Vehicle battery replacement method, device and equipment based on battery replacement station and medium

Abstract

The invention relates to the technical field of new energy vehicles, and provides a vehicle battery replacement method, device and equipment based on a battery replacement station and a medium. On one hand, a 3D camera of a target battery replacement station is started to carry out battery replacement preparation detection on a target vehicle, and 3D imaging is carried out on contours of different battery boxes based on the 3D camera; the battery box body contours in a weak light environment or in different colors can be identified, and the identification accuracy and the technical universality are improved, so that the subsequent battery replacement efficiency is improved; on one hand, the safety of the battery replacement process is improved through a series of confirmation and detection; and on the other hand, battery replacement is performed in a targeted manner according to different operation modes, so that the flexibility and convenience of replacement operation are improved, and the battery of the target vehicle can be replaced more efficiently and accurately in the battery replacement station.

Description

Technical Field

[0001] The present invention relates to the field of new energy vehicle technology, and in particular to a vehicle battery replacement method, device, equipment and medium based on a battery replacement station. Background Art

[0002] With the popularization of new energy vehicles, battery swap stations have been put into use to ensure the stable operation of vehicles.

[0003] However, existing battery swap stations usually use ordinary 2D cameras for data collection, so they cannot accurately distinguish the color of the battery. For example, if the battery is black and the light is weak when shooting, it is not easy to identify the outline of the battery and the vehicle, resulting in the inability to accurately grab the battery for replacement.

[0004] In addition, the existing battery swap sites are also unable to adjust the angle by moving the cart, which further brings inconvenience to the grabbing and installation of the batteries, and increases time and operating costs. Summary of the invention

[0005] In view of the above, it is necessary to provide a vehicle battery replacement method, device, equipment and medium based on a battery swap station, aiming to solve the problems of low efficiency and high operating cost when replacing batteries at a battery swap station.

[0006] A vehicle battery replacement method based on a battery replacement station, the vehicle battery replacement method based on a battery replacement station comprising: When a target vehicle is detected entering the entrance of the battery swap area of ​​the battery swap station, a license plate recognition camera at the entrance of the battery swap area is activated to identify the license plate information of the target vehicle, and whether there is an adapted battery in the battery swap station is detected based on the identified license plate information; When a compatible battery is detected, a target battery swap station is assigned to the target vehicle, and prompt information and navigation information for driving to the target battery swap station are sent to the driver of the target vehicle; When the target vehicle is detected to be driving to the target battery swap station, the license plate recognition camera of the target battery swap station is activated to recognize the license plate information of the target vehicle, and the battery swap is confirmed according to the recognized license plate information; When it is confirmed that the target vehicle has a replaceable battery, the 3D camera of the target battery swap station is activated to perform a battery swap preparatory detection on the target vehicle; When the target vehicle passes the battery replacement preparation test, a storage battery compartment number and a retrieval battery compartment number are allocated to the target vehicle; Detecting the operation mode according to the storage battery compartment number and the removal battery compartment number; The battery of the target vehicle is replaced according to the operating mode.

[0007] According to a preferred embodiment of the present invention, the method further comprises: Before detecting that the target vehicle enters the entrance of the battery swapping area, when receiving a battery query request initiated by the target vehicle, obtaining battery information; Feedback the battery information to the trigger of the battery query request; The battery information includes the compatible battery information, the compatible battery power and the expected charging waiting time of the compatible battery.

[0008] According to a preferred embodiment of the present invention, after starting the license plate recognition camera of the target battery swap station to recognize the license plate information of the target vehicle, the method further includes: Confirming the registration information and reservation information of the license plate information, and whether there is an available battery compatible with the license plate information in the target battery swap station, so as to perform the battery swap confirmation; When it is confirmed that the battery of the target vehicle cannot be replaced, the reason why the battery cannot be replaced is fed back to the driver; Among them, when the reason for the non-replaceable battery is insufficient battery power, the minimum charging waiting time is displayed.

[0009] According to a preferred embodiment of the present invention, the step of starting the 3D camera of the target battery swap station to perform battery swap preparation detection on the target vehicle includes: Using the 3D camera to detect whether the target vehicle has reached a specified location; When it is detected that the target vehicle arrives at the designated position, using the 3D camera to detect whether the position of the battery box of the target vehicle is valid; When it is detected that the position of the battery box of the target vehicle is valid, a prompt to start battery replacement is sent to the driver; When receiving a battery swap start signal triggered by the driver, performing a safety check on the battery swap area of ​​the target battery swap station; When the battery swapping area of ​​the target battery swapping station passes the safety detection, determining that the target vehicle passes the battery swapping preparatory detection; or When the battery swapping area of ​​the target battery swapping station fails the safety test, it is determined that the target vehicle fails the battery swapping preparatory test.

[0010] According to a preferred embodiment of the present invention, the safety detection of the battery swapping area of ​​the target battery swapping station includes: Detect whether there are obstacles in the equipment operation area of ​​the target battery swap station, detect whether the parking position of the target vehicle is within a preset safe parking range, and detect whether the parking angle of the target vehicle is within a preset safe angle range.

[0011] According to a preferred embodiment of the present invention, the detecting operation mode according to the storing battery compartment number and the removing battery compartment number includes: When the storage battery compartment corresponding to the storage battery compartment number and the removal battery compartment corresponding to the removal battery compartment number are on the same side, determining that the operation mode is single-compartment operation; or When the storage battery compartment corresponding to the storage battery compartment number and the removal battery compartment corresponding to the removal battery compartment number are not on the same side, it is determined that the operation mode is dual-compartment operation.

