System and method for guiding battery replacement of unmanned vehicle, storage medium and battery replacement station

Abstract

The invention relates to an unmanned vehicle battery replacement guiding system, a battery replacement method, a storage medium and a battery replacement station. The system comprises a vehicle position detection module which is used for detecting the position of the unmanned vehicle when the unmanned vehicle enters a battery replacement channel, generating a vehicle position trigger signal based on the vehicle position, and sending the vehicle position trigger signal to a control system; and the control system is used for receiving the vehicle position trigger signal sent by the vehicle position detection module and controlling the vehicle movement indication module to send a vehicle movement signal for indicating the unmanned vehicle to move in the battery replacement channel based on the vehicle position trigger signal, so that the unmanned vehicle moves in the battery replacement channel based on the vehicle movement signal. Therefore, the unmanned vehicle can decelerate and stop at the corresponding position of the battery replacement channel based on the vehicle moving signal, and the unmanned vehicle can be parked at the battery replacement position of the battery replacement channel conveniently, so that the parking accuracy of the unmanned vehicle at the battery replacement position is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of new energy vehicles, and in particular to a system for guiding unmanned vehicle battery replacement, a method for guiding unmanned vehicle battery replacement, a storage medium, and a battery replacement station. Background Art

[0002] Unmanned vehicles have become a new type of transportation with broad application prospects in the technical fields of vehicle control or adjustment, power transmission, and control, warning or monitoring of vehicle auxiliary systems or driver assistance systems. However, during the guided battery replacement process of unmanned vehicles, there may be situations where the vehicle fails to stop in place, which will affect the safety and efficiency of battery replacement for unmanned vehicles. Summary of the invention

[0003] In view of this, the embodiments of the present disclosure hope to provide a system for guiding unmanned vehicle battery replacement, a method for guiding unmanned vehicle battery replacement, a storage medium and a battery replacement station.

[0004] The technical solution of the present disclosure is achieved as follows:

[0005] In a first aspect, the present disclosure provides a system for guiding battery replacement of unmanned vehicles.

[0006] The guided unmanned vehicle battery replacement system provided by the embodiment of the present disclosure is applied to a battery replacement station, and the system includes:

[0007] A vehicle position detection module, located at a predetermined position of the battery swap channel of the battery swap station, is used to detect the vehicle position when an unmanned vehicle enters the battery swap channel, and to generate a vehicle position trigger signal based on the vehicle position, and to send the vehicle position trigger signal to the control system;

[0008] The control system is connected to the vehicle position detection module and the vehicle movement indication module, and is used to receive the vehicle position trigger signal sent by the vehicle position detection module, and control the vehicle movement indication module to send a vehicle movement signal instructing the unmanned vehicle to move in the battery exchange channel based on the vehicle position trigger signal, so that the unmanned vehicle can move in the battery exchange channel based on the vehicle movement signal.

[0009] In some embodiments, the vehicle position detection module includes at least a first position detection sensor and a second position detection sensor;

[0010] The first position detection sensor is located on the battery compartment side of the battery exchange channel, and is used to detect the first position of the vehicle when the unmanned vehicle enters the battery exchange channel, and generate a vehicle first position trigger signal based on the vehicle first position, and send the vehicle first position trigger signal to the control system; wherein, the vehicle first position is the vehicle position of the unmanned vehicle when it enters the battery exchange channel but does not enter the centering system;

[0011] The second position detection sensor is located at the V-groove of the centering system of the battery swapping channel, and is used to detect the second position of the vehicle when the unmanned vehicle enters the battery swapping channel, and generate a vehicle second position trigger signal based on the vehicle second position, and send the vehicle second position trigger signal to the control system; wherein, the vehicle second position is the vehicle position of the centering system of the unmanned vehicle entering the battery swapping channel.

[0012] In some embodiments, the control system is used to control the vehicle movement indication module to send a first vehicle movement signal to the unmanned vehicle when receiving the vehicle first position trigger signal generated by the first position detection sensor; wherein the first vehicle movement signal is used to instruct the unmanned vehicle to decelerate in the battery exchange channel; and

[0013] When the vehicle second position trigger signal generated by the second position detection sensor is received, the vehicle movement indication module is controlled to send a second vehicle movement signal to the unmanned vehicle; the second vehicle movement signal is used to instruct the unmanned vehicle to stop driving in the battery exchange channel.

[0014] In some embodiments, the first position detection sensor comprises a radar;

[0015] The second position detection sensor includes a through-beam sensor;

[0016] The vehicle movement indication module includes a signal indicator light;

[0017] The first vehicle movement signal includes a first color light signal emitted by the signal indicator light, and the second vehicle movement signal includes a second color light signal emitted by the signal indicator light.

[0018] In a second aspect, the present disclosure provides a method for guiding an unmanned vehicle battery replacement, which is applied to a guided unmanned vehicle battery replacement system at a battery replacement station, wherein the unmanned vehicle battery replacement system includes a vehicle position detection module and a vehicle movement indication module;

[0019] The method comprises:

[0020] Detecting the vehicle position of the unmanned vehicle when it enters the battery exchange channel through the vehicle position detection module, generating a vehicle position trigger signal based on the vehicle position, and sending the vehicle position trigger signal to the control system;

[0021] Based on the vehicle position trigger signal, the vehicle movement indication module is controlled to send a vehicle movement signal instructing the unmanned vehicle to move in the battery exchange channel, so that the unmanned vehicle can move in the battery exchange channel based on the vehicle movement signal.

