to be positioned, thus obtaining the final battery swapping positioning result. That is, the vehicle to be positioned relies on the battery pack tilt angle, which provides real-time feedback on the relative positional relationship between the vehicle to be positioned and the positioning speed bump, for battery swapping positioning, rather than using the distance between the vehicle's front axle and the center of the battery pack for initial positioning. Therefore, it overcomes the technical defects caused by the different distances between the front axle and the center of the battery pack due to different vehicle models, which can easily lead to problems such as the lifting device failing to grab the battery pack or the vehicle repeatedly driving over the positioning speed bump. Therefore, it improves the positioning accuracy of vehicle battery swapping positioning.

[0104] Example 2

[0105] Further, referring to Figure 11, in another embodiment of this application, the same or similar content as in Embodiment 1 above can be referred to the above description and will not be repeated hereafter. Based on this, before the step of obtaining the first ranging value fed back by the first ranging point and the second ranging value fed back by the second ranging point, the vehicle battery swapping positioning method further includes:

[0106] Step F10: After detecting that the vehicle to be located has entered the battery swapping area, an indicator laser is projected onto the vehicle to be located so that the user can determine whether to perform a repositioning operation on the vehicle to be located by observing whether the indicator laser is located in the pre-positioning area of ​​the vehicle to be located.

[0107] Step F20: If it is detected that the vehicle to be located has not been relocated within a preset time period, then it is determined that the vehicle to be located has completed the pre-positioning.

[0108] In this embodiment, it should be noted that the vehicle battery swapping positioning system of this application embodiment can also be equipped with a laser indicator light. The laser indicator light is used to project an indicative laser onto the vehicle to be positioned. For example, in one feasible method, when the vehicle enters the battery swapping area, the laser indicator light is used to perform coarse positioning of the vehicle to be positioned. Before coarse positioning, a pre-positioning sticker is affixed to the pre-positioning area of ​​the vehicle to be positioned using a contouring fixture that simulates the window of the vehicle to be positioned. After detecting that the vehicle to be positioned has entered the battery swapping area, the laser indicator light is controlled to project an indicative laser onto the vehicle to be positioned. When the indicative laser is located in the pre-positioning area (i.e., the indicative laser illuminates the pre-positioning sticker), it is considered that the vehicle to be positioned has been coarsely positioned. Then, the subsequent step of judging the accuracy of the vehicle's parking position through a dual-laser ranging sensor program can be executed. The contouring fixture matches the specific model of the vehicle and can be mass-produced to form a standard. Specifically, it can be made of 1mm thick galvanized sheet. The pre-positioning sticker can be a 60mm*60mm transparent sticker, and the pre-positioning area can be the upper left corner or the upper right corner of the window, etc.

[0109] Additionally, it should be noted that users can, for example, control the vehicle for the driver or passengers. In one feasible approach, after the driver observes that the indicator laser is in the pre-positioned area, the driver will not control the vehicle to move, but will wait for the vehicle battery swapping positioning system to perform battery swapping positioning and then perform battery pack swapping. If the driver does not observe that the indicator laser is in the pre-positioned area, the driver will control the vehicle to move back and forth. Thus, for the vehicle battery swapping positioning system, if no movement of the vehicle is detected within a certain period of time, it will be assumed that the vehicle to be positioned has completed the pre-positioning and the subsequent vehicle battery swapping positioning method can be executed.

[0110] As an example, steps F10 to F20 include: after detecting that the vehicle to be located has entered the battery swapping area, projecting an indicator laser onto the vehicle to be located, so that the user can determine whether to perform a repositioning operation on the vehicle to be located by observing whether the indicator laser is located in the pre-positioning area of ​​the vehicle to be located; if it is detected that the vehicle to be located has not been repositioned within a preset time period, it is determined that the vehicle to be located has completed the pre-positioning.

