Vehicle battery pack positioning method, device, electronic device and storage medium

Abstract

The present invention provides a vehicle battery pack positioning method, device, electronic device and storage medium, which belongs to the field of new energy battery technology. The method includes: based on a first laser radar and a second laser radar at a preset installation elevation angle, respectively acquiring point cloud data of the vehicle battery pack to obtain laser radar point cloud data, performing point cloud coordinate conversion on the laser radar point cloud data to obtain converted coordinates, filtering the converted coordinates to obtain preprocessed data, fitting a contour of the preprocessed data based on the least squares method to obtain a side contour line of the vehicle battery pack, calculating the side contour line of the vehicle battery pack based on a straight line equation to obtain position information of the vehicle battery pack relative to the first laser radar, matching the position information of the vehicle battery pack relative to the first laser radar with a preset threshold value, and obtaining correct positioning information of the vehicle battery pack relative to the first laser radar when the position information is within the threshold range.

Description

Technical Field

[0001] The present invention relates to the field of new energy battery technology, and in particular to a vehicle battery pack positioning method, device, electronic equipment and storage medium. Background Art

[0002] As a vital component of the transportation sector, electric trucks demonstrate tremendous potential for energy conservation, emission reduction, and improved economic efficiency. This is primarily driven by growing global awareness of sustainable development and environmental protection. Currently, the traditional method of charging truck batteries using charging stations and other equipment suffers from low charging efficiency, long waiting times, and low economic efficiency. While battery technology continues to advance, significantly improving the charging efficiency and range of electric trucks, some heavy-duty trucks still face range limitations during long-distance transport.

[0003] Battery swapping technology improves vehicle operational efficiency, provides rapid recharging for electric vehicles, and significantly shortens charging times. Accurate and rapid positioning of the battery compartment is crucial to the battery swap process. Currently, battery compartment positioning technologies primarily include traditional mechanical positioning, sign-guided positioning, and side-mounted single-sensor positioning.

[0004] Among them, the traditional slogan-guided positioning method relies on manual operation to identify and understand the slogan information, which may lead to errors or mistakes caused by human factors, affecting the accuracy and efficiency of the battery swap process; the traditional mechanical positioning technology requires the installation of precise mechanical equipment and sensors at the battery swap station, which greatly increases the equipment R&D and production costs, increases the construction cost and space requirements of the battery swap station, and is only applicable to fixed models of vehicles, limiting the versatility and application scope of the battery swap technology; the positioning technology of the side-mounted single sensor may cause the reflection angle of the front and rear edges of the battery pack to be too large or too small when the battery pack is thick, and because the edge of the battery pack is relatively smooth, the laser radar cannot receive the reflected signal, and thus cannot collect the point cloud data of the front and rear edges of the battery pack, resulting in low positioning accuracy. Therefore, the existing technology has the technical problem of low battery pack positioning accuracy. Summary of the Invention

[0005] In view of this, it is necessary to provide a vehicle battery pack positioning method, device, electronic device and storage medium to solve the technical problem of low battery pack positioning accuracy in the prior art.

[0006] In order to solve the above technical problems, on the one hand, the present invention provides a vehicle battery pack positioning method, comprising:

[0007] The first laser radar and the second laser radar respectively acquire point cloud data of the vehicle battery pack based on a preset installation elevation angle to obtain laser radar point cloud data;

[0008] Perform point cloud coordinate conversion on the LiDAR point cloud data to obtain the converted coordinates;

[0009] The transformed coordinates are filtered to obtain preprocessed data;

[0010] The pre-processed data is fitted with a contour based on the least squares method to obtain the side contour line of the vehicle battery pack;

[0011] Calculating a side contour line of the vehicle battery pack based on a straight line equation to obtain position information of the vehicle battery pack relative to the first lidar;

[0012] The position information of the vehicle battery pack relative to the first laser radar is matched with a preset threshold. When it is within the threshold range, the correct positioning information of the vehicle battery pack relative to the first laser radar is obtained.