[0022] In some embodiments, the vehicle position detection module includes at least a first position detection sensor and a second position detection sensor;

[0023] The first position detection sensor is located at the battery compartment side of the battery exchange channel; the second position detection sensor is located at the V-shaped groove of the centering system of the battery exchange channel;

[0024] The vehicle position detection module detects the vehicle position when the unmanned vehicle enters the battery exchange channel, generates a vehicle position trigger signal based on the vehicle position, and sends the vehicle position trigger signal to the control system, including:

[0025] The first position detection sensor is used to detect the first position of the vehicle when the unmanned vehicle enters the battery exchange channel, and a vehicle first position trigger signal is generated based on the first position of the vehicle, and the vehicle first position trigger signal is sent to the control system; wherein the first position of the vehicle is the vehicle position when the unmanned vehicle enters the battery exchange channel but does not enter the centering system;

[0026] The second position detection sensor detects the second position of the vehicle when the unmanned vehicle enters the battery swapping channel, generates a vehicle second position trigger signal based on the vehicle second position, and sends the vehicle second position trigger signal to the control system; wherein, the vehicle second position is the vehicle position of the centering system when the unmanned vehicle enters the battery swapping channel.

[0027] In some embodiments, the vehicle movement indication module is controlled based on the vehicle position trigger signal to send a vehicle movement signal indicating that the unmanned vehicle moves in the battery exchange channel, so that the unmanned vehicle moves in the battery exchange channel based on the vehicle movement signal, including:

[0028] Controlling the vehicle movement indication module to send a first vehicle movement signal indicating the unmanned vehicle to move in the battery exchange channel based on the vehicle first position trigger signal, so that the unmanned vehicle can decelerate and travel in the battery exchange channel based on the first vehicle movement signal;

[0029] Based on the vehicle's second position trigger signal, the vehicle movement indication module is controlled to send a second vehicle movement signal instructing the unmanned vehicle to move in the battery exchange channel, so that the unmanned vehicle stops at the channel entrance of the battery exchange channel based on the second vehicle movement signal.

[0030] In some embodiments, the first position detection sensor comprises a radar;

[0031] The second position detection sensor includes a through-beam sensor;

[0032] The vehicle movement indication module includes a signal indicator light;

[0033] The first vehicle movement signal includes a first color light signal emitted by the signal indicator light, and the second vehicle movement signal includes a second color light signal emitted by the signal indicator light.

[0034] In a third aspect, the present disclosure provides a computer-readable storage medium on which is stored a program for guiding an unmanned vehicle to change batteries. When the program for guiding an unmanned vehicle to change batteries is executed by a processor, the method for guiding an unmanned vehicle to change batteries described in the first aspect above is implemented.

[0035] In a fourth aspect, the present disclosure provides a battery swap station, comprising the guided unmanned vehicle battery swap system described in the first aspect above.

[0036] According to the embodiment of the present disclosure, the system for guiding the battery swapping of unmanned vehicles includes a vehicle position detection module, which is located at a predetermined position of the battery swapping channel of the battery swapping station, and is used to detect the vehicle position of the unmanned vehicle when it enters the battery swapping channel, and generate a vehicle position trigger signal based on the vehicle position, and send the vehicle position trigger signal to the control system; the control system is connected to the vehicle position detection module and the vehicle movement indication module, and is used to receive the vehicle position trigger signal sent by the vehicle position detection module, and control the vehicle movement indication module to send a vehicle movement signal indicating the movement of the unmanned vehicle in the battery swapping channel based on the vehicle position trigger signal, so that the unmanned vehicle can move in the battery swapping channel based on the vehicle movement signal. In the present application, the system for guiding the battery swapping of unmanned vehicles includes a vehicle position detection module, a control system and a vehicle movement indication module. The vehicle position detection module is used to detect the driving position of the unmanned vehicle in the battery swap channel in real time, and generate vehicle position trigger signals corresponding to different driving positions. The control system controls the vehicle movement indication module to send corresponding vehicle movement signals to the unmanned vehicle based on the vehicle position trigger signals corresponding to different driving positions, thereby enabling the unmanned vehicle to decelerate, stop, and other operations at the corresponding position of the battery swap channel based on the vehicle movement signal, thereby facilitating the unmanned vehicle to stop at the battery swap position of the battery swap channel, thereby improving the parking accuracy of the unmanned vehicle at the battery swap position.

[0037] Additional aspects and advantages of the present disclosure will be given in part in the following description and in part will be obvious from the following description or learned through practice of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 is a schematic structural diagram of a guided unmanned vehicle battery replacement system according to an exemplary embodiment;

[0039] Figure 2 is a schematic diagram of a channel for guiding an unmanned vehicle to change batteries according to an exemplary embodiment;

[0040] Figure 3 A process for guiding an unmanned vehicle to replace a battery is shown according to an exemplary embodiment. Figure 1 ;

[0041] Figure 4 A process for guiding an unmanned vehicle to replace a battery is shown according to an exemplary embodiment. Figure 2 ;

[0042] Figure 5 It is a flow chart of a method for guiding an unmanned vehicle to replace batteries according to an exemplary embodiment. DETAILED DESCRIPTION

[0043] Embodiments of the present disclosure are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present disclosure, and should not be construed as limiting the present disclosure.

