Vehicle battery replacement method and system, vehicle, equipment and program product

Abstract

The invention relates to the technical field of vehicles, in particular to a vehicle battery replacement method and system, a vehicle, equipment and a program product. The method is applied to a control module of the vehicle battery replacing system, and the vehicle battery replacing system further comprises a battery replacing robot. The method comprises the following steps: acquiring plane distance measurement information of a battery pack assembled on a vehicle based on a horizontal plane and vehicle size information of the vehicle; based on the plane distance measurement information and the vehicle size information, determining space position information of the battery pack; and based on the spatial position information, the battery replacement robot is controlled to grab the battery pack so as to complete battery replacement of the vehicle. According to the invention, the battery pack assembled on the vehicle can be quickly and accurately positioned, and the efficient replacement of the battery pack of the vehicle is realized.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and specifically to a vehicle battery replacement method, system, vehicle, equipment and program product. Background Art

[0002] With the development of vehicle technology, vehicle battery swap stations are energy stations that provide vehicle battery replacement services, and centrally store and charge a large number of batteries at the same time. By separating the vehicle and the battery, the vehicle is not directly charged, but is replenished by replacing the battery to meet the vehicle's range, replenishment efficiency and other requirements. At present, with the development of vehicle battery technology, the battery swap mode has been widely used because of its fast replacement speed, which can complete the battery replacement within a few minutes and effectively alleviate mileage anxiety. However, when a vehicle with a low-power battery needs to replace the battery, how to quickly locate the precise position of the battery pack, and then achieve efficient battery replacement and save battery replacement time, is an important challenge facing current vehicle battery replacement. Summary of the invention

[0003] Based on the above-mentioned defects and shortcomings of the prior art, the present application proposes a vehicle battery replacement method, system, vehicle, equipment and program product, which can quickly and accurately locate the battery pack installed in the vehicle, and realize efficient replacement of the vehicle battery pack.

[0004] According to the first aspect of the present application, a vehicle battery replacement method is provided, which is applied to a control module of a vehicle battery replacement system, and the vehicle battery replacement system also includes a battery replacement robot; the method includes: obtaining plane ranging information based on a horizontal plane of a battery pack installed on a vehicle and vehicle size information of the vehicle; based on the plane ranging information and the vehicle size information, determining the spatial position information of the battery pack; based on the spatial position information, controlling the battery replacement robot to grab the battery pack to complete the battery replacement of the vehicle.

[0005] According to the vehicle battery replacement method provided in the first aspect of the present application, the vehicle battery replacement system also includes a laser ranging device; the obtaining of the plane ranging information of the battery pack configured for the vehicle based on the horizontal plane includes: controlling the laser ranging device to move in a straight line parallel to the horizontal plane starting from the original ranging position point; and obtaining the plane ranging information based on the ranging laser emitted by the laser ranging device.

[0006] According to the vehicle battery replacement method provided in the first aspect of the present application, the vehicle battery replacement system also includes a battery parking space, the top view of the battery parking space is a rectangle, and the battery parking space is used to park the battery pack; the movement path of the laser ranging device is parallel to one side of the rectangle, and the ranging laser does not pass through the battery parking space when the laser ranging device is located at the original ranging position; the plane ranging information is obtained based on the ranging laser emitted by the laser ranging device, including: based on the ranging laser emitted by the laser ranging device, obtaining the laser measurement distance with a smaller measurement value before and after the distance mutation, and obtaining the device movement distance of the laser ranging device between two distance mutations.

[0007] According to the vehicle battery replacement method provided in the first aspect of the present application, the vehicle size information includes battery pack size information and frame size information; the spatial position information of the battery pack is determined based on the plane ranging information and the vehicle size information, including: calculating the plane coordinates of the battery pack based on the laser measurement distance, the device movement distance and the battery pack size information, wherein the plane coordinates take the original ranging position point as the origin, the front direction of the vehicle as the positive direction of the horizontal axis, and the driving position direction of the vehicle as the positive direction of the vertical axis; calculating the height coordinate of the battery pack based on the frame size information and the battery pack size information, wherein the height coordinate takes the roof direction of the vehicle as the positive direction.

[0008] According to the vehicle battery replacement method provided in the first aspect of the present application, the laser measurement distance with a smaller measurement value before and after the distance mutation is obtained based on the ranging laser emitted by the laser ranging device, including: based on the ranging laser emitted by the laser ranging device, if it is determined that the battery pack is not completely located in the battery parking space when the distance mutation occurs, then obtaining the ranging device position of the laser ranging device when the distance mutation occurs; based on the ranging device position, generating vehicle movement prompt information, wherein the vehicle movement prompt information includes a recommended moving distance of the vehicle, and the vehicle movement prompt information is used to instruct the vehicle to move so that the battery pack completely enters the battery parking space.

[0009] According to a second aspect of the present application, a vehicle battery replacement system is provided, the system comprising a control module and a battery replacement robot; the control module is used to obtain planar ranging information of a battery pack installed on a vehicle based on a horizontal plane, and to obtain vehicle size information of the vehicle, and to obtain spatial position information of the battery pack based on the planar ranging information and the vehicle size information, and to control the battery replacement robot to grab the battery pack based on the spatial position information; the battery replacement robot is used to grab the battery pack to complete the battery replacement of the vehicle.

[0010] According to the vehicle battery replacement system provided in the second aspect of the present application, the vehicle battery replacement system also includes a laser ranging device; the control module is used to control the laser ranging device to move in a straight line parallel to the horizontal plane starting from an original ranging position point, and obtain the plane ranging information based on the ranging laser emitted by the laser ranging device; the laser ranging device is used to emit the ranging laser and move in a straight line parallel to the horizontal plane starting from an original ranging position point.

[0011] According to the vehicle battery replacement system provided in the second aspect of the present application, the vehicle battery replacement system also includes a battery parking space, the top view of the battery parking space is a rectangle, and the battery parking space is used to park the battery pack; the movement path of the laser ranging device is parallel to one side of the rectangle, and the ranging laser does not pass through the battery parking space when the laser ranging device is located at the original ranging position; the control module is used to obtain the laser measurement distance with a smaller measurement value before and after the distance mutation based on the ranging laser emitted by the laser ranging device, and obtain the device movement distance of the laser ranging device between two distance mutations.

[0012] According to a third aspect of the present application, a vehicle is provided, wherein the vehicle is equipped with a battery pack; the battery pack on the vehicle is replaced by the vehicle battery replacement method as described in the first aspect.

[0013] According to the fourth aspect of the present application, an electronic device is provided, comprising: a memory and a processor; the memory is connected to the processor and is used to store programs; the processor is used to implement the vehicle battery replacement method as described in the first aspect by running the program in the memory.

[0014] According to a fifth aspect of the present application, there is provided a computer program product, comprising computer program instructions;

[0015] When the computer program instructions are executed by the processor, the processor executes the vehicle battery replacement method as described in the first aspect.