[0013] In one possible implementation,

[0014] The first laser radar and the second laser radar are horizontally symmetrically arranged on both sides of the vertical center line of the battery compartment door with an upward elevation angle of a preset value. The distance between the two laser radars ranges from 900 to 1000 mm.

[0015] In a possible implementation, filtering the converted coordinates to obtain preprocessed data includes:

[0016] The converted coordinates are subjected to distance filtering processing to obtain distance filtering data, and preprocessing data is obtained based on the distance filtering data.

[0017] In a possible implementation, obtaining preprocessed data based on distance filtering data includes:

[0018] Statistical filtering is performed based on the distance filtering data to obtain preprocessed data.

[0019] In one possible implementation, the position information of the vehicle battery pack relative to the first laser radar includes: a line segment offset angle, a horizontal coordinate distance, and a vertical coordinate distance.

[0020] In one possible implementation, matching the position information of the vehicle battery pack relative to the first laser radar with a preset threshold, and obtaining correct positioning information of the vehicle battery pack relative to the first laser radar when the position information is within the threshold range, includes:

[0021] The line segment offset angle of the vehicle battery pack relative to the first laser radar is matched with a preset threshold. When the line segment offset angle of the vehicle battery pack relative to the first laser radar is less than or equal to the preset threshold, the correct positioning information of the vehicle battery pack relative to the first laser radar is obtained.

[0022] In one possible implementation, when the line segment offset angle of the vehicle battery pack relative to the first laser radar is less than or equal to a preset threshold, obtaining correct positioning information of the vehicle battery pack relative to the first laser radar includes:

[0023] When the line segment offset angle of the vehicle battery pack relative to the first laser radar is less than a preset threshold, the horizontal coordinate distance and vertical coordinate distance of the vehicle battery pack relative to the first laser radar are matched with the preset threshold. When the horizontal coordinate distance and vertical coordinate distance of the vehicle battery pack relative to the first laser radar are both less than or equal to the preset threshold, the correct positioning information of the vehicle battery pack relative to the first laser radar is obtained.

[0024] On the other hand, the present invention also provides a vehicle battery pack positioning device, comprising:

[0025] A data acquisition module, configured to acquire point cloud data of the vehicle battery pack based on the first laser radar and the second laser radar at a preset installation elevation angle, thereby obtaining laser radar point cloud data;

[0026] A coordinate conversion module is used to convert point cloud data into point cloud coordinates to obtain converted coordinates;

[0027] A filtering module is used to filter the transformed coordinates to obtain preprocessed data;

[0028] The contour fitting module is used to fit the pre-processed data based on the least squares method to obtain the side contour line of the vehicle battery pack;

[0029] a calculation module, configured to calculate a side contour line of the vehicle battery pack based on a straight line equation to obtain position information of the vehicle battery pack relative to the first laser radar;

[0030] The positioning module is used to match the position information of the vehicle battery pack relative to the first laser radar with a preset threshold, and obtain the correct positioning information of the vehicle battery pack relative to the first laser radar when it is within the threshold range.

[0031] On the other hand, the present invention also provides an electronic device, including a memory and a processor, wherein:

[0032] The memory is used to store programs;

[0033] The processor is coupled to the memory and is used to execute the program stored in the memory to implement the steps in the vehicle battery pack positioning method in any of the above implementations.

[0034] On the other hand, the present invention also provides a computer-readable storage medium for storing computer-readable programs or instructions, which, when executed by a processor, can implement the steps of the vehicle battery pack positioning method described in any of the above-mentioned implementations.