[0044] In the technical fields of vehicle control or adjustment, power transmission, and control, warning or monitoring of vehicle assistance systems or driver assistance systems, driverless vehicles have become a new type of vehicle with broad application prospects. However, in the process of guided battery replacement of driverless vehicles, there may be situations where the vehicle cannot stop in place, which will affect the safety and efficiency of battery replacement of driverless vehicles. For example, due to the lack of accurate judgment of the status of traffic lights, the vehicle may slow down too early or too late, affecting driving safety and efficiency. Secondly, during the process of the vehicle arriving at the destination, if there is no clear prompt signal, the vehicle may not be able to stop accurately at the centering system, thus affecting the smooth progress of battery replacement.

[0045] In view of the above situation, the present invention provides a system for guiding unmanned vehicle battery replacement, which is applied to battery replacement stations. Figure 1 FIG. 1 is a schematic diagram of a battery replacement system for guiding unmanned vehicles according to an exemplary embodiment. Figure 1 As shown, the guided unmanned vehicle battery replacement system includes:

[0046] The vehicle position detection module 01 is located at a predetermined position of the battery swapping channel of the battery swapping station, and is used to detect the vehicle position when the unmanned vehicle enters the battery swapping channel, and to generate a vehicle position trigger signal based on the vehicle position, and to send the vehicle position trigger signal to the control system;

[0047] The control system 02 is connected to the vehicle position detection module 01 and the vehicle movement indication module 03, and is used to receive the vehicle position trigger signal sent by the vehicle position detection module 01, and control the vehicle movement indication module 03 to send a vehicle movement signal indicating the unmanned vehicle to move in the battery exchange channel based on the vehicle position trigger signal, so that the unmanned vehicle can move in the battery exchange channel based on the vehicle movement signal.

[0048] In this exemplary embodiment, the control system can be a station control system of the battery swap station or a PLC control system. The vehicle position detection module detects the vehicle position of the unmanned vehicle and generates a vehicle position trigger signal, which can be actively sent to the control system by the vehicle position detection module. After the control system receives the vehicle position trigger signal sent by the vehicle position detection module, it can control the vehicle movement indication module to send a vehicle movement signal indicating that the unmanned vehicle is moving in the battery swap channel based on the vehicle position trigger signal, so that the unmanned vehicle can move in the battery swap channel based on the vehicle movement signal.

[0049] In this exemplary embodiment, a module device capable of receiving and identifying a vehicle movement signal is provided in the unmanned vehicle. For example, if the vehicle movement signal is an indicator light color signal, a camera module and an image processing module are provided in the unmanned vehicle to collect the indicator light signal and image recognition color, etc.

[0050] In this exemplary embodiment, the predetermined position of the battery exchange channel can be a certain position near the battery exchange channel that is convenient for detecting unmanned vehicles entering the battery exchange channel. For example, the position on the side of the battery compartment of the battery exchange channel, etc. The specific position can be set as needed. This is only an example and has no limiting effect.

[0051] According to the embodiment of the present disclosure, the system for guiding the battery swapping of unmanned vehicles includes a vehicle position detection module, which is located at a predetermined position of the battery swapping channel of the battery swapping station, and is used to detect the vehicle position of the unmanned vehicle when it enters the battery swapping channel, and generate a vehicle position trigger signal based on the vehicle position, and send the vehicle position trigger signal to the control system; the control system is connected to the vehicle position detection module and the vehicle movement indication module, and is used to receive the vehicle position trigger signal sent by the vehicle position detection module, and control the vehicle movement indication module to send a vehicle movement signal indicating the movement of the unmanned vehicle in the battery swapping channel based on the vehicle position trigger signal, so that the unmanned vehicle can move in the battery swapping channel based on the vehicle movement signal. In the present application, the system for guiding the battery swapping of unmanned vehicles includes a vehicle position detection module, a control system and a vehicle movement indication module. The vehicle position detection module is used to detect the driving position of the unmanned vehicle in the battery swap channel in real time, and generate vehicle position trigger signals corresponding to different driving positions. The control system controls the vehicle movement indication module to send corresponding vehicle movement signals to the unmanned vehicle based on the vehicle position trigger signals corresponding to different driving positions, thereby enabling the unmanned vehicle to decelerate, stop, and other operations at the corresponding position of the battery swap channel based on the vehicle movement signal, thereby facilitating the unmanned vehicle to stop at the battery swap position of the battery swap channel, thereby improving the parking accuracy of the unmanned vehicle at the battery swap position.

[0052] In some embodiments, Figure 2 FIG. 1 is a schematic diagram of a channel for guiding an unmanned vehicle to change batteries according to an exemplary embodiment. Figure 2As shown, the vehicle position detection module at least includes a first position detection sensor 011 and a second position detection sensor 012;

[0053] The first position detection sensor 011 is located on the battery compartment 014 side of the battery exchange channel, and is used to detect the first position of the vehicle when the unmanned vehicle enters the battery exchange channel, and generate a vehicle first position trigger signal based on the vehicle first position, and send the vehicle first position trigger signal to the control system; wherein, the vehicle first position is the vehicle position of the unmanned vehicle when it enters the battery exchange channel but does not enter the centering system;

[0054] The second position detection sensor 012 is located at the V-groove 013 of the centering system of the battery swapping channel, and is used to detect the second position of the vehicle when the unmanned vehicle enters the battery swapping channel, and generate a vehicle second position trigger signal based on the vehicle second position, and send the vehicle second position trigger signal to the control system; wherein, the vehicle second position is the vehicle position of the centering system of the unmanned vehicle entering the battery swapping channel.