[0012] According to a preferred embodiment of the present invention, replacing the battery for the target vehicle according to the operating mode includes: Establishing a reference 3D coordinate system with any point in the target battery swap station as the origin; wherein the reference 3D coordinate system includes an x-axis, a y-axis, a z-axis and an r-axis; When the operation mode is the single-bay operation, a 3D camera of the target battery swap station is used to detect a first position coordinate of the battery of the target vehicle relative to the reference 3D coordinate system; Acquire the second position coordinates of the storage battery compartment and the third position coordinates of the removal battery compartment; Controlling a first transport trolley in the target battery swap station to move to the target vehicle, and controlling the first transport trolley to rotate according to the first position coordinates and move the manipulator to a pre-configured first switch and a second switch; wherein the first transport trolley is closest to the target vehicle in the target battery swap station, and the first transport trolley is idle; When it is detected that both the first switch and the second switch are turned on, the manipulator is controlled to grab the battery of the target vehicle from the onboard battery compartment of the target vehicle after a preset time, and the first transfer vehicle is controlled to rotate and move the battery of the target vehicle to the storage battery compartment for storage based on the pre-assigned first obstacle avoidance path and the second position coordinates, and a charging request for the storage battery compartment is reported; Based on the pre-assigned second obstacle avoidance path and the third position coordinates, the first transfer vehicle is controlled to rotate and move to the battery removal compartment to remove the target battery; Based on the pre-assigned third obstacle avoidance path and the first position coordinates, the first transport cart is controlled to rotate and move the target battery to the vehicle-mounted battery compartment to install the target battery, and after the installation is completed, the first transport cart is controlled to move to a standby position based on the pre-assigned fourth obstacle avoidance path.

[0013] According to a preferred embodiment of the present invention, replacing the battery for the target vehicle according to the operating mode includes: When the operation mode is the dual-bin operation, obtain the second transfer trolley on the power storage side to which the storage battery bin belongs, and the third transfer trolley on the power extraction side to which the battery extraction bin belongs; wherein the second transfer trolley is closest to the target vehicle on the power storage side, and the second transfer trolley is idle; the third transfer trolley is closest to the target vehicle on the power extraction side, and the third transfer trolley is idle; Based on the first position coordinate and the second position coordinate, the second transport cart is controlled to rotate and move the battery of the target vehicle to the storage battery compartment for storage; and based on the first position coordinate and the third position coordinate, the third transport cart is controlled to rotate and move the target battery to the vehicle-mounted battery compartment for installation.

[0014] A vehicle battery replacement device based on a battery replacement station, the vehicle battery replacement device based on a battery replacement station comprising: An identification unit is used to start the license plate recognition camera at the entrance of the battery swap area to identify the license plate information of the target vehicle when a target vehicle is detected to enter the battery swap area entrance of the battery swap station, and detect whether there is an adapted battery in the battery swap station according to the identified license plate information; An allocation unit, configured to allocate a target battery swap station to the target vehicle when a compatible battery is detected, and to send a prompt message and navigation information for driving to the target battery swap station to the driver of the target vehicle; The identification unit is further configured to, when detecting that the target vehicle is traveling to the target battery swap station, activate a license plate recognition camera at the target battery swap station to recognize the license plate information of the target vehicle, and perform battery swap confirmation based on the recognized license plate information; A detection unit, configured to, when confirming that the target vehicle has a replaceable battery, activate a 3D camera of the target battery swap station to perform a battery swap preparatory detection on the target vehicle; The allocation unit is further used to allocate a storage battery compartment number and a retrieval battery compartment number to the target vehicle when the target vehicle passes the battery replacement preparation detection; The detection unit is further used to detect the operation mode according to the storage battery compartment number and the removal battery compartment number; A replacement unit is used to replace the battery for the target vehicle according to the operating mode.

[0015] A computer device, comprising: a memory storing at least one instruction; and A processor executes instructions stored in the memory to implement the vehicle battery replacement method based on a battery swap station.

[0016] A computer-readable storage medium stores at least one instruction, and the at least one instruction is executed by a processor in a computer device to implement the vehicle battery replacement method based on a battery exchange station.

[0017] It can be seen from the above technical solutions that, on the one hand, the 3D camera of the target battery swap station is started to conduct a preliminary detection of the target vehicle for battery swap. The 3D camera is used to perform 3D imaging of the contours of different battery boxes, which can identify the contours of battery boxes in weak light environments or different colors, thereby improving the accuracy of recognition and the versatility of the technology, thereby improving the efficiency of subsequent battery replacement; on the one hand, the safety of the battery replacement process is improved through a series of confirmations and detections; on the other hand, the battery replacement is carried out in a targeted manner according to different operating modes, which improves the flexibility and convenience of the replacement operation, so that the battery of the target vehicle can be replaced more efficiently and accurately in the battery swap station. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a flow chart of a preferred embodiment of the vehicle battery replacement method based on a battery replacement station of the present invention; Figure 2 It is a functional module diagram of a preferred embodiment of a vehicle battery replacement device based on a battery replacement station of the present invention; Figure 3 It is a structural schematic diagram of a computer device of a preferred embodiment of the present invention for implementing a vehicle battery replacement method based on a battery replacement station. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0020] like Figure 1 The figure shows a flow chart of a preferred embodiment of the vehicle battery replacement method based on a battery replacement station of the present invention. According to different requirements, the order of the steps in the flow chart can be changed, and some steps can be omitted.

[0021] The vehicle battery replacement method based on a battery exchange station is applied to one or more computer devices. The computer device is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions. Its hardware includes but is not limited to microprocessors, application specific integrated circuits (Application Specific Integrated Circuit, ASIC), programmable gate arrays (Field-Programmable Gate Array, FPGA), digital processors (Digital Signal Processor, DSP), embedded devices, etc.