[0035] The beneficial effects of the present invention are as follows: the vehicle battery pack positioning method provided by the present invention includes: obtaining point cloud data of the vehicle battery pack based on a first laser radar and a second laser radar at a preset installation elevation angle respectively to obtain laser radar point cloud data; performing point cloud coordinate conversion on the laser radar point cloud data to obtain converted coordinates; filtering the converted coordinates to obtain preprocessed data; fitting the contour of the preprocessed data based on the least squares method to obtain the side contour line of the vehicle battery pack; calculating the side contour line of the vehicle battery pack based on the straight line equation to obtain the position information of the vehicle battery pack relative to the first laser radar; matching the position information of the vehicle battery pack relative to the first laser radar with a preset threshold value, and obtaining the correct positioning information of the vehicle battery pack relative to the first laser radar when it is within the threshold range. The present invention collects the point cloud information of the battery pack in real time by installing a laser radar with a certain elevation angle, which can ensure that more types of vehicles can be scanned and expand the scope of application. The positioning method of installing dual laser radars can fully collect the power data of the edge of the battery pack, thereby improving the accuracy of the positioning method. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0037] Figure 1 A schematic flow chart of an embodiment of the vehicle battery pack positioning method provided by the present invention;

[0038] Figure 2 A schematic diagram of an embodiment of a vehicle battery pack positioning method provided by the present invention;

[0039] Figure 3 A schematic diagram of a vehicle battery replacement scenario according to an embodiment of the vehicle battery pack positioning method provided by the present invention;

[0040] Figure 4 A schematic diagram of the laser radar arrangement of an embodiment of the vehicle battery pack positioning method provided by the present invention;

[0041] Figure 5 A schematic diagram of a laser radar scan of an embodiment of a vehicle battery pack positioning method provided by the present invention;

[0042] Figure 6 A schematic structural diagram of an embodiment of a vehicle battery pack positioning device provided by the present invention;

[0043] Figure 7 A schematic structural diagram of an embodiment of an electronic device provided by the present invention. DETAILED DESCRIPTION

[0044] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making any creative efforts shall fall within the scope of protection of the present invention.

[0045] In the description of the embodiments of the present application, unless otherwise specified, “a plurality of” means two or more.

[0046] The terms "including" and "having" and any variations thereof in the embodiments of the present invention are intended to cover non-exclusive inclusions. For example, a process, method, apparatus, product or device comprising a series of steps or modules is not necessarily limited to those steps or modules explicitly listed, but may include other steps or modules not explicitly listed or inherent to these processes, methods, products or devices.

[0047] The naming or numbering of the steps in the embodiments of the present invention does not mean that the steps in the method flow must be executed in the time / logical sequence indicated by the naming or numbering. The execution order of the named or numbered process steps can be changed according to the technical purpose to be achieved, as long as the same or similar technical effects can be achieved.

[0048] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute a separate or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0049] The present invention provides a vehicle battery pack positioning method, device, electronic device and storage medium, which are described below respectively.

[0050] Figure 1 A schematic diagram of an embodiment of the vehicle battery pack positioning method provided by the present invention and Figure 2 A schematic diagram of an embodiment of a vehicle battery pack positioning method provided by the present invention includes:

[0051] S101, based on a preset installation elevation angle, a first laser radar and a second laser radar respectively acquire point cloud data of a vehicle battery pack to obtain laser radar point cloud data;

[0052] S102, performing point cloud coordinate conversion on the laser radar point cloud data to obtain converted coordinates;

[0053] S103, filtering the converted coordinates to obtain preprocessed data;

[0054] S104, fitting the preprocessed data to a profile based on the least squares method to obtain a side profile of the vehicle battery pack;

[0055] S105. Calculate the side contour of the vehicle battery pack based on a straight line equation to obtain position information of the vehicle battery pack relative to the first laser radar;

[0056] S106. Match the position information of the vehicle battery pack relative to the first laser radar with a preset threshold. When the position information is within the threshold range, the correct positioning information of the vehicle battery pack relative to the first laser radar is obtained.