[0111] This application provides a vehicle braking control method. Specifically, after detecting that a vehicle to be positioned has entered a battery swapping area, an indicator laser is projected onto the vehicle. This allows the user to observe whether the indicator laser is located within the vehicle's predetermined positioning area to determine whether a repositioning operation should be performed. If the vehicle has not been repositioned within a preset time period, it is determined that the vehicle has completed its predetermined positioning. This application provides a benchmark for the vehicle's battery swapping and positioning by projecting an indicator laser onto it after it enters the battery swapping area. This allows the driver to observe whether the vehicle has stopped within a reasonable parking area, thus reducing the driver's repeated movement during the battery swapping and positioning process. This reduces the risk of damage caused by the vehicle repeatedly driving over speed bumps, thereby laying the foundation for performing battery swapping and positioning of the vehicle.

[0112] Example 3

[0113] This application embodiment also provides a vehicle battery swapping positioning device, applied to a vehicle battery swapping positioning system. The vehicle battery swapping positioning system includes a positioning speed bump. Referring to FIG12, the vehicle battery swapping positioning device includes:

[0114] The acquisition module 101 is used to acquire the battery pack distance difference when measuring the distance of the vehicle to be located at the first distance measuring point and the second distance measuring point.

[0115] The determining module 102 is used to determine the battery pack tilt angle of the vehicle to be positioned based on the distance calibration value between the first measuring point and the second measuring point and the battery pack distance difference, wherein the battery pack tilt angle is used to characterize the tilt angle between the battery pack and the vertical direction of the positioning speed bump.

[0116] The positioning module 103 is used to perform battery swapping positioning on the vehicle to be positioned based on the tilt angle of the battery pack, and obtain the battery swapping positioning result.

[0117] Optionally, the battery swapping location result includes a location success result and a location failure result, and the location module 103 is further used for:

[0118] Detect whether the tilt angle of the battery pack is greater than a preset tilt angle threshold;

[0119] If so, then generate the location failure result;

[0120] If not, then the location success result will be generated.

[0121] Optionally, the vehicle battery swapping positioning device is also used for:

[0122] Obtain the initial distance value between the battery pack of the positioning vehicle and the front of the positioning vehicle;

[0123] Based on the first size parameter of the battery pack, the battery pack's lateral displacement value under a preset tilt angle threshold is determined, wherein the lateral displacement value refers to the lateral offset value before and after battery swapping;

[0124] Based on the initial spacing value and the lateral offset value, determine the minimum spacing value between the battery pack and the front of the vehicle;

[0125] Based on the second dimension parameter of the battery swapping channel corresponding to the battery pack and the minimum spacing value, the spacing between the first and second ranging points is calibrated to obtain the spacing calibration value.

[0126] Optionally, the first size parameter includes the battery pack length value and the battery pack width value, and the vehicle battery swapping positioning device is further used for:

[0127] Based on the battery pack length value and the battery pack width value, the distance between the center point of the battery pack and the preset edge vertex of the battery pack is calculated;

[0128] Based on the distance value, determine the actual swing value of the battery pack under the preset tilt angle threshold;

[0129] Based on the actual swing value, the battery pack's lateral displacement value under the preset tilt angle threshold is calculated.

[0130] Optionally, the second size parameter includes a channel width value, and the vehicle battery swapping positioning device is further used for:

[0131] Obtain the preset spacing margin;

[0132] The distance calibration value between the first ranging point and the second ranging point is calculated based on the channel width value, the minimum spacing value, and the preset spacing margin.

[0133] Optionally, the vehicle battery swapping positioning device is also used for:

[0134] Obtain the first ranging value fed back from the first ranging point and the second ranging value fed back from the second ranging point;

[0135] Based on the first and second ranging values, detect whether there are any abnormal ranging points for measuring the battery pack of the vehicle to be located.

[0136] If so, then generate corresponding abnormal prompt information based on the abnormal ranging point;

[0137] If not, the battery pack distance difference between the first distance measurement point and the second distance measurement point is calculated based on the first distance measurement value and the second distance measurement value.

[0138] Optionally, the vehicle battery swapping positioning device is also used for:

[0139] After detecting that the vehicle to be located has entered the battery swapping area, an indicator laser is projected onto the vehicle to be located, so that the user can determine whether to perform a repositioning operation on the vehicle by observing whether the indicator laser is located in the pre-positioning area of ​​the vehicle to be located.

