Field end perception guided autonomous battery swapping station system and autonomous battery swapping method

Abstract

The application provides a kind of field end perception guided autonomous battery swap station system and autonomous battery swap method, and the battery swap station obtains receiving laser radar data and camera data by controlling the angle of holder, models the environment of relevant area in the battery swap station, and identifies the license plate of vehicle, models and locates the vehicle in control, detects other obstacles in the environment;According to the environment model, a map is automatically generated, and the map is used to queue and dispatch control the vehicle in the battery swap station;When modeling the environment, control the holder to perform global scanning, and when parking control, control the holder to make the laser radar and camera follow the controlled vehicle;Generate the trajectory of the controlled vehicle from its position to the parking space or battery swap area, and get the parking control instruction;The vehicle receives the parking control instruction of the battery swap station for remote execution, and feeds back the self-vehicle state, which reduces the labor cost and time cost, and realizes an efficient and low-cost field end perception and control scheme.

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 perception, as well as a corresponding computer terminal and computer-readable storage medium. Background Art

[0002] The space at the battery swap station is relatively small, making parking difficult. In addition, multiple vehicles usually need to wait in line when swapping batteries. At this time, users need 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, "A Parking Control Method, Device, and System," with publication number CN111368604A, provides a parking control technology that includes: receiving a message from a vehicle controller requesting a parking space for a vehicle to be parked; 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 accessible to the parking space; clustering the point cloud data to obtain a point cloud set of the vehicle to be parked; using an iterative closest point (ICP) algorithm to calculate the point cloud set of the vehicle to be parked and the vehicle point cloud model to obtain a rotation matrix and a translation matrix between the point cloud set of the vehicle to be parked and the vehicle point cloud model; and transmitting the rotation matrix and translation matrix so that the vehicle controller can control the direction and speed of the vehicle to be parked in real time based on the rotation matrix and translation matrix and ultimately stop the vehicle in the parking space. However, this technology still has the following technical problems:

[0005] Its LiDAR sensor does not have tracking characteristics and cannot rotate. Its sensing range is limited. It requires more LiDARs to cover the entire site, which is costly.

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

[0007] In response to the above-mentioned deficiencies in the prior art, the present invention provides a field-side perception-guided autonomous battery swap station system and an autonomous battery swap method 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 pan / tilt platform arranged at the front end of the battery swap station, a first laser radar and camera installed on the pan / tilt platform, a second laser radar and a sensor module, a perception and positioning module, a vehicle dispatching module, a pan / tilt 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 lidar data and 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;

[0011] A perception and positioning module is used to model the environment of the relevant area within the battery swap station based on the lidar data and camera data, perform license plate recognition on vehicles, model and locate vehicles, and detect obstacles in the environment;

[0012] A 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;

[0013] A pan / tilt control module, configured 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] The parking control module is used to generate the trajectory of the controlled vehicle from its initial position to the parking space or battery swap area and generate parking control instructions for the vehicle;

[0015] A first communication module is 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 are arranged at the vehicle end; wherein:

[0017] The vehicle execution module is used to receive vehicle control instructions 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 within the battery swap station, including:

[0023] Control the LiDAR to scan the entire field of view. Based on the gimbal angle and the LiDAR point cloud data, the point cloud registration method is used to perform a background modeling method that integrates temporal information with the continuous frame point cloud accumulated over a period of time. Finally, the background depth map and background point cloud are obtained to construct the environment model.

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

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

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

[0027] Perception is performed using a non-repeating scanning LiDAR. A hierarchical neighborhood-based foreground point cloud segmentation method is employed. Initial foreground segmentation is performed by performing a two-dimensional pixel neighborhood difference on the background depth map of the environment model, filtering out background points. The foreground point cloud obtained through initial segmentation is then accurately segmented using a three-dimensional spatial nearest neighbor query with the background point cloud of the environment model, retaining the most likely foreground point cloud.

[0028] 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 cloud is aggregated, and the vehicle template point cloud is constructed by the grid variance optimization method;

[0029] Based on 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, and the foreground point clouds are clustered to detect obstacles.

[0033] Preferably, the vehicle dispatching module includes:

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

[0035] According to the environmental model, the ground plane is identified, 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 point cloud reflectivity, 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 vehicle that can currently be used for battery replacement and dispatch it to the battery replacement area.

