Battery replacement method and device for vehicle

Abstract

The invention discloses a method and a device for replacing a battery of a vehicle. The method comprises the following steps: monitoring the electric quantity of a battery of a vehicle; in response to the situation that the battery electric quantity is lower than the electric quantity threshold value, a battery replacing task is triggered and used for indicating operation of replacing the battery of the vehicle; in response to the condition that the vehicle meets the battery replacement condition corresponding to the battery replacement task, sending a battery replacement application of the vehicle to the cloud platform for authentication; and in response to an authentication passing message received from the cloud platform, the battery of the vehicle is replaced, and the authentication passing message is used for indicating that the battery replacement application passes authentication. The technical problem that the battery replacement efficiency of the vehicle is low is solved.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a method and device for replacing a battery of a vehicle. Background Art

[0002] At present, in the automation operation of open-pit mines, unmanned vehicles have gradually become a key tool to improve production efficiency and safety. However, with the widespread application of unmanned driving technology, the replacement of vehicle batteries has become a bottleneck problem in automated operations. The traditional manual battery replacement method is not only inefficient, but also has high safety risks in harsh mining environments.

[0003] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0004] The embodiments of the present invention provide a method and device for replacing a battery of a vehicle, so as to at least solve the technical problem of low efficiency of replacing a battery of a vehicle.

[0005] According to one aspect of an embodiment of the present invention, a method for replacing a battery of a vehicle is provided. The method comprises: monitoring the battery power of the vehicle; in response to the battery power being lower than a power threshold, triggering a battery replacement task, wherein the battery replacement task is used to indicate an operation of replacing the battery of the vehicle; in response to the vehicle satisfying the battery replacement condition corresponding to the battery replacement task, sending the battery replacement application of the vehicle to a cloud platform for authentication; in response to receiving an authentication pass message from the cloud platform, performing a replacement operation on the battery of the vehicle, wherein the authentication pass message is used to indicate that the authentication of the battery replacement application is passed.

[0006] According to another aspect of an embodiment of the present invention, a battery replacement device for a vehicle is also provided. The device includes: a monitoring unit for monitoring the battery power of the vehicle; a triggering unit for triggering a battery replacement task in response to the battery power being lower than a power threshold, wherein the battery replacement task is used to indicate an operation of replacing the battery of the vehicle; a sending unit for sending the battery replacement application of the vehicle to the cloud platform for authentication in response to the vehicle meeting the battery replacement conditions corresponding to the battery replacement task; a battery replacement unit for performing a replacement operation on the battery of the vehicle in response to receiving an authentication pass message from the cloud platform, wherein the authentication pass message is used to indicate that the authentication of the battery replacement application is passed.

[0007] According to another aspect of an embodiment of the present invention, there is further provided an electronic device, comprising: a memory storing an executable program; and a processor for running the program, wherein the method in each embodiment of the present invention is executed when the program is running.

[0008] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in various embodiments of the present invention.

[0009] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0010] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0011] According to another aspect of the embodiments of the present invention, a computer program is further provided. When the computer program is executed by a processor, the methods in the embodiments of the present invention are implemented.

[0012] In an embodiment of the present invention, by real-time monitoring of the battery power of the vehicle, the battery replacement task can be triggered in time when the battery power is lower than the power threshold, and then in order to improve the safety and stability of battery replacement, it can be detected whether the vehicle meets the battery replacement conditions. After the vehicle meets the battery replacement conditions, in order to ensure the effectiveness and legality of the vehicle's battery replacement task, a battery replacement application for the vehicle can be further generated, and the battery replacement application can be sent to the cloud platform for authentication to improve the safety of vehicle battery replacement, prevent unauthorized battery replacement operations from causing system security problems to the battery replacement system, and enhance the information security protection capabilities of the entire battery replacement system. After the cloud platform authentication is passed, the battery replacement operation is performed on the vehicle. That is, in an embodiment of the present invention, through intelligent battery power monitoring, the realization of automated battery replacement process, and the guarantee of communication security and task authentication, the efficiency and reliability of battery replacement are significantly improved, and the technical problem of low efficiency of vehicle battery replacement in the prior art is solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0014] Figure 1 is a flow chart of a vehicle battery replacement method according to an embodiment of the present invention;

[0015] Figure 2 is a flow chart of another vehicle battery replacement method according to an embodiment of the present invention;

[0016] Figure 3 is a schematic diagram of a battery replacement device for a vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0017] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0018] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0019] Example 1

[0020] According to an embodiment of the present invention, a method embodiment of a vehicle battery replacement is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0021] Figure 1 The present invention is a method for replacing a battery in a vehicle according to an embodiment of the present invention, which can be applied to the battery management and maintenance process of the vehicle, such as Figure 1 As shown, the method comprises the following steps:

[0022] Step S101, monitoring the battery power of the vehicle.

[0023] In the technical solution provided in step S101 of the present application, the battery power of the vehicle is used to characterize the current remaining energy of the vehicle and is a key indicator for determining whether the vehicle can continue to travel. The vehicle may be an unmanned mining vehicle in an open-pit mine scenario, and the distance here is only an exemplary distance.

[0024] In this embodiment, the battery power of the vehicle can be monitored in real time through the vehicle's battery management system (BMS).

[0025] Step S102, in response to the battery power being lower than the power threshold, triggering the battery replacement task.

[0026] Optionally, in the technical solution provided in the above step S102 of the present application, in the process of real-time monitoring of the battery power of the vehicle through the vehicle's BMS, once it is responded that the battery power of the vehicle is lower than the power threshold, a battery replacement task is triggered, wherein the battery replacement task is used to indicate the operation of replacing the battery of the vehicle.

[0027] Optionally, the power threshold is a key parameter that determines when the unmanned vehicle triggers the battery replacement task. The power threshold can be pre-set or obtained through a preset rule. The preset rule can include at least one of the following:

[0028] (1) The path parameters of the vehicle's route are obtained through the vehicle's path planning system, and terrain data is obtained based on the map of the area where the vehicle is located. Then, based on the path parameters and terrain data, the target power required to reach the destination (specified battery replacement location) is determined, and the power threshold is determined based on the target power.

[0029] (2) Determine the power threshold according to the remaining power information of the historical vehicles carried in the power layer in the acquired map; wherein the remaining power information of the historical vehicles is generated when the historical manned and / or unmanned vehicles trigger the battery swap task. When the historical manned and / or unmanned vehicles trigger the battery swap task, the vehicle sends its own remaining power to the cloud platform. The cloud platform can collect and analyze the remaining power information uploaded by the historical manned and / or unmanned vehicles when the battery swap task is triggered, and then the cloud platform modifies the relevant information of the power layer of the map according to the remaining power information obtained. Among them, the specific method of determining the power threshold can be: for example, taking the average remaining power uploaded by all historical vehicles or historical vehicles of the same model as the power threshold; or, according to the remaining power uploaded by all historical vehicles or historical vehicles of the same model, the path planning information corresponding to each vehicle (the path parameters of the pre-planned path and / or the terrain data corresponding to the path), and the path planning information of the vehicle (the path parameters of the pre-planned path and / or the terrain data corresponding to the path) are calculated to obtain the power threshold.

[0030] (3) The cloud platform obtains the power information of each charging vehicle when each battery swap station starts charging, calculates the power threshold based on the power information of each charging vehicle, and sends it to each running vehicle. Optionally, the power threshold can be the average power of each charging vehicle at the beginning of charging, or the average power of each charging vehicle of the same model as the running vehicle at the beginning of charging.