[0140] If it is detected that the vehicle to be located has not been relocated within a preset time period, then it is determined that the vehicle to be located has completed the pre-positioning.

[0141] The vehicle battery swapping positioning device provided by this invention, employing the vehicle battery swapping positioning method in the above embodiments, solves the technical problem of low positioning accuracy in vehicle battery swapping positioning. Compared with the prior art, the beneficial effects of the vehicle battery swapping positioning device provided by this invention are the same as those of the vehicle battery swapping positioning method provided in the above embodiments, and other technical features in this vehicle battery swapping positioning device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0142] Example 4

[0143] This invention provides an electronic device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, which are executed by the at least one processor to enable the at least one processor to perform the vehicle battery swapping positioning method in Embodiment 1 above.

[0144] Referring now to FIG13, a schematic diagram of the structure of an electronic device suitable for implementing embodiments of the present disclosure is shown. The electronic device in the embodiments of the present disclosure may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. The electronic device shown in FIG13 is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of the present disclosure.

[0145] As shown in Figure 13, the electronic device may include a processing unit 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the electronic device. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus.

[0146] Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. The communication devices allow electronic devices to communicate wirelessly or wiredly with other devices to exchange data. Although electronic devices with various systems are shown in the figures, it should be understood that it is not required to implement or possess all the systems shown. More or fewer systems may be implemented alternatively.

[0147] In particular, according to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication device 1009, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of embodiments of this disclosure.

[0148] The electronic device provided by this invention employs the vehicle battery swapping positioning method in the above embodiments, solving the technical problem of low positioning accuracy in vehicle battery swapping positioning. Compared with the prior art, the beneficial effects of the electronic device provided by this invention are the same as those of the vehicle battery swapping positioning method provided in the above embodiments, and other technical features of this electronic device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0149] It should be understood that various parts of this disclosure can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0150] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

[0151] Example 5

[0152] This embodiment provides a computer-readable storage medium having computer-readable program instructions stored thereon, which are used to execute the vehicle battery swapping positioning method in the above embodiment.

[0153] The computer-readable storage medium provided in this embodiment of the invention may be, for example, a USB flash drive, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination thereof.

[0154] The aforementioned computer-readable storage medium may be included in an electronic device or may exist independently without being assembled into an electronic device.

[0155] The aforementioned computer-readable storage medium carries one or more programs that, when executed by an electronic device, cause the electronic device to: acquire the battery pack distance difference between a first distance measuring point and a second distance measuring point for measuring the distance to the vehicle to be positioned; determine the battery pack tilt angle of the vehicle to be positioned based on the distance calibration value between the first distance measuring point and the second distance measuring point and the battery pack distance difference, wherein the battery pack tilt angle is used to characterize the tilt angle between the battery pack and the vertical direction of the positioning speed bump; and perform battery swapping positioning on the vehicle to be positioned based on the battery pack tilt angle to obtain a battery swapping positioning result.

[0156] Computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0157] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0158] The modules described in the embodiments of this disclosure can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0159] The computer-readable storage medium provided by this invention stores computer-readable program instructions for executing the above-described vehicle battery swapping positioning method, thus solving the technical problem of low positioning accuracy in vehicle battery swapping positioning. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the embodiments of this invention are the same as the beneficial effects of the vehicle battery swapping positioning method provided in the above-described embodiments, and will not be repeated here.

[0160] Example 6

[0161] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the vehicle battery swapping positioning method described above.

[0162] The computer program product provided in this application solves the technical problem of low positioning accuracy in vehicle battery swapping positioning. Compared with the prior art, the beneficial effects of the computer program product provided in the embodiments of this invention are the same as the beneficial effects of the vehicle battery swapping positioning method provided in the above embodiments, and will not be repeated here.

[0163] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent scope of this application.

