Field end sensing guide type autonomous battery swap station system and autonomous battery swap method

Abstract

The invention provides a field end sensing guide type autonomous battery swapping station system and an autonomous battery swapping method. A battery swapping station performs environment modeling on a related area in the battery swapping station by controlling the angle of a holder and acquiring and receiving laser radar data and camera data, performs license plate recognition on a vehicle, and performs modeling and positioning on the vehicle in control; other obstacles in the environment are detected; automatically generating a map according to the environment model, and performing queuing and scheduling control on vehicles in the battery swap station by using the map; during environment modeling, the holder is controlled to perform global scanning, and during parking control, the holder is controlled to enable the laser radar and the camera to keep following a controlled vehicle; generating a track of the controlled vehicle from the position of the controlled vehicle to the parking space or the battery replacement area, and obtaining a parking control instruction; and the vehicle receives the parking control instruction of the battery swap station for remote execution, and feeds back the state of the vehicle, so that the labor cost and the time cost are reduced, and an efficient and low-price field end sensing and control scheme is realized.

Description

Technical Field

[0001] The present invention relates to the field of intelligent connected vehicle technology, and in particular to a field-side sensing-guided autonomous battery swap station system and an autonomous battery swap method based on follow-up laser radar sensing, as well as a corresponding computer terminal and a computer-readable storage medium. Background Art

[0002] The space at the battery swap station is relatively small, and parking is difficult. In addition, multiple vehicles usually need to wait in line when swapping batteries. At this time, users are required to wait in the car or hand the keys to the staff, wasting a lot of manpower and time costs.

[0003] After searching, we found:

[0004] The Chinese invention patent application with publication number CN111368604A, "A parking control method, device and system", provides a parking control technology, which includes: receiving a message from a vehicle controller requesting to park in a parking space; obtaining point cloud data of a predetermined monitoring area corresponding to the parking space obtained by laser radar scanning; the predetermined monitoring area includes the parking space and a preset area that can enter the parking space; clustering the point cloud data to obtain a point cloud set of the vehicle to be parked; using the iterative closest point ICP algorithm to calculate the point cloud set of the vehicle to be parked and the vehicle point cloud model, and obtaining the rotation matrix and translation matrix between the point cloud set of the vehicle to be parked and the vehicle point cloud model; sending the rotation matrix and translation matrix, so that the vehicle controller can control the driving direction and speed of the vehicle to be parked in real time according to the rotation matrix and translation matrix and finally stop it in the parking space. However, this technology still has the following technical problems:

[0005] Its laser radar sensor does not have the tracking feature, cannot rotate, and has a limited sensing range. It needs to deploy more laser radars to cover the entire site, which is costly.

[0006] The lack of a module for unified parking lot planning makes it difficult to achieve optimal planning in complex situations. Summary of the invention

[0007] In view of the above-mentioned deficiencies in the prior art, the present invention provides an autonomous battery swap station system and an autonomous battery swap method based on field-side perception and guidance based on follow-up laser radar perception, and also provides a corresponding computer terminal and computer-readable storage medium.

[0008] According to one aspect of the present invention, a field-side sensing and guiding autonomous battery swap station system is provided, comprising:

[0009] A gimbal arranged at the front end of the battery swap station, a first laser radar and a camera installed on the gimbal, a second laser radar and a sensor module, a perception and positioning module, a vehicle dispatching module, a gimbal control module, a parking control module and a first communication module arranged at the rear end of the battery swap station; wherein:

[0010] The sensor module is used to receive the laser radar data and the camera data, and communicate with the gimbal control module to control the angle of the gimbal, obtain the current pitch angle and azimuth angle of the gimbal and feed them back to the gimbal control module;

[0011] A perception and positioning module, which is used to model the environment of the relevant area in the battery swap station, recognize the license plate of the vehicle, model and locate the vehicle, and detect obstacles in the environment according to the laser radar data and the camera data;

[0012] A vehicle dispatching module, which is used to automatically generate an environmental map according to the environmental model of the battery swap station, and use the environmental map to perform queuing control and dispatching control on vehicles in the battery swap station;

[0013] A pan / tilt control module, used to output instructions for controlling the pan / tilt angle to scan the environment during environment modeling and to output instructions for controlling the pan / tilt angle to enable the first laser radar and camera to always follow the controlled vehicle during parking control;

[0014] A parking control module, used to generate a trajectory of the controlled vehicle from its initial position to the parking space or battery swapping area, and to generate parking control instructions for the vehicle;

[0015] A first communication module, used to establish a communication link and perform data communication between the vehicle and the battery swap station;

[0016] A vehicle execution module and a second communication module arranged at the vehicle end; wherein:

[0017] The vehicle execution module is used to receive the vehicle control command from the battery swap station to drive the vehicle, and feed back the vehicle's own status to the battery swap station;

[0018] The second communication module is used for data communication between the vehicle and the battery swap station.