[0057] It is understandable that the present invention installs two single-line laser radars with a certain upward elevation angle on one side to obtain the two-dimensional contour point cloud data of the side of the vehicle to be replaced. The laser radar has a certain adjustable elevation angle to ensure that the battery packs of different types of vehicles can be scanned, thereby improving the scope of application of the vehicle battery pack positioning method. When a moving object enters the set detection range, the battery pack positioning and tracking algorithm starts working. Each frame of data is filtered to remove outliers. The least squares method is used to try to fit the lateral contour line of the battery pack in the two-dimensional contour point cloud. Based on the lateral contour line of the battery pack, the distance of the battery pack relative to the center of the radar in the X direction, the offset angle in the X direction and the distance in the Y direction are obtained, and then the relative position information of the battery pack is obtained, which can achieve accurate positioning of the battery pack. The battery pack position is tracked in real time by the positioning and tracking algorithm to guide the driver to move the vehicle, effectively shortening the vehicle battery replacement time, improving the battery replacement efficiency, reducing the loss of human resources, and having high practicality.

[0058] Figure 3 A schematic diagram of a vehicle battery replacement scenario according to an embodiment of the vehicle battery pack positioning method provided by the present invention, Figure 4 A schematic diagram of a laser radar arrangement according to an embodiment of the vehicle battery pack positioning method provided by the present invention and Figure 5 A schematic diagram of a laser radar scan of an embodiment of a vehicle battery pack positioning method provided by the present invention includes:

[0059] The first laser radar and the second laser radar are horizontally symmetrically arranged on both sides of the vertical center line of the battery compartment door with an upward elevation angle of a preset value. The distance between the two laser radars ranges from 900 to 1000 mm.

[0060] It is understandable that after the battery-changing vehicle enters the battery-changing channel, the battery is installed below the battery compartment door and has a degree of upward Two laser radars with an elevation angle (this value can be adjusted according to the average height of the battery pack of the battery swap vehicle) start scanning. The two laser radars are symmetrically arranged on both sides of the vertical center line of the battery compartment door and the distance between the two sides is 900mm-1000mm.

[0061] It can be further understood that the point cloud data of the first laser radar and the second laser radar are placed in the same coordinate system, with the center of the first laser radar as the origin of the rectangular coordinate system, the direction perpendicular to the wall and pointing to the direction of the vehicle is the positive Y axis, and the direction perpendicular to the Y axis and pointing in the direction of vehicle travel is the positive X axis;

[0062] The point cloud data format output by the laser radar is polar coordinates , the rectangular coordinates of the first laser radar after coordinate transformation are ; For the second laser radar, the rectangular coordinates after coordinate transformation are ,in, is the distance between the first laser radar and the second laser radar.

[0063] In some embodiments of the present invention, filtering the converted coordinates to obtain preprocessed data includes:

[0064] The converted coordinates are subjected to distance filtering processing to obtain distance filtering data, and preprocessing data is obtained based on the distance filtering data.

[0065] It is understandable that filtering the converted coordinates beforehand can reduce the computational complexity of the algorithm and the impact of noise points on the accuracy of the algorithm.

[0066] In some embodiments of the present invention, obtaining pre-processed data based on distance filtering data includes:

[0067] Statistical filtering is performed based on the distance filtering data to obtain preprocessed data.

[0068] It can be understood that the distance filtering method is used to filter out point clouds that are not related to the vehicle. The filtering value is set to the distance between the vehicle and the lidar, and the average distance of different types of vehicles in the Y direction is less than or equal to 1m (this value can be adjusted according to actual conditions).

[0069] Traverse each point in the point cloud. If the Y distance of this point is greater than 1m, it will be removed from the point cloud; if the Y distance of this point is less than or equal to 1m, it will be retained.

[0070] It can be further understood that the statistical filtering algorithm is used to filter out outliers caused by external factors such as weather, light, dust, etc.

[0071] First, traverse each point in the point cloud and calculate the average distance between the K neighborhood points near each point.

[0072] Secondly, the average distance of all points is counted and its mean and standard deviation are calculated.