[0055] In this exemplary embodiment, the vehicle position of the unmanned vehicle when moving in the battery swap channel may include a first vehicle position and a second vehicle position; wherein the first vehicle position is the vehicle position of the unmanned vehicle entering the battery swap channel but not entering the centering system; the second vehicle position is the vehicle position of the unmanned vehicle entering the battery swap channel and the centering system. The centering system is the position where the battery swap vehicle needs to park for battery replacement. In the present application, there is a parking V-groove at the centering system, and the battery can be replaced when the unmanned vehicle is parked on the V-groove. In the present application, the centering system may also be a centering structure. The centering system includes the above-mentioned parking V-groove, etc. When the vehicle is parked at the parking V-groove, the vehicle battery can be replaced. That is, when the vehicle is parked at the centering structure, the battery can be replaced.

[0056] In some embodiments, the control system is used to control the vehicle movement indication module to send a first vehicle movement signal to the unmanned vehicle when receiving the vehicle first position trigger signal generated by the first position detection sensor; wherein the first vehicle movement signal is used to instruct the unmanned vehicle to decelerate in the battery exchange channel; and

[0057] When the vehicle second position trigger signal generated by the second position detection sensor is received, the vehicle movement indication module is controlled to send a second vehicle movement signal to the unmanned vehicle; the second vehicle movement signal is used to instruct the unmanned vehicle to stop driving in the battery exchange channel.

[0058] In this exemplary embodiment, in this application, the first position of the vehicle is the position of the vehicle when the unmanned vehicle enters the battery exchange channel but does not enter the centering system, which can be understood as the position of the centering system close to the battery exchange channel. At this time, the unmanned vehicle needs to slow down and move forward. At this time, the control system controls the vehicle movement indication module to send the first vehicle movement signal to the unmanned vehicle when receiving the vehicle first position trigger signal generated by the first position detection sensor; the unmanned vehicle is instructed to slow down and drive in the battery exchange channel through the first vehicle movement signal. The second position of the vehicle is the vehicle position of the unmanned vehicle entering the centering system of the battery exchange channel. When the unmanned vehicle enters the centering system of the battery exchange channel, the wheels enter the V-shaped groove, and the second position detection sensor generates a vehicle second position trigger signal. At this time, the control system can control the vehicle movement indication module to send the second vehicle movement signal to the unmanned vehicle according to the vehicle second position trigger signal; the unmanned vehicle is instructed to stop driving in the battery exchange channel through the second vehicle movement signal, so that the unmanned vehicle stops on the V-shaped groove of the centering system, thereby effectively improving the accuracy of the parking position of the unmanned vehicle, thereby improving the safety and efficiency of battery exchange.

[0059] In some embodiments, the first position detection sensor comprises a radar;

[0060] The second position detection sensor includes a through-beam sensor;

[0061] The vehicle movement indication module includes a signal indicator light;

[0062] The first vehicle movement signal includes a first color light signal emitted by the signal indicator light, and the second vehicle movement signal includes a second color light signal emitted by the signal indicator light.

[0063] In this exemplary embodiment, the first position detection sensor may be a radar, which is set on the battery compartment side, at a predetermined position of the battery exchange channel, to promptly detect the unmanned vehicle approaching the centering system. The second position detection sensor may be a through-beam sensor, which is fixed on both sides of the left and right V-shaped grooves. When the unmanned vehicle enters the V-shaped groove, the photoelectric signal of the through-beam sensor can be blocked, so that the through-beam sensor can detect the vehicle entering, and then it is convenient to determine the entry position of the unmanned vehicle through the through-beam sensor, so that the unmanned vehicle can promptly receive the second vehicle movement signal indicating that the unmanned vehicle has stopped.

[0064] Figure 3 A process for guiding an unmanned vehicle to replace a battery is shown according to an exemplary embodiment. Figure 1 .like Figure 3 As shown in the figure, the process of guiding the unmanned vehicle to replace the battery includes:

[0065] Step 30: The vehicle enters the battery swap station;

[0066] Step 31, device start;

[0067] Step 32: Determine whether the PLC is in automatic battery replacement mode;

[0068] Step 33: PLC turns on the automatic battery replacement mode to determine whether the radar is triggered;

[0069] Step 34: If the radar is triggered, the yellow light turns on, the green light turns off, and the red light turns off;

[0070] Step 35, determine whether the left and right V-groove shooting sensors are triggered;

[0071] Step 36: If the left and right V-groove opposing sensors are triggered, the red light will be on, the yellow light will be off, and the green light will be off;

[0072] Step 37, judging whether the vehicle has stopped in place;

[0073] Step 38: When the vehicle stops in place, determine whether the battery replacement is completed;

[0074] Step 39: If the battery replacement is completed, the yellow light goes out, the green light comes on, and the red light goes out;

[0075] Step 40: determine whether the vehicle has left, if the vehicle has left, loop through step 32.

[0076] Figure 4 A process for guiding an unmanned vehicle to replace a battery is shown according to an exemplary embodiment. Figure 2 .like Figure 4 As shown in the figure, the process of guiding the unmanned vehicle to replace the battery includes:

[0077] Step 41: The vehicle enters the battery swap station;

[0078] Step 42, determine whether the radar is triggered. If the radar is triggered, the yellow signal light is on, and the vehicle sensor detects that the radar yellow light is on. The unmanned vehicle grabs and slowly decelerates;

[0079] Step 43, the V-shaped groove is photoelectrically triggered, the red signal light is on, and the front wheel of the vehicle enters the V-shaped groove;

[0080] Step 44: After the battery swap is completed, the green signal light comes on. When the battery swap is completed, the vehicle is prompted to leave the battery swap station.