[0016] In the present application, the plane ranging information based on the horizontal plane of the battery pack installed in the vehicle is obtained, and the vehicle size information of the vehicle is obtained; based on the plane ranging information and the vehicle size information, the spatial position information of the battery pack is obtained; based on the spatial position information, the battery swap robot is controlled to grab the battery pack to complete the battery replacement of the vehicle. In the process of obtaining the spatial position information of the battery pack, the measured plane ranging information and vehicle size information are combined, which reduces the problem of poor accuracy caused by measurement errors compared to the method of obtaining all spatial position information through measurement. At the same time, less measurement data reduces the time required for the measurement process, further improving the vehicle's battery replacement speed. Through the control module of the vehicle's battery replacement system, combined with the plane ranging information and vehicle size information, it is possible to more accurately and quickly control the battery swap robot to grab the battery pack, thereby improving the vehicle's battery replacement efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0018] Figure 1 A schematic diagram of a battery replacement channel and battery compartment layout provided in an embodiment of the present application;

[0019] Figure 2 A schematic diagram of a process flow of a vehicle battery replacement method provided in an embodiment of the present application;

[0020] Figure 3 A schematic diagram of the back assembly of a vehicle battery pack provided in an embodiment of the present application;

[0021] Figure 4 A top view of a battery replacement channel provided in an embodiment of the present application;

[0022] Figure 5 One of the schematic diagrams of the battery pack parking position provided in the embodiment of the present application;

[0023] Figure 6 A second schematic diagram of a battery pack parking position provided in an embodiment of the present application;

[0024] Figure 7 A side view of a vehicle battery replacement system provided in an embodiment of the present application;

[0025] Figure 8 A block diagram of a vehicle battery replacement device provided in an embodiment of the present application;

[0026] Fig. 9A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0028] Application Overview

[0029] Further analysis of vehicle battery replacement in the prior art. As the power source of new energy vehicles, battery packs can be repeatedly charged and output power. When the battery pack installed in the vehicle is low on power, the vehicle drives to the battery replacement station, replaces the battery pack, removes the low-power battery pack from the vehicle, puts it in the battery compartment for charging, and installs the fully charged battery pack on the vehicle at the same time. In this process, accurately removing the low-power battery pack is an important step.

[0030] With the development of battery technology, vehicle battery swapping has been widely used because of its fast battery swapping speed and the ability to complete battery replacement in a short time, which effectively alleviates mileage anxiety. A battery swapping station includes a vehicle battery swapping system, and vehicle battery swapping is completed through the vehicle battery swapping system. The vehicle battery swapping system includes a battery swapping channel and a battery compartment. The battery swapping channel is an open space for the vehicle battery swapping system. Vehicles equipped with battery packs are parked in the battery swapping channel to achieve vehicle parking and battery pack positioning. A battery swapping robot is set in the battery swapping channel. When a vehicle is parked in the battery swapping channel, the battery pack is grabbed or installed by the battery swapping robot. The battery compartment includes a charger, a charging base, and a battery pack placed on the charging base. Optionally, such as Figure 1 The battery swap channel and battery compartment layout shown in the figure include multiple charging bases 1, 2, 3, 4, 5, 6, 7 and 8 in the battery compartment, each of which can place a battery pack and charge the battery pack separately; the battery swap channel includes a parking area, which is used to park vehicles that need to swap batteries; the battery compartment and the battery swap channel are adjacent to each other, thereby reducing the moving distance and floor space of the battery pack, thereby reducing the cost of battery swap. The process of replacing the battery pack for a vehicle through the vehicle battery swap system is as follows: when the vehicle needs to replace the battery pack, the vehicle is parked in the parking area in the battery swap channel, and the battery swap robot is controlled to grab the battery pack that has been depleted from the vehicle. The battery swap robot moves with the battery pack until the battery pack is placed in the battery compartment for charging; after that, the battery swap robot can also place the fully charged battery pack (not necessarily the originally installed battery pack, but other battery packs of the same model in the battery compartment) on the vehicle to complete the battery swap process.

[0031] At present, after the vehicle enters the parking area, due to the large area of ​​the parking area, although there are signs such as speed bumps as guides, the parking position is still very different from the expected standard position in the front, back, left, and right directions. The battery pack on the vehicle cannot be accurately located. It is necessary to further accurately locate the spatial position of the battery pack in order to control the battery swap robot to successfully grab the battery pack in one go.

[0032] In addition, according to the continuous development of battery technology and the growth of actual demand, the capacity of battery packs is constantly increasing. For example, the capacity of battery packs has developed from 282 kilowatt-hours (kw / h) to 250kw / h, 391kw / h, 431kw / h and other larger capacities. The overall size of the battery pack is also constantly changing. For example, the battery height of the 282kw / h capacity battery pack is 2050 millimeters (mm), the battery height of the 391kw / h capacity battery pack is 2255mm, and the battery height of the 431kw / h capacity battery pack is 2350mm. Furthermore, even for battery packs of the same capacity, the battery pack sizes of different manufacturers will vary. For example, the battery pack heights of different manufacturers for 282kw / h capacity battery packs vary. Vehicles may be equipped with battery packs from different manufacturers. When entering the battery exchange channel for battery exchange, the spatial positions of the battery packs are different.

[0033] Similarly, different types of vehicles equipped with the same type of battery pack will also lead to differences in the spatial position of the battery pack. For example, mixer trucks, trucks, and dump trucks have different base heights. Even if they are equipped with the same type of battery pack, the spatial position of the battery pack will be different when the vehicle enters the battery swap channel for battery swapping.

[0034] When the vehicle needs to be replaced, the driver drives the vehicle into the parking area of ​​the replacement channel. However, the parking position of the vehicle may not meet the replacement requirements, and the driver cannot intuitively feel the specific situation of the vehicle's incorrect parking and how to adjust the parking position. The driver cannot cooperate with the vehicle replacement system in time to quickly realize the second parking adjustment, which affects the replacement efficiency.

[0035] To sum up, due to the differences in the driver's parking position each time, and with the iteration of battery technology and the continuous updating of battery-swap vehicles, the vehicle battery-swap system needs to deal with vehicles equipped with battery packs of different ages, manufacturers, types, and versions. How to quickly identify and locate the current spatial position of the battery pack, and how to accurately and directly prompt the driver to adjust the vehicle position in a direction are the key issues that this application needs to solve.

[0036] Exemplary Methods

[0037] In response to the problems existing in the vehicle battery replacement process, the present application provides a vehicle battery replacement method, which is automatically implemented in the form of a software algorithm. The software algorithm corresponding to the present method is applied to the control module of the vehicle battery replacement system, and the control module has a data processing function. The control module of the vehicle battery replacement system controls the battery replacement robot of the vehicle battery replacement system to grab the battery pack on the vehicle based on the vehicle battery replacement method. The control module deployed in the vehicle battery replacement system can receive the vehicle-side status of the vehicle through the wireless router access point (Access Point, AP) device, and control the battery replacement robot to perform actions such as carrying battery packs, disassembling battery packs, and installing battery packs to complete the battery replacement. It is the control center of the vehicle battery replacement system. The battery replacement robot is installed at the top of the battery replacement channel in the vehicle battery replacement system. It can move up, down, left, right, and forward and backward, and accept instructions from the vehicle battery replacement system control module to carry battery packs, similar to mechanical driving.