[0073] Again, based on the mean and standard deviation of the distance, the distance threshold for judging outliers is calculated.

[0074]

[0075] Where, is the mean of the average distances, is the standard deviation of the mean distance, It is a user-defined standard deviation coefficient used to control the impact of the distance standard deviation on the distance threshold.

[0076] Finally, we traverse each point in the point cloud again and determine whether it is an outlier based on the average distance between the K nearby points. If this value is greater than the distance threshold calculated above, the point is considered an outlier and is removed from the point cloud.

[0077] In some embodiments of the present invention, the position information of the vehicle battery pack relative to the first laser radar includes: a line segment offset angle, a horizontal coordinate distance, and a vertical coordinate distance.

[0078] In some embodiments of the present invention, the position information of the vehicle battery pack relative to the first laser radar is matched with a preset threshold. When the position information is within the threshold, the correct positioning information of the vehicle battery pack relative to the first laser radar is obtained, including:

[0079] The line segment offset angle of the vehicle battery pack relative to the first laser radar is matched with a preset threshold. When the line segment offset angle of the vehicle battery pack relative to the first laser radar is less than or equal to the preset threshold, the correct positioning information of the vehicle battery pack relative to the first laser radar is obtained.

[0080] It can be understood that the least squares method is used to fit the side contour line of the battery pack to obtain the position information of the battery pack relative to the lidar.

[0081] First, the point cloud information of the battery pack separated above is selected as the input data for fitting. These points can be represented by coordinates (x, y) in a rectangular coordinate system.

[0082] Next, define the straight line model and use the straight line equation to represent the straight line to be fitted. The straight line equation is as follows:

[0083]

[0084] Where, is the slope of the equation of the line, is the intercept of the equation of the line.

[0085] Again, calculate the distance from the point to the line. For each point in the point cloud, calculate its distance to the line, using the perpendicular distance from the point to the line as the metric.

[0086] Again, a least squares optimization algorithm is constructed, and the objective function is the sum of the squares of the distances from the point to the line, that is,

[0087] Where: is the number of point clouds of the battery pack, is the average distance from the line to the point cloud, For the The distance from a point to a line;

[0088] Finally, solve the least squares optimization problem and find the parameters that minimize the objective function and .

[0089] In some embodiments of the present invention, when the line segment offset angle of the vehicle battery pack relative to the first laser radar is less than or equal to a preset threshold, obtaining correct positioning information of the vehicle battery pack relative to the first laser radar includes:

[0090] When the line segment offset angle of the vehicle battery pack relative to the first laser radar is less than a preset threshold, the horizontal coordinate distance and vertical coordinate distance of the vehicle battery pack relative to the first laser radar are matched with the preset threshold. When the horizontal coordinate distance and vertical coordinate distance of the vehicle battery pack relative to the first laser radar are both less than or equal to the preset threshold, the correct positioning information of the vehicle battery pack relative to the first laser radar is obtained.

[0091] It's understood that the relative position of the battery pack is derived from the fitted linear equation of the battery pack's side contour. The system continuously outputs this information as the LiDAR scan progresses until the battery pack is completely scanned. The battery pack is considered successfully located when the length of the linear equation approximates the potential battery pack thickness (e.g., candidate battery pack thicknesses include 500mm, 600mm, and 800mm). Positioning and tracking are considered successful if five consecutive frames are consistently located (consistent lengths, adjacent X-direction lines, and no jumps).

[0092] After successful positioning, the fitted straight line equation y=kx+b The battery pack offset angle α, the distance y of the battery pack edge line in the Y-axis direction, and the rear end point of the battery pack side contour line can be calculated. Rear terminal of battery door Distance in the X direction and the front end point of the battery pack side contour line With the front end of the battery door Distance in the X direction , to guide the movement of vehicles;

[0093] Stop judgment, if and If there is no change for 5 seconds and the vehicle is near the hatch, it is considered stopped.