[0081] In this application, a photoelectric sensor and a radar are added to the channel of the unmanned vehicle swap station to determine the status of the external signal light equipment. The photoelectric sensor and the radar can determine the real-time status by sensing the on and off status of the signal light.

[0082] The vehicle-side perception collects traffic light information through cameras and uses image processing algorithms to capture traffic lights and determine their real-time status. Unmanned vehicles can collect information about the status of traffic lights, such as red, yellow, and green.

[0083] During the battery replacement process, corresponding prompts and controls are given according to the status of the signal lights. The specific steps are as follows:

[0084] a. Slow deceleration: When a vehicle enters the channel and senses the radar, and the traffic light turns yellow, the vehicle will judge based on the collected traffic light information and start to slow down slowly.

[0085] b. Vehicle in place: When the wheels enter the V-shaped groove, the vehicle will further sense the status of the signal light. If the red light is on, the vehicle will be prompted to stop in the V-shaped groove and wait for battery replacement.

[0086] c. Battery replacement completed: When the battery replacement is completed, the vehicle will receive a green light prompt, indicating that it can leave the battery replacement station and continue driving. The above is a specific implementation of this embodiment, in which the signal light status is sensed by photoelectric sensors and cameras, and judged by image processing algorithms. In this way, unmanned vehicles can accurately judge the status of signal lights, provide clear vehicle arrival prompts, and complete the battery replacement operation in a timely manner, thereby improving driving safety and efficiency.

[0087] 1. By adding sensors to the driverless vehicle channel, the status of the external signal light equipment can be determined. The sensor can be a photoelectric sensor, a camera, etc., which is used to sense the on and off status of the signal light.

[0088] 2. Vehicle-side perception collects information about traffic lights and determines the real-time status by capturing traffic lights. The vehicle will collect information about the status of traffic lights such as red, yellow, and green.

[0089] 3. During the battery replacement process, corresponding prompts and controls are given according to the status of the signal lights. The specific steps are as follows:

[0090] a) Slow deceleration: When the traffic light is yellow, the vehicle will judge based on the collected traffic light information and start to slow down slowly.

[0091] b) Vehicle in place: When the wheels enter the V-shaped groove, the vehicle will further sense the status of the signal light. If the red light is on, the vehicle will be prompted to stop in the V-shaped groove and wait for battery replacement.

[0092] c) Battery swap completed: When the battery swap is completed, the vehicle will receive a green light prompt, indicating that it can leave the battery swap station and continue driving. Through the above battery swap guidance methods, unmanned vehicles can be guided to stop for battery swap. These battery swap guidance methods enable unmanned vehicles to accurately judge the status of signal lights, provide clear vehicle arrival prompts, and complete battery swap operations in a timely manner, thereby improving driving safety and efficiency.

[0093] d) Improve driving safety and efficiency: By adding sensors to judge external signal light equipment and judging the real-time status by capturing signal lights, the changes of signal lights can be accurately judged to avoid the situation where the vehicle slows down too early or too late, thereby improving driving safety and efficiency.

[0094] e) Provide a clear vehicle arrival prompt signal: When the vehicle is in position, this solution will provide a clear vehicle arrival prompt signal by turning on the red light when the wheels enter the V-shaped groove, ensuring that the vehicle is accurately parked in the V-shaped groove, avoiding errors during the battery replacement process, and ensuring the smooth progress of the battery replacement.

[0095] f) Effective battery swap completion prompt method: After the battery swap is completed, this solution will clearly inform the vehicle that the battery swap has been completed by prompting a green light, avoiding the vehicle leaving the battery swap station too early or staying too long, and improving the overall operating efficiency. In the process of unmanned vehicle-guided battery swap, there is a more accurate signal light status judgment, a clear vehicle arrival prompt signal and an effective battery swap completion prompt method, thereby improving the safety and efficiency of the battery swap process.

[0096] In terms of the guided battery replacement function of unmanned vehicles, this solution can be widely used in technical fields such as vehicle control or adjustment, power transmission, and control, warning or monitoring of vehicle auxiliary systems or driver assistance systems. In terms of vehicle control or adjustment, this technical solution can provide accurate signal light status judgment, so as to achieve accurate deceleration of unmanned vehicles in the process of guided battery replacement, and further improve driving safety and efficiency. In terms of power transmission, this solution can sense signal light information through the vehicle end and judge the real-time status by grabbing the signal light, so as to ensure that the vehicle makes correct actions according to the changes of the signal light during the battery replacement process, thereby achieving efficient guided battery replacement of unmanned vehicles. In terms of control, warning or monitoring of vehicle auxiliary systems or driver assistance systems, this solution adds sensors to judge external signal light equipment and provides real-time interaction between vehicles and signal lights, so as to make corresponding behavior adjustments according to the state of the signal light, thereby achieving accurate guided battery replacement of unmanned vehicles. Based on the above application fields, this solution can have a broad market demand in the field of guided battery replacement of unmanned vehicles. With the continuous development of unmanned driving technology and the expansion of application scenarios, guided battery replacement of unmanned vehicles, as an important technical application, will receive extensive attention and demand in the fields of transportation, logistics, urban management, etc. Especially in the context of growing demands for urban traffic congestion, improved energy efficiency and environmental protection, unmanned vehicle guided battery swapping technology has huge market potential.