[0038] In one embodiment, if Figure 2 As shown, the process steps for implementing the vehicle battery replacement method include:

[0039] Step 201, obtaining the plane distance measurement information of the battery pack installed in the vehicle based on the horizontal plane and the vehicle size information of the vehicle.

[0040] In this embodiment, the vehicle is any type of vehicle equipped with a battery pack, and the battery pack provides electrical energy for the vehicle. For example, the vehicle may be a new energy heavy truck equipped with a battery pack, and the battery pack provides power for the new energy heavy truck. Figure 3 As shown, the battery pack on the vehicle is assembled in a back-to-back manner, which makes it easier for the battery swap robot to grab the battery pack. After the vehicle is parked in the parking area of ​​the battery swap channel, the spatial position information of the battery pack must be accurately located first. Optionally, the spatial position information can be a spatial coordinate based on a standard three-dimensional (3D) coordinate system. In order to obtain accurate spatial position information, the plane distance measurement information is obtained by horizontally measuring the battery pack based on the horizontal plane, and then the final spatial position information is determined in combination with the vehicle size information of the vehicle.

[0041] Step 202: Determine the spatial position information of the battery pack based on the plane ranging information and the vehicle size information.

[0042] In this embodiment, the plane ranging information can accurately reflect the position information of the battery pack based on the horizontal plane. Optionally, the plane ranging information can be obtained by an infrared ranging device, an image acquisition device, a radar ranging device or any other ranging device. Vehicle size information includes size information of various structures of the vehicle, such as the length of the vehicle, the height of the vehicle chassis, the length, width and height of the battery installed in the vehicle, etc. The vehicle size information of the same model is the same and is fixed when the vehicle leaves the factory. Therefore, the vehicle size information of each model can be obtained in advance. When a vehicle that needs to be replaced enters the battery replacement channel, the corresponding vehicle size information can be directly obtained through the model of the vehicle. The real-time measured plane ranging information and the fixed vehicle size information are combined to determine the spatial position information of the battery pack, reduce the impact of measurement errors in the real-time measurement process, and ensure that the spatial position information is more accurate and reliable; at the same time, avoid the waste of time caused by a large number of measurement processes and increase the speed of battery replacement.

[0043] Step 203, based on the spatial position information, control the battery swap robot to grab the battery pack to complete the battery replacement of the vehicle.

[0044] In this embodiment, after determining the more accurate spatial position information of the battery pack, the battery swap robot is controlled to grab the battery pack, and then the battery pack is placed in the charging compartment for charging. Optionally, a battery frame is configured on the top of the battery pack. After the battery swap robot moves to the specified position based on the spatial position information, it extends its gripper to grab the gap at the top of the top frame, and then lifts up to grab the battery pack. Optionally, the battery swap robot can also place the depleted battery pack in the charging compartment, grab a fully charged battery pack of the same model from the charging compartment, and place the fully charged battery pack on the vehicle based on the spatial position information to complete the vehicle's battery swap.

[0045] In one embodiment, the vehicle battery replacement system further includes a laser ranging device. Obtaining the plane ranging information of the battery pack configured by the vehicle based on the horizontal plane includes: controlling the laser ranging device to move linearly parallel to the horizontal plane starting from the original ranging position point; and obtaining the plane ranging information based on the ranging laser emitted by the laser ranging device.

[0046] In this embodiment, the horizontal plane distance measurement process of the battery pack is completed by a laser distance measuring device. Optionally, the distance measuring laser emitted by the laser distance measuring device is a line laser, and the laser distance measuring device can move horizontally based on the horizontal guide rail. The laser distance measuring device receives the instruction of the control module to scan and locate the horizontal position of the battery pack. The distance measurement principle of the laser distance measuring device is to emit a laser to the target through a laser transmitter, and then the receiver receives the reflected light, and calculates the distance between the laser distance measuring device and the target according to the time difference between emission and reception and the propagation speed of light. The laser distance measuring device can not only measure distance quickly, but also ensure high accuracy. Optionally, the distance measuring laser emitted by the laser distance measuring device includes a line laser, and the measurement data can reach the millimeter level. The original position of the laser distance measuring device is the original distance measuring position point. The laser distance measuring device starts from the original distance measuring position point and moves in a straight line parallel to the horizontal plane. During the movement, it emits a distance measuring laser to complete the plane distance measurement and obtain the plane distance measurement information.

[0047] In one embodiment, the vehicle battery replacement system also includes a battery parking space, the top view of the battery parking space is a rectangle, and the battery parking space is used to park the battery pack; the movement line of the laser distance measuring device is parallel to one side of the rectangle, and the distance measuring laser does not pass through the battery parking space when the laser distance measuring device is located at the original distance measuring position. Based on the distance measuring laser emitted by the laser distance measuring device, plane distance measuring information is obtained, including: based on the distance measuring laser emitted by the laser distance measuring device, obtaining the laser measurement distance with the smaller measurement value before and after the distance mutation, and obtaining the device movement distance of the laser distance measuring device between two distance mutations.

[0048] In this embodiment, since the battery-swapping robot is generally installed on the top of the battery-swapping channel in a hoisting manner, the movement of the battery-swapping robot is limited. In order to ensure that the battery-swapping robot can accurately grab the battery pack, a battery parking space is set based on the moving position of the battery-swapping robot and the overall structure of the vehicle's battery-swapping system. The battery parking space is a reference space for parking the battery pack. Since the battery pack is usually a rectangular parallelepiped, the battery parking space is also set to a rectangular space in a top view. Optionally, the battery parking space is located in the battery-swapping channel. The driver drives the vehicle into the battery-swapping channel, and the vehicle's parking position ensures that the battery pack is located in the battery parking space, so that the laser rangefinder can measure and the battery-swapping robot can accurately grab the battery pack.

[0049] In this embodiment, the laser distance measuring device is set according to the battery parking space, the movement line of the laser distance measuring device is parallel to one side of the rectangle, and the distance measuring laser does not pass through the battery parking space when the laser distance measuring device is located at the original distance measuring position. When the battery pack is parked in the battery parking space, when the laser distance measuring device moves in a straight line parallel to the horizontal plane, due to the reflection of the laser by the battery pack, the laser emitted by the laser distance measuring device will suddenly change before and after it is emitted to the battery pack, and the laser measurement distance with the smaller measurement value before and after the distance sudden change is the distance between the laser distance measuring device and the battery pack; the device movement distance of the laser distance measuring device between two distance sudden changes is the length of one side of the battery pack.

[0050] In one embodiment, the vehicle size information includes battery pack size information and frame size information. Based on the plane ranging information and the vehicle size information, the spatial position information of the battery pack is determined, including: based on the laser measurement distance, the device movement distance and the battery pack size information, the plane coordinates of the battery pack are calculated, wherein the plane coordinates take the original ranging position point as the origin, the front direction of the vehicle as the positive direction of the horizontal axis, and the driving direction of the vehicle as the positive direction of the vertical axis; based on the frame size information and the battery pack size information, the height coordinates of the battery pack are calculated, wherein the height coordinates take the roof direction of the vehicle as the positive direction.