[0031] Optionally, the setting of the power threshold not only considers the current power status of the vehicle, but also combines multi-dimensional information such as path planning, terrain information, historical data, and battery swap station status, making the setting of the power threshold more intelligent and dynamic. This setting method can not only ensure that the vehicle has sufficient power during operation, but also avoid resource waste caused by premature battery replacement, thereby further improving the operating efficiency and resource utilization of unmanned mining trucks on the basis of ensuring safety and reliability.

[0032] Optionally, when the battery power of the vehicle is lower than the power threshold, triggering the battery swap task supports both automatic triggering and manual triggering. Among them, the automatic triggering can be implemented by the central control system of the vehicle. For example, when the battery power of the vehicle is lower than the power threshold, the central control system of the vehicle can automatically trigger the battery swap task; the manual triggering can be implemented by the dispatcher. For example, the dispatcher can retrieve the vehicle whose battery power is lower than the power threshold in the vehicle list, and then trigger the battery swap task to each vehicle in order from low to high according to the remaining battery power. Among them, the means of triggering the battery swap task can be understood as issuing a battery swap instruction to the vehicle.

[0033] Optionally, once a battery swap task is triggered, the vehicle status and battery swap progress can be updated in real time to ensure the transparency and traceability of the battery swap process.

[0034] Step S103, in response to the vehicle satisfying the battery replacement conditions corresponding to the battery replacement task, the vehicle's battery replacement application is sent to the cloud platform for authentication.

[0035] In the technical solution provided in the above step S103 of the present application, after the battery swap task is triggered, in order to ensure that the vehicle can successfully swap batteries, it can be further determined whether the vehicle meets the battery swap conditions corresponding to the battery swap task, and then, if the vehicle meets the battery swap conditions corresponding to the battery swap task, the battery swap application of the vehicle is sent to the cloud platform for authentication to ensure the safety of the battery swap operation. Among them, the battery swap conditions include but are not limited to: backup battery conditions, load conditions and docking conditions, among which the backup battery conditions are used to determine whether there are enough idle backup batteries in the station control system of the battery swap station to meet the battery swap demand; the load conditions are used to determine whether the vehicle is in an unloaded state to meet the battery swap demand; the docking conditions are used to determine whether the vehicle is docked at the battery swap position in the station control system of the battery swap station to meet the battery swap demand.

[0036] In this embodiment, after the battery replacement task is triggered, it is necessary to further determine whether the vehicle meets the battery replacement conditions. When determining whether the vehicle meets the battery replacement conditions, it is necessary to separately determine whether the vehicle meets the backup battery conditions, load conditions and parking conditions.

[0037] Optionally, when determining whether the vehicle meets the backup battery condition, the backup battery in the battery swap station control system can be monitored. If there is an idle backup battery in the battery swap station control system, it means that there is a backup battery in the battery swap station control system that meets the battery swap demand. In this case, it can be determined that the vehicle meets the backup battery condition.

[0038] Optionally, when judging whether the vehicle meets the load condition, the load state of the vehicle can be detected. For example, the current weight of the vehicle is detected by a load sensor, and then it is determined whether the vehicle is currently in an unloaded state based on the detection result. If the current weight of the vehicle is less than the weight threshold, it is determined that the vehicle is currently in an unloaded state. In this case, it can be determined that the vehicle meets the load condition. Conversely, if the current weight of the vehicle is not less than the weight threshold, it is determined that the vehicle is currently in a heavy-loaded state. In this case, in order to make the vehicle meet the load condition corresponding to the battery swap task, the vehicle can be controlled to perform the unloading task first, and after the vehicle completes the unloading task, it is determined that the vehicle meets the load condition. In other words, the load condition corresponding to the battery swap task requires that the vehicle is in an unloaded state when performing the battery swap task.

[0039] Optionally, when judging whether the vehicle meets the parking conditions, the vehicle can be controlled to perform a fixed-point parking operation first. Since the vehicle and the station control system of the battery swap station can exchange information through wireless communication, after the vehicle completes the fixed-point parking operation, it can send a parking confirmation message to the station control system. After receiving the parking confirmation message, the station control system can judge whether the vehicle is parked in place. If the vehicle is parked in place, a parking in place message can be fed back to the vehicle. Based on this, if a parking in place message sent by the station control system of the battery swap station is received, it means that the vehicle is parked in place. In this case, it can be determined that the vehicle meets the parking conditions.

[0040] Optionally, when judging whether the vehicle meets the docking conditions, after the vehicle completes the fixed-point parking operation, it is also possible to detect whether the deviation distance between the vehicle's docking position and the battery swapping position of the battery swapping station control system is within the required range to judge whether the vehicle is docked in place. For example, if the deviation distance between the vehicle's docking position and the battery swapping position of the battery swapping station control system in the vehicle body length direction is less than a first distance threshold (e.g., 5 cm), and the deviation distance between the vehicle's docking position and the battery swapping position of the battery swapping station control system in the vehicle body width direction is less than a second distance threshold (e.g., 10-30 cm), and the deviation angle between the vehicle's body direction and the preset direction (the reference direction of the battery swapping position) is less than a preset angle (e.g., 1 degree), it means that the vehicle's docking position meets the requirements for automatic battery swapping. In this case, it can also be determined that the vehicle meets the docking conditions.

[0041] Optionally, the above-mentioned battery replacement conditions are only illustrative examples, and other battery replacement conditions can be flexibly set according to actual conditions, such as whether there are obstacles in the battery replacement area, whether the vehicle's electrical system is normal, etc., which are not limited here.

[0042] Optionally, since operational safety is the primary consideration in industrial environments such as mines, unauthorized vehicles may not have undergone necessary safety inspections and configurations, and access to the battery swap system may cause safety hazards, such as battery compatibility issues, electrical safety risks, and illegal intrusions into the system. Based on this, in order to ensure the safety of battery swap operations, after the vehicle meets the battery swap conditions, it is necessary to further verify the safety of the vehicle. The vehicle can be verified for safety through an authentication mechanism. For example, a battery swap application for the vehicle can be generated and sent to the cloud platform for authentication.

[0043] Optionally, the battery swap application may include key data such as the vehicle's identity information, current battery status, and required battery type, where the vehicle's identity information may be reflected through the vehicle's radio frequency identification (RFID) tag or identification (ID) information. After the battery swap application is generated, the battery swap application may be sent to the cloud platform through the vehicle-mounted communication system (e.g., Tbox) to request authentication for the battery swap operation.

[0044] Optionally, after receiving the battery swap application, the cloud platform will perform an authentication operation to verify the legitimacy and feasibility of the battery swap task for the vehicle, where the authentication process is usually achieved by verifying the identity of the vehicle. For example, the cloud platform will read the RFID tag or ID information of the vehicle through the station control system to confirm whether the vehicle requesting the battery swap is a vehicle in the authorized system, which helps to ensure that only authorized vehicles can perform automatic battery swap operations and prevent unregistered or faulty vehicles from entering by mistake.

[0045] Optionally, the cloud platform can also establish a secure communication connection with the vehicle's Tbox and verify the vehicle's identity information through an encrypted communication protocol to ensure that only authorized vehicles can perform automatic battery replacement operations.

[0046] Optionally, if the vehicle requesting a battery swap is a vehicle within the authorized system, it is determined that the vehicle authentication has passed and the battery swap operation can be further performed; if the vehicle requesting a battery swap is not a vehicle within the authorized system, it is determined that the vehicle authentication has failed and the battery swap operation is prohibited on the vehicle.