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

[0043] - A global scan control unit, which is used to output control instructions for the gimbal to perform global scans in pitch and azimuth during environment modeling, and to 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 and azimuth angles 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 keep it at the center position of the lidar.

[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, current vehicle location, obstacle detection results, and vehicle feedback data.

[0048] Preferably, the first communication module includes:

[0049] - A communication link establishment unit, which is used to establish network communication between the battery swap station and the vehicle based on the vehicle's navigation location information 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 parking control commands into execution of the vehicle's underlying throttle, steering, braking and parking brake functions;

[0053] -State feedback unit, which is used to feedback the current internal state of the vehicle (including the current vehicle speed, acceleration, steering angle, gear position, etc.) and the current safety state perceived 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 swapping method is provided, comprising:

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

[0057] The battery swap station identifies the new vehicle's license plate number and determines whether the new vehicle needs to queue based on the situation on the site. If it does, the station performs the following steps: initializing the new vehicle's location and allocating a temporary parking space for it based on the availability of parking spaces on the site. The station then remotely guides the new vehicle into the temporary space and waits for battery swapping.

[0058] If queuing is not required, execute: 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, a computer terminal is provided, 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, the terminal can be used to execute any one of the methods described above in the present invention, or to execute the system described above in the present invention.

[0062] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, it 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 perception-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 lidar 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 for control, the vehicle can be guided to complete the battery swap, reducing vehicle-side costs and improving universality.

[0065] The field-side sensing and guidance 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 and complete parking and battery swapping. Users do not need to wait in the car or hand over keys to staff, thus reducing labor and time costs.

[0066] The field-side sensing and guidance 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 scans of stationary objects in the parking lot and improves sensing efficiency compared to traditional repetitive scanning radars.

[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 radar control and sensing algorithms 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 upon reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0070] Figure 1 Schematic diagram of the composition structure of a field-side sensing and guided 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-guided autonomous battery swap station system in a preferred embodiment of the present invention.

[0072] Figure 3 This is a workflow diagram of the 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 an embodiment of the present invention. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process. It should be noted that those skilled in the art may make various modifications and improvements without departing from the scope of the present invention, and these modifications and improvements fall within the scope of protection of the present invention.

[0074] Due to the relatively small space in existing battery swap stations, parking is difficult, and multiple vehicles usually need to queue up 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, it 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, it receives remote control instructions from the battery swap station and executes them, and provides feedback on the vehicle's status.

[0076] Specifically, if 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 camera installed on the gimbal, a second laser radar and 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 lidar data and 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 within the battery swap station based on lidar data and camera data, recognize vehicle license plates, model and locate the vehicle being controlled, and detect other obstacles in the environment;

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

[0081] A pan / tilt control module, configured to output instructions for controlling the pan / tilt angle during environmental modeling to scan the environment, and to output instructions for controlling the pan / tilt angle during parking control to ensure that the first laser radar and 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 swap area and generate the vehicle control instructions;

[0083] A first communication module is 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 are arranged at the vehicle end; wherein:

[0085] The vehicle execution module is used to receive vehicle control instructions 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 the vehicle is guided to the battery swap parking space, where the battery swap operation is performed.

[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 embodiments, 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 and azimuth angles 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 a non-repetitive scanning lidar, 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: Controls the current radar pitch and azimuth according to the instructions given by the PTZ control module; and feeds back the current PTZ pitch and azimuth 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 license plates of vehicles, model and locate the controlled vehicles, and detect other obstacles in the environment.

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

[0099] a) Modeling unit, used to build the environment model: Control the LiDAR to scan the entire field of view. Based on the gimbal angle and the LiDAR point cloud data, through the point cloud registration method, the continuous frame point cloud accumulated over a period of time is used to perform a background modeling method that integrates temporal information. Finally, the background depth map and background point cloud are obtained 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 a non-repetitive scanning laser radar, and a foreground point cloud segmentation method based on a 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, and multi-frame point clouds are aggregated to construct a vehicle template point cloud through a grid variance optimization method. Based on the constructed vehicle template point cloud, the iterative nearest point method is used for point cloud registration to perform vehicle positioning. The license plate is associated with the vehicle through the license plate recognition result for subsequent vehicle control.

[0102] d) Obstacle detection unit, used for obstacle detection: segmenting foreground objects through 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 control the queuing and dispatching of vehicles in the battery swap station.