[0051] In this embodiment, the spatial position information is a coordinate value based on a pre-set three-dimensional coordinate system, including plane coordinates and height coordinates. The three-dimensional coordinate system takes the original distance measurement position point as the origin, the front direction of the vehicle as the positive direction of the horizontal axis, the driving direction of the vehicle as the positive direction of the longitudinal axis, and the roof direction of the vehicle as the positive direction of the vertical axis. By measuring the laser measurement distance and the device movement distance on one side of the battery pack, the plane coordinates of the battery pack can be calculated in combination with the battery pack size information. When the battery pack leaves the factory, the size of the battery pack is fixed. The sizes of battery packs of different models are different. The battery pack size information of each model of battery pack is obtained in advance. After the vehicle enters the battery replacement channel, the battery pack size information corresponding to the battery pack installed on the vehicle can be obtained through the battery pack model configured on the vehicle. The plane coordinates of the battery pack can be calculated by comprehensively processing the laser measurement distance, the device movement distance and the battery pack size information. At the same time, the vehicle size information also includes the frame size information, and the height coordinates of the battery pack can be calculated through the frame size information and the battery pack size information.

[0052] In a specific embodiment, a laser distance measuring device emitting a line laser is taken as an example. Figure 4The top view of the battery swap channel is shown. The battery swap channel of the vehicle battery swap system is provided with opposite baffles on both sides. The laser distance measuring device is provided based on the opposite baffle on one side. The moving track (i.e., horizontal guide rail) of the laser distance measuring device is provided along the baffle on the side. The laser distance measuring device can move back and forth along the horizontal guide rail to perform laser scanning, complete the horizontal distance measurement of the battery pack, and obtain the horizontal distance measurement information. Speed ​​bumps are provided near the front of the parked vehicle in the battery swap channel to remind the driver to park the vehicle.

[0053] In this embodiment, a battery parking space is provided in the battery replacement channel, for example, Figure 4 The top view of the battery parking space in the middle. The length of the top-down area of ​​the battery parking space is 1500mm and the width is 1000mm. This area is defined based on the maximum range that the battery swap robot can move above the battery swap channel, and is limited by the mechanical track and force analysis. Taking the 282kw / h capacity battery pack as an example, the 282kw / h capacity battery pack is 1200mm long and 800mm wide. The vehicle equipped with the battery pack enters the battery swap channel for battery swap. There is a parking margin of 300mm in length and 200mm in width in the battery parking space for the driver to use, allowing the vehicle parking position to change slightly front, back, left, and right, and the battery can be successfully swapped at one time. The vehicle enters the battery swap channel with a low-power battery pack and stops at the designated location based on the pre-installed speed bumps on the ground or the red paint on the tires on the ground.

[0054] In this embodiment, the laser ranging device is always emitting laser, and the laser beam reflected by the target is received by the photoelectric element. The timer measures the time from the emission to the reception of the laser beam, and calculates the distance from the laser ranging device to the target. When there is no vehicle, the line laser emitted by the laser ranging device will hit the opposite baffle on the opposite side. For example, the distance is about 4800mm at this time. Further, based on the standard three-dimensional coordinate system established by the vehicle and the laser ranging device, the plane coordinates take the original ranging position point as the origin, the front direction of the vehicle as the positive direction of the horizontal axis (also known as the X-axis), the driving direction of the vehicle as the positive direction of the longitudinal axis (Y-axis), and the vertical axis (also known as the Z-axis) as the positive direction of the roof direction of the vehicle. When the laser ranging device does not start the ranging process, it is stationary at the original ranging position point. When the line laser emitted by the laser ranging device is emitted to the opposite baffle on the other side, the position coordinates measured by the laser ranging device are (0, 4800), that is, the X-axis coordinate is 0 and the Y-axis coordinate is 4800.

[0055] In this embodiment, after a vehicle carrying a low-power battery pack enters the designated position of the battery exchange channel, the driver is prompted with protruding speed bumps on the ground, red stop lines, markings on the wall, and other reminders of the approximate parking position. After the vehicle arrives at the destination, the driver needs to pull up the handbrake. At this time, the wireless router deployed in the battery exchange channel will receive the handbrake signal from the vehicle and send the handbrake signal to the control module. After the control module receives the handbrake signal from the vehicle, it controls the laser rangefinder installed in the battery exchange channel to start scanning. The installation height of the laser rangefinder is the same as the middle position of the battery pack to ensure that the battery pack can be correctly scanned; the horizontal position is aligned with the battery parking space, and the moving length of the laser rangefinder is greater than the width of the battery pack, so that the width of the entire side of the battery pack can be scanned. The linear laser scanning process is as follows:

[0056] First, after the vehicle is initially parked, the laser distance measuring device receives the command from the control module to start scanning. Before starting, the laser distance measuring device stops at the original distance measuring position. The line laser emitted by the laser distance measuring device will pass through the gap between the battery pack and the rear compartment and hit the opposite baffle. The Y-axis data is 4800, and the coordinates obtained by the laser distance measuring device emitting the line laser are (0, 4800). The laser distance measuring device starts scanning and records the moving position of the laser distance measuring device through the servo sensor at the same time. At this time, the laser distance measuring device will start scanning and record the moving position of the laser distance measuring device through the servo sensor. Figure 4 Move from position A to position B. During the scanning measurement process, the measured value of the laser distance measuring device is recorded in real time to obtain the Y-axis coordinate; and the actual position value of the laser distance measuring device based on the X-axis, that is, the X-axis coordinate, is recorded.

[0057] Then, during the movement of the laser ranging device, the control module receives the XY coordinates in real time and determines the Y coordinate data value. When the line laser emitted by the laser ranging device touches the rear edge of the battery pack for the first time (such as Figure 4 The laser distance measuring device measures the front, back, left and right (the front, back, left and right are determined by the driver), and the measured value measured by the laser distance measuring device changes distance for the first time. At this time, the Y coordinate jumps from 4800 to 600, and the X coordinate is 100 (the laser distance measuring device moves 100 to the right, calculated by the laser servo sensor). The control module records the XY coordinates of the data at this moment as (100, 600), that is, (100, 600) is the coordinate of the rear edge of the battery pack.

[0058] Then, the laser ranging device continues to move from position A to position B. When it touches the front edge of the battery pack, the measured value of the laser ranging device changes suddenly for the second time. At this time, the Y coordinate jumps from 600 to 4800, and the X coordinate is 900. The control module records the XY coordinates of the data at this moment as (900, 600), that is, (900, 600) is the coordinate of the front edge of the battery pack.

[0059] Finally, based on the above data, it can be determined that the X coordinate of the rear edge of the battery pack is 100, the coordinate of the front edge is 900, the battery distance to the right channel is 600, and the battery pack is located within the battery parking space. At the same time, because the battery pack size information is fixed (for example, the battery pack is 800mm wide and 1200mm long), the XY coordinates of the center position of the battery pack (i.e., horizontal position information) can be calculated as (500, 1200), i.e., X=100+800 / 2, Y=600+1200 / 2. At this time, the horizontal distance measurement information of the battery pack is obtained based on the battery pack being parked at the end and rightmost side of the top view of the battery parking space (divided by the driver's position to divide the front, back, left, and right sides), that is, Figure 5 The battery pack is parked at position 1 and the horizontal distance measurement information is measured.

