Battery replacement method and device of two-wheeled electric vehicle, electronic equipment and storage medium

Abstract

The invention provides a battery replacement method and device for a two-wheeled electric vehicle, electronic equipment and a storage medium. The method comprises the steps that a target electric vehicle to be subjected to battery replacement and vehicle information of the target electric vehicle are determined; based on position information in the vehicle information, determining a target battery changing vehicle corresponding to the target electric vehicle and position information of the target battery changing vehicle; path planning is conducted based on the position information of the target electric vehicle and the position information of the target battery replacing vehicle, and the target battery replacing vehicle is controlled to go to the position where the target electric vehicle is located based on a battery replacing path obtained through path planning so that battery replacing can be conducted on the target electric vehicle; the target battery replacing vehicle is loaded with a full-electricity battery and a mechanical arm, the mechanical arm is used for taking out the battery to be replaced from the target electric vehicle and placing the full-electricity battery, the problems that in a traditional scheme, battery replacing depends on user initiative, is not convenient and efficient enough and is high in cost are solved, battery replacing can be actively conducted on the two-wheeled electric vehicle needing battery replacing, and the battery replacing efficiency is improved. The flexibility is higher, the degree of freedom is higher, the loss degree is smaller, and the practicability is higher.

Description

Technical Field

[0001] The present invention relates to the technical field of electric vehicle battery swapping, and particularly to a battery swapping method, device, electronic device, and storage medium for two-wheeled electric vehicles. Background Art

[0002] Currently, as a convenient and environmentally friendly means of transportation, two-wheeled electric vehicles have been widely used in daily life. However, their charging methods mainly rely on traditional socket charging, which is a time-consuming process and greatly limits the travel efficiency and convenience of users. To shorten the charging time and improve the user experience, some battery swapping technologies have emerged in the market, which usually achieve this by setting up fixed battery swapping stations. When a user needs to swap the battery, they can drive the two-wheeled electric vehicle to the battery swapping station by themselves and manually or with the help of simple equipment to complete the battery replacement.

[0003] Although the battery swapping method of fixed battery swapping stations improves the efficiency to a certain extent compared with the traditional charging method, there are still problems of insufficient convenience and high efficiency. Users need to plan their trips in advance, search for and go to the nearest battery swapping station, which may cause inconvenience to users in the case of heavy urban traffic or uneven distribution of battery swapping stations. In addition, the construction and operation costs of fixed battery swapping stations are relatively high, and it is difficult to cover all user demand scenarios. Summary of the Invention

[0004] The present invention provides a battery swapping method, device, electronic device, and storage medium for two-wheeled electric vehicles to solve the problem in the prior art that the battery swapping of two-wheeled electric vehicles depends on the initiative of users and is not convenient and efficient enough, and can automatically locate the target electric vehicle to be swapped and perform battery swapping on it.

[0005] The present invention provides a battery swapping method for two-wheeled electric vehicles, including: Determine the target electric vehicle to be swapped and the vehicle information of the target electric vehicle; Based on the location information in the vehicle information, determine the target battery swapping vehicle corresponding to the target electric vehicle and the location information of the target battery swapping vehicle; Perform path planning based on the location information of the target electric vehicle and the location information of the target battery swapping vehicle, and based on the battery swapping path obtained from the path planning, control the target battery swapping vehicle to go to the location of the target electric vehicle to perform battery swapping on the target electric vehicle; Wherein, the target battery swapping vehicle is loaded with a fully charged battery and a robotic arm, and the robotic arm is used to take out the battery to be swapped from the target electric vehicle and put in the fully charged battery.

[0006] According to the battery swapping method for two-wheeled electric vehicles provided by the present invention, the vehicle information further includes vehicle feature information; Based on the replacement circuit path obtained through path planning, controlling the target replacement vehicle to travel to the location where the target electric vehicle is located to perform battery replacement on the target electric vehicle, includes: Based on the replacement circuit path, controlling the target replacement vehicle to travel to the location where the target electric vehicle is located as indicated by the location information of the target electric vehicle; When the target replacement vehicle arrives at the location where the target electric vehicle is located, controlling the target replacement vehicle to acquire a vehicle image at the location where the target electric vehicle is located, and matching the target electric vehicle based on the vehicle image and the vehicle feature information, so as to perform battery replacement on the target electric vehicle.