[0019] Preferably, the laser radar adopts a non-repetitive scanning laser radar and transmits it in the form of point cloud data.

[0020] Preferably, the camera data is transmitted in the form of RGB images.

[0021] Preferably, the perception and positioning module includes:

[0022] - Modeling unit, which is used to model the environment of relevant areas in the battery swap station, including:

[0023] Control the laser radar to scan the entire field of view. According to the gimbal angle and the point cloud data of the laser radar, through the point cloud registration method, the continuous frame point cloud accumulated over a period of time is used to perform the background modeling method that integrates the time series information, and finally obtain the background depth map and background point cloud to build the environment model.

[0024] -License plate recognition unit, which is used to recognize the license plate of the vehicle, including:

[0025] Based on the camera data, the license plate in the image is recognized through OCR recognition method;

[0026] -Vehicle positioning unit, which is used to model and locate the vehicle, including:

[0027] The foreground point cloud segmentation method based on hierarchical neighborhood is adopted for perception through non-repetitive scanning laser radar. The foreground is initially segmented by differentially performing two-dimensional pixel neighborhood on the background depth map of the environment model, and background points are filtered out. The foreground point cloud obtained by the initial segmentation is then accurately segmented through the nearest neighbor query of the three-dimensional spatial neighborhood with the background point cloud of the environment model, and the most likely foreground point cloud is retained.

[0028] According to the information of the vehicle entering the battery swap station, the reserved foreground point cloud is filtered at the corresponding position, multi-frame point cloud is aggregated, and the vehicle template point cloud is constructed by the grid variance optimization method;

[0029] According to the constructed vehicle template point cloud, the iterative nearest point method is used to perform point cloud registration and vehicle positioning;

[0030] Through the license plate recognition results, the license plate is associated with the vehicle for subsequent vehicle control;

[0031] -Obstacle detection unit, which is used to detect obstacles in the environment, including:

[0032] The foreground objects are segmented by point cloud template filtering, the foreground point clouds are clustered, and obstacles are detected.

[0033] Preferably, the vehicle dispatching module comprises:

[0034] - A map generation unit, which is used to automatically generate an environmental map according to the environmental model of the battery swap station, including:

[0035] According to the environmental model, the ground plane is identified, and the clustered obstacles are segmented and placed on the map;

[0036] After extracting the ground plane point cloud, the white parking space line is obtained according to the reflectivity of the point cloud, and the parking space information is obtained by block fitting;

[0037] Create an environmental map that includes parking space information, battery swap area information, and obstacle information;

[0038] - Queuing control unit, which is used to control the queuing of vehicles in the battery swap station, including:

[0039] Allocate parking spaces to new vehicles based on parking space availability and perform queue control;

[0040] -Dispatching control unit, which is used to dispatch and control vehicles in the battery swap station, including:

[0041] According to the order of the vehicle queue, determine the vehicles that can currently be used for battery replacement and dispatch them to the battery replacement area.

[0042] Preferably, the pan / tilt control module comprises:

[0043] -Global scanning control unit, which is used to output control instructions for controlling the gimbal to perform global scanning in pitch and azimuth when modeling the environment, and receive current angle information fed back by the gimbal at different positions;

[0044] -Vehicle tracking control unit, which is used to output control instructions for real-time adjustment of the current pitch angle and azimuth angle of the gimbal according to the current vehicle position and the current angle information of the gimbal during parking control, so as to track the vehicle and place the vehicle at the center of the laser radar.

[0045] Preferably, the parking control module includes:

[0046] - Trajectory planning unit, which is used to plan the trajectory of the vehicle from the current position to the parking space or battery swap area;

[0047] -Vehicle control unit, which is used to calculate the vehicle's parking control instructions in real time based on the vehicle's trajectory, the vehicle's current location, obstacle detection results and vehicle feedback data.

[0048] Preferably, the first communication module includes:

[0049] - A communication link establishing unit, which is used to establish network communication between the battery swap station and the vehicle according to the navigation location information of the vehicle and the location information of the battery swap station after the vehicle initiates a battery swap request;

[0050] - A data communication unit, which is used to send parking control instructions to the vehicle and receive feedback data from the vehicle.

[0051] Preferably, the vehicle execution module includes:

[0052] - A command execution unit, which is used to convert the parking control command into the execution of the vehicle's underlying throttle, steering, braking and handbrake functions;

[0053] -State feedback unit, which is used to feedback the current internal state of the vehicle (including the current speed, acceleration, steering angle, gear position, etc.) and the current safety state sensed by the on-board sensors.