[0047] In this step, by judging the battery replacement conditions, it can be ensured that the vehicle is in a suitable state for battery replacement operations. By authenticating the vehicle, the safety and reliability of the battery replacement operation can be ensured, avoiding battery replacement operations on unauthorized vehicles, which would bring safety hazards to the entire battery replacement system.

[0048] Step S104, in response to receiving an authentication pass message from the cloud platform, performing a replacement operation on the battery of the vehicle.

[0049] In the technical solution provided in the above step S104 of the present application, after the cloud platform authenticates the battery replacement operation of the vehicle, if an authentication pass message is received from the cloud platform, it means that the vehicle authentication is passed. In this case, the battery replacement operation can be performed on the vehicle.

[0050] In the above steps S101 to S104, by real-time monitoring of the battery power of the vehicle, the battery replacement task can be triggered in time when the battery power is lower than the power threshold, and then in order to improve the safety and stability of battery replacement, it can be detected whether the vehicle meets the battery replacement conditions. After the vehicle meets the battery replacement conditions, in order to ensure the effectiveness and legality of the vehicle's battery replacement task, a battery replacement application for the vehicle can be further generated, and the battery replacement application can be sent to the cloud platform for authentication to improve the safety of vehicle battery replacement, prevent unauthorized battery replacement operations from causing system security problems to the battery replacement system, and enhance the information security protection capabilities of the entire battery replacement system. After the cloud platform authentication is passed, the battery replacement operation is performed on the vehicle. That is, in an embodiment of the present invention, through intelligent battery power monitoring, the realization of automated battery replacement process, and the guarantee of communication security and task authentication, the efficiency and reliability of battery replacement are significantly improved, and the technical problem of low efficiency of vehicle battery replacement in the prior art is solved.

[0051] Next, the battery replacement method of this vehicle will be further introduced.

[0052] As an optional implementation, the battery replacement method for the vehicle also includes: detecting the station control system of the battery swap station to determine whether the vehicle meets the backup battery condition; detecting the load status of the vehicle to determine whether the vehicle meets the load condition; detecting the fixed-point parking operation performed by the vehicle to determine whether the vehicle meets the parking condition; in response to the vehicle meeting the backup battery condition, the vehicle meeting the load condition, and the vehicle meeting the parking condition, determining that the vehicle meets the battery replacement condition.

[0053] In this embodiment, as can be seen from the above introduction, the battery replacement conditions of the vehicle at least include the backup battery condition, the load condition and the docking condition. Among them, the backup battery condition is used to determine whether there are enough idle backup batteries in the station control system of the battery swap station to meet the battery replacement demand; the load condition is used to determine whether the vehicle is in an unloaded state to meet the battery replacement demand; the docking condition is used to determine whether the vehicle is docked at the battery replacement position in the station control system of the battery swap station to meet the battery replacement demand.

[0054] Optionally, by comprehensively considering the backup battery conditions, load conditions, and parking conditions, it can be determined whether the vehicle with battery replacement needs meets the battery replacement conditions. That is, the vehicle will be judged to meet the battery replacement conditions only when there is a need for battery replacement (the battery power is lower than the threshold), the battery replacement station has sufficient backup batteries, the vehicle is unloaded, and the vehicle is accurately parked. This comprehensive judgment mechanism ensures the feasibility and safety of battery replacement operations and avoids waste of resources and unnecessary operational risks.

[0055] Next, the process of determining whether the vehicle meets the backup battery conditions, load conditions, and docking conditions is further introduced.

[0056] As an optional implementation, the station control system of the battery swap station is tested to determine whether the vehicle meets the backup battery condition, including: detecting whether there is a fully charged backup battery in the station control system of the battery swap station; in response to detecting the presence of at least one fully charged backup battery in the station control system of the battery swap station, determining that the vehicle meets the backup battery condition.

[0057] In this embodiment, since the station control system of the battery swap station is responsible for monitoring the inventory status of the batteries in the battery swap station, including the number and charge status of the spare batteries. When the vehicle triggers the battery swap task, the station control system of the battery swap station needs to check whether there are sufficient and fully charged spare batteries available in the battery swap station to meet the battery swap needs of the vehicle. If it is detected that there is at least one fully charged spare battery in the station control system of the battery swap station, it means that the station control system of the battery swap station meets the battery swap needs of the vehicle. In this case, it can be determined that the vehicle meets the spare battery conditions. Meeting this condition is the key to ensuring that the battery swap task can be executed immediately, avoiding battery swap delays caused by insufficient spare batteries.

[0058] As an optional implementation, the load status of the vehicle is detected to determine whether the vehicle meets the load condition, including: detecting the load status of the vehicle; in response to the load status being an unloaded state, determining that the vehicle meets the load condition; or, in response to the load status being a heavy-loaded state, controlling the vehicle to perform an unloading task, and determining that the vehicle meets the load condition when the vehicle completes the unloading task.

[0059] In this embodiment, the detection of the load state is mainly to determine whether the vehicle is in an unloaded state when the battery is replaced. Since the battery replacement operation is performed when the vehicle is heavily loaded, it may not only affect the stability of the vehicle, but also cause difficulties and safety hazards in battery replacement due to uneven weight distribution. Therefore, before performing the battery replacement operation on the vehicle, it is necessary to ensure that the vehicle is in an unloaded state.

[0060] For example, the weight of the vehicle may be detected by a load sensor. If the weight of the vehicle is less than a weight threshold, it indicates that the vehicle is currently in an unloaded state. In this case, it may be determined that the vehicle meets the load condition.

[0061] Optionally, if the weight of the vehicle is not less than the weight threshold, it means that the vehicle is currently in a heavy-loaded state. Since the vehicle is in a heavy-loaded state and does not meet the load condition, in this case, the vehicle can be controlled to perform an unloading task to restore the empty state.

[0062] As an optional implementation, the fixed-point parking operation performed by the vehicle is detected to determine whether the vehicle meets the parking conditions, including: in response to triggering a battery swapping task, controlling the vehicle to perform a fixed-point parking operation; in response to the vehicle receiving a parking arrival message from the battery swapping station control system for the vehicle after completing the fixed-point parking operation, determining that the vehicle meets the parking conditions; or, in response to the vehicle completing the fixed-point parking operation, the deviation distance between the vehicle's parking position and the battery swapping position of the battery swapping station control system in the vehicle's body length direction does not exceed a first preset value, the deviation distance between the vehicle's parking position and the battery swapping position in the vehicle's body width direction does not exceed a second preset value, and the directional deviation between the vehicle's body direction and the preset direction does not exceed a preset angle, determining that the vehicle meets the parking conditions, wherein the first preset value is less than the second preset value.

[0063] In this embodiment, the detection of the docking position is to ensure that the vehicle can accurately dock at the designated battery swapping position during the battery swapping process, so that the battery swapping task can be executed efficiently and safely. Since the vehicle may not be at the designated battery swapping position after the battery swapping task is triggered, based on this, it is necessary to first control the vehicle to perform a fixed-point parking operation, wherein the fixed-point parking operation will limit the vehicle's driving speed. For example, during the process of performing a fixed-point parking, the vehicle's driving speed does not exceed the speed limit threshold, and gradually decelerates when approaching the battery swapping position until it stops completely. Among them, after the vehicle completes the fixed-point parking operation, a docking confirmation message can be sent to the station control system of the battery swapping station. After receiving the docking confirmation message, the station control system can detect whether the vehicle is docked at the designated battery swapping position. If the vehicle is docked in place (e.g., docked at the designated battery swapping position), a docking in place message can be fed back to the vehicle. Based on this, if a docking in place message sent by the station control system of the battery swapping station is received, it can be determined that the vehicle meets the docking conditions.