[0097] The present disclosure provides a method for guiding unmanned vehicle battery replacement, which is applied to a guided unmanned vehicle battery replacement system at a battery replacement station. The unmanned vehicle battery replacement system includes a vehicle position detection module and a vehicle movement indication module. Figure 5 FIG. 1 is a flow chart of a method for guiding an unmanned vehicle to replace a battery according to an exemplary embodiment. Figure 5 As shown,

[0098] The method comprises:

[0099] Step 10: Detect the vehicle position of the unmanned vehicle when it enters the battery swap channel through the vehicle position detection module, generate a vehicle position trigger signal based on the vehicle position, and send the vehicle position trigger signal to the control system;

[0100] Step 11: Based on the vehicle position trigger signal, control the vehicle movement indication module to send a vehicle movement signal instructing the unmanned vehicle to move in the battery exchange channel, so that the unmanned vehicle can move in the battery exchange channel based on the vehicle movement signal.

[0101] In this exemplary embodiment, the control system can be a station control system of the battery swap station or a PLC control system. The vehicle position detection module detects the vehicle position of the unmanned vehicle and generates a vehicle position trigger signal, which can be actively sent to the control system by the vehicle position detection module. After the control system receives the vehicle position trigger signal sent by the vehicle position detection module, it can control the vehicle movement indication module to send a vehicle movement signal indicating that the unmanned vehicle is moving in the battery swap channel based on the vehicle position trigger signal, so that the unmanned vehicle can move in the battery swap channel based on the vehicle movement signal.

[0102] In this exemplary embodiment, a module device capable of receiving and identifying a vehicle movement signal is provided in the unmanned vehicle. For example, if the vehicle movement signal is an indicator light color signal, a camera module and an image processing module are provided in the unmanned vehicle to collect the indicator light signal and image recognition color, etc.

[0103] According to the embodiment of the present disclosure, the system for guiding the battery swapping of unmanned vehicles includes a vehicle position detection module, which is located at a predetermined position of the battery swapping channel of the battery swapping station, and is used to detect the vehicle position of the unmanned vehicle when it enters the battery swapping channel, and generate a vehicle position trigger signal based on the vehicle position, and send the vehicle position trigger signal to the control system; the control system is connected to the vehicle position detection module and the vehicle movement indication module, and is used to receive the vehicle position trigger signal sent by the vehicle position detection module, and control the vehicle movement indication module to send a vehicle movement signal indicating the movement of the unmanned vehicle in the battery swapping channel based on the vehicle position trigger signal, so that the unmanned vehicle can move in the battery swapping channel based on the vehicle movement signal. In the present application, the system for guiding the battery swapping of unmanned vehicles includes a vehicle position detection module, a control system and a vehicle movement indication module. The vehicle position detection module is used to detect the driving position of the unmanned vehicle in the battery swap channel in real time, and generate vehicle position trigger signals corresponding to different driving positions. The control system controls the vehicle movement indication module to send corresponding vehicle movement signals to the unmanned vehicle based on the vehicle position trigger signals corresponding to different driving positions, thereby enabling the unmanned vehicle to decelerate, stop, and other operations at the corresponding position of the battery swap channel based on the vehicle movement signal, thereby facilitating the unmanned vehicle to stop at the battery swap position of the battery swap channel, thereby improving the parking accuracy of the unmanned vehicle at the battery swap position.

[0104] In some embodiments, the vehicle position detection module includes at least a first position detection sensor and a second position detection sensor;

[0105] The first position detection sensor is located at the battery compartment side of the battery exchange channel; the second position detection sensor is located at the V-shaped groove of the centering system of the battery exchange channel;

[0106] The vehicle position detection module detects the vehicle position when the unmanned vehicle enters the battery exchange channel, generates a vehicle position trigger signal based on the vehicle position, and sends the vehicle position trigger signal to the control system, including:

[0107] The first position detection sensor is used to detect the first position of the vehicle when the unmanned vehicle enters the battery exchange channel, and a vehicle first position trigger signal is generated based on the first position of the vehicle, and the vehicle first position trigger signal is sent to the control system; wherein the first position of the vehicle is the vehicle position when the unmanned vehicle enters the battery exchange channel but does not enter the centering system;

[0108] The second position detection sensor detects the second position of the vehicle when the unmanned vehicle enters the battery swapping channel, generates a vehicle second position trigger signal based on the vehicle second position, and sends the vehicle second position trigger signal to the control system; wherein, the vehicle second position is the vehicle position of the centering system when the unmanned vehicle enters the battery swapping channel.

[0109] In this exemplary embodiment, the vehicle position of the unmanned vehicle when moving in the battery swap channel may include a first vehicle position and a second vehicle position; wherein the first vehicle position is the vehicle position of the unmanned vehicle entering the battery swap channel but not entering the centering system; the second vehicle position is the vehicle position of the unmanned vehicle entering the centering system of the battery swap channel. The centering system is the position where the battery swap vehicle needs to park for battery replacement. In the present application, there is a parking V-groove at the centering system, and the battery can be replaced when the unmanned vehicle is parked on the V-groove.