[0104] Furthermore, in some preferred embodiments, the vehicle dispatch module may further include:

[0105] a) Map generation unit, used for map generation: Based on the environmental model, the ground plane is identified, and clustered obstacles are segmented and placed on the map. After extracting the ground plane point cloud, white parking space lines are obtained based on the point cloud reflectivity, and parking space information is obtained through block fitting. Finally, a map is created that includes parking spaces, battery swapping areas, and other obstacles.

[0106] b) Queuing control unit and dispatching control unit, used to perform queuing control and dispatching control on vehicles: according to the availability of parking spaces, newly 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 with batteries 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 environment modeling, and to control the angle of the PTZ during parking control so that the lidar and camera keep following the controlled vehicle.

[0108] Furthermore, in some preferred embodiments, the pan / tilt control module may further include:

[0109] a) Global Scan Control Unit: Used to control the gimbal to scan in pitch and azimuth when modeling the environment, and to provide feedback on the gimbal's angle data at different positions.

[0110] b) Vehicle tracking control unit: When controlling the vehicle, it is used to adjust the current pan-tilt pitch angle and azimuth angle in real time based on the current vehicle position and pan-tilt angle information to keep the vehicle at the center of the lidar.

[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 swap area and calculate the vehicle 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 swap 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. Furthermore, in some preferred embodiments, the first communication module may further include:

[0116] a) Communication link establishment 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 achieved 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 vehicle 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, parking brake 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 status perceived 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] Furthermore, in some preferred embodiments, 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-guided autonomous battery replacement method, which can be implemented based on the field-side sensing-guided autonomous battery replacement station system provided by the above embodiment of the present invention.

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

[0128] S100, a new vehicle enters the battery swap station and goes to a 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 based on the situation on the site; if it needs to queue, it executes S300; if not, it executes S400;

[0130] S300: The battery swap station initializes the positioning of the new vehicle and allocates a temporary parking space for the new vehicle based on the availability of parking spaces in the station. The new vehicle is then guided to park in the temporary parking space through remote control and wait for battery swapping.

[0131] S400: The battery swap station's follow-up laser radar initializes the positioning of the new vehicle;

[0132] At S500, the battery swap station uses remote control to guide new vehicles into the battery swap area for battery swapping.

[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 to wait for the user to take over.

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

[0135] First, step S100 is executed. The user drives the vehicle that currently needs to be battery-swapped into a designated location within the battery-swapped 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 swap station, execute step S300; if there are extra parking spaces in the battery swap station, jump directly to execute step S400.

[0138] In step S300, the vehicle dispatch module allocates a temporary parking space for the current vehicle and performs queue control, specifically including:

[0139] Execute step S301, the pan-tilt control module outputs a control instruction to the sensor module to rotate the pan-tilt 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 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 scheduling module schedules 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] Next, step S500 is executed. The vehicle dispatch module calculates the vehicle's scheduled trajectory and generates corresponding control instructions. The first communication module exchanges vehicle status and trajectory information with the current vehicle, and remotely controls the vehicle execution module to direct the current vehicle into the battery swapping zone. Simultaneously, the gimbal control module outputs control instructions to the sensor module to control the gimbal's real-time rotation, keeping the LiDAR pointed at the current vehicle and sensing it. After entering the battery swapping zone, 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 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, the processor may be used to execute 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.

[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-mentioned methods), computer instructions, etc. The above-mentioned computer programs, computer instructions, etc. can be partitioned and stored in one or more memories. In addition, the above-mentioned computer programs, computer instructions, data, etc. can be called by the processor.

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

[0148] The processor is configured 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 memory can be independent structures or integrated structures. When the processor and memory are independent structures, the memory and processor can be coupled 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] Computer-readable media include computer storage media and communication media, wherein communication media include any medium that facilitates the transfer of computer programs from one location to another. The storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer. An exemplary storage medium is coupled to a 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 storage medium can be located in an ASIC. Alternatively, the ASIC can be located in a user device. Of course, the processor and storage medium can also exist as discrete components in a communication device.

[0152] The field-side perception-guided autonomous battery swap station system and autonomous battery swap method provided by 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 for control, the vehicle can be guided to complete the battery swap, which reduces the vehicle-side cost and improves universality. The sensors and controllers installed in the battery swap station are used to guide 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, which reduces labor and time costs. The laser radar is deployed on the follow-up pan-tilt platform, 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 radar control and sensing algorithms deployed on a follow-up gimbal, providing a more efficient and low-cost field-side sensing and control solution.