[0064] Optionally, in addition to relying on the battery swap station control system to confirm whether the vehicle meets the docking conditions, the vehicle can also autonomously check whether its docking position meets the preset conditions. For example, the vehicle positioning system and sensors can be used to measure the deviation distance between the docking position of the vehicle after the fixed-point parking operation and the battery swap position in the length and width directions of the vehicle body, as well as the angular deviation between the vehicle body direction and the preset direction, to determine whether the vehicle meets the docking conditions.

[0065] For example, if the deviation distance between the vehicle's parking position after completing the fixed-point parking operation and the battery swap position of the battery swap station control system in the direction of the vehicle body length is less than a first preset value (for example, 5 cm), and the deviation distance in the direction of the vehicle body width is less than a second preset value (which may be between 10-30 cm, and the second preset value is greater than the first preset value), and the deviation angle between the vehicle body direction and the preset direction is less than a preset angle (for example, less than 1 degree), then it means that the vehicle's parking position meets the requirements for automatic battery swapping. In this case, it can be determined that the vehicle meets the parking conditions.

[0066] In this step, in order to improve the accuracy and efficiency of automatic battery replacement. By implementing fixed-point parking and combining the confirmation of the station control system and the vehicle's own deviation detection, it can be ensured that the vehicle can be parked in the best position every time, which is convenient for battery replacement operations. In addition, the vehicle's automatic detection capability can confirm the docking position through its own judgment even when there is a delay or failure in the information transmission of the station control system of the battery replacement station, which increases the robustness and reliability of the system. This precise docking control is an indispensable part of realizing the automated battery replacement process, which helps to reduce the waiting time during the battery replacement process, improve the battery replacement efficiency, and ensure operational safety.

[0067] Optionally, after determining through the above steps that the vehicle meets the battery replacement conditions, a battery replacement operation can be performed on the vehicle. The battery replacement operation process of the vehicle is further introduced below.

[0068] As an optional embodiment, performing a replacement operation on a vehicle's battery includes: detecting whether the vehicle is in a battery replacement state, wherein the battery replacement state is used to indicate that the battery cover of the vehicle is in a flipped state and the power of the vehicle is in an off state; in response to the vehicle being not in a battery replacement state, switching the battery cover of the vehicle from a current state to a flipped state, and switching the power of the vehicle from a current state to an off state; in response to the battery cover of the vehicle being in a flipped state and the power of the vehicle being in an off state, determining that the vehicle is in a battery replacement state, and performing a replacement operation on the battery of the vehicle.

[0069] In this embodiment, before starting the battery replacement, it can be further detected whether the vehicle is already in the battery replacement state, wherein the battery replacement state detection of the vehicle at least includes the detection of the battery cover of the vehicle and the detection of the power state of the vehicle.

[0070] For example, by detecting the battery cover of the vehicle, it can be determined whether the battery cover of the vehicle is in a flipped state. If the battery cover of the vehicle is in a flipped state, it means that the battery cover of the vehicle has met the battery replacement demand. In addition, it is also necessary to detect the power status of the vehicle. By detecting the power status of the vehicle, it can be determined whether the power of the vehicle is in a turned-off state. If the power of the vehicle is in a turned-off state, it means that the power of the vehicle has met the battery replacement demand. In this case, the battery replacement operation can be performed on the vehicle.

[0071] Optionally, if the battery cover of the vehicle is not in the flipped state, it means that the battery cover of the vehicle does not meet the battery replacement demand. In this case, the battery cover of the vehicle can be switched from the current state to the flipped state to meet the battery replacement demand of the vehicle. Similarly, if the power supply of the vehicle is not in the off state, the power supply of the vehicle is switched to the off state to meet the battery replacement demand of the vehicle.

[0072] In this step, the battery replacement status of the vehicle is checked before the battery is replaced, which can ensure that the vehicle is in a safe and controllable state and avoid electrical safety problems during the battery replacement process.

[0073] As an optional implementation, switching the battery cover of a vehicle from a current state to a flip state includes: sending a battery cover unlock command to the vehicle; when the vehicle responds to the battery cover unlock command and successfully unlocks the battery cover of the vehicle, sending a battery cover flip command to the vehicle; when the vehicle responds to the battery cover flip command and successfully flips the battery cover of the vehicle, determining that the battery cover of the vehicle has been switched to a flip state.

[0074] In this embodiment, if the battery cover of the vehicle is not in the flipped state, the battery cover of the vehicle can be controlled to switch from the current state to the flipped state. For example, a battery cover unlocking instruction is first sent to the vehicle, and the battery cover unlocking instruction is used to unlock the battery cover of the vehicle to ensure that the battery cover is in an operable state.

[0075] Optionally, if the vehicle successfully responds to the unlocking command and completes the unlocking of the battery cover, a battery cover flipping command is further sent to the vehicle, which requires the vehicle's battery cover to be switched from a current state to a flipped state so that the battery swap station control system can start the battery replacement work without obstacles.

[0076] Optionally, if the unlock command fails to execute successfully, for example, the battery cover fails, a battery cover flip command will not be sent to the vehicle. Instead, a fault handling process will be entered, which may include attempting to resend the unlock command or manually intervene to troubleshoot the problem, etc. There are no specific restrictions here.

[0077] Optionally, after receiving the battery cover flipping instruction, the vehicle will execute the battery cover flipping action. If the flipping action is completed and successful, it means that the battery cover has been switched to the flipped state. In this case, the station control system of the battery swap station will continue the next battery swapping process, that is, instruct the battery swapping robot to start the battery replacement operation.

[0078] Optionally, if the flip command fails to execute, the vehicle may not be able to enter the battery swap state. The battery swap station control system will record this failure state and take corresponding fault handling measures, such as notifying maintenance personnel to conduct on-site inspections, or attempting to unlock and flip the battery cover again through remote control.

[0079] In this step, through this series of command sending and status confirmation, it can ensure that the vehicle's battery cover is in a correct and safe operating state before the battery swap begins. This is a crucial link in the entire automatic battery swap process, which not only affects the efficiency of the battery swap, but is also directly related to the safety of the battery swap operation.

[0080] As an optional implementation, switching the power of the vehicle from a current state to an off state includes: sending a power-off command to the vehicle; and when the vehicle responds to the power-off command and turns off the power of the vehicle, determining that the power of the vehicle has been switched to the off state.

[0081] In this embodiment, if the power state of the vehicle is not in the off state, the power of the vehicle can be controlled to switch from the current state to the off state. For example, a power-off instruction is sent to the vehicle, and after receiving the power-off instruction, the vehicle will turn off the power and switch the power state from the current state to the off state.

[0082] Optionally, after the battery cover of the vehicle is switched from the current state to the flipped state, and the power state of the vehicle is switched from the current state to the off state through the above steps, a confirmation message that the vehicle is in the battery swap state can be sent to the battery swap station control system so that the battery swap station control system can carry out the battery swap operation on the vehicle.