[0110] In some embodiments, the vehicle movement indication module is controlled based on the vehicle position trigger signal to send a vehicle movement signal indicating that the unmanned vehicle moves in the battery exchange channel, so that the unmanned vehicle moves in the battery exchange channel based on the vehicle movement signal, including:

[0111] Controlling the vehicle movement indication module to send a first vehicle movement signal indicating the unmanned vehicle to move in the battery exchange channel based on the vehicle first position trigger signal, so that the unmanned vehicle can decelerate and travel in the battery exchange channel based on the first vehicle movement signal;

[0112] Based on the vehicle's second position trigger signal, the vehicle movement indication module is controlled to send a second vehicle movement signal instructing the unmanned vehicle to move in the battery exchange channel, so that the unmanned vehicle stops at the channel entrance of the battery exchange channel based on the second vehicle movement signal.

[0113] In this exemplary embodiment, in this application, the first position of the vehicle is the position of the vehicle when the unmanned vehicle enters the battery exchange channel but does not enter the centering system, which can be understood as the position of the centering system close to the battery exchange channel. At this time, the unmanned vehicle needs to slow down and move forward. At this time, the control system controls the vehicle movement indication module to send the first vehicle movement signal to the unmanned vehicle when receiving the vehicle first position trigger signal generated by the first position detection sensor; the unmanned vehicle is instructed to slow down and drive in the battery exchange channel through the first vehicle movement signal. The second position of the vehicle is the vehicle position of the unmanned vehicle entering the centering system of the battery exchange channel. When the unmanned vehicle enters the centering system of the battery exchange channel, the wheels enter the V-shaped groove, and the second position detection sensor generates a vehicle second position trigger signal. At this time, the control system can control the vehicle movement indication module to send the second vehicle movement signal to the unmanned vehicle according to the vehicle second position trigger signal; the unmanned vehicle is instructed to stop driving in the battery exchange channel through the second vehicle movement signal, so that the unmanned vehicle stops on the V-shaped groove of the centering system, thereby effectively improving the accuracy of the parking position of the unmanned vehicle, thereby improving the safety and efficiency of battery exchange.

[0114] In some embodiments, the first position detection sensor comprises a radar;

[0115] The second position detection sensor includes a through-beam sensor;

[0116] The vehicle movement indication module includes a signal indicator light;

[0117] The first vehicle movement signal includes a first color light signal emitted by the signal indicator light, and the second vehicle movement signal includes a second color light signal emitted by the signal indicator light.

[0118] In this exemplary embodiment, the first position detection sensor may be a radar, which is set on the battery compartment side, at a predetermined position of the battery exchange channel, to promptly detect the unmanned vehicle approaching the centering system. The second position detection sensor may be a through-beam sensor, which is fixed on both sides of the left and right V-shaped grooves. When the unmanned vehicle enters the V-shaped groove, the photoelectric signal of the through-beam sensor can be blocked, so that the through-beam sensor can detect the vehicle entering, and then it is convenient to determine the entry position of the unmanned vehicle through the through-beam sensor, so that the unmanned vehicle can promptly receive the second vehicle movement signal indicating that the unmanned vehicle has stopped.

[0119] The present disclosure provides a computer-readable storage medium on which is stored a program for guiding an unmanned vehicle to change batteries. When the program for guiding an unmanned vehicle to change batteries is executed by a processor, the method for guiding an unmanned vehicle to change batteries described in the above-mentioned embodiments is implemented.

[0120] The present disclosure provides a battery swap station, including the guided unmanned vehicle battery swap system described in the above embodiments.

[0121] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or otherwise processing in a suitable manner if necessary, and then stored in a computer memory.

[0122] It should be understood that the various parts of the present disclosure can be implemented in hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0123] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0124] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present disclosure.

[0125] In addition, the terms "first", "second", etc. used in the embodiments of the present disclosure are only used for descriptive purposes and should not be understood as indicating or implying relative importance, or implicitly indicating the number of technical features indicated in the embodiments. Therefore, the features defined by the terms "first", "second", etc. in the embodiments of the present disclosure may explicitly or implicitly indicate that at least one of the features is included in the embodiment. In the description of the present disclosure, the word "multiple" means at least two or two or more, such as two, three, four, etc., unless otherwise clearly and specifically defined in the embodiments.

[0126] In the present disclosure, unless otherwise clearly specified or limited in the embodiments, the terms "installed", "connected", "connected" and "fixed" etc. appearing in the embodiments should be understood in a broad sense. For example, the connection can be a fixed connection, a detachable connection, or an integrated connection. It can be understood that it can also be a mechanical connection, an electrical connection, etc.; of course, it can also be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal connection of two elements, or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to the specific implementation situation.

[0127] In the present disclosure, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0128] Although the embodiments of the present disclosure have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present disclosure. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present disclosure.

Claims

1. A system for guiding unmanned vehicle battery replacement, characterized in that: Applied to a battery swap station, the system includes: A vehicle position detection module, located at a predetermined position of the battery swap channel of the battery swap station, is used to detect the vehicle position when an unmanned vehicle enters the battery swap channel, and to generate a vehicle position trigger signal based on the vehicle position, and to send the vehicle position trigger signal to the control system; The control system is connected to the vehicle position detection module and the vehicle movement indication module, and is used to receive the vehicle position trigger signal sent by the vehicle position detection module, and control the vehicle movement indication module to send a vehicle movement signal instructing the unmanned vehicle to move in the battery exchange channel based on the vehicle position trigger signal, so that the unmanned vehicle can move in the battery exchange channel based on the vehicle movement signal.