[0054] Preferably, the second communication module receives the parking control instruction and sends it to the vehicle, and simultaneously sends feedback data of the vehicle.

[0055] According to another aspect of the present invention, a field-side sensing-guided autonomous battery replacement method is provided, comprising:

[0056] New vehicles enter the battery swap station to the designated location;

[0057] The battery swap station identifies the license plate number of the new vehicle and determines whether the new vehicle needs to queue up based on the situation in the field. If it needs to queue up, the following steps are executed: the battery swap station initializes the positioning of the new vehicle and allocates a temporary parking space for the new vehicle based on the available parking spaces in the field. The new vehicle is guided to park in the temporary parking space through remote control and wait for battery swapping.

[0058] If queuing is not required, the following steps are performed: initializing the positioning of the new vehicle;

[0059] The battery swap station guides new vehicles into the battery swap area for battery swapping through remote control;

[0060] After the battery swap is completed, the battery swap station guides the vehicle to the exit of the battery swap station through remote control and waits for the user to take over.

[0061] According to a third aspect of the present invention, there is provided a computer terminal comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, can be used to execute any of the methods described above in the present invention, or execute the system described above in the present invention.

[0062] According to a fourth aspect of the present invention, there is provided a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, can be used to run any of the methods described above in the present invention, or to execute the system described above in the present invention.

[0063] Due to the adoption of the above technical solution, the present invention has at least one of the following beneficial effects compared with the prior art:

[0064] The field-side sensing and guided autonomous battery swap station system and autonomous battery swap method provided by the present invention do not require complex sensors for vehicles. They only use the field-side laser radar and camera installed in the battery swap station to locate the vehicle, and plan the vehicle trajectory through the computing equipment in the battery swap station. By using remote communication to control, the vehicle can be guided to complete the battery swap, reducing the vehicle-side cost and improving universality.

[0065] The field-sensing guided autonomous battery swap station system and autonomous battery swap method provided by the present invention utilize sensors and controllers installed in the battery swap station to guide vehicles to automatically queue up and complete parking and battery swapping. Users do not need to wait in the car or hand over keys to staff, thereby reducing labor costs and time costs.

[0066] The field-side sensing and guiding autonomous battery swap station system and autonomous battery swap method provided by the present invention deploy the laser radar on a follow-up gimbal, effectively expanding the detection range of the laser radar and reducing the cost of deploying multiple laser radars at the same time.

[0067] The field-side sensing-guided autonomous battery swap station system and autonomous battery swap method provided by the present invention use a non-repetitive scanning radar, which reduces the number of times stationary objects in the parking lot are scanned compared to traditional repetitive scanning radars, thereby improving sensing efficiency.

[0068] The field-side sensing and guided autonomous battery swap station system and autonomous battery swap method provided by the present invention use a non-repetitive scanning radar and a radar control and sensing algorithm deployed on a follow-up gimbal, providing a more efficient and low-cost field-side sensing and control solution. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0070] Figure 1 The figure is a schematic diagram of the composition structure of a field-side sensing and guiding autonomous battery swap station system in a preferred embodiment of the present invention.

[0071] Figure 2 This is a working principle diagram of a field-side sensing and guiding autonomous battery swap station system in a preferred embodiment of the present invention.

[0072] Figure 3 The present invention is a flowchart of the process of implementing a field-side sensing-guided autonomous battery replacement method in a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0073] The following is a detailed description of the embodiments of the present invention: This embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation method and a specific operation process are given. It should be pointed out that for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

[0074] Due to the small space in existing battery swap stations, it is difficult to park vehicles, and usually multiple vehicles need to wait in line when swapping batteries. At this time, users are required to wait in the car or hand the keys to the staff, wasting a lot of manpower and time costs.

[0075] In response to the above problems, an embodiment of the present invention provides a field-side sensing and guided autonomous battery swap station system. The system is based on follow-up laser radar sensing. At the battery swap station, the system remotely controls the vehicle and receives feedback, guides it to the battery swap parking space, and performs vehicle battery swap operations at the battery swap parking space; at the vehicle side, the system receives remote control instructions from the battery swap station and executes them, and provides feedback on the vehicle's own status.