[0094] If the distance y between the battery pack edge line and the battery pack side contour line is greater than the threshold value of 30 cm (this value can be adjusted according to the actual situation), the display will prompt "the vehicle is too far away from the battery compartment; if the rear end point of the battery pack side contour line is too far away from the battery compartment, the battery pack side contour line is too far away from the battery compartment. Rear terminal of battery door Distance in the X direction If the distance is less than 50cm (the value can be adjusted according to the actual situation), the display will prompt "the vehicle has not reached the replacement potential"; the front end point of the battery pack side contour line With the front end of the battery door Distance in the X direction If the α value is less than the threshold of 50 cm (this value can be adjusted according to actual conditions), the display will prompt "Vehicle exceeds the tilt potential"; if the α value is greater than the threshold of 1°, it will prompt "Vehicle is too tilted". Otherwise, it will prompt "Vehicle positioning successful".

[0095] After the vehicle meets the designed offset angle and distance thresholds, the battery swap system will perform the battery swap operation on the vehicle. After the battery swap is completed, the display screen will show the words "Battery swap completed". The vehicle that has replaced the battery will drive out of the battery swap channel, and the next vehicle to be replaced will enter the battery swap channel.

[0096] The new energy vehicle battery pack positioning method proposed in the present invention collects the point cloud information of the battery pack in real time by installing a laser radar with a certain elevation angle on one side, which can ensure that more types of vehicles can be scanned and is suitable for most electric trucks, thereby expanding the scope of application of the positioning method; the positioning method of installing dual laser radars on one side can completely collect the point cloud data of the edge of the battery pack, thereby improving the accuracy of the positioning method; the edge line of the battery box is obtained by fitting using the least squares method, and then the position information of the battery box relative to the sensor can be obtained through the fitted straight line equation, which guides the driver to adjust the vehicle position, and can realize real-time and accurate positioning of the battery box, thereby realizing the intelligence of the positioning method to a certain extent and reducing the loss of human resources.

[0097] Figure 6 A schematic structural diagram of an embodiment of a vehicle battery pack positioning device provided by the present invention includes:

[0098] A data acquisition module 601 is configured to acquire point cloud data of the vehicle battery pack based on the first laser radar and the second laser radar at a preset installation elevation angle, thereby obtaining laser radar point cloud data;

[0099] A coordinate conversion module 602 is used to convert the point cloud data into point cloud coordinates to obtain converted coordinates;

[0100] A filtering module 603 is used to filter the converted coordinates to obtain pre-processed data;

[0101] A contour fitting module 604 is used to fit the pre-processed data based on the least squares method to obtain a side contour line of the vehicle battery pack;

[0102] a calculation module 605 for calculating a side contour line of the vehicle battery pack based on a straight line equation to obtain position information of the vehicle battery pack relative to the first laser radar;

[0103] The positioning module 606 is used to match the position information of the vehicle battery pack relative to the first laser radar with a preset threshold, and obtain the correct positioning information of the vehicle battery pack relative to the first laser radar when it is within the threshold range.

[0104] The vehicle battery pack positioning device 600 provided in the above embodiment can implement the technical solution described in the above vehicle battery pack positioning method embodiment. The specific implementation principles of the above modules or units can refer to the corresponding contents in the above vehicle battery pack positioning method embodiment, which will not be repeated here.

[0105] like Figure 7 As shown, the present invention also provides an electronic device 700. The electronic device 700 includes a processor 701, a memory 702 and a display 703. Figure 7Only some of the components of the electronic device 700 are shown, but it should be understood that it is not required to implement all of the shown components, and more or fewer components may be implemented instead.

[0106] In some embodiments, the processor 701 may be a central processing unit (CPU), a microprocessor, or other data processing chip, used to run program codes or process data stored in the memory 702, such as the vehicle battery pack positioning method of the present invention.