2. The guided unmanned vehicle battery replacement system according to claim 1, characterized in that: The vehicle position detection module includes at least a first position detection sensor and a second position detection sensor; The first position detection sensor is located on the battery compartment side of the battery exchange channel, and is used to detect the first position of the vehicle when the unmanned vehicle enters the battery exchange channel, and generate a vehicle first position trigger signal based on the vehicle first position, and send the vehicle first position trigger signal to the control system; wherein, the vehicle first position is the vehicle position of the unmanned vehicle when it enters the battery exchange channel but does not enter the centering system; The second position detection sensor is located at the V-groove of the centering system of the battery swapping channel, and is used to detect the second position of the vehicle when the unmanned vehicle enters the battery swapping channel, and generate a vehicle second position trigger signal based on the vehicle second position, and send the vehicle second position trigger signal to the control system; wherein, the vehicle second position is the vehicle position of the centering system of the unmanned vehicle entering the battery swapping channel.

3. The guided unmanned vehicle battery replacement system according to claim 2, characterized in that: The control system is used to control the vehicle movement indication module to send a first vehicle movement signal to the unmanned vehicle when receiving the vehicle first position trigger signal generated by the first position detection sensor; wherein the first vehicle movement signal is used to instruct the unmanned vehicle to decelerate in the battery exchange channel; and When the vehicle second position trigger signal generated by the second position detection sensor is received, the vehicle movement indication module is controlled to send a second vehicle movement signal to the unmanned vehicle; the second vehicle movement signal is used to instruct the unmanned vehicle to stop driving in the battery exchange channel.

4. The guided unmanned vehicle battery replacement system according to claim 3, characterized in that: The first position detection sensor includes a radar; The second position detection sensor includes a through-beam sensor; The vehicle movement indication module includes a signal indicator light; The first vehicle movement signal includes a first color light signal emitted by the signal indicator light, and the second vehicle movement signal includes a second color light signal emitted by the signal indicator light.

5. A method for guiding unmanned vehicle battery replacement, characterized in that: A guided unmanned vehicle battery swapping system applied to a battery swapping station, the unmanned vehicle battery swapping system comprising a vehicle position detection module and a vehicle movement indication module; The method comprises: Detecting the vehicle position of the unmanned vehicle when it enters the battery exchange channel through the vehicle position detection module, generating a vehicle position trigger signal based on the vehicle position, and sending the vehicle position trigger signal to the control system; Based on the vehicle position trigger signal, the vehicle movement indication module is controlled to send a vehicle movement signal instructing the unmanned vehicle to move in the battery exchange channel, so that the unmanned vehicle can move in the battery exchange channel based on the vehicle movement signal.

6. The method for guiding unmanned vehicle battery replacement according to claim 5, characterized in that: The vehicle position detection module includes at least a first position detection sensor and a second position detection sensor; The first position detection sensor is located at the battery compartment side of the battery exchange channel; the second position detection sensor is located at the V-shaped groove of the centering system of the battery exchange channel; The vehicle position detection module detects the vehicle position when the unmanned vehicle enters the battery exchange channel, generates a vehicle position trigger signal based on the vehicle position, and sends the vehicle position trigger signal to the control system, including: The first position detection sensor is used to detect the first position of the vehicle when the unmanned vehicle enters the battery exchange channel, and a vehicle first position trigger signal is generated based on the first position of the vehicle, and the vehicle first position trigger signal is sent to the control system; wherein the first position of the vehicle is the vehicle position when the unmanned vehicle enters the battery exchange channel but does not enter the centering system; The second position detection sensor detects the second position of the vehicle when the unmanned vehicle enters the battery swapping channel, generates a vehicle second position trigger signal based on the vehicle second position, and sends the vehicle second position trigger signal to the control system; wherein, the vehicle second position is the vehicle position of the centering system when the unmanned vehicle enters the battery swapping channel.

7. The method for guiding unmanned vehicle battery replacement according to claim 6, characterized in that: The method of controlling the vehicle movement indication module based on the vehicle position trigger signal to send a vehicle movement signal indicating that the unmanned vehicle moves in the battery exchange channel, so that the unmanned vehicle moves in the battery exchange channel based on the vehicle movement signal, includes: Controlling the vehicle movement indication module to send a first vehicle movement signal indicating the unmanned vehicle to move in the battery exchange channel based on the vehicle first position trigger signal, so that the unmanned vehicle can decelerate and travel in the battery exchange channel based on the first vehicle movement signal; Based on the vehicle's second position trigger signal, the vehicle movement indication module is controlled to send a second vehicle movement signal instructing the unmanned vehicle to move in the battery exchange channel, so that the unmanned vehicle stops at the channel entrance of the battery exchange channel based on the second vehicle movement signal.

8. The method for guiding unmanned vehicle battery replacement according to claim 7, characterized in that: The first position detection sensor includes a radar; The second position detection sensor includes a through-beam sensor; The vehicle movement indication module includes a signal indicator light; The first vehicle movement signal includes a first color light signal emitted by the signal indicator light, and the second vehicle movement signal includes a second color light signal emitted by the signal indicator light.

9. A computer-readable storage medium, characterized in that: A program for guiding unmanned vehicle battery replacement is stored thereon. When the program for guiding unmanned vehicle battery replacement is executed by the processor, the method for guiding unmanned vehicle battery replacement described in any one of claims 5-8 is implemented.

10. A battery swap station, characterized in that: A guided unmanned vehicle battery replacement system comprising any one of claims 1-4.

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