[0076] Specifically, Figure 1 As shown, the field-side sensing and guiding autonomous battery swap station system provided by this embodiment may include:

[0077] A gimbal arranged at the front end of the battery swap station, a first laser radar and a camera installed on the gimbal, a second laser radar and a sensor module arranged at the rear end of the battery swap station, a perception and positioning module, a vehicle dispatching module, a gimbal control module, a parking control module and a first communication module; wherein:

[0078] The sensor module is used to receive the laser radar data and the camera data, communicate with the gimbal control module to control the angle of the gimbal, obtain the current pitch angle and azimuth angle of the gimbal and feed them back to the gimbal control module;

[0079] The perception and positioning module is used to model the environment of the relevant area in the battery swap station based on the lidar data and camera data, recognize the license plate of the vehicle, model and locate the vehicle being controlled, and detect other obstacles in the environment;

[0080] The vehicle dispatching module is used to automatically generate an environmental map based on the environmental model of the battery swap station, and use the environmental map to perform queuing control and dispatching control on vehicles in the battery swap station;

[0081] A pan / tilt control module, used to output a command for controlling the pan / tilt angle to scan the environment during environment modeling and to output a command for controlling the pan / tilt angle during parking control so that the first laser radar and the camera always follow the controlled vehicle;

[0082] The parking control module is used to generate the trajectory of the controlled vehicle from its initial position to the parking space or battery replacement area, and generate the vehicle control instructions;

[0083] A first communication module, used to establish a communication link and perform data communication between the vehicle and the battery swap station;

[0084] A vehicle execution module and a second communication module arranged at the vehicle end; wherein:

[0085] The vehicle execution module is used to receive the vehicle control command from the battery swap station to drive the vehicle and feed back the vehicle's own status to the battery swap station;

[0086] The second communication module is used for data communication between the vehicle and the battery swap station.

[0087] The technical solutions provided by the above embodiments of the present invention are further described in detail below in conjunction with preferred embodiments.

[0088] The field-side sensing and guiding autonomous battery swap station system provided by the above embodiment of the present invention mainly includes the following two parts, and its working principle is as follows: Figure 2 As shown:

[0089] 1. At the battery swap station, the vehicle is remotely controlled and feedback is received through the arranged laser radar and camera as well as the installed sensor modules, perception and positioning modules, vehicle dispatching modules, parking control modules, communication modules, etc., and it is guided to the battery swapping parking space and the vehicle battery swapping operation is performed at the battery swapping parking space.

[0090] 2. On the vehicle side, the communication module and vehicle execution module are used to receive remote control commands from the battery swap station, execute them, and provide feedback on the vehicle status.

[0091] In some preferred implementations, the above-mentioned battery swap station includes the following modules:

[0092] 1. Sensor module: Its function is to receive data from the front and rear lidars, receive data from the camera, communicate with the gimbal control module to control the angle of the gimbal, and obtain the current pitch angle and azimuth angle of the gimbal and feed them back to the gimbal control module.

[0093] Furthermore, in some preferred embodiments, in the above sensor module:

[0094] a) Receiving radar data: Using non-repetitive scanning laser radar, the data is transmitted in the form of point cloud data.

[0095] b) Receive camera data: Transmitted in the form of RGB images.

[0096] c) PTZ closed-loop control: According to the instructions given by the PTZ control module, the pitch and azimuth of the current radar are controlled; and the pitch and azimuth of the current PTZ are fed back to the PTZ control module.

[0097] 2. Perception and positioning module: Its function is to establish an environmental model of the area near the battery swap station, identify the vehicle’s license plate, model and locate the vehicle being controlled, and detect other obstacles in the environment.

[0098] Furthermore, in some preferred implementations, the above-mentioned perception and positioning module may further include:

[0099] a) Modeling unit, used for establishing the environment model: controlling the LiDAR to scan the entire field of view, and based on the gimbal angle and the LiDAR point cloud data, through the point cloud registration method, through the continuous frame point cloud accumulated over a period of time, executing the background modeling method that integrates the temporal information, and finally obtaining the background depth map and background point cloud to build the environment model.

[0100] b) License plate recognition unit, used for license plate recognition: recognizing the license plate through the camera's OCR method.

[0101] c) Vehicle positioning unit, used for vehicle modeling and positioning: perception is performed through non-repetitive scanning laser radar, and a foreground point cloud segmentation method based on hierarchical neighborhood is adopted. The foreground is initially segmented by differentially performing a two-dimensional pixel neighborhood on the background depth map of the environment model, and background points are filtered out. The foreground point cloud obtained by the initial segmentation is then accurately segmented through a three-dimensional spatial neighborhood nearest neighbor query with the background point cloud of the environment model, and the most likely foreground point cloud is retained. According to the information of the vehicle entering the battery swap station, the retained foreground point cloud is filtered at the corresponding position, multi-frame point clouds are aggregated, and a vehicle template point cloud is constructed by a grid variance optimization method. According to the constructed vehicle template point cloud, an iterative nearest point method is used for point cloud registration to locate the vehicle. Through the license plate recognition result, the license plate is associated with the vehicle for subsequent vehicle control.