[0007] According to a battery replacement method for a two-wheeled electric vehicle provided by the present invention, based on the replacement circuit path obtained through path planning, controlling the target replacement vehicle to travel to the location where the target electric vehicle is located to perform battery replacement on the target electric vehicle, includes: Based on the replacement circuit path, controlling the target replacement vehicle to travel, and in the process of traveling, acquiring road condition information in real time, and adjusting the replacement circuit path in real time based on the road condition information until reaching the location where the target electric vehicle is located, so as to perform battery replacement on the target electric vehicle.

[0008] According to a battery replacement method for a two-wheeled electric vehicle provided by the present invention, a battery box is further provided on the target replacement vehicle, and the battery box is used to accommodate the fully charged battery; a battery accommodation space is provided inside the robotic arm, and the robotic arm is further used to take out the fully charged battery from the battery box and put it into the target electric vehicle, and to recycle the battery to be replaced into the battery accommodation space; Based on the replacement circuit path obtained through path planning, controlling the target replacement vehicle to travel to the location where the target electric vehicle is located to perform battery replacement on the target electric vehicle, and then further includes: Based on the current position of the target replacement vehicle, determining the target replacement station corresponding to the target replacement vehicle and the location information of the target replacement station; Performing path planning based on the location information of the target replacement station and the current position of the target replacement vehicle, and based on the charging circuit path obtained through path planning, controlling the target replacement vehicle to travel to the location where the target replacement station is located, so as to charge the battery to be replaced through the charging bin in the target replacement station.

[0009] According to a battery replacement method for a two-wheeled electric vehicle provided by the present invention, based on the charging circuit path obtained through path planning, controlling the target replacement vehicle to travel to the location where the target replacement station is located, so as to charge the battery to be replaced through the charging bin in the target replacement station, includes: Based on the charging path, control the target battery swapping vehicle to travel to the location of the target battery swapping station indicated by the location information of the target battery swapping station; When the target battery swapping vehicle arrives at the location of the target battery swapping station, obtain the working status of each charging bin in the target battery swapping station, where the working status includes a charging status and an idle status; Based on the working status, control the robotic arm on the target battery swapping vehicle to place the battery to be swapped, which has been retrieved, into the charging bin with an idle working status.

[0010] According to a battery swapping method for two-wheeled electric vehicles provided by the present invention, after obtaining the working status of each charging bin in the target battery swapping station, it further includes: Based on the working status, control the robotic arm to take out the fully charged battery in the charging bin with a charging completed status and place it into the battery box on the target battery swapping vehicle.

[0011] According to a battery swapping method for two-wheeled electric vehicles provided by the present invention, the target electric vehicle to be swapped is determined based on the following steps: Obtain the power information of all two-wheeled electric vehicles in the target area; Perform a power detection based on the power information to obtain a power detection result; Based on the power detection result, determine the target electric vehicle to be swapped from all the two-wheeled electric vehicles in the target area.

[0012] The present invention also provides a battery swapping device for two-wheeled electric vehicles, including: A first determination unit, configured to determine the target electric vehicle to be swapped and the vehicle information of the target electric vehicle; A second determination unit, configured to determine the target battery swapping vehicle corresponding to the target electric vehicle and the location information of the target battery swapping vehicle based on the location information in the vehicle information; A battery swapping control unit, configured to perform path planning based on the location information of the target electric vehicle and the location information of the target battery swapping vehicle, and control the target battery swapping vehicle to travel to the location of the target electric vehicle based on the obtained swapping path for swapping the battery of the target electric vehicle; Wherein, the target battery swapping vehicle is loaded with a fully charged battery and a robotic arm, and the robotic arm is used to take out the battery to be swapped from the target electric vehicle and place the fully charged battery.