[0022] The computer device may be any electronic product that can perform human-computer interaction with a user, such as a personal computer, a tablet computer, a smart phone, a personal digital assistant (PDA), a game console, an interactive network television (IPTV), a smart wearable device, etc.

[0023] The computer device may also include a network device and / or a user device, wherein the network device includes, but is not limited to, a single network server, a server group consisting of multiple network servers, or a cloud consisting of a large number of hosts or network servers based on cloud computing.

[0024] The server can be an independent server or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (CDN), as well as big data and artificial intelligence platforms.

[0025] Among them, Artificial Intelligence (AI) is the theory, method, technology and application system that uses digital computers or machines controlled by digital computers to simulate, extend and expand human intelligence, perceive the environment, acquire knowledge and use knowledge to obtain the best results.

[0026] AI basic technologies generally include sensors, dedicated AI chips, cloud computing, distributed storage, big data processing technology, operation / interaction systems, mechatronics, etc. AI software technologies mainly include computer vision technology, robotics technology, biometrics technology, speech processing technology, natural language processing technology, and machine learning / deep learning.

[0027] The network where the computer device is located includes but is not limited to the Internet, a wide area network, a metropolitan area network, a local area network, a virtual private network (VPN), etc.

[0028] The vehicle battery replacement method based on a battery swap station can be operated in a battery swap station, and the battery swap station may include a dispatching system and a PLC (Programmable Logic Controller), etc.

[0029] S10, when it is detected that the target vehicle enters the entrance of the battery swap area of ​​the battery swap station, the license plate recognition camera at the entrance of the battery swap area is started to identify the license plate information of the target vehicle, and whether there is an adapted battery in the battery swap station is detected based on the identified license plate information.

[0030] In this embodiment, the target vehicle may be a new energy vehicle, such as an electric truck.

[0031] In this embodiment, the license plate recognition camera includes any type of camera that can recognize a license plate.

[0032] In this embodiment, the license plate information may include a license plate number and the like.

[0033] In this embodiment, the detecting whether there is an adapted battery in the battery swap station according to the recognized license plate information includes: Determine the vehicle model according to the license plate information; Determine the battery model according to the vehicle model; Detect whether there is a battery of the battery model and whose power is greater than or equal to a preset threshold in the battery exchange station; When it is detected that there is a battery of the battery model in the battery exchange station and the power level is greater than or equal to the preset threshold, it is determined that an adapted battery is detected; or When it is detected that there is no battery of the battery model in the battery exchange station and the battery power is greater than or equal to the preset threshold, it is determined that no compatible battery is detected.

[0034] The preset threshold value may be configured according to actual needs, such as 90%.

[0035] Of course, in other embodiments, the required power of the target vehicle can also be detected, and a battery with a power greater than the required power and conforming to the corresponding model can be obtained from the battery exchange field as an adaptive battery.

[0036] In this embodiment, the method further includes: Before detecting that the target vehicle enters the entrance of the battery swapping area, when receiving a battery query request initiated by the target vehicle, obtaining battery information; Feedback the battery information to the trigger of the battery query request; The battery information includes the compatible battery information, the compatible battery power and the expected charging waiting time of the compatible battery.

[0037] The compatible battery information may include the battery model and the like.

[0038] Among them, the battery query request can be triggered by a specified application or mini-program, and the user can enter the license plate number to query whether there is a battery that meets the replacement requirements in the battery swap station.

[0039] In the above embodiment, the query result is fed back to the user so that the user can consider whether to go to the battery exchange station according to actual needs.

[0040] S11, when an adapted battery is detected, a target battery swap station is allocated to the target vehicle, and prompt information and navigation information for driving to the target battery swap station are sent to the driver of the target vehicle.

[0041] In this embodiment, a battery swap station may include multiple battery swap stations (i.e., battery swap equipment), and each battery swap station may include multiple battery compartments.

[0042] In this embodiment, the target battery swap station can be allocated to the target vehicle according to a preconfigured allocation order, or the target battery swap station that is closest to the target vehicle can be allocated to the target vehicle. The present invention does not limit the allocation method of the target battery swap station.

[0043] In this embodiment, by sending prompt information and navigation information for driving to the target battery swap station to the driver of the target vehicle, the driver can drive the vehicle to the target battery swap station in time, which not only facilitates the driver's driving operation but also improves the efficiency of battery replacement.

[0044] S12, when it is detected that the target vehicle drives to the target battery swap station, the license plate recognition camera of the target battery swap station is started to identify the license plate information of the target vehicle, and the battery swap is confirmed based on the identified license plate information.

[0045] In this embodiment, the license plate information is recognized again by the license plate recognition camera, which can further ensure that there are replaceable batteries and confirm that the vehicle enters the assigned battery swap station, avoiding invalid operations.

[0046] In this embodiment, after starting the license plate recognition camera of the target battery swap station to recognize the license plate information of the target vehicle, the method further includes: Confirming the registration information and reservation information of the license plate information, and whether there is an available battery compatible with the license plate information in the target battery swap station, so as to perform the battery swap confirmation; When it is confirmed that the battery of the target vehicle cannot be replaced, the reason why the battery cannot be replaced is fed back to the driver; Among them, when the reason for the non-replaceable battery is insufficient battery power, the minimum charging waiting time is displayed.

[0047] In order to improve the safety of battery replacement, vehicles that undergo battery replacement at the battery replacement station need to be registered first. Specifically, registration can be done by scanning a code or through a designated program. The registration information may include, but is not limited to, a combination of one or more of the following information: license plate number, battery model, battery unique code, contact number, contact person, etc.

[0048] Among them, users can also apply for battery replacement by making an appointment in advance, and record the license plate number, the person making the appointment, etc. as the appointment information.