Claims

1. A vehicle battery swapping positioning method, characterized in that, An application is made to a vehicle battery swapping positioning system, the system including a positioning speed bump. The vehicle battery swapping positioning method includes: obtaining the battery pack distance difference between a first and a second ranging point; determining the battery pack tilt angle of the vehicle to be positioned based on a distance calibration value between the first and second ranging points and the battery pack distance difference, wherein the battery pack tilt angle characterizes the tilt angle between the battery pack and the vertical direction of the positioning speed bump; and prior to the step of determining the battery pack tilt angle of the vehicle to be positioned based on the distance calibration value between the first and second ranging points and the battery pack distance difference, the method further includes: obtaining an initial distance value between the battery pack of the vehicle to be positioned and the front of the vehicle. Based on the battery pack length and width, the distance between the center point of the battery pack and a preset edge vertex is calculated. Based on this distance, the actual sway value of the battery pack at a preset tilt angle threshold is determined. Based on this actual sway value, the battery pack's lateral displacement value at the preset tilt angle threshold is calculated, where the lateral displacement value refers to the lateral offset before and after the battery swap. Based on the initial distance and the lateral offset value, the minimum distance between the battery pack and the vehicle front is determined. A preset distance margin is obtained. Based on the channel width, the minimum distance, and the preset distance margin, the distance calibration value between the first and second ranging points is calculated. Based on the battery pack tilt angle, the vehicle to be located is positioned for battery swapping to obtain the battery swapping positioning result.

2. The vehicle battery swapping positioning method as described in claim 1, characterized in that, The battery swapping positioning result includes a positioning success result and a positioning failure result. The step of performing battery swapping positioning on the vehicle to be positioned based on the battery pack tilt angle to obtain the battery swapping positioning result includes: detecting whether the battery pack tilt angle is greater than a preset tilt angle threshold; if so, generating the positioning failure result; if not, generating the positioning success result.

3. The vehicle battery swapping positioning method as described in claim 1, characterized in that, Before the step of obtaining the battery pack distance difference for measuring the distance to the vehicle to be located at the first distance measuring point and the second distance measuring point, the vehicle battery swapping positioning method further includes: obtaining a first distance value fed back by the first distance measuring point and a second distance value fed back by the second distance measuring point; detecting whether there is an abnormal distance measuring point for measuring the distance to the battery pack of the vehicle to be located based on the first distance measuring point and the second distance measuring point; if so, generating a corresponding abnormal prompt message based on the abnormal distance measuring point; if not, calculating the battery pack distance difference between the first distance measuring point and the second distance measuring point based on the first distance measuring point and the second distance measuring point.

4. The vehicle battery swapping positioning method as described in claim 3, characterized in that, Before the step of obtaining the first ranging value fed back by the first ranging point and the second ranging value fed back by the second ranging point, the vehicle battery swapping positioning method further includes: after detecting that the vehicle to be positioned has entered the battery swapping area, projecting an indicator laser onto the vehicle to be positioned, so that the user can determine whether to perform a repositioning operation on the vehicle to be positioned by observing whether the indicator laser is located in the pre-positioning area of ​​the vehicle to be positioned; if it is detected that the vehicle to be positioned has not been repositioned within a preset time period, it is determined that the vehicle to be positioned has completed the pre-positioning.

5. A vehicle battery swapping positioning device, characterized in that, The vehicle battery swapping positioning method as described in claim 1 is applied to a vehicle battery swapping positioning system, the vehicle battery swapping positioning system including a positioning speed bump, and the vehicle battery swapping positioning device including: an acquisition module, used to acquire the battery pack distance difference between a first distance measuring point and a second distance measuring point for measuring the distance of the vehicle to be positioned; a determination module, used to determine the battery pack tilt angle of the vehicle to be positioned based on the distance calibration value between the first distance measuring point and the second distance measuring point and the battery pack distance difference, wherein the battery pack tilt angle is used to characterize the tilt angle between the battery pack and the vertical direction of the positioning speed bump; and a positioning module, used to perform battery swapping positioning on the vehicle to be positioned based on the battery pack tilt angle to obtain a battery swapping positioning result.

6. An electronic device, characterized in that, The electronic device includes: at least one processor; a memory communicatively connected to the at least one processor; the memory storing instructions executed by the at least one processor to enable the at least one processor to perform the steps of the vehicle battery swapping positioning method according to any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a program for implementing a vehicle battery swapping and positioning method, which is executed by a processor to implement the steps of the vehicle battery swapping and positioning method as described in any one of claims 1 to 4.

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