[0013] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and running on the processor, where when the processor executes the computer program, it implements the battery swapping method for two-wheeled electric vehicles as described in any one of the above.

[0014] The present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the battery swapping method for a two-wheeled electric vehicle as described in any one of the above.

[0015] The battery swapping method, device, electronic device and storage medium for a two-wheeled electric vehicle provided by the present invention determine a target electric vehicle to be battery-swapped and its vehicle information; based on the location information in the vehicle information, determine the target battery-swapping vehicle corresponding to the target electric vehicle and the location information of the target battery-swapping vehicle; perform path planning based on the location information of the target electric vehicle and the location information of the target battery-swapping vehicle, and based on the obtained battery swapping path, control the target battery-swapping vehicle to go to the location of the target electric vehicle to perform battery swapping on the target electric vehicle; the target battery-swapping vehicle is loaded with a fully charged battery and a robotic arm, and the robotic arm is used to take out the battery to be swapped from the target electric vehicle and put in the fully charged battery, realizing fully automatic vehicle battery swapping without manual participation, overcoming the problems in the traditional solution that battery swapping depends on the initiative of users, is not convenient and efficient enough, and has high costs. By setting a moving battery-swapping vehicle and performing battery swapping accordingly, it actively performs battery swapping for two-wheeled electric vehicles that need battery swapping, with stronger flexibility, higher freedom, smaller loss and greater practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts.

[0017] Figure 1 is a flowchart of the battery swapping method for a two-wheeled electric vehicle provided by the present invention; Figure 2 is a structural schematic diagram of the battery swapping device for a two-wheeled electric vehicle provided by the present invention; Figure 3 is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] To make the objectives, technical solutions and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions in the present invention with reference to the drawings in the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments in the present invention belong to the scope of protection of the present invention.

[0019] Currently, the charging method of two-wheeled electric vehicles is mainly traditional socket charging, which takes a long time and greatly restricts the travel of users. In order to shorten the charging time and improve the user experience, some battery swapping technologies have emerged. However, most of them achieve battery swapping through fixed battery swapping stations. That is, when battery swapping is needed, users can drive two-wheeled electric vehicles to the battery swapping station for battery swapping. Although this method has improved efficiency compared with the traditional charging method, it is still not convenient and efficient enough.

[0020] In response to this, the present invention provides a battery swapping method for two-wheeled electric vehicles. The execution subject of this method is a battery swapping system, which can be deployed on a battery swapping vehicle or on other devices such as a battery swapping station. The embodiments of the present invention do not make specific limitations on this.

[0021] Figure 1 It is a schematic flowchart of the battery swapping method for two-wheeled electric vehicles provided by the present invention. As Figure 1 shown, this method includes: Step 110, determine the target electric vehicle to be battery-swapped and the vehicle information of the target electric vehicle; Step 120, based on the position information in the vehicle information, determine the target battery swapping vehicle corresponding to the target electric vehicle and the position information of the target battery swapping vehicle; Step 130, perform path planning based on the position information of the target electric vehicle and the position information of the target battery swapping vehicle, and control the target battery swapping vehicle to travel to the location of the target electric vehicle based on the battery swapping path obtained from the path planning to perform battery swapping on the target electric vehicle; Among them, the target battery swapping vehicle is loaded with a fully charged battery and a robotic arm, and the robotic arm is used to take out the battery to be battery-swapped from the target electric vehicle and put in the fully charged battery.

[0022] Considering the current battery swapping method, mainly users drive two-wheeled electric vehicles to the battery swapping station by themselves and complete battery replacement manually or with the help of simple equipment. Compared with the traditional charging method, although this method improves efficiency to a certain extent, there are still problems of lack of convenience and high efficiency. Specifically, before each battery swapping, users need to plan their trips in advance and find the route to the nearest battery swapping station. This will cause inconvenience to users in the case of busy urban traffic or uneven distribution of battery swapping stations. If a large number of battery swapping stations are set up, due to the relatively high construction and operation costs of fixed battery swapping stations, a large economic cost needs to be spent, and it is also very difficult to truly cover all user demand scenarios.