[0049] By feeding back the minimum charging waiting time to the driver, the driver can consider whether to wait for the battery to be charged before replacing the battery.

[0050] S13, when it is confirmed that the battery of the target vehicle can be replaced, the 3D camera of the target battery replacement station is started to perform a battery replacement preparatory detection on the target vehicle.

[0051] In this embodiment, the starting of the 3D camera of the target battery swap station to perform battery swap preparation detection on the target vehicle includes: Using the 3D camera to detect whether the target vehicle has reached a specified location; When it is detected that the target vehicle arrives at the designated position, using the 3D camera to detect whether the position of the battery box of the target vehicle is valid; When it is detected that the position of the battery box of the target vehicle is valid, a prompt to start battery replacement is sent to the driver; When receiving a battery swap start signal triggered by the driver, performing a safety check on the battery swap area of ​​the target battery swap station; When the battery swapping area of ​​the target battery swapping station passes the safety detection, determining that the target vehicle passes the battery swapping preparatory detection; or When the battery swapping area of ​​the target battery swapping station fails the safety test, it is determined that the target vehicle fails the battery swapping preparatory test.

[0052] Among them, the battery replacement start reminder is used to remind the driver that the vehicle is in place and the battery replacement can be triggered as soon as possible.

[0053] Among them, the signal to start battery replacement can be triggered by software or by the driver pressing a designated button.

[0054] Of course, in other embodiments, the license plate recognition camera in the battery swap area of ​​the target battery swap station can also be used to confirm whether the target vehicle has entered the corresponding battery swap area, and determine whether the target vehicle has reached the designated location based on a photoelectric sensor.

[0055] Wherein, the safety detection of the battery swapping area of ​​the target battery swapping station includes: Detect whether there are obstacles in the equipment operation area of ​​the target battery swap station, detect whether the parking position of the target vehicle is within a preset safe parking range, and detect whether the parking angle of the target vehicle is within a preset safe angle range.

[0056] The obstacles may include various obstacles such as people or objects. By detecting whether there are obstacles in the equipment operation area of ​​the target battery swap station, safety accidents can be avoided.

[0057] Among them, by detecting whether the parking position of the target vehicle is within the preset safe parking range, and detecting whether the parking angle of the target vehicle is within the preset safe angle range, it can further ensure that unnecessary safety problems are not generated during the battery replacement process.

[0058] The preset safe parking range and the preset safe angle range may be determined based on a large number of experiments.

[0059] S14, when the target vehicle passes the battery replacement preparation detection, a storage battery compartment number and a retrieval battery compartment number are allocated to the target vehicle.

[0060] In this embodiment, when the target vehicle fails the battery replacement preparatory test, the equipment alarm program is activated to prompt relevant staff to handle it in time.

[0061] In this embodiment, the storage battery compartment number and the removal battery compartment number can be assigned to the target vehicle according to the distance from the target vehicle and the remaining power of the battery in the battery compartment, so that the battery can be replaced nearby, thereby improving the efficiency of battery replacement.

[0062] In this embodiment, after allocating a storage battery compartment number for the target vehicle and retrieving the battery compartment number, the method further includes: The battery compartment is controlled to be in a disconnected charging state.

[0063] For example: the dispatching system may send a battery charging disconnection instruction to the charging management system of the battery swap station, so that the charging management system controls the removal of the battery compartment to stop charging.

[0064] S15, detecting the operation mode according to the storage battery compartment number and the removal battery compartment number.

[0065] In this embodiment, the detecting operation mode according to the storing battery compartment number and the removing battery compartment number includes: When the storage battery compartment corresponding to the storage battery compartment number and the removal battery compartment corresponding to the removal battery compartment number are on the same side, determining that the operation mode is single-compartment operation; or When the storage battery compartment corresponding to the storage battery compartment number and the removal battery compartment corresponding to the removal battery compartment number are not on the same side, it is determined that the operation mode is dual-compartment operation.

[0066] S16: Replace the battery for the target vehicle according to the operating mode.

[0067] In this embodiment, replacing the battery for the target vehicle according to the operating mode includes: Establishing a reference 3D coordinate system with any point in the target battery swap station as the origin; wherein the reference 3D coordinate system includes an x-axis, a y-axis, a z-axis and an r-axis; When the operation mode is the single-bay operation, a 3D camera of the target battery swap station is used to detect a first position coordinate of the battery of the target vehicle relative to the reference 3D coordinate system; Acquire the second position coordinates of the storage battery compartment and the third position coordinates of the removal battery compartment; Controlling a first transport trolley in the target battery swap station to move to the target vehicle, and controlling the first transport trolley to rotate according to the first position coordinates and move the manipulator to a pre-configured first switch and a second switch; wherein the first transport trolley is closest to the target vehicle in the target battery swap station, and the first transport trolley is idle; When it is detected that both the first switch and the second switch are turned on, the manipulator is controlled to grab the battery of the target vehicle from the onboard battery compartment of the target vehicle after a preset time, and the first transfer vehicle is controlled to rotate and move the battery of the target vehicle to the storage battery compartment for storage based on the pre-assigned first obstacle avoidance path and the second position coordinates, and a charging request for the storage battery compartment is reported; Based on the pre-assigned second obstacle avoidance path and the third position coordinates, the first transfer vehicle is controlled to rotate and move to the battery removal compartment to remove the target battery; Based on the pre-assigned third obstacle avoidance path and the first position coordinates, the first transport cart is controlled to rotate and move the target battery to the vehicle-mounted battery compartment to install the target battery, and after the installation is completed, the first transport cart is controlled to move to a standby position based on the pre-assigned fourth obstacle avoidance path.

[0068] Among them, the r axis is the rotation axis.