[0083] As an optional implementation, performing a replacement operation on a vehicle's battery includes: detecting a fully charged slot and an empty slot in a station control system of the battery swap station, wherein the fully charged slot is used to indicate a slot for storing a fully charged spare battery, and the empty slot is used to indicate an unoccupied slot; in response to the presence of at least one fully charged slot and at least one empty slot in the station control system of the battery swap station, selecting a target fully charged slot from the at least one fully charged slot, and selecting a target empty slot from the at least one empty slot; controlling a robotic arm of the station control system of the battery swap station to lift the vehicle's battery to the target empty slot; controlling a robotic arm of the station control system of the battery swap station to lift the fully charged spare battery at the target fully charged slot to the battery installation position of the vehicle.

[0084] In this embodiment, before the battery swap task begins, it is necessary to further detect the battery storage status in the battery swap station control system, for example, to detect the storage locations (full storage locations) in the battery swap station control system where fully charged spare batteries are stored, as well as the idle locations (empty storage locations). By detecting the fully charged storage locations and empty storage locations in the battery swap station control system, the availability and location information of the batteries in the battery swap station control system can be obtained in real time.

[0085] Optionally, if after detecting the fully charged positions and empty positions in the station control system of the battery swap station, it is confirmed that there is at least one fully charged position and at least one empty position, a target fully charged position can be selected from the fully charged positions, and a target empty position can be selected from the empty positions as the battery replacement position for this battery swap task. Among them, the target fully charged position can be the fully charged position closest to the battery swap position of the vehicle among at least one fully charged position, and the target empty position can also be the empty position closest to the battery swap position of the vehicle among at least one empty position, so as to reduce the operation time and energy consumption of the robot arm. It should be noted that there can be multiple strategies for selecting the target fully charged position and the target empty position, for example, selecting a fully charged battery with the highest power and the most recent charge, and selecting an empty position that is most convenient for the robot arm to operate, so as to optimize the battery swap efficiency and reduce the moving distance of the robot arm, which is not specifically limited here.

[0086] Optionally, after selecting the target full-charge position and the target empty position, the robot arm can be controlled to lift the low-charge battery of the vehicle to the target empty position. For example, the station control system of the battery swap station will send instructions to the robot arm to control it to lift the old battery from the vehicle and move it to the previously selected target empty position. This process requires the robot arm to accurately locate the vehicle battery and complete the lifting and handling operations smoothly and safely to avoid damage to the battery during movement.

[0087] Optionally, after the old battery on the vehicle is lifted to the target empty position, the robot arm can be controlled to lift the fully charged spare battery to the battery installation position of the vehicle. For example, after the old battery is successfully placed in the target empty position, the station control system of the exchange station will continue to control the robot arm to lift the fully charged spare battery from the target fully charged position, and then accurately install it to the battery installation position of the vehicle. This step also requires a high degree of precision and safety to ensure that the fully charged battery can be correctly installed and connected to the vehicle's electrical system.

[0088] In this step, a series of detection, selection and control operations can ensure the automation, efficiency and safety of the battery replacement process. Each link requires precise communication and coordination between the station control system and the vehicle end and the robotic arm, as well as strict control of the battery status and mechanical operation to achieve automatic battery replacement of the vehicle. This process reflects the application of intelligent mining automation technology in battery replacement automation, resource management and operational safety control, and is one of the key technologies for realizing green mines and intelligent operations.

[0089] As an optional embodiment, the battery replacement method of the vehicle also includes: in response to a fully charged spare battery being successfully installed in the battery installation position of the vehicle, sending a battery cover falling back instruction to the vehicle; in response to the battery cover of the vehicle successfully falling back, sending a battery cover locking instruction to the vehicle; in response to the battery cover of the vehicle successfully locking, determining that the vehicle has completed the battery replacement operation.

[0090] In this embodiment, when a fully charged spare battery is successfully installed in the battery installation position of the vehicle, a battery cover return command can be sent to the vehicle, wherein the battery cover return command requires the battery cover of the vehicle to switch from a flipped state back to a closed state to cover and protect the newly installed battery.

[0091] Optionally, once the vehicle successfully responds to the battery cover falling back instruction and closes the battery cover in place, a battery cover locking instruction may be further sent to the vehicle, wherein the battery cover locking instruction requires the vehicle to lock the battery cover to ensure that the battery cover will not be accidentally opened due to vibration or other external forces during vehicle operation, thereby protecting the battery from damage and ensuring the safety of vehicle operation. The locking operation may be achieved through a mechanical lock or an electronic lock, depending on the design of the vehicle.

[0092] Optionally, if the battery cover locking operation of the vehicle is successful, it can be confirmed that the vehicle has completed the battery replacement operation. After the battery replacement is completed, the vehicle will be powered on again, drive away from the battery swap station and join the working cycle.

[0093] As an optional implementation, the battery replacement method for the vehicle also includes: in response to the vehicle completing the battery replacement operation, controlling the vehicle to power on; in response to the vehicle powering on successfully, controlling the vehicle to drive away from the battery replacement position at a limited speed.

[0094] In this embodiment, after the battery of the vehicle is successfully replaced, a power-on command can be sent to the vehicle. The power-on process usually directly supplies power to the high-voltage system of the vehicle, which will activate various functions of the vehicle, including the drive system and the control system. Among them, the execution of the power-on command is the last step in the battery replacement process, marking the completion of the battery replacement task and providing the necessary power support for the vehicle to prepare to leave the battery replacement location.

[0095] Optionally, when the vehicle successfully responds to the power-on command, that is, the vehicle's high-voltage system has been activated and all system statuses are displayed as normal, the vehicle is controlled to leave the battery swap location at a limited speed, wherein the limited speed may be 5 km / h. This limited speed can ensure that in the initial stage after the battery swap, the vehicle can smoothly and safely exit the battery swap area, avoiding accidents caused by unstable conditions that may exist after system restart or battery replacement. This is only an illustrative example and does not limit the size of the limited speed.

[0096] Optionally, during the vehicle's departure, the vehicle will join the cyclic task, which means that the vehicle will return to the normal workflow, continue to perform the mine's transportation tasks, and re-execute the above-mentioned battery replacement process when the battery power is lower than the power threshold.

[0097] It should be noted that the above steps can be implemented by the vehicle's unmanned driving control system.

[0098] In the above steps, the efficiency and reliability of battery replacement are significantly improved through intelligent battery power monitoring, realization of automated battery replacement process, and guarantee of communication security and task authentication, solving the technical problem of low battery replacement efficiency of vehicles in the prior art.

[0099] The technical solution of the embodiment of the present invention is illustrated below in conjunction with preferred implementation modes.

[0100] In open-pit mining scenarios, unmanned mining trucks are key tools for efficient material transportation. These mining trucks usually have large loads, high work intensity, and fast battery consumption. By establishing battery swap stations in specific areas of the mine, automatic battery swapping of mining trucks can be achieved, thereby ensuring that mining trucks can carry out transportation operations uninterruptedly, greatly improving work efficiency and safety. Mining trucks can automatically trigger battery swap tasks based on real-time monitoring of battery power, or the mine dispatch center can manually schedule battery swaps based on the operation plan and battery status to ensure that the vehicle has sufficient power and continuous operation.

[0101] Figure 2 is a flow chart of another vehicle battery replacement method according to an embodiment of the present invention, such as Figure 2 As shown, the battery replacement method of the vehicle can be completed through collaboration between the unmanned driving control system, the battery swap station control system, the vehicle and the battery swap station cloud platform, wherein the method includes the following steps:

[0102] Step S201, the battery replacement task is triggered.

[0103] In this embodiment, the unmanned driving control system triggers a battery replacement task in response to the battery power of the vehicle being lower than a power threshold, wherein the battery replacement task may be triggered automatically or manually, and there is no limitation here.