[0060] Similarly, if the battery pack is parked at the front and leftmost side of the top view of the battery parking space, such as Figure 6 As shown in position 2, the horizontal distance measurement information of the battery pack parked at position 2 includes: the coordinates of the rear edge of the battery pack (300, 900) (increased by 200 in the X direction and 300 in the Y direction), the coordinates of the front edge of the battery pack (1100, 900), and the center position XY of the battery pack is (700, 1500).

[0061] Of course, the actual parking position of the battery pack can be any other area within the battery parking space, as long as the battery pack as a whole is located within the battery parking space.

[0062] In this embodiment, the vertical height of the battery pack is further determined.

[0063] In this embodiment, after the vehicle battery swap system is put into use, it is necessary to record the basic properties of the vehicle battery swap system in the control module, such as Figure 7 The side view of the vehicle battery swap system shown in the figure, the basic properties of the vehicle battery swap system include but are not limited to basic data such as the top elevation of the battery swap robot and the height difference between the battery swap robot and the ground, as shown in Table 1 below:

[0064] Table 1 Basic attribute example of vehicle battery replacement system

[0065] Vehicle battery replacement system name Battery swap robot model Battery swap robot base height other The first vehicle battery replacement system The first battery replacement robot 5010mm …

[0066] The data of the basic properties of the above-mentioned vehicle battery replacement system are fixed.

[0067] In this embodiment, for each type of battery pack, the storage record is made in advance in the control module, mainly recording the basic attributes such as the unique code, battery frame type, battery height and other battery size information of the battery pack of each type. Optionally, the unique code of the battery pack can be the serial number (SN) of the battery pack. At the same time, it is necessary to record the relevant information of various types of vehicles, such as the unique vehicle frame number, battery swap vehicle type, battery swap vehicle height and other vehicle size information. Optionally, the unique vehicle frame number can be the serial number (SN) of the frame.

[0068] Exemplarily, the height difference between the first battery swap robot and the ground in the first vehicle battery swap system is 5010 mm. The first vehicle battery swap system temporarily has two types of battery pack frames, where the battery pack with a battery pack SN of 122222340129 corresponds to the first frame type, and the battery pack height is 2050 mm; the battery pack with a battery pack SN of 122222340130 corresponds to the second frame type, and the battery pack height is 2250 mm. The first vehicle battery swap system temporarily has two types of vehicles, where the vehicle with a frame SN of LZ5NA9E53PB002613 is a cement mixer truck, and the height of its battery pack installation chassis is 1250 mm; the vehicle with a frame SN of LZ5NA9E53PB002614 is a dump truck, and the height of its battery pack installation chassis is 1350 mm.

[0069] The basic properties of the battery pack are as follows in Table 2:

[0070] Table 2 Basic attributes of battery pack

[0071] Battery Pack SN Power battery frame type Battery pack size (mm) other 122222340129 Type I Length 1200*Width 800*Height 2050 … …… Type I Length 1200*Width 800*Height 2050 … 122222340130 Type II Length 1200*Width 800*Height 2255 … …… Type II Length 1200*Width 800*Height 2255 …

[0072] The basic properties of the vehicle are as follows:

[0073] Table 3 Vehicle basic attribute example table

[0074] Vehicle SN Vehicle Type Vehicle chassis height other LZ5NA9E53PB002613 Cement mixer truck 1250mm … …… Cement mixer truck 1250mm LZ5NA9E53PB002614 Dump Truck 1350mm … …… Dump Truck 1350mm …

[0075] In this embodiment, the vehicle is equipped with a battery swap controller. Optionally, the battery swap controller is installed in the vehicle cab. After the vehicle enters the vehicle battery swap system, it will be connected to the control module of the vehicle battery swap system through the AP device, and send information such as vehicle speed, handbrake signal, battery pack number, and vehicle frame number to the control module of the vehicle battery swap system. After the vehicle equipped with a battery pack enters the battery swap channel, the battery swap controller on the vehicle communicates with the control module of the vehicle battery swap system through the wireless AP device of the vehicle line swap system. After the communication is successful, the battery swap controller sends the battery pack SN and vehicle frame SN carried by the vehicle to the control module of the vehicle battery swap system. Exemplarily, the control module of the vehicle battery swap system obtains that the vehicle frame SN of the vehicle parked in the battery swap channel is LZ5NA9E53PB002613, and the battery pack SN of the battery pack equipped on the vehicle is 122222340129. After the control module of the vehicle battery swap system obtains the vehicle size information based on the vehicle frame SN and battery pack SN, it provides raw data for the next step of calculating the height difference of the battery swap robot's descent. Specifically, the control module of the vehicle battery swap system receives the battery pack SN and vehicle frame SN sent by the battery swap controller configured for the vehicle through the wireless AP, and uses the battery pack SN and vehicle frame SN to query the battery frame type, battery height, vehicle type, vehicle chassis height and other vehicle dimension information corresponding to the SN in the pre-entered battery pack attribute table and vehicle attribute table.

[0076] In this embodiment, after the control module of the vehicle battery swap system obtains various required vehicle size information, it calculates the height difference that the battery swap robot needs to descend, and sends it to the battery swap robot through the communication protocol, informing the battery swap robot of the height to which it needs to descend to grab the power battery. Exemplarily, after the control module of the vehicle battery swap system obtains the vehicle frame SN and battery pack SN, it obtains the following data through searching: the vehicle chassis height corresponding to the vehicle frame SN of LZ5NA9E53PB002613 is 1250mm, that is, Z3=1250; the battery pack SN of 122222340129 corresponds to a battery pack height of 2050mm, that is, Z2=2050; the ground height of the battery swap robot is 5010mm, that is, Z1=5010. The height of the top surface of the battery pack from the ground (i.e. the vertical axis coordinate value) is: 1250+2050=3300. Through the difference calculation formula Z=Z1-Z2-Z3, the battery swap robot's descent height Z=5010-1250-2050=1710mm can be obtained, that is, the battery swap robot needs to drop 1710mm in height from the standard position to accurately grab the battery. The control module obtains control instructions based on the plane coordinates and height coordinates, controls the movement of the battery swap robot, and can accurately and quickly complete the power battery grabbing work and complete the power battery swapping work at different heights.

[0077] In one embodiment, based on the ranging laser emitted by the laser ranging device, the laser measurement distance with a smaller value before and after the distance mutation is obtained, including: based on the ranging laser emitted by the laser ranging device, if it is determined that the battery pack is not completely located in the battery parking space when the distance mutation occurs, the ranging device position of the laser ranging device at the time of the distance mutation is obtained; based on the ranging device position, a vehicle movement prompt message is generated, where the vehicle movement prompt message includes the recommended movement distance of the vehicle movement, and the vehicle movement prompt message is used to instruct the vehicle to move so that the battery pack completely enters the battery parking space.