[0107] In some embodiments, processor 701 may be a single server or a server group. The server group may be centralized or distributed. In some embodiments, processor 701 may be local or remote. In some embodiments, processor 701 may be implemented on a cloud platform. In one embodiment, the cloud platform may include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an internal cloud, multiple clouds, or any combination thereof.

[0108] In some embodiments, the memory 702 may be an internal storage unit of the electronic device 700, such as a hard disk or memory of the electronic device 700. In other embodiments, the memory 702 may also be an external storage device of the electronic device 700, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 700.

[0109] Furthermore, the memory 702 may include both an internal storage unit of the electronic device 700 and an external storage device. The memory 702 is used to store application software installed in the electronic device 700 and various data.

[0110] In some embodiments, display 703 can be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. Display 703 is used to display information on electronic device 700 and to display a visual user interface. Components 701-703 of electronic device 700 communicate with each other via a system bus.

[0111] In one embodiment, when the processor 701 executes the vehicle battery pack positioning program in the memory 702, the following steps may be implemented:

[0112] The first laser radar and the second laser radar respectively acquire point cloud data of the vehicle battery pack based on a preset installation elevation angle to obtain laser radar point cloud data;

[0113] Perform point cloud coordinate conversion on the LiDAR point cloud data to obtain the converted coordinates;

[0114] The transformed coordinates are filtered to obtain preprocessed data;

[0115] The pre-processed data is fitted with a contour based on the least squares method to obtain the side contour line of the vehicle battery pack;

[0116] Calculating a side contour line of the vehicle battery pack based on a straight line equation to obtain position information of the vehicle battery pack relative to the first lidar;

[0117] The position information of the vehicle battery pack relative to the first laser radar is matched with a preset threshold. When it is within the threshold range, the correct positioning information of the vehicle battery pack relative to the first laser radar is obtained.

[0118] It should be understood that, when the processor 701 executes the vehicle battery pack positioning program in the memory 702 , in addition to the above functions, it can also implement other functions. For details, please refer to the description of the corresponding method embodiment above.

[0119] Furthermore, the embodiment of the present invention does not specifically limit the type of the electronic device 700 mentioned. The electronic device 700 may be a portable electronic device such as a mobile phone, a tablet computer, a personal digital assistant (PDA), a wearable device, a laptop computer, or the like. Exemplary embodiments of portable electronic devices include, but are not limited to, portable electronic devices equipped with IOS, Android, Microsoft, or other operating systems. The above-mentioned portable electronic devices may also be other portable electronic devices, such as a laptop computer with a touch-sensitive surface (e.g., a touch panel). It should also be understood that in some other embodiments of the present invention, the electronic device 700 may not be a portable electronic device, but a desktop computer with a touch-sensitive surface (e.g., a touch panel).

[0120] Accordingly, an embodiment of the present application also provides a computer-readable storage medium, which is used to store computer-readable programs or instructions. When the program or instructions are executed by a processor, the steps or functions in the vehicle battery pack positioning method provided in the above-mentioned method embodiments can be implemented.

[0121] Those skilled in the art will appreciate that all or part of the process flow of the above-described method embodiment can be implemented by instructing related hardware (such as a processor, controller, etc.) through a computer program, and the computer program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a magnetic disk, an optical disk, a read-only memory, or a random access memory.

[0122] The vehicle battery pack positioning method, device, electronic device and storage medium provided by the present invention are introduced in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core ideas. At the same time, for those skilled in the art, according to the ideas of the present invention, there may be changes in the specific implementation methods and application scopes. In summary, the contents of this specification should not be understood as limiting the present invention.

Claims

1. A vehicle battery pack positioning method, characterized in that: include: The first laser radar and the second laser radar respectively acquire point cloud data of the vehicle battery pack based on a preset installation elevation angle to obtain laser radar point cloud data; Perform point cloud coordinate conversion on the LiDAR point cloud data to obtain the converted coordinates; The transformed coordinates are filtered to obtain preprocessed data; The pre-processed data is fitted with a contour based on the least squares method to obtain the side contour line of the vehicle battery pack; Calculating a side contour line of the vehicle battery pack based on a straight line equation to obtain position information of the vehicle battery pack relative to the first lidar; The position information of the vehicle battery pack relative to the first laser radar is matched with a preset threshold. When it is within the threshold range, the correct positioning information of the vehicle battery pack relative to the first laser radar is obtained.