[0069] For example: when the operation mode is the single-bin operation, the 3D camera of the target battery swap station is used to detect the deviation values ​​of the x-axis, y-axis, and z-axis of the target vehicle relative to the reference 3D coordinate system and the actual rotation angle of the r-axis motor, and the first position coordinate (x2, y2, z2, r2) is obtained by superimposing the deviation values ​​as the actual grasping position. The manipulator of the first transfer vehicle is controlled to move along the x-axis and y-axis to (x2, y2), move along the r-axis to the grasping position r2, and run along the z-axis to the grasping position z2. When it runs close to the first switch and the second switch, and the first switch and the second switch are all turned on, it means that the current manipulator is in a horizontal state and can safely perform the grasping operation. At this time, it continues to stay for a short time (such as 200-300ms) to ensure the stability of the system signal. Further, the manipulator is controlled to stop moving along the z-axis and record the current position as the grasping position (x3, y3, z3, r3) of the vehicle battery. The manipulator's gripper is controlled to open and hook the battery frame of the battery in the battery compartment of the target vehicle and rise along the z-axis to the grabbing position (x3, y3, z3, r3), and the first transport vehicle is controlled to move along the first obstacle avoidance path to the storage battery compartment position (x4, y4), and the first transport vehicle is controlled to adjust the angle and move along the r-axis to the storage battery compartment position r4, while running along the z-axis to the storage battery compartment position z4 (the second position coordinates of the storage battery compartment are (x4, y4, z4, r4)). Here, when approaching two switches similar to the first switch and the second switch, and both switches are turned on, after staying for a short time, the manipulator's gripper is controlled to loosen to release the battery, and the battery of the target vehicle is stored in the storage battery compartment, and at the same time, a charging request for the storage battery compartment is reported, and the manipulator is controlled to move along the z-axis to above the storage battery compartment. Further, the first transport trolley is controlled to move along the second obstacle avoidance path to the battery compartment removal position (x5, y5), the first transport trolley is controlled to adjust the angle, move along the r axis to the battery compartment removal position r5, and move along the z axis to the battery compartment removal position z5 (the third position coordinate of the battery compartment removal is (x5, y5, z5, r5)). The manipulator's gripper is controlled to open and hook the battery frame of the target battery in the battery compartment to rise along the z axis to the position above the battery compartment removal position, and the first transport trolley is controlled to move along the third obstacle avoidance path to the grabbing point (x3, y3), the first transport trolley is controlled to adjust the angle, move along the r axis to the grabbing position r3, and move along the z axis to z3. When it moves close to the first switch and the second switch, and the first switch and the second switch are all turned on, it continues to stay for a short time, and then the manipulator's gripper is controlled to release to release the target battery, so as to install the target battery into the battery compartment of the target vehicle. Furthermore, the first transfer vehicle is controlled to rotate and move each axis to move to a standby position.

[0070] Among them, for the Z-axis direction, an XY-axis inclination sensor device can be used to monitor the horizontal conditions of the X-axis and Y-axis directions during the lifting process along the Z-axis. Specifically, during the lifting process, when the inclination of any axis of the X-axis or Y-axis exceeds the set threshold, a safety alarm is generated, thereby improving the safety of the moving process.

[0071] Among them, each obstacle avoidance path can be comprehensively configured according to information such as the usage and location distance of each channel in the battery swap station to improve mobility efficiency and safety.

[0072] In the above embodiment, the accuracy of the movement of the transport cart can be improved through 3D rotation and movement, so that the battery of the vehicle can be replaced more efficiently and safely.

[0073] In this embodiment, replacing the battery for the target vehicle according to the operating mode includes: When the operation mode is the dual-bin operation, obtain the second transfer trolley on the power storage side to which the storage battery bin belongs, and the third transfer trolley on the power extraction side to which the battery extraction bin belongs; wherein the second transfer trolley is closest to the target vehicle on the power storage side, and the second transfer trolley is idle; the third transfer trolley is closest to the target vehicle on the power extraction side, and the third transfer trolley is idle; Based on the first position coordinate and the second position coordinate, the second transport cart is controlled to rotate and move the battery of the target vehicle to the storage battery compartment for storage; and based on the first position coordinate and the third position coordinate, the third transport cart is controlled to rotate and move the target battery to the vehicle-mounted battery compartment for installation.

[0074] Among them, the dual-compartment operation mode is different from the single-compartment operation mode in that the batteries can be stored and installed at the same time, that is, the transfer cart on one side takes out the vehicle battery and stores it in the storage battery compartment for charging, while the transfer cart on the other side takes out the battery from the battery compartment and installs it in the vehicle, thereby reducing waiting time and improving the efficiency of battery replacement.

[0075] In addition, since the storage and installation process is similar to the method adopted when the transfer cart performs storage and installation in sequence in the single-warehouse operation mode, it will not be repeated.

[0076] It can be seen from the above technical solutions that, on the one hand, the 3D camera of the target battery swap station is started to conduct a preliminary detection of the target vehicle for battery swap. The 3D camera is used to perform 3D imaging of the contours of different battery boxes, which can identify the contours of battery boxes in weak light environments or different colors, thereby improving the accuracy of recognition and the versatility of the technology, thereby improving the efficiency of subsequent battery replacement; on the one hand, the safety of the battery replacement process is improved through a series of confirmations and detections; on the other hand, the battery replacement is carried out in a targeted manner according to different operating modes, which improves the flexibility and convenience of the replacement operation, so that the battery of the target vehicle can be replaced more efficiently and accurately in the battery swap station.