[0078] In this embodiment, after the vehicle enters the battery swapping channel, there may be a situation where after a stop, the battery pack is not completely placed in the battery parking space. This situation can be determined by the laser ranging device, that is, based on the ranging laser emitted by the laser ranging device, if it is determined that the battery pack is not completely located in the battery parking space when the distance mutation occurs, indicating that the battery pack is not completely placed in the battery parking space, then the ranging device position of the laser ranging device at the time of the distance mutation is used to generate a vehicle movement prompt message to prompt the driver to move the vehicle according to the recommended movement distance, so as to more intuitively guide the driver to move the vehicle to the specified position and ensure that the battery pack completely enters the battery parking space.

[0079] In a specific embodiment, based on the three-dimensional coordinate system established in the above embodiment and the size of the battery parking space, if the Y-axis coordinate of the rear edge of the battery pack measured by the laser ranging device first undergoes a distance mutation from 4800 (generally becoming 500 - 1000, that is, the distance from the side of the battery to the laser ranging device), and at this time the X-axis coordinate range corresponding to the ranging device position is 100 < X < 300, then there is no problem before and after the vehicle stops, and the battery pack has completely entered the battery parking space; if X < 100, the rear edge of the battery pack is outside the battery parking space, indicating that the vehicle docking position is too far back, then the driver can be prompted by voice to accurately adjust the data. Exemplarily, during the movement of the laser ranging device, when the first measurement value undergoes a distance mutation, the Y-axis coordinate of the rear edge of the battery pack jumps from 4800 to 600, and at the same time the X coordinate is 80, then the message "Please adjust the vehicle forward by 20 centimeters" is played by voice to prompt the driver to move the vehicle again to adjust the parking position; if X > 300, the front edge of the battery pack is outside the battery parking space. For example, the X coordinate is 350, indicating that the vehicle docking position is too far forward, then the message "Please adjust the vehicle backward by 50 centimeters" can be prompted by voice to prompt the driver to move the vehicle again to adjust the parking position.

[0080] As long as the coordinates of the rear edge of the battery pack satisfy 600 < Y < 900, there is no problem with the vehicle's left-right parking. If Y < 600, it means that the vehicle is parked too靠右 (close to the laser rangefinder and far from the oncoming baffle). Exemplarily, when Y = 550, the driver can be prompted to reposition the vehicle by a voice message "Please adjust the vehicle 50 cm to the left". If Y > 900, it means that the vehicle is parked too靠左 (far from the laser rangefinder and close to the oncoming baffle). Exemplarily, when Y = 930, the driver can be prompted to reposition the vehicle by a voice message "Please adjust the vehicle 30 cm to the right".

[0081] In one embodiment, based on the three-dimensional coordinate system, battery parking space, and spatial position relationship of the laser rangefinder provided in the above embodiment, the detailed process of implementing the vehicle battery swapping method is as follows:

[0082] First, the vehicle equipped with the battery pack enters the battery swapping channel of the vehicle battery swapping system and stops at a rough position according to the road surface speed bump indication.

[0083] Second, the battery swapping controller carried on the vehicle automatically connects to the AP device of the vehicle battery swapping system at this time and sends relevant data to the control module of the vehicle battery swapping system through the communication module. The relevant data includes vehicle and battery related information such as battery pack SN, battery frame type, battery pack height, vehicle frame SN, vehicle type, vehicle height, etc. After the driver pulls up the handbrake, the vehicle also sends the handbrake signal of the vehicle after parking in place to the control module of the vehicle battery swapping system. The communication module includes devices such as wireless AP, twisted pair, and network cable deployed in the vehicle battery swapping system responsible for communicating with key devices such as the vehicle, laser rangefinder, and battery swapping robot, and is used for receiving and transmitting data and transmitting instructions.

[0084] Third, after the control module of the vehicle battery swapping system receives the vehicle handbrake signal, it controls the laser rangefinder installed in the battery swapping channel to start scanning through the communication module. Exemplarily, when the XY coordinates measured when first touching the rear edge of the battery pack are (80, 600), the laser rangefinder continues to move from the rear edge of the battery pack to the front edge of the battery pack. When first touching the front edge of the battery pack, the XY coordinates are (880, 600). At this time, the position of the rear edge of the battery pack at the parking position is X = 80 < 100, and the battery pack has not fully entered the battery parking space.

[0085] Fourth, the control module of the vehicle battery swapping system controls the voice playback module to play the voice: "Please adjust the vehicle 20 cm forward".

[0086] Fifth, after the driver readjusts the vehicle in place, the handbrake is pulled up again.

[0087] Sixth, after the control module of the vehicle battery replacement system receives the vehicle handbrake signal for the second time, it controls the laser distance measuring device installed in the battery replacement channel to rescan through the communication module. For example, when the rear edge of the battery pack is touched for the first time, the XY coordinates are (100, 600), and the laser distance measuring device continues to move from the rear edge of the battery pack to the front edge of the battery pack. When the front edge of the battery pack is touched for the first time, the XY coordinates are (900, 4800). At this time, the parking of the vehicle meets the requirements. By calculation, the coordinates of the center position of the battery pack are (500, 1200), and the length and width of the battery on the vehicle can be obtained by looking up the battery pack SN code table.

[0088] Seventh, the control module of the vehicle battery replacement system obtains the vehicle frame SN as LZ5NA9E53PB002613 through the communication module, and the battery pack SN of the installed battery pack is 122222340129. From the table, it can be obtained that the vehicle chassis height corresponding to the vehicle frame SN of LZ5NA9E53PB002613 is 1250mm, that is, Z3=1250; the power battery height corresponding to the battery pack SN of 122222340129 is 2050mm, that is, Z2=2050; the height of the battery replacement robot from the ground is 5010mm, that is, Z1=5010; the height of the top surface of the battery pack from the ground is (i.e. the vertical coordinate value): 1250+2050=3300. In summary, the XYZ coordinates of the center point of the battery pack are (500, 1200, 3300).

[0089] Eighth, through the difference calculation formula Z=Z1-Z2-Z3, it can be obtained that the descent height of the battery swap robot is Z=5010-(1250+2050)=1710mm, that is, the center position of the battery swap robot needs to be moved to this coordinate position so that the battery can be accurately grasped.

[0090] Ninth, the control module of the vehicle battery replacement system controls the battery replacement robot to move based on the above-mentioned XYZ coordinates (500, 1200, 3300) through the communication module to complete the battery grabbing work, thereby completing the key work of the battery replacement process.

[0091] In one embodiment, different from the above-mentioned implementation scheme of plane distance measurement through a single-point laser ranging device, the X-axis and Y-axis coordinates of the battery pack can also be located through multiple single-point laser ranging devices, and the X-axis and Y-axis positioning can be achieved by hitting the battery pack at different positions with multiple single-point laser ranging devices.

[0092] In one embodiment, a visual sensor is installed at the bottom of the battery swap robot. In this case, the battery swap robot does not need a precise height difference to judge the height of the battery pack. When the battery swap robot descends, the height difference is calculated in real time through the image sent back by the visual sensor to determine the height of the battery pack.