2. The vehicle battery pack positioning method according to claim 1, characterized in that: The first laser radar and the second laser radar are horizontally symmetrically arranged on both sides of the vertical center line of the battery compartment door with an upward elevation angle of a preset value. The distance between the two laser radars ranges from 900 to 1000 mm.

3. The vehicle battery pack positioning method according to claim 1, characterized in that: The filtering process of the converted coordinates to obtain pre-processed data includes: The converted coordinates are subjected to distance filtering processing to obtain distance filtering data, and preprocessing data is obtained based on the distance filtering data.

4. The vehicle battery pack positioning method according to claim 3, characterized in that: The method of obtaining pre-processed data based on distance filtering data includes: Statistical filtering is performed based on the distance filtering data to obtain preprocessed data.

5. The vehicle battery pack positioning method according to claim 1, characterized in that: The position information of the vehicle battery pack relative to the first laser radar includes: line segment offset angle, horizontal coordinate distance and vertical coordinate distance.

6. The vehicle battery pack positioning method according to claim 1 or 5, characterized in that: The position information of the vehicle battery pack relative to the first laser radar is matched with a preset threshold. When the position information is within the threshold range, the correct positioning information of the vehicle battery pack relative to the first laser radar is obtained, including: The line segment offset angle of the vehicle battery pack relative to the first laser radar is matched with a preset threshold. When the line segment offset angle of the vehicle battery pack relative to the first laser radar is less than or equal to the preset threshold, the correct positioning information of the vehicle battery pack relative to the first laser radar is obtained.

7. The vehicle battery pack positioning method according to claim 6, characterized in that: The method of obtaining correct positioning information of the vehicle battery pack relative to the first laser radar when the line segment offset angle of the vehicle battery pack relative to the first laser radar is less than or equal to a preset threshold value includes: When the line segment offset angle of the vehicle battery pack relative to the first laser radar is less than a preset threshold, the horizontal coordinate distance and vertical coordinate distance of the vehicle battery pack relative to the first laser radar are matched with the preset threshold. When the horizontal coordinate distance and vertical coordinate distance of the vehicle battery pack relative to the first laser radar are both less than or equal to the preset threshold, the correct positioning information of the vehicle battery pack relative to the first laser radar is obtained.

8. A vehicle battery pack positioning device, characterized in that: include: A data acquisition module, configured to acquire point cloud data of the vehicle battery pack based on the first laser radar and the second laser radar at a preset installation elevation angle, thereby obtaining laser radar point cloud data; A coordinate conversion module is used to convert point cloud data into point cloud coordinates to obtain converted coordinates; A filtering module is used to filter the transformed coordinates to obtain preprocessed data; The contour fitting module is used to fit the pre-processed data based on the least squares method to obtain the side contour line of the vehicle battery pack; a calculation module, configured to calculate a side contour line of the vehicle battery pack based on a straight line equation to obtain position information of the vehicle battery pack relative to the first laser radar; The positioning module is used to match the position information of the vehicle battery pack relative to the first laser radar with a preset threshold, and obtain the correct positioning information of the vehicle battery pack relative to the first laser radar when it is within the threshold range.

9. An electronic device, characterized in that: comprising a memory and a processor, wherein, The memory is used to store programs; The processor is coupled to the memory and is used to execute the program stored in the memory to implement the steps in the vehicle battery pack positioning method as described in any one of claims 1 to 7 above.

10. A computer-readable storage medium, characterized in that Used to store computer-readable programs or instructions, which, when executed by a processor, can implement the steps of the vehicle battery pack positioning method described in any one of claims 1 to 7.

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