[0023] In view of this, in the embodiments of the present invention, the barrier of the current battery swapping technology is broken, and an active battery swapping method is proposed. Instead of the user having to find a battery swapping station by themselves and go there to swap the battery, after sending a battery swapping request or being detected as needing to swap the battery, the battery will be swapped actively for the user. The two-wheeled electric vehicle that needs to swap the battery only needs to wait in place. In this way, automatic battery swapping can be achieved without further consuming the insufficient power and without damaging the vehicle battery system.

[0024] It can be understood that before swapping the battery, it is necessary to first determine the two-wheeled electric vehicle that needs to swap the battery, that is, the target electric vehicle to be swapped. Since the embodiments of the present invention are mainly for the shared vehicle scenario, the target electric vehicle here can be a shared electric vehicle that needs to swap the battery.

[0025] Here, the target electric vehicle to be swapped can be determined according to the power information sent by the two-wheeled electric vehicle. That is, all two-wheeled electric vehicles within the jurisdiction of the battery swapping system or under its affiliated platform / enterprise can send their own power information to the battery swapping system regularly or irregularly. After receiving the power information, the battery swapping system can detect it to determine whether it meets the low-power standard and whether it needs to swap the battery. In this way, the target electric vehicle to be swapped can be determined from many two-wheeled electric vehicles. Of course, the target electric vehicle can also directly be the two-wheeled electric vehicle that sends the power information. That is, all two-wheeled electric vehicles within the jurisdiction of the battery swapping system or under its affiliated platform / enterprise can detect their own power by themselves. When they find that the power reaches the low-power standard, such as being lower than the low-power threshold, they can send a battery swapping request to the battery swapping system. The battery swapping system can then determine the sender as the target electric vehicle to be swapped when receiving the battery swapping request.

[0026] After determining the target electric vehicle, in the embodiments of the present invention, it is also necessary to locate it to obtain its location information. Here, specifically, when the battery swapping system determines the target electric vehicle by detecting the power, after determining the target electric vehicle, it can also send a location request and a vehicle feature information acquisition request to the target electric vehicle, so that the target electric vehicle can locate the vehicle through the positioning module on it and return the location information and vehicle feature information to the battery swapping system. In this way, the location information of the target electric vehicle can be obtained. Correspondingly, if the battery swapping system directly determines the target electric vehicle according to the battery swapping request, when determining the target electric vehicle, it can directly obtain the location information of the target electric vehicle according to the vehicle information carried in the battery swapping request, such as location information, vehicle model, vehicle color, vehicle size, vehicle license plate, etc.

[0027] Further, after obtaining the position information of the target electric vehicle, in the embodiments of the present invention, based on this position information, a battery swapping vehicle capable of swapping the battery for the target electric vehicle can be searched. Here, specifically, according to the position of the target battery swapping vehicle represented by the position information of the target electric vehicle, the nearest battery swapping vehicle can be searched, and this battery swapping vehicle is used as the target battery swapping vehicle corresponding to the target electric vehicle, and the position information of the target battery swapping vehicle is determined.

[0028] Considering the actual situation, in the embodiments of the present invention, when specifically determining the target battery swapping vehicle, based on the position information of the target electric vehicle, the environmental information of the target electric vehicle can be combined, such as the road conditions, traffic conditions, weather conditions, etc. around the target electric vehicle, and / or the situation of the battery swapping vehicles working on the road surface, such as the distance that the battery of the battery swapping vehicle itself can travel, whether there is a fully charged battery in the battery swapping vehicle that can support the battery swapping operation, etc., and jointly analyzed, and finally the most suitable battery swapping vehicle for quickly swapping the battery for the target electric vehicle is decided.

[0029] Here, the position information of the target battery swapping vehicle can be obtained during the process of determining this target battery swapping vehicle. That is, since the distance factor is the primary consideration when determining the target battery swapping vehicle, therefore, the position information of the target battery swapping vehicle can be directly obtained during this process.