[0104] Step S202: Unmanned driving at a fixed point parking.

[0105] In this embodiment, after the battery swap task is triggered, the unmanned driving control system can control the vehicle to perform a fixed-point parking operation to control the vehicle to park at the designated battery swap position of the battery swap station control system.

[0106] Step S203, automatically read the RFID and identify the vehicle.

[0107] In this embodiment, the battery swap station control system can read the RFID tag of the vehicle to identify the identity information of the vehicle.

[0108] Step S204, establishing a communication connection with the vehicle Tbox.

[0109] In this embodiment, a communication connection is established between the station control system of the battery swap station and the Tbox of the vehicle. If the vehicle stops at the designated position of the station control system of the battery swap station after completing the fixed-point parking operation, a parking completion message can be sent to the vehicle through the communication connection established with the Tbox of the vehicle.

[0110] Optionally, after establishing the communication message with the vehicle Tbox, step S207 may be directly executed.

[0111] Step S205, receiving a docking completion message.

[0112] In this embodiment, the station control system of the battery swap station sends a parking arrival message to the vehicle.

[0113] Step S206, secondary determination of whether the vehicle has docked in place.

[0114] In this embodiment, if the vehicle receives a message from the station control system of the battery swap station indicating that the vehicle has stopped, step S207 is executed; if the vehicle does not receive a message from the station control system of the battery swap station indicating that the vehicle has stopped, step S202 is returned to be executed.

[0115] Step S207, automatically send a battery replacement application.

[0116] In this embodiment, after the vehicle is parked, the unmanned driving control system sends a battery replacement application to the battery replacement station cloud platform.

[0117] Step S208: cloud platform authentication.

[0118] In this embodiment, after receiving the battery swap application, the battery swap station cloud platform can authenticate the vehicle to determine whether the vehicle has the battery swap authority. If the authentication is successful, step S210 can be executed, and if the authentication fails, step S209 can be executed.

[0119] Step S209, battery replacement authentication fails.

[0120] In this embodiment, if the authentication of the battery swap station cloud platform fails, failure information can be returned to the unmanned driving control system.

[0121] Step S210, battery replacement starts.

[0122] In this embodiment, if the battery swap station cloud platform authentication is passed, the battery swap process can be started.

[0123] Step S211, issuing an unlock instruction.

[0124] In this embodiment, the station control system of the battery swap station sends an unlocking command to the vehicle.

[0125] Step S212: unlocking the vehicle.

[0126] In this embodiment, after receiving the unlocking instruction, the vehicle executes the vehicle unlocking process.

[0127] Step S213, determining whether the unlocking is successful.

[0128] In this step, after the vehicle executes the unlocking process, it is determined whether the vehicle is unlocked successfully. If the unlocking is successful, step S215 is executed; if the unlocking fails, step S214 is executed.

[0129] Step S214, unlocking failed.

[0130] In this embodiment, if the vehicle fails to be unlocked, the reason for the unlocking failure can be checked and the vehicle can be unlocked again.

[0131] Step S215: issuing a hat brim flipping instruction.

[0132] In this embodiment, if the vehicle is unlocked successfully, the battery swap station control system can further send a brim (battery cover) flip command to the vehicle.

[0133] Step S216, the vehicle brim is flipped over.

[0134] In this embodiment, after receiving the brim flipping instruction, the vehicle executes the brim flipping process.

[0135] Step S217, determining whether the brim is flipped successfully.

[0136] In this embodiment, after the vehicle performs the brim flipping process, it is determined whether the brim of the vehicle is flipped successfully. If successful, step S219 is executed, and if failed, step S218 is executed.

[0137] Step S218, flipping the brim fails.

[0138] In this embodiment, if the vehicle brim fails to flip, the cause of the failure can be checked and the brim flip can be performed again.

[0139] Step S219: the vehicle is automatically powered off.

[0140] In this embodiment, after the vehicle's hood brim is flipped successfully, the unmanned driving control system can control the vehicle to execute a power-off process.

[0141] Step S220, the vehicle power is turned off.

[0142] In this embodiment, after the vehicle executes the power-off process, the power is in an off state.

[0143] Step S221, selecting a fully charged storage space and an empty storage space.

[0144] In this embodiment, after the vehicle is in a powered-off state, the battery swap station control system can select a fully charged position and an empty position from the battery swap station.

[0145] Step S222, lifting the vehicle battery to an empty storage space.

[0146] In this embodiment, after selecting a fully charged slot and an empty slot, the battery swap station control system can control the battery swap robot arm to transfer the vehicle battery to a selected empty slot.

[0147] Step S223, transfer a fully charged battery to the vehicle.

[0148] In this embodiment, after hoisting the vehicle battery to the empty storage position, the fully charged battery in the fully charged storage position can be continuously transferred to the battery installation position of the vehicle.

[0149] Step S224, issuing a command to lower the hat brim.

[0150] In this embodiment, after the fully charged battery is successfully installed in the battery installation position of the vehicle, a shampoo hat brim drop instruction can be sent to the vehicle.

[0151] Step S225, the vehicle lowers the brim.

[0152] In this embodiment, after receiving the hat brim lowering instruction, the vehicle executes the hat brim lowering process.

[0153] Step S226, determining whether the hat brim is successfully retracted.

[0154] In this embodiment, after the vehicle executes the hat brim falling back process, it can be determined whether the hat brim of the vehicle has fallen back successfully. If it has fallen back successfully, step S228 is executed; if it has failed, step S227 is executed.

[0155] Step S227, the hat brim fails to fall back.

[0156] In this embodiment, if the vehicle's hat brim fails to fall back, the cause of the failure is checked and the hat brim falling back process is re-executed.

[0157] Step S228: issuing a locking instruction.

[0158] In this embodiment, if the vehicle's hood brim falls back successfully, a locking instruction is further sent to the vehicle.

[0159] Step S229, the vehicle is locked.

[0160] In this embodiment, after receiving the locking instruction, the vehicle will execute the locking process.

[0161] Step S230, determining whether the locking is successful.

[0162] In this embodiment, after the vehicle executes the locking process, it can be further determined whether the vehicle is locked successfully. If the locking fails, step S231 is executed, and if the locking is successful, step S232 is executed.

[0163] Step S231, locking failed.

[0164] In this embodiment, if the vehicle fails to be locked, the cause of the failure is checked and the locking process is re-executed.

[0165] Step S232, battery replacement completion information.

[0166] In this embodiment, if the vehicle is locked successfully, it is confirmed that the battery replacement of the vehicle is completed, and the station control system of the battery replacement station can send a power-on command to the unmanned driving system.

[0167] Step S233, the vehicle is automatically powered on.

[0168] In this embodiment, the unmanned driving system will control the vehicle to power on after receiving the power-on command.

[0169] Step S234, the battery replacement task is completed and the vehicle leaves.

[0170] In this embodiment, after the vehicle is powered on, the vehicle can be controlled to leave the battery replacement area.

[0171] Step S235: the vehicle joins the cyclic task.

[0172] In this embodiment, after the vehicle leaves the battery replacement area, it will join the cyclic task. That is, the vehicle will return to the normal workflow, continue to perform the mine transportation task, and re-execute the above-mentioned battery replacement process when the battery power is lower than the power threshold.