[0093] In one embodiment, a travel switch sensor is installed at the bottom of the battery swap robot. The travel switch uses the collision of its moving parts to move its contacts and transmit signals to realize the switching function. At this time, the battery swap robot does not need a precise height difference to judge the height of the power battery. When the battery swap robot descends, the height of the power battery of the current battery swap vehicle is determined by whether the travel switch sensor touches the surface of the battery pack.

[0094] In the present application, the plane ranging information based on the horizontal plane of the battery pack installed in the vehicle is obtained, and the vehicle size information of the vehicle is obtained; based on the plane ranging information and the vehicle size information, the spatial position information of the battery pack is obtained; based on the spatial position information, the battery swap robot is controlled to grab the battery pack to complete the battery replacement of the vehicle. In the process of obtaining the spatial position information of the battery pack, the measured plane ranging information and vehicle size information are combined, which reduces the problem of poor accuracy caused by measurement errors compared to the method of obtaining all spatial position information through measurement. At the same time, less measurement data reduces the time required for the measurement process, further improving the vehicle's battery replacement speed. Through the control module of the vehicle's battery replacement system, combined with the plane ranging information and vehicle size information, it is possible to more accurately and quickly control the battery swap robot to grab the battery pack, thereby improving the vehicle's battery replacement efficiency.

[0095] Furthermore, the present application accurately locates the coordinate values ​​of the battery pack in three-dimensional space, and then the control module automatically calculates the distance that the battery swap robot needs to move forward, backward, left and right, as well as the height difference of descent, so as to achieve accurate and rapid completion of the battery swap process, and at the same time cooperate with real-time voice to guide the driver to accurately adjust the vehicle, thereby improving the driver's battery swap experience. It can be applied to a variety of battery swap application scenarios such as different vehicle types, battery frame types, and battery manufacturers. Only a mobile linear laser is needed to accurately locate the three-dimensional position of the battery pack, and it is highly reproducible. The parking error can be accurately calculated to the centimeter level, and the vehicle moving distance can be accurately prompted through voice to guide the driver to quickly achieve precise adjustments and quickly swap batteries.

[0096] Exemplary Systems

[0097] Correspondingly, an embodiment of the present application also provides a vehicle battery replacement system, which includes a control module and a battery replacement robot control module, which is used to obtain plane ranging information of the battery pack installed on the vehicle based on the horizontal plane, and obtain vehicle size information of the vehicle, and obtain the spatial position information of the battery pack based on the plane ranging information and the vehicle size information, and control the battery replacement robot to grab the battery pack based on the spatial position information; the battery replacement robot is used to grab the battery pack to complete the battery replacement of the vehicle.

[0098] In one embodiment, the vehicle battery replacement system further includes a laser ranging device. A control module is used to control the laser ranging device to move linearly parallel to the horizontal plane from the original ranging position point, and obtain plane ranging information based on the ranging laser emitted by the laser ranging device; the laser ranging device is used to emit the ranging laser and move linearly parallel to the horizontal plane from the original ranging position point.

[0099] In one embodiment, the vehicle battery replacement system also includes a battery parking space, which is a rectangle in top view, and the battery parking space is used to park a battery pack; the movement path of the laser ranging device is parallel to one side of the rectangle, and the ranging laser does not pass through the battery parking space when the laser ranging device is located at the original ranging position; a control module is used to obtain the laser measurement distance with a smaller measurement value before and after the distance mutation based on the ranging laser emitted by the laser ranging device, and to obtain the device movement distance of the laser ranging device between two distance mutations.

[0100] In one embodiment, the vehicle battery replacement system further includes a battery replacement channel and a battery compartment, wherein the battery replacement channel is used to park the vehicle, a battery parking space is provided in the battery replacement channel, and a battery replacement robot and a laser ranging device are arranged in the battery replacement channel. The battery compartment is used to charge a low-power battery pack.

[0101] The vehicle battery replacement system provided in this embodiment belongs to the same application concept as the vehicle battery replacement method provided in the above embodiments of this application, and can execute the vehicle battery replacement method provided in any of the above embodiments of this application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details not fully described in this embodiment, please refer to the specific processing content of the vehicle battery replacement method provided in the above embodiments of this application, which will not be repeated here.

[0102] Example Vehicles

[0103] Correspondingly, an embodiment of the present application also provides a vehicle, which is equipped with a battery pack; the battery pack on the vehicle is replaced by a vehicle battery replacement method as provided in any of the above embodiments.

[0104] The vehicle provided in this embodiment belongs to the same application concept as the vehicle battery replacement method provided in the above embodiments of this application, and can execute the vehicle battery replacement method provided in any of the above embodiments of this application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details not fully described in this embodiment, please refer to the specific processing content of the vehicle battery replacement method provided in the above embodiments of this application, which will not be repeated here.

[0105] Exemplary Devices

[0106] Accordingly, the embodiment of the present application also provides a vehicle battery replacement device, such as Figure 8 As shown, the device may include:

[0107] An acquisition module 801 is used to acquire the plane distance measurement information of the battery pack installed in the vehicle based on the horizontal plane and the vehicle size information of the vehicle;

[0108] A determination module 802, configured to determine the spatial position information of the battery pack based on the plane ranging information and the vehicle size information;

[0109] The control module 803 is used to control the battery replacement robot to grab the battery pack based on the spatial position information to complete the battery replacement of the vehicle.

[0110] The vehicle battery replacement device provided in this embodiment belongs to the same application concept as the vehicle battery replacement method provided in the above embodiments of this application, and can execute the vehicle battery replacement method provided in any of the above embodiments of this application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details not fully described in this embodiment, please refer to the specific processing content of the vehicle battery replacement method provided in the above embodiments of this application, and will not be repeated here.

[0111] Exemplary Electronic Devices

[0112] The present application also provides an electronic device, such as Fig. 9 As shown, the electronic device includes: a memory 900 and a processor 901 .

[0113] The memory 900 is connected to the processor 901 and is used to store programs.

[0114] The processor 901 is used to implement the vehicle battery replacement method in the above embodiment by running the program stored in the memory 900.

[0115] Specifically, the electronic device may further include: a communication interface 902 , an input device 903 , an output device 904 and a bus 905 .

[0116] The processor 901, the memory 900, the communication interface 902, the input device 903 and the output device 904 are connected to each other via a bus.

[0117] Bus 905 may include a pathway for transferring information between the various components of the computer system.

[0118] The processor 901 may be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, etc., or an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the scheme of the present invention. It may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0119] The processor 901 may include a main processor, and may also include a baseband chip, a modem, and the like.

[0120] The memory 900 stores a program for executing the technical solution of the present invention, and may also store an operating system and other key services. Specifically, the program may include a program code, and the program code includes a computer operation instruction. More specifically, the memory 900 may include a read-only memory (ROM), other types of static storage devices that can store static information and instructions, a random access memory (RAM), other types of dynamic storage devices that can store information and instructions, a disk storage, a flash, and the like.

[0121] The input device 903 may include a device for receiving data and information input by a user, such as a keyboard, a mouse, a camera, a scanner, a light pen, a voice input device, a touch screen, a pedometer, or a gravity sensor.