[0077] like Figure 2 Shown is a functional module diagram of a preferred embodiment of the vehicle battery replacement device based on a battery swap station of the present invention. The vehicle battery replacement device 11 based on a battery swap station includes an identification unit 110, an allocation unit 111, a detection unit 112, and a replacement unit 113. The module / unit referred to in the present invention refers to a series of computer program segments that can be executed by a processor and can perform fixed functions, which are stored in a memory. In this embodiment, the functions of each module / unit will be described in detail in subsequent embodiments.

[0078] The identification unit 110 is used to start the license plate recognition camera at the entrance of the battery swap area to identify the license plate information of the target vehicle when the target vehicle is detected to enter the battery swap area entrance of the battery swap station, and detect whether there is an adapted battery in the battery swap station according to the identified license plate information; The allocation unit 111 is used to allocate a target battery swap station to the target vehicle when an adapted battery is detected, and send prompt information and navigation information for driving to the target battery swap station to the driver of the target vehicle; The identification unit 110 is further configured to, when detecting that the target vehicle is traveling to the target battery swap station, activate the license plate recognition camera of the target battery swap station to recognize the license plate information of the target vehicle, and perform battery swap confirmation according to the recognized license plate information; The detection unit 112 is used to start the 3D camera of the target battery swap station to perform a battery swap preparatory detection on the target vehicle when it is confirmed that the battery of the target vehicle can be replaced; The allocation unit 111 is further used to allocate a storage battery compartment number and a removal battery compartment number to the target vehicle when the target vehicle passes the battery replacement preparation detection; The detection unit 112 is further used to detect the operation mode according to the storage battery compartment number and the removal battery compartment number; The replacement unit 113 is used to replace the battery for the target vehicle according to the operation mode.

[0079] It can be seen from the above technical solutions that, on the one hand, the 3D camera of the target battery swap station is started to conduct a preliminary detection of the target vehicle for battery swap. The 3D camera is used to perform 3D imaging of the contours of different battery boxes, which can identify the contours of battery boxes in weak light environments or different colors, thereby improving the accuracy of recognition and the versatility of the technology, thereby improving the efficiency of subsequent battery replacement; on the one hand, the safety of the battery replacement process is improved through a series of confirmations and detections; on the other hand, the battery replacement is carried out in a targeted manner according to different operating modes, which improves the flexibility and convenience of the replacement operation, so that the battery of the target vehicle can be replaced more efficiently and accurately in the battery swap station.

[0080] like Figure 3 The figure is a schematic diagram of the structure of the computer equipment of the preferred embodiment of the vehicle battery replacement method based on the battery replacement station of the present invention.

[0081] The computer device 1 may include a memory 12, a processor 13 and a bus, and may also include a computer program stored in the memory 12 and executable on the processor 13, such as a vehicle battery replacement program based on a battery swap station.

[0082] Those skilled in the art will appreciate that the schematic diagram is merely an example of the computer device 1 and does not constitute a limitation on the computer device 1. The computer device 1 may be a bus-type structure or a star-type structure. The computer device 1 may also include more or less other hardware or software than shown in the diagram, or a different arrangement of components. For example, the computer device 1 may also include input and output devices, network access devices, etc.

[0083] It should be noted that the computer device 1 is only an example, and other existing or future electronic products that are suitable for the present invention should also be included in the protection scope of the present invention and included here by reference.

[0084] Among them, the memory 12 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, mobile hard disk, multimedia card, card-type memory (for example: SD or DX memory, etc.), magnetic memory, disk, optical disk, etc. In some embodiments, the memory 12 can be an internal storage unit of the computer device 1, such as a mobile hard disk of the computer device 1. In other embodiments, the memory 12 can also be an external storage device of the computer device 1, such as a plug-in mobile hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (SecureDigital, SD) card, a flash card (Flash Card), etc. equipped on the computer device 1. Further, the memory 12 can also include both an internal storage unit and an external storage device of the computer device 1. The memory 12 can not only be used to store application software and various types of data installed in the computer device 1, such as the code of the vehicle battery replacement program based on the battery exchange station, but also can be used to temporarily store data that has been output or is to be output.

[0085] In some embodiments, the processor 13 may be composed of an integrated circuit, for example, a single packaged integrated circuit, or a plurality of packaged integrated circuits with the same or different functions, including one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and a combination of various control chips. The processor 13 is the control core (Control Unit) of the computer device 1, and uses various interfaces and lines to connect the various components of the entire computer device 1. It runs or executes programs or modules stored in the memory 12 (for example, executing a vehicle battery replacement program based on a battery swapping station, etc.), and calls data stored in the memory 12 to execute various functions of the computer device 1 and process data.

[0086] The processor 13 executes the operating system of the computer device 1 and various installed applications. The processor 13 executes the applications to implement the steps in the above-mentioned embodiments of the vehicle battery replacement method based on the battery replacement station, for example Figure 1 Steps shown.

[0087] Exemplarily, the computer program may be divided into one or more modules / units, which are stored in the memory 12 and executed by the processor 13 to implement the present invention. The one or more modules / units may be a series of computer-readable instruction segments capable of implementing specific functions, which are used to describe the execution process of the computer program in the computer device 1. For example, the computer program may be divided into an identification unit 110, an allocation unit 111, a detection unit 112, and a replacement unit 113.

[0088] The above-mentioned integrated unit implemented in the form of a software function module can be stored in a computer-readable storage medium. The above-mentioned software function module is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, a computer device, or a network device, etc.) or a processor to execute the part of the vehicle battery replacement method based on the battery replacement station described in each embodiment of the present invention.

[0089] If the module / unit integrated in the computer device 1 is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware devices through a computer program. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of each of the above-mentioned method embodiments can be implemented.

[0090] The computer program includes computer program code, which may be in source code form, object code form, executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory, etc.