[0173] In the above steps S201 to S235, accurate unmanned fixed-point parking can achieve accurate docking between the vehicle and the battery swapping equipment under speed limit conditions, and in order to improve the efficiency and safety of battery replacement, the docking information sent by the station control system can be used to further confirm the docking status of the vehicle. After the vehicle is docked and meets the battery swapping conditions, in order to ensure the automation and orderly progress of the battery swapping process, the battery swapping task can be automatically triggered, and cloud authentication can be performed to improve the controllability and safety of the battery swapping process, prevent battery swapping failures or safety accidents caused by vehicle or battery status mismatches, and enhance the operating stability and fault response capabilities of the entire battery swapping system.

[0174] After the cloud authentication is passed, the automatic battery replacement process of the battery swap station begins to execute, including unlocking and flipping the battery cover, removing the old battery, hoisting the fully charged battery, locking the battery cover, controlling the vehicle power supply, etc. Each step is controlled intelligently to ensure the accuracy and safety of the operation. That is, in the embodiment of the present invention, through the intelligent fixed-point parking technology, the realization of the automated battery replacement process, and the guarantee of communication security and task authentication, the efficiency, safety and stability of battery replacement are significantly improved, and the problems of low battery replacement efficiency and safety risks caused by insufficient parking accuracy, complex battery replacement process and lack of effective authentication mechanism in the prior art are solved, and more efficient, safe and reliable automatic battery replacement is achieved. For the unmanned driving system of open-pit mines, it means shorter battery replacement time, lower operating costs and higher operating safety, providing strong technical support for the construction and operation of smart mines.

[0175] According to an embodiment of the present invention, a vehicle battery replacement device is also provided. It should be noted that the vehicle battery replacement device can be used to execute the vehicle battery replacement method in the embodiment of the present invention.

[0176] Figure 3 Schematic diagram of a battery replacement device for a vehicle according to an embodiment of the present invention. The battery replacement device 300 for a vehicle includes: a monitoring unit 301 , a triggering unit 302 , a sending unit 303 and a battery replacement unit 304 .

[0177] A monitoring unit 301, used to monitor the battery power of the vehicle;

[0178] A trigger unit 302, configured to trigger a battery replacement task in response to the battery power being lower than a power threshold, wherein the battery replacement task is used to indicate an operation of replacing a battery of the vehicle;

[0179] The sending unit 303 is used to send the battery replacement application of the vehicle to the cloud platform for authentication in response to the vehicle meeting the battery replacement condition corresponding to the battery replacement task;

[0180] The battery replacement unit 304 is used to perform a replacement operation on the vehicle's battery in response to receiving an authentication pass message from the cloud platform, wherein the authentication pass message is used to indicate that the battery replacement application has been authenticated.

[0181] Optionally, the battery replacement device 300 of the vehicle is also used to: detect the station control system of the battery replacement station to determine whether the vehicle meets the backup battery condition; detect the load status of the vehicle to determine whether the vehicle meets the load condition; detect the fixed-point parking operation performed by the vehicle to determine whether the vehicle meets the parking condition; in response to the vehicle meeting the backup battery condition, the vehicle meeting the load condition, and the vehicle meeting the parking condition, determine that the vehicle meets the battery replacement condition.

[0182] Optionally, the battery replacement device 300 of the vehicle is also used to: detect whether there is a fully charged spare battery in the station control system of the battery swap station; in response to detecting the presence of at least one fully charged spare battery in the station control system of the battery swap station, determine that the vehicle meets the spare battery conditions.

[0183] Optionally, the battery replacement device 300 of the vehicle is also used to: detect the load status of the vehicle; in response to the load status being an unloaded state, determine that the vehicle meets the load condition; or, in response to the load status being a heavy-loaded state, control the vehicle to perform an unloading task, and determine that the vehicle meets the load condition when the vehicle completes the unloading task.

[0184] Optionally, the battery replacement device 300 of the vehicle is also used to: in response to triggering a battery replacement task, control the vehicle to perform a fixed-point parking operation; in response to the vehicle receiving a parking message from the battery replacement station control system for the vehicle after completing the fixed-point parking operation, determine that the vehicle meets the parking conditions; or, in response to the vehicle completing the fixed-point parking operation, the deviation distance between the vehicle's parking position and the battery replacement position of the battery replacement station control system in the vehicle's body length direction does not exceed a first preset value, the deviation distance between the vehicle's parking position and the battery replacement position in the vehicle's body width direction does not exceed a second preset value, and the directional deviation between the vehicle's body direction and the preset direction does not exceed a preset angle, determine that the vehicle meets the parking conditions, wherein the first preset value is less than the second preset value.

[0185] Optionally, the battery replacement unit 304 also includes: a detection module for detecting whether the vehicle is in a battery replacement state, wherein the battery replacement state is used to indicate that the battery cover of the vehicle is in a flipped state and the power of the vehicle is in an off state; a switching module for switching the battery cover of the vehicle from a current state to a flipped state, and switching the power of the vehicle from a current state to an off state in response to the vehicle being not in a battery replacement state; a determination module for determining that the vehicle is in a battery replacement state in response to the battery cover of the vehicle being in a flipped state and the power of the vehicle being in an off state, and performing a replacement operation on the battery of the vehicle.

[0186] Optionally, the switching module is also used to: send a battery cover unlock command to the vehicle; when the vehicle responds to the battery cover unlock command and successfully unlocks the battery cover of the vehicle, send a battery cover flip command to the vehicle; when the vehicle responds to the battery cover flip command and successfully flips the battery cover of the vehicle, determine that the battery cover of the vehicle has been switched to a flipped state.

[0187] Optionally, the switching module is further used to: send a power-off instruction to the vehicle; and when the vehicle responds to the power-off instruction and turns off the power of the vehicle, determine that the power of the vehicle has been switched to an off state.

[0188] Optionally, the battery exchange unit 304 is also used to: send a power-off command to the vehicle; and when the vehicle responds to the power-off command and turns off the power of the vehicle, determine that the power of the vehicle has been switched to the off state.

[0189] Optionally, the battery swap unit 304 is also used to: detect fully charged slots and empty slots in the station control system of the battery swap station, wherein the fully charged slots are used to indicate slots for storing fully charged spare batteries, and the empty slots are used to indicate free slots; in response to the presence of at least one fully charged slot and at least one empty slot in the station control system of the battery swap station, select a target fully charged slot from at least one fully charged slot, and select a target empty slot from at least one empty slot; control the robotic arm of the station control system of the battery swap station to lift the battery of the vehicle to the target empty slot; control the robotic arm of the station control system of the battery swap station to lift the fully charged spare battery at the target fully charged slot to the battery installation position of the vehicle.

[0190] Optionally, the vehicle's battery replacement device 300 is also used to: in response to a fully charged spare battery being successfully installed in the battery installation position of the vehicle, send a battery cover falling back command to the vehicle; in response to the vehicle's battery cover successfully falling back, send a battery cover locking command to the vehicle; in response to the vehicle's battery cover successfully locking, determine that the vehicle has completed the battery replacement operation.

[0191] Optionally, the battery replacement device 300 of the vehicle is also used to: in response to the vehicle completing the battery replacement operation, control the vehicle to power on; in response to the vehicle powering on successfully, control the vehicle to leave the battery replacement position at a limited speed.