[0154] Matters not mentioned 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 variations or modifications 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 pan / tilt platform arranged at the front end of the battery swap station, a first laser radar and camera installed on the pan / tilt platform, a second laser radar and a sensor module, a perception and positioning module, a vehicle dispatching module, a pan / tilt 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 lidar data and 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; A perception and positioning module is used to model the environment of the relevant area within the battery swap station based on the lidar data and camera data, perform license plate recognition on vehicles, model and locate vehicles, and detect obstacles in the environment; A 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; A pan / tilt control module, configured 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; The parking control module is used to generate the trajectory of the controlled vehicle from its initial position to the parking space or battery swap area and generate parking control instructions for the vehicle; The first communication module is 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 are arranged at the vehicle end; wherein: The vehicle execution module is used to receive vehicle control instructions 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; The perception and positioning module includes: - Modeling unit, which is used to model the environment of relevant areas within the battery swap station, including: Control the LiDAR to scan the entire field of view. Based on the gimbal angle and the LiDAR point cloud data, the point cloud registration method is used to perform a background modeling method that integrates temporal information with the continuous frame point cloud accumulated over a period of time. Finally, the background depth map and background point cloud are obtained to construct the environment model. - License plate recognition unit, which is used to recognize the vehicle's license plate, including: Based on the camera data, the license plate in the image is recognized through the OCR recognition method; - Vehicle positioning unit, which is used to model and locate the vehicle, including: Perception is performed using a non-repeating scanning LiDAR. A hierarchical neighborhood-based foreground point cloud segmentation method is employed. Initial foreground segmentation is performed by performing a two-dimensional pixel neighborhood difference on the background depth map of the environment model, filtering out background points. The foreground point cloud obtained through initial segmentation is then accurately segmented using a three-dimensional spatial nearest neighbor query with the background point cloud of the environment model, retaining the most likely foreground point cloud. 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 cloud is aggregated, and the vehicle template point cloud is constructed by the grid variance optimization method; Based on 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: Segment the foreground objects through point cloud template filtering, cluster the foreground point clouds, and detect obstacles; The pan / tilt control module includes: - Global Scan Control Unit, which is used to output control instructions for the gimbal to perform global scans in pitch and azimuth during environment modeling, and receive feedback from the gimbal on the current angle at different positions; - Vehicle tracking control unit, which is used to output control instructions for real-time adjustment of the gimbal's current pitch and azimuth angles based on the current vehicle position and gimbal angle information during parking control, so as to track the vehicle and keep it at the center of the lidar.

2. The field-side sensing and guiding autonomous battery swap station system according to claim 1 is characterized in that: The laser radar adopts a non-repetitive scanning laser radar and transmits 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 vehicle dispatching module comprises: - A map generation unit, which is used to automatically generate an environmental map based on the environmental model of the battery swap station, including: According to the environmental model, the ground plane is identified, 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 point cloud reflectivity, 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 vehicle that can currently be used for battery replacement and dispatch it to the battery replacement area.

4. The field-side sensing and guiding autonomous battery swap station system according to claim 1 is characterized in that: The parking control module includes: - Trajectory planning unit, which is used to plan the trajectory of the vehicle from its 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, current vehicle location, obstacle detection results, and vehicle feedback data.

5. 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 includes: A communication link establishing unit, which is used to establish network communication between the battery swap station and the vehicle based on the vehicle's navigation location information 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 includes: 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 parking control instructions and sends them to the vehicle, and also sends feedback data from the vehicle.

6. A method for autonomous battery swapping using a field-side sensing and guidance system according to any one of claims 1 to 5, characterized in that: include: New vehicles enter the battery swap station and go 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 steps will be performed: the battery swap station will initialize the positioning of the new vehicle and allocate a temporary parking space for the new vehicle based on the availability of parking spaces in the station. The new vehicle will be guided to park in the temporary parking space through remote control and wait for battery swapping; If queuing is not required, execute: 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.

7. A computer terminal comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When executing the computer program, the processor can be used to run the system according to any one of claims 1 to 5, or to execute the method according to claim 6.

8. 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 according to any one of claims 1 to 5, or to perform the method according to claim 6.

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