[0102] d) Obstacle detection unit, used for obstacle detection: segmenting foreground objects by point cloud template filtering, clustering foreground point clouds, and detecting obstacles.

[0103] 3. Vehicle dispatch module: Its function is to automatically generate a nearby map based on the battery swap station environment model, and use the map to perform queuing control and dispatch control on vehicles in the battery swap station.

[0104] Furthermore, in some preferred implementations, the vehicle dispatching module may further include:

[0105] a) Map generation unit, used for map generation: according to the environmental model, identify the ground plane, segment the clustered obstacles and place them in the map; after extracting the ground plane point cloud, obtain the white parking space line according to the point cloud reflectivity, and obtain the parking space information by block fitting; finally, establish a map including parking spaces, battery swapping areas, and other obstacles.

[0106] b) Queuing control unit and dispatching control unit, used for queuing control and dispatching control of vehicles: according to the availability of parking spaces, new incoming vehicles are queued, parking spaces are allocated and used for subsequent planning and control; according to the queue situation, vehicles that need to be replaced are judged and dispatched to the battery replacement area.

[0107] 4. PTZ control module: Its function is to control the PTZ to scan the environment during environmental modeling, and to control the angle of the PTZ to keep the lidar and camera following the controlled vehicle during parking control.

[0108] Furthermore, in some preferred implementations, the above-mentioned PTZ control module may further include:

[0109] a) Global scanning control unit: used to control the gimbal to scan in pitch and azimuth when modeling the environment, and to feed back the angle data of the gimbal at different positions.

[0110] b) Vehicle tracking control unit: used to adjust the current gimbal pitch angle and azimuth angle in real time through the current vehicle position and gimbal angle information when controlling the vehicle, so that the vehicle is at the center of the laser radar.

[0111] 5. Parking control module: Its function is to generate the trajectory of the controlled vehicle from its position to the parking space or battery exchange area, and calculate the vehicle's control instructions.

[0112] Furthermore, in some preferred embodiments, the parking control module may further include:

[0113] a) Trajectory planning unit: used to plan the trajectory of the vehicle from the current position to the parking space or battery swapping area.

[0114] b) Vehicle control unit: used to calculate the vehicle's control instructions in real time based on the vehicle's trajectory, current vehicle location, obstacle detection results, vehicle feedback data, etc.

[0115] 6. First communication module: Its function is to establish a communication link and perform data communication between the vehicle and the battery swap station. Further, in some preferred embodiments, the first communication module may further include:

[0116] a) A communication link establishing unit, used to establish a communication link: after the vehicle initiates a battery swap request, network communication between the battery swap station and the vehicle is established based on the vehicle's navigation location information and the location information of the battery swap station, which can be done through WiFi or 4G network.

[0117] b) Data communication unit: used to send parking control instructions to the vehicle and receive feedback data from the vehicle.

[0118] In some preferred embodiments, the vehicle terminal includes the following modules:

[0119] 1. Vehicle execution module: Its function is to receive the vehicle's control instructions to drive the vehicle, and feed back the vehicle's own status to the battery swap station.

[0120] Furthermore, in some preferred embodiments, the vehicle execution module may further include:

[0121] a) Command execution unit: used to convert control commands into the execution of vehicle's underlying throttle, steering, braking, handbrake and other functions.

[0122] b) State feedback unit: used to feedback the current internal state of the vehicle (including the vehicle's current speed, acceleration, steering angle, gear position, etc.) and the safety state sensed by the on-board sensors.

[0123] 2. The second communication module: its function is to carry out data communication between the vehicle and the battery swap station.

[0124] Further, in some preferred implementations, in the second communication module:

[0125] a) Data communication unit: used to receive parking control instructions and send them to the vehicle, and send feedback data from the vehicle at the same time.

[0126] Based on the same inventive concept, an embodiment of the present invention also provides a field-side sensing and guided autonomous battery replacement method, which can be implemented based on the field-side sensing and guided autonomous battery replacement station system provided by the above-mentioned embodiment of the present invention.

[0127] Specifically, Figure 3 As shown, the field-side sensing-guided autonomous battery replacement method provided in this embodiment may include the following operations:

[0128] S100, the new vehicle enters the battery swap station to the designated location;

[0129] S200, the battery swap station identifies the license plate number of the new vehicle and determines whether the new vehicle needs to queue according to the situation in the station; if the new vehicle needs to queue, S300 is executed; if the new vehicle does not need to queue, S400 is executed;

[0130] S300: The battery swap station initializes the positioning of the new vehicle, allocates a temporary parking space for the new vehicle according to the available parking spaces in the station, and guides the new vehicle to park in the temporary parking space through remote control to wait for battery swapping.