[0192] In this embodiment, by real-time monitoring of the battery power of the vehicle, the battery replacement task can be triggered in time when the battery power is lower than the power threshold, and then in order to improve the safety and stability of battery replacement, it can be detected whether the vehicle meets the battery replacement conditions. After the vehicle meets the battery replacement conditions, in order to ensure the effectiveness and legality of the vehicle's battery replacement task, a battery replacement application for the vehicle can be further generated, and the battery replacement application can be sent to the cloud platform for authentication to improve the safety of vehicle battery replacement, prevent unauthorized battery replacement operations from causing system security problems to the battery replacement system, and enhance the information security protection capabilities of the entire battery replacement system. After the cloud platform authentication is passed, the battery replacement operation is performed on the vehicle. That is, in the embodiment of the present invention, through intelligent battery power monitoring, the realization of automated battery replacement process, and the guarantee of communication security and task authentication, the efficiency and reliability of battery replacement are significantly improved, and the technical problem of low efficiency of vehicle battery replacement in the prior art is solved.

[0193] An embodiment of the present application further provides an electronic device, comprising: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods in various embodiments of the present invention when running.

[0194] An embodiment of the present application further provides a computer-readable storage medium, which includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in various embodiments of the present invention.

[0195] An embodiment of the present application further provides a computer program product, including a computer program, which implements the methods in various embodiments of the present invention when executed by a processor.

[0196] An embodiment of the present application further provides a computer program product, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium is used to store a computer program, and when the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0197] The embodiments of the present application further provide a computer program, which implements the methods in the above-mentioned embodiments of the present invention when executed by a processor.

[0198] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0199] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0200] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, 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 through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0201] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0202] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0203] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0204] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for replacing a battery of a vehicle, characterized in that: include: Monitor the vehicle's battery charge; In response to the battery power being lower than a power threshold, triggering a battery replacement task, wherein the battery replacement task is used to indicate an operation of replacing the battery of the vehicle; In response to the vehicle satisfying the battery replacement condition corresponding to the battery replacement task, sending the battery replacement application of the vehicle to the cloud platform for authentication; In response to receiving an authentication pass message from the cloud platform, a battery replacement operation is performed on the vehicle, wherein the authentication pass message is used to indicate that the battery replacement application has been authenticated.

2. The method according to claim 1, characterized in that The method further comprises: Testing the station control system of the battery swap station to determine whether the vehicle meets the backup battery conditions; Detecting the load state of the vehicle to determine whether the vehicle meets the load condition; Detecting a fixed-point parking operation performed by the vehicle to determine whether the vehicle meets parking conditions; In response to the vehicle satisfying the backup battery condition, the vehicle satisfying the load condition, and the vehicle satisfying the parking condition, it is determined that the vehicle satisfies the battery replacement condition.

3. The method according to claim 2, characterized in that The station control system of the battery swap station is tested to determine whether the vehicle meets the backup battery conditions, including: Detecting whether there is a fully charged backup battery in the station control system of the battery swap station; In response to detecting that at least one of the fully-charged backup batteries exists in the battery swap station control system, it is determined that the vehicle meets the backup battery condition.

4. The method according to claim 2, characterized in that Detecting the load state of the vehicle to determine whether the vehicle meets the load condition includes: detecting a load state of the vehicle; In response to the load state being an unloaded state, determining that the vehicle satisfies the load condition; or, In response to the load state being a heavy load state, the vehicle is controlled to perform an unloading task, and when the vehicle completes the unloading task, it is determined that the vehicle meets the load condition.

5. The method according to claim 2, characterized in that: Detecting the fixed-point parking operation performed by the vehicle to determine whether the vehicle meets the parking condition includes: In response to triggering the battery replacement task, controlling the vehicle to perform a fixed-point parking operation; In response to the vehicle receiving a parking arrival message from the battery swap station control system after completing the fixed-point parking operation, it is determined that the vehicle meets the parking condition; or, In response to the vehicle completing the fixed-point parking operation, the deviation distance between the parking position of the vehicle and the battery swapping position of the battery swapping station control system in the direction of the vehicle's body length does not exceed a first preset value, the deviation distance between the parking position of the vehicle and the battery swapping position in the direction of the vehicle's body width does not exceed a second preset value, and the directional deviation between the vehicle's body direction and the preset direction does not exceed a preset angle, it is determined that the vehicle meets the parking conditions, wherein the first preset value is less than the second preset value.

6. The method according to claim 1, characterized in that Performing a replacement operation on the battery of the vehicle, comprising: Detecting whether the vehicle is in a battery replacement state, wherein the battery replacement state is used to indicate that the battery cover of the vehicle is in a flipped state and the power supply of the vehicle is in a turned-off state; In response to the vehicle not being in the battery replacement state, switching the battery cover of the vehicle from a current state to the flip state, and switching the power supply of the vehicle from a current state to the off state; In response to the battery cover of the vehicle being in the flipped state and the power of the vehicle being in the off state, it is determined that the vehicle is in the battery replacement state, and a replacement operation is performed on the battery of the vehicle.

7. The method according to claim 6, characterized in that Switching the battery cover of the vehicle from a current state to the flipped state includes: Sending a battery cover unlocking instruction to the vehicle; When the vehicle successfully unlocks the battery cover of the vehicle in response to the battery cover unlocking instruction, sending a battery cover flipping instruction to the vehicle; When the vehicle successfully flips the battery cover of the vehicle in response to the battery cover flipping instruction, it is determined that the battery cover of the vehicle has been switched to the flipped state.

8. The method according to claim 6, characterized in that Switching the power supply of the vehicle from a current state to the off state includes: Sending a power-off command to the vehicle; When the vehicle turns off the power of the vehicle in response to the power-off instruction, it is determined that the power of the vehicle has been switched to the off state.

9. The method according to claim 6, characterized in that Performing a replacement operation on the battery of the vehicle, comprising: Detecting a fully charged position and an empty position in the station control system of the battery swap station, wherein the fully charged position is used to indicate a position for storing a fully charged spare battery, and the empty position is used to indicate an idle position; In response to the existence of at least one of the fully charged positions and at least one of the empty positions in the station control system of the battery swap station, a target fully charged position is selected from the at least one fully charged position, and a target empty position is selected from the at least one empty position; Controlling the mechanical arm of the station control system of the battery swap station to lift the battery of the vehicle to the target empty position; Control the mechanical arm of the station control system of the battery swap station to lift the fully charged spare battery at the target fully charged storage position to the battery installation position of the vehicle.

10. The method according to claim 9, characterized in that The method further comprises: In response to the fully-charged backup battery being successfully installed in the battery installation position of the vehicle, sending a battery cover retracting instruction to the vehicle; In response to the battery cover of the vehicle being successfully retracted, sending a battery cover locking instruction to the vehicle; In response to the battery cover of the vehicle being successfully locked, it is determined that the vehicle has completed the battery replacement operation.

11. The method according to claim 10, characterized in that The method further comprises: In response to the vehicle completing the battery replacement operation, controlling the vehicle to power on; In response to the vehicle being powered on successfully, the vehicle is controlled to drive away from the battery replacement position at a limited speed.

12. A battery replacement device for a vehicle, characterized in that: include: A monitoring unit for monitoring the battery charge of the vehicle; a trigger unit, configured to trigger a battery replacement task in response to the battery power level being lower than a power threshold, wherein the battery replacement task is used to indicate an operation of replacing a battery of the vehicle; a sending unit, configured to send the battery replacement application of the vehicle to the cloud platform for authentication in response to the vehicle satisfying the battery replacement condition corresponding to the battery replacement task; A battery replacement unit is used to perform a battery replacement operation on the vehicle in response to receiving an authentication pass message from the cloud platform, wherein the authentication pass message is used to indicate that the battery replacement application has been authenticated.

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