[0091] Furthermore, the computer-readable storage medium may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function, etc.; the data storage area may store data created according to the use of the blockchain node, etc.

[0092] The blockchain referred to in this invention is a new application model of computer technologies such as distributed data storage, peer-to-peer transmission, consensus mechanism, encryption algorithm, etc. Blockchain is essentially a decentralized database, a string of data blocks generated by cryptographic methods. Each data block contains a batch of network transaction information, which is used to verify the validity of its information (anti-counterfeiting) and generate the next block. Blockchain can include the blockchain underlying platform, platform product service layer, and application service layer.

[0093] The bus can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 3 The bus is represented by only one straight line, but it does not mean that there is only one bus or one type of bus. The bus is configured to realize the connection and communication between the memory 12 and at least one processor 13, etc.

[0094] Although not shown, the computer device 1 may also include a power source (such as a battery) for supplying power to various components. Preferably, the power source may be logically connected to the at least one processor 13 through a power management device, so that the power management device can realize functions such as charging management, discharging management, and power consumption management. The power source may also include any components such as one or more DC or AC power sources, recharging devices, power failure detection circuits, power converters or inverters, and power status indicators. The computer device 1 may also include a variety of sensors, Bluetooth modules, Wi-Fi modules, etc., which will not be repeated here.

[0095] Furthermore, the computer device 1 may also include a network interface. Optionally, the network interface may include a wired interface and / or a wireless interface (such as a WI-FI interface, a Bluetooth interface, etc.), which is usually used to establish a communication connection between the computer device 1 and other computer devices.

[0096] Optionally, the computer device 1 may further include a user interface, which may be a display, an input unit (such as a keyboard), or a standard wired interface or a wireless interface. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, and an OLED (Organic Light-Emitting Diode) touch device. The display may also be appropriately referred to as a display screen or a display unit, which is used to display information processed in the computer device 1 and to display a visual user interface.

[0097] It should be understood that the embodiment is for illustration only and the scope of the patent application is not limited to this structure.

[0098] It can be understood by those skilled in the art that Figure 3 The structure shown does not constitute a limitation on the computer device 1, and may include fewer or more components than shown in the figure, or combine certain components, or arrange the components differently.

[0099] Combination Figure 1 The memory 12 in the computer device 1 stores a plurality of instructions to implement a vehicle battery replacement method based on a battery replacement station, and the processor 13 can execute the plurality of instructions to implement: When a target vehicle is detected entering the entrance of the battery swap area of ​​the battery swap station, a license plate recognition camera at the entrance of the battery swap area is activated to identify the license plate information of the target vehicle, and whether there is an adapted battery in the battery swap station is detected based on the identified license plate information; When a compatible battery is detected, a target battery swap station is assigned to the target vehicle, and prompt information and navigation information for driving to the target battery swap station are sent to the driver of the target vehicle; When the target vehicle is detected to be driving to the target battery swap station, the license plate recognition camera of the target battery swap station is activated to recognize the license plate information of the target vehicle, and the battery swap is confirmed according to the recognized license plate information; When it is confirmed that the target vehicle has a replaceable battery, the 3D camera of the target battery swap station is activated to perform a battery swap preparatory detection on the target vehicle; When the target vehicle passes the battery replacement preparation test, a storage battery compartment number and a retrieval battery compartment number are allocated to the target vehicle; Detecting the operation mode according to the storage battery compartment number and the removal battery compartment number; The battery of the target vehicle is replaced according to the operating mode.

[0100] Specifically, the specific implementation method of the processor 13 for the above instructions can refer to Figure 1 The description of the relevant steps in the corresponding embodiments will not be repeated here.

[0101] It should be noted that the data involved in this case were all obtained legally.

[0102] In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative, for example, the division of the modules is only a logical function division, and there may be other division methods in actual implementation.

[0103] The present invention can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronic devices, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc. The present invention can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present invention can also be practiced in distributed computing environments, in which tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0104] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0105] In addition, each functional module in each embodiment of the present invention may be integrated into one processing unit, each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional modules.

[0106] It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0107] Therefore, no matter from which point of view, the embodiments should be regarded as illustrative and non-restrictive, and the scope of the present invention is limited by the appended claims rather than the above description, so it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any attached figure mark in the claims should not be regarded as limiting the claims involved.

[0108] In addition, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices stated in the present invention can also be implemented by one unit or device through software or hardware. The words first, second, etc. are used to indicate names, and do not indicate any particular order.

[0109] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention.

Claims

1. A vehicle battery replacement method based on a battery replacement station, characterized in that: The vehicle battery replacement method based on the battery replacement station includes: When a target vehicle is detected entering the entrance of the battery swap area of ​​the battery swap station, a license plate recognition camera at the entrance of the battery swap area is activated to identify the license plate information of the target vehicle, and whether there is an adapted battery in the battery swap station is detected based on the identified license plate information; When an adapted battery is detected, a target battery swap station is allocated to the target vehicle, and prompt information and navigation information for driving to the target battery swap station are sent to the driver of the target vehicle; When the target vehicle is detected to be driving to the target battery swap station, the license plate recognition camera of the target battery swap station is activated to recognize the license plate information of the target vehicle, and the battery swap is confirmed according to the recognized license plate information; When it is confirmed that the target vehicle has a replaceable battery, the 3D camera of the target battery swap station is activated to perform a battery swap preparatory detection on the target vehicle; When the target vehicle passes the battery replacement preparation test, a storage battery compartment number and a retrieval battery compartment number are allocated to the target vehicle; Detecting the operation mode according to the storage battery compartment number and the removal battery compartment number; A battery is replaced for the target vehicle according to the operating mode.