[0131] S400, the follow-up laser radar of the battery swap station initializes the positioning of the new vehicle;

[0132] S500, the battery swap station guides new vehicles into the battery swap area for battery swapping through remote control;

[0133] S600: After the battery swap is completed, the battery swap station guides the vehicle to the exit of the battery swap station through remote control and waits for the user to take over.

[0134] The technical solutions provided by the above embodiments of the present invention are further described in detail below.

[0135] First, step S100 is executed, and the user drives the vehicle that currently needs to be replaced with a battery into a designated location within the battery replacement station and leaves the vehicle.

[0136] Then execute step S200, the sensor module obtains the vehicle license plate photo taken by the camera and identifies the vehicle license plate number through the perception and positioning module; then the vehicle scheduling module generates an environmental map based on the environmental model constructed by the perception and positioning module to obtain the situation in the battery swap station (including vehicle parking conditions, vehicle battery swap conditions, etc.) to determine whether the current vehicle needs to queue.

[0137] If there are no extra parking spaces for battery swapping in the battery swapping station, execute step S300; if there are extra parking spaces in the battery swapping station, directly jump to execute step S400.

[0138] In step S300, the vehicle dispatching module allocates a temporary parking space for the current vehicle and performs queuing control, which specifically includes:

[0139] Execute step S301, the gimbal control module outputs a control instruction to the sensor module to rotate the gimbal so that the direction of the laser radar points to the current vehicle, the laser radar scans the current vehicle status, and the perception and positioning module initializes the positioning of the current vehicle; then, the vehicle scheduling module calculates the vehicle scheduling trajectory and calculates the corresponding control instructions, the first communication module exchanges the vehicle status and trajectory information with the current vehicle, and guides the vehicle execution module through remote control to park the current vehicle in a temporary parking space.

[0140] Execute step S302, the vehicle dispatching module dispatches and controls the current vehicles according to the vehicle queuing situation, and arranges the vehicles to replace batteries in sequence.

[0141] Then, step S400 is executed, the gimbal control module outputs a control instruction to the sensor module to rotate the gimbal so that the direction of the laser radar points to the vehicle, the laser radar scans the current vehicle status, and the perception and positioning module initializes the positioning of the vehicle.

[0142] Then, step S500 is executed. The vehicle dispatch module calculates the vehicle dispatch trajectory and the corresponding control instructions. The first communication module exchanges vehicle status and trajectory information with the current vehicle, and guides the vehicle execution module to drive the current vehicle into the battery swapping area through remote control. At the same time, the gimbal control module outputs control instructions to the sensor module to control the gimbal to rotate in real time, so that the laser radar keeps pointing at the current vehicle and senses it. After entering the battery swapping area, the vehicle performs the battery swapping operation.

[0143] Finally, step S600 is executed. After the current vehicle completes the battery swap, the vehicle dispatch module guides the current vehicle to the exit of the battery swap station through remote control to wait for the user to take over.

[0144] It should be noted that the steps in the method provided by the present invention can be implemented by using corresponding modules, devices, units, etc. in the system. Those skilled in the art can refer to the technical solution of the system to implement the step flow of the method, that is, the embodiments in the system can be understood as preferred examples of implementing the method, which will not be elaborated here.

[0145] An embodiment of the present invention further provides a computer terminal, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it can be used to run the system of any one of the above embodiments of the present invention, or execute any one of the methods of the above embodiments of the present invention.

[0146] Optionally, the memory is used to store programs; the memory may include volatile memory (English: volatile memory), such as random-access memory (English: random-access memory, abbreviated: RAM), such as static random-access memory (English: static random-access memory, abbreviated: SRAM), double data rate synchronous dynamic random access memory (English: Double Data Rate Synchronous Dynamic Random Access Memory, abbreviated: DDR SDRAM), etc.; the memory may also include non-volatile memory (English: non-volatile memory), such as flash memory (English: flash memory). The memory is used to store computer programs (such as applications, functional modules, etc. that implement the above method), computer instructions, etc., and the above computer programs, computer instructions, etc. can be partitioned and stored in one or more memories. And the above computer programs, computer instructions, data, etc. can be called by the processor.

[0147] The above-mentioned computer programs, computer instructions, etc. may be stored in one or more memories in partitions, and the above-mentioned computer programs, computer instructions, data, etc. may be called by a processor.

[0148] The processor is used to execute the computer program stored in the memory to implement the various steps of the method or various modules of the system involved in the above embodiments. For details, please refer to the relevant descriptions in the above method and system embodiments.