[0122] Output device 904 may include a device that allows information to be output to a user, such as a display screen, printer, speaker, etc.

[0123] The communication interface 902 may include any transceiver or the like to communicate with other devices or communication networks, such as Ethernet, a radio access network (RAN), a wireless local area network (WLAN), etc.

[0124] The processor 901 executes the program stored in the memory 900 and calls other devices, which can be used to implement the various steps of the vehicle battery replacement method provided in the above embodiments of the present application.

[0125] Exemplary computer program products and storage media

[0126] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps in the vehicle battery replacement method described in the embodiment of the present application.

[0127] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0128] In addition, an embodiment of the present application may also be a storage medium on which a computer program is stored, and the computer program is executed by a processor to execute the steps of the vehicle battery replacement method described in the embodiment of the present application.

[0129] For the aforementioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the order of the actions described, because according to the present application, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0130] It should be noted that each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other. For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0131] The steps in the methods of each embodiment of the present application can be adjusted in order, combined and deleted according to actual needs, and the technical features recorded in each embodiment can be replaced or combined.

[0132] The modules and sub-modules in the devices and terminals provided in the embodiments of the present application can be merged, divided and deleted according to actual needs.

[0133] In the several embodiments provided in the present application, it should be understood that the disclosed terminals, devices and methods can be implemented in other ways. For example, the terminal embodiments described above are only schematic, for example, the division of modules or submodules is only a logical function division, and there may be other division methods in actual implementation, for example, multiple submodules or modules can be combined or integrated into another module, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules, which can be electrical, mechanical or other forms.

[0134] The modules or submodules described as separate components may or may not be physically separated, and the components of the modules or submodules may or may not be physical modules or submodules, that is, they may be located in one place, or they may be distributed on multiple network modules or submodules. Some or all of the modules or submodules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0135] In addition, each functional module or submodule in each embodiment of the present application may be integrated into one processing module, or each module or submodule may exist physically separately, or two or more modules or submodules may be integrated into one module. The above-mentioned integrated modules or submodules may be implemented in the form of hardware or in the form of software functional modules or submodules.

[0136] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0137] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly by hardware, software units executed by a processor, or a combination of the two. The software units may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0138] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0139] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle battery replacement method, characterized in that: A control module applied to a vehicle battery replacement system, wherein the vehicle battery replacement system also includes a battery replacement robot; The method comprises: Obtaining plane distance measurement information of a battery pack installed in a vehicle based on a horizontal plane and vehicle size information of the vehicle; Determining spatial position information of the battery pack based on the plane ranging information and the vehicle size information; Based on the spatial position information, the battery-changing robot is controlled to grab the battery pack to complete the battery replacement of the vehicle.

2. The vehicle battery replacement method according to claim 1, characterized in that: The vehicle battery replacement system also includes a laser distance measuring device; The obtaining of the planar distance measurement information of the battery pack configured for the vehicle based on the horizontal plane includes: Controlling the laser distance measuring device to move linearly parallel to the horizontal plane starting from the original distance measuring position point; The plane distance measurement information is obtained based on the distance measurement laser emitted by the laser distance measurement device.

3. The vehicle battery replacement method according to claim 2, characterized in that: The vehicle battery replacement system also includes a battery parking space, the top view of the battery parking space is a rectangle, and the battery parking space is used to park the battery pack; the movement line of the laser ranging device is parallel to one side of the rectangle, and when the laser ranging device is located at the original ranging position point, the ranging laser does not pass through the battery parking space; The step of obtaining the plane distance measurement information based on the distance measurement laser emitted by the laser distance measurement device includes: Based on the ranging laser emitted by the laser ranging device, the laser measurement distance with a smaller measurement value before and after the distance mutation is obtained, and the device movement distance of the laser ranging device between two distance mutations is obtained.

4. The vehicle battery replacement method according to claim 3, characterized in that: The vehicle size information includes battery pack size information and frame size information; The determining the spatial position information of the battery pack based on the plane ranging information and the vehicle size information includes: Based on the laser measurement distance, the device movement distance and the battery pack size information, the plane coordinates of the battery pack are calculated, wherein the plane coordinates take the original distance measurement position point as the origin, the front direction of the vehicle as the positive direction of the horizontal axis, and the driving position direction of the vehicle as the positive direction of the vertical axis; Based on the frame size information and the battery pack size information, a height coordinate of the battery pack is calculated, wherein the height coordinate takes the roof direction of the vehicle as a positive direction.

5. The vehicle battery replacement method according to claim 3, characterized in that: The step of obtaining the laser measurement distance with a smaller measurement value before and after the distance mutation based on the distance measurement laser emitted by the laser distance measurement device comprises: Based on the ranging laser emitted by the laser ranging device, if it is determined that the battery pack is not completely located in the battery parking space when the distance suddenly changes, obtaining the ranging device position of the laser ranging device when the distance suddenly changes; Based on the position of the ranging device, vehicle movement prompt information is generated, wherein the vehicle movement prompt information includes a recommended moving distance of the vehicle, and the vehicle movement prompt information is used to instruct the vehicle to move so that the battery pack completely enters the battery parking space.

6. A vehicle battery replacement system, characterized in that: The system includes a control module and a battery-swapping robot; The control module is used to obtain plane distance measurement information of the battery pack installed on the vehicle based on a horizontal plane, and obtain vehicle size information of the vehicle, obtain spatial position information of the battery pack based on the plane distance measurement information and the vehicle size information, and control the battery swap robot to grab the battery pack based on the spatial position information; The battery-swapping robot is used to grab the battery pack to complete the battery replacement of the vehicle.

7. The vehicle battery replacement system according to claim 6, characterized in that: The vehicle battery replacement system also includes a laser distance measuring device; The control module is used to control the laser ranging device to start from an original ranging position point and perform a linear motion parallel to the horizontal plane, and obtain the plane ranging information based on the ranging laser emitted by the laser ranging device; The laser distance measuring device is used to emit the distance measuring laser and to perform a linear motion parallel to the horizontal plane starting from an original distance measuring position point.

8. The vehicle battery replacement system according to claim 7, characterized in that: The vehicle battery replacement system also includes a battery parking space, the top view of the battery parking space is a rectangle, and the battery parking space is used to park the battery pack; the movement line of the laser ranging device is parallel to one side of the rectangle, and when the laser ranging device is located at the original ranging position point, the ranging laser does not pass through the battery parking space; The control module is used to obtain the laser measurement distance with smaller measurement value before and after the distance mutation based on the distance measuring laser emitted by the laser distance measuring device, and to obtain the device movement distance of the laser distance measuring device between two distance mutations.

9. A vehicle, characterized in that: The vehicle is equipped with a battery pack; The battery pack on the vehicle is replaced by the vehicle battery replacement method as described in any one of claims 1 to 5.

10. An electronic device, characterized in that: include: Memory and processor; The memory is connected to the processor and is used to store programs; The processor is used to implement the vehicle battery replacement method as described in any one of claims 1-5 by running the program in the memory.

11. A computer program product, characterized in that includes computer program instructions; When the computer program instructions are executed by a processor, the processor executes the vehicle battery replacement method as described in any one of claims 1-5.

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