2. The vehicle battery replacement method based on a battery replacement station as claimed in claim 1, characterized in that: The method further comprises: Before detecting that the target vehicle enters the entrance of the battery swap area, when receiving a battery query request initiated by the target vehicle, obtaining battery information; Feedback the battery information to the trigger of the battery query request; The battery information includes the compatible battery information, the compatible battery power and the expected charging waiting time of the compatible battery.

3. The vehicle battery replacement method based on a battery replacement station as claimed in claim 1, characterized in that: After the license plate recognition camera of the target battery swap station is started to recognize the license plate information of the target vehicle, the method further includes: Confirming the registration information and reservation information of the license plate information, and whether there is an available battery compatible with the license plate information in the target battery swap station, so as to perform the battery swap confirmation; When it is confirmed that the battery of the target vehicle cannot be replaced, the reason why the battery cannot be replaced is fed back to the driver; Among them, when the reason for the non-replaceable battery is insufficient battery power, the minimum charging waiting time is displayed.

4. The vehicle battery replacement method based on a battery replacement station as claimed in claim 1, characterized in that: The starting of the 3D camera of the target battery swap station to perform battery swap preparation detection on the target vehicle includes: Using the 3D camera to detect whether the target vehicle has reached a specified location; When it is detected that the target vehicle arrives at the designated position, using the 3D camera to detect whether the position of the battery box of the target vehicle is valid; When it is detected that the position of the battery box of the target vehicle is valid, a prompt to start battery replacement is sent to the driver; When receiving the battery swap start signal triggered by the driver, performing a safety check on the battery swap area of ​​the target battery swap station; When the battery swapping area of ​​the target battery swapping station passes the safety detection, determining that the target vehicle passes the battery swapping preparatory detection; or When the battery swapping area of ​​the target battery swapping station fails the safety test, it is determined that the target vehicle fails the battery swapping preparatory test.

5. The vehicle battery replacement method based on a battery replacement station as claimed in claim 4, characterized in that: The safety detection of the battery swapping area of ​​the target battery swapping station includes: Detect whether there are obstacles in the equipment operation area of ​​the target battery swap station, detect whether the parking position of the target vehicle is within a preset safe parking range, and detect whether the parking angle of the target vehicle is within a preset safe angle range.

6. The vehicle battery replacement method based on a battery replacement station as claimed in claim 1, characterized in that: The detecting operation mode according to the storing battery compartment number and the removing battery compartment number includes: When the storage battery compartment corresponding to the storage battery compartment number and the removal battery compartment corresponding to the removal battery compartment number are on the same side, determining that the operation mode is single-compartment operation; or When the storage battery compartment corresponding to the storage battery compartment number and the removal battery compartment corresponding to the removal battery compartment number are not on the same side, it is determined that the operation mode is dual-compartment operation.

7. The vehicle battery replacement method based on a battery replacement station as claimed in claim 6, characterized in that: Replacing the battery of the target vehicle according to the operating mode includes: Establishing a reference 3D coordinate system with any point in the target battery swap station as the origin; wherein the reference 3D coordinate system includes an x-axis, a y-axis, a z-axis and an r-axis; When the operation mode is the single-bay operation, a 3D camera of the target battery swap station is used to detect a first position coordinate of the battery of the target vehicle relative to the reference 3D coordinate system; Acquire the second position coordinates of the storage battery compartment and the third position coordinates of the removal battery compartment; Controlling a first transport trolley in the target battery swap station to move to the target vehicle, and controlling the first transport trolley to rotate according to the first position coordinates and move the manipulator to a pre-configured first switch and a second switch; wherein the first transport trolley is closest to the target vehicle in the target battery swap station, and the first transport trolley is idle; When it is detected that both the first switch and the second switch are turned on, the manipulator is controlled to grab the battery of the target vehicle from the onboard battery compartment of the target vehicle after a preset time, and the first transfer vehicle is controlled to rotate and move the battery of the target vehicle to the storage battery compartment for storage based on the pre-assigned first obstacle avoidance path and the second position coordinates, and a charging request for the storage battery compartment is reported; Based on the pre-assigned second obstacle avoidance path and the third position coordinates, the first transfer vehicle is controlled to rotate and move to the battery removal compartment to remove the target battery; Based on the pre-assigned third obstacle avoidance path and the first position coordinates, the first transport cart is controlled to rotate and move the target battery to the vehicle-mounted battery compartment to install the target battery, and after the installation is completed, the first transport cart is controlled to move to a standby position based on the pre-assigned fourth obstacle avoidance path.

8. The vehicle battery replacement method based on a battery replacement station as claimed in claim 7, characterized in that: Replacing the battery of the target vehicle according to the operating mode includes: When the operation mode is the dual-bin operation, obtain the second transfer trolley on the power storage side to which the storage battery bin belongs, and the third transfer trolley on the power extraction side to which the battery extraction bin belongs; wherein the second transfer trolley is closest to the target vehicle on the power storage side, and the second transfer trolley is idle; the third transfer trolley is closest to the target vehicle on the power extraction side, and the third transfer trolley is idle; Based on the first position coordinate and the second position coordinate, the second transport cart is controlled to rotate and move the battery of the target vehicle to the storage battery compartment for storage; and based on the first position coordinate and the third position coordinate, the third transport cart is controlled to rotate and move the target battery to the vehicle-mounted battery compartment for installation.

9. A computer device, characterized in that: The computer device comprises: a memory storing at least one instruction; and A processor executes instructions stored in the memory to implement the vehicle battery replacement method based on a battery swap station as described in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: At least one instruction is stored in the computer-readable storage medium, and the at least one instruction is executed by a processor in a computer device to implement the vehicle battery replacement method based on a battery exchange station as described in any one of claims 1 to 8.

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