[0149] The processor and the memory may be independent structures or integrated structures. When the processor and the memory are independent structures, the memory and the processor may be coupled and connected via a bus.

[0150] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it can be used to run the system of any one of the above embodiments of the present invention, or to execute the method of any one of the above embodiments of the present invention.

[0151] Among them, computer-readable media include computer storage media and communication media, wherein the communication media include any media that facilitates the transmission of computer programs from one place to another. The storage medium can be any available medium that can be accessed by a general or special-purpose computer. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and the storage medium can be located in an ASIC. In addition, the ASIC can be located in a user device. Of course, the processor and the storage medium can also be present in a communication device as discrete components.

[0152] The field-side perception-guided autonomous battery swap station system and autonomous battery swap method provided in the above-mentioned embodiments of the present invention do not require complex sensors for vehicles. They only use the field-side laser radar and camera installed in the battery swap station to locate the vehicle, and plan the vehicle trajectory through the computing equipment in the battery swap station. By using remote communication to control it, the vehicle can be guided to complete the battery swap, thereby reducing the vehicle-side cost and improving universality. The sensors and controllers installed in the battery swap station are used to guide the vehicles to automatically queue and complete parking and battery swapping. Users do not need to wait in the car or hand over the keys to the staff, thereby reducing labor and time costs. The laser radar is deployed on a follow-up gimbal, which effectively expands the detection range of the laser radar and reduces the cost of deploying multiple laser radars at the same time. The use of non-repetitive scanning radar reduces the number of scans of stationary objects in the parking lot compared to traditional repetitive scanning radars, thereby improving perception efficiency.

[0153] The field-side sensing and guided autonomous battery swap station system and autonomous battery swap method provided by the present invention use a non-repetitive scanning radar and a radar control and sensing algorithm deployed on a follow-up gimbal, providing a more efficient and low-cost field-side sensing and control solution.

[0154] All matters not covered in the above embodiments of the present invention are well known in the art.

[0155] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art may make various modifications or variations within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. A field-side sensing and guiding autonomous battery swap station system, characterized in that: include: A gimbal arranged at the front end of the battery swap station, a first laser radar and a camera installed on the gimbal, a second laser radar and a sensor module, a perception and positioning module, a vehicle dispatching module, a gimbal control module, a parking control module and a first communication module arranged at the rear end of the battery swap station; wherein: The sensor module is used to receive the laser radar data and the camera data, and communicate with the gimbal control module to control the angle of the gimbal, obtain the current pitch angle and azimuth angle of the gimbal and feed them back to the gimbal control module; A perception and positioning module, which is used to model the environment of the relevant area in the battery swap station, recognize the license plate of the vehicle, model and locate the vehicle, and detect obstacles in the environment according to the laser radar data and the camera data; A vehicle dispatching module, which is used to automatically generate an environmental map according to the environmental model of the battery swap station, and use the environmental map to perform queuing control and dispatching control on vehicles in the battery swap station; A pan / tilt control module, used to output instructions for controlling the pan / tilt angle to scan the environment during environment modeling and to output instructions for controlling the pan / tilt angle to enable the first laser radar and camera to always follow the controlled vehicle during parking control; A parking control module, used to generate a trajectory of the controlled vehicle from its initial position to the parking space or battery swapping area, and to generate parking control instructions for the vehicle; A first communication module, used to establish a communication link and perform data communication between the vehicle and the battery swap station; A vehicle execution module and a second communication module arranged at the vehicle end; wherein: The vehicle execution module is used to receive the vehicle control command from the battery swap station to drive the vehicle, and feed back the vehicle's own status to the battery swap station; The second communication module is used for data communication between the vehicle and the battery swap station.

2. The field-side sensing and guiding autonomous battery swap station system according to claim 1 is characterized in that: The laser radar is a non-repetitive scanning laser radar and is transmitted in the form of point cloud data; and / or The camera data is transmitted in the form of RGB images.

3. The field-side sensing and guiding autonomous battery swap station system according to claim 1 is characterized in that: The perception and positioning module includes: - Modeling unit, which is used to model the environment of relevant areas in the battery swap station, including: Control the laser radar to scan the entire field of view. According to the gimbal angle and the point cloud data of the laser radar, through the point cloud registration method, the continuous frame point cloud accumulated over a period of time is used to perform the background modeling method that integrates the time series information, and finally obtain the background depth map and background point cloud to build the environment model. -License plate recognition unit, which is used to recognize the license plate of the vehicle, including: Based on the camera data, the license plate in the image is recognized through OCR recognition method; -Vehicle positioning unit, which is used to model and locate the vehicle, including: The foreground point cloud segmentation method based on hierarchical neighborhood is adopted for perception through non-repetitive scanning laser radar. The foreground is initially segmented by differentially performing two-dimensional pixel neighborhood on the background depth map of the environment model, and background points are filtered out. The foreground point cloud obtained by the initial segmentation is then accurately segmented through the nearest neighbor query of the three-dimensional spatial neighborhood with the background point cloud of the environment model, and the most likely foreground point cloud is retained. According to the information of the vehicle entering the battery swap station, the reserved foreground point cloud is filtered at the corresponding position, multi-frame point cloud is aggregated, and the vehicle template point cloud is constructed by the grid variance optimization method; According to the constructed vehicle template point cloud, the iterative nearest point method is used to perform point cloud registration and vehicle positioning; Through the license plate recognition results, the license plate is associated with the vehicle for subsequent vehicle control; -Obstacle detection unit, which is used to detect obstacles in the environment, including: The foreground objects are segmented by point cloud template filtering, the foreground point clouds are clustered, and obstacles are detected.

4. The field-side sensing and guiding autonomous battery swap station system according to claim 1 is characterized in that: The vehicle dispatching module comprises: - A map generation unit, which is used to automatically generate an environmental map according to the environmental model of the battery swap station, including: According to the environmental model, the ground plane is identified, and the clustered obstacles are segmented and placed on the map; After extracting the ground plane point cloud, the white parking space line is obtained according to the reflectivity of the point cloud, and the parking space information is obtained by block fitting; Create an environmental map that includes parking space information, battery swap area information, and obstacle information; - Queuing control unit, which is used to control the queuing of vehicles in the battery swap station, including: Allocate parking spaces to new vehicles based on parking space availability and perform queue control; -Dispatching control unit, which is used to dispatch and control vehicles in the battery swap station, including: According to the order of the vehicle queue, determine the vehicles that can currently be used for battery replacement and dispatch them to the battery replacement area.

5. The field-side sensing and guiding autonomous battery swap station system according to claim 1 is characterized in that: The pan / tilt control module comprises: -Global scanning control unit, which is used to output control instructions for controlling the gimbal to perform global scanning in pitch and azimuth when modeling the environment, and receive current angle information fed back by the gimbal at different positions; -Vehicle tracking control unit, which is used to output control instructions for real-time adjustment of the current pitch angle and azimuth angle of the gimbal according to the current vehicle position and the current angle information of the gimbal during parking control, so as to track the vehicle and place the vehicle at the center of the laser radar.

6. The field-side sensing and guiding autonomous battery swap station system according to claim 1 is characterized in that: The parking control module comprises: - Trajectory planning unit, which is used to plan the trajectory of the vehicle from the current position to the parking space or battery swap area; -Vehicle control unit, which is used to calculate the vehicle's parking control instructions in real time based on the vehicle's trajectory, the vehicle's current location, obstacle detection results and vehicle feedback data.

7. The field-side sensing and guiding autonomous battery swap station system according to claim 1 is characterized in that: Also includes any one or more of the following: The first communication module comprises: A communication link establishing unit, which is used to establish network communication between the battery swap station and the vehicle according to the navigation location information of the vehicle and the location information of the battery swap station after the vehicle initiates a battery swap request; A data communication unit, which is used to send parking control instructions to the vehicle and receive feedback data from the vehicle; -The vehicle execution module comprises: A command execution unit, which is used to convert parking control commands into execution of the vehicle's underlying throttle, steering, braking and handbrake functions; A state feedback unit, which is used to feed back the current internal state of the vehicle and the current safety state sensed by the on-board sensors as feedback data; -The second communication module receives the parking control instruction and sends it to the vehicle, and sends the feedback data of the vehicle at the same time.

8. A field-side sensing-guided autonomous battery replacement method, characterized in that: include: New vehicles enter the battery swap station to the designated location; The battery swap station identifies the license plate number of the new vehicle and determines whether the new vehicle needs to queue based on the situation on the site; If queuing is required, the following will be executed: the battery swap station will initialize the positioning of the new vehicle, allocate a temporary parking space for the new vehicle based on the available parking spaces in the station, and guide the new vehicle to park in the temporary parking space through remote control to wait for battery swapping; If queuing is not required, the following steps are performed: initializing the positioning of the new vehicle; The battery swap station guides new vehicles into the battery swap area for battery swapping through remote control; After the battery swap is completed, the battery swap station guides the vehicle to the exit of the battery swap station through remote control and waits for the user to take over.

9. A computer terminal comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When executing the computer program, the processor can be used to run the system described in any one of claims 1 to 7, or to execute the method described in claim 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, it can be used to run the system described in any one of claims 1 to 7, or to execute the method described in claim 8.

Images