[0030] After determining the position information of the target electric vehicle and the target battery swapping vehicle respectively, in the embodiments of the present invention, based on these two, a path planning can be performed to determine the route for the target battery swapping vehicle to travel from its own position to the position of the target electric vehicle, that is, the route for the target battery swapping vehicle to swap the battery for the target electric vehicle, also known as the battery swapping path. Here, specifically, based on the position information of the target electric vehicle and the position information of the target battery swapping vehicle, further considering information such as weather and traffic, through an optimal path planning method, such as Dijkstra algorithm, rapidly-exploring random tree algorithm, dynamic window method, multi-agent path planning algorithm, etc., an optimal route from the position of the target battery swapping vehicle to the position of the target electric vehicle is planned as the battery swapping path.

[0031] After that, based on this battery replacement path, the target battery replacement vehicle can be controlled to go to and replace the battery for the target electric vehicle; that is, the movement of the target battery replacement vehicle can be controlled according to this battery replacement path so that it travels along this battery replacement path to reach the location of the target electric vehicle. When it arrives at the location of the target electric vehicle, the target battery replacement vehicle can be controlled to replace the battery for the target electric vehicle. Here, the specific process of battery replacement can be that the battery replacement system controls the robotic arm on the target battery replacement vehicle to dock with the target electric vehicle, controls the robotic arm to move to the seat bucket position of the target electric vehicle, and performs an opening operation on the seat bucket. After successfully opening the cabin, the robotic arm is controlled to take out the battery that needs to be replaced in the target electric vehicle, that is, the battery to be replaced, and take out the fully charged battery with full power from the target battery replacement vehicle, put the fully charged battery into the seat bucket, close the seat bucket, and at the same time, recycle the taken-out battery to be replaced, such as recycling it into the battery replacement vehicle or directly recycling it into the robotic arm, and control the robotic arm to reset; thus, the entire battery replacement process is completed, realizing the automatic battery replacement for two-wheeled electric vehicles that need battery replacement, without manual participation, which is more convenient, efficient, has stronger flexibility and higher freedom, does not require the installation of many battery replacement stations, has lower costs, and is more practical.

[0032] The battery replacement method for two-wheeled electric vehicles provided by the present invention determines the target electric vehicle to be replaced and its vehicle information; based on the position information in the vehicle information, determines the target battery replacement vehicle corresponding to the target electric vehicle and the position information of the target battery replacement vehicle; performs path planning based on the position information of the target electric vehicle and the position information of the target battery replacement vehicle, and based on the battery replacement path obtained from the path planning, controls the target battery replacement vehicle to go to the location of the target electric vehicle to replace the battery for the target electric vehicle; the target battery replacement vehicle is loaded with fully charged batteries and a robotic arm, and the robotic arm is used to take out the battery to be replaced from the target electric vehicle and put in the fully charged battery, realizing fully automatic vehicle battery replacement without manual participation, overcoming the problems in the traditional solution that battery replacement depends on the initiative of users, is not convenient and efficient enough, and has high costs. By setting a moving battery replacement vehicle and replacing the battery accordingly, it actively replaces the battery for two-wheeled electric vehicles that need battery replacement, has stronger flexibility, higher freedom, smaller loss, and is more practical.

[0033] Based on the above embodiments, the target electric vehicle to be replaced is determined based on the following steps: Obtain the power information of all two-wheeled electric vehicles in the target area; Based on the power information, perform power detection to obtain a power detection result; Based on the power detection result, determine the target electric vehicle to be replaced from all two-wheeled electric vehicles in the target area.

[0034] Specifically, the process of determining the target electric vehicle to be replaced with a battery can specifically include: All two-wheeled electric vehicles within the jurisdiction area of the battery replacement system, that is, the target area, can communicate with the battery replacement system through the communication modules installed on them to send their power information to the battery replacement system. Here, the period for sending the power information can be fixed or unfixed. For example, the power information can be sent to the battery replacement system once every 3 hours, or it can be sent at decreasing or increasing time intervals. The embodiments of the present invention do not make specific limitations on this.

[0035] The battery replacement system can then receive the power information sent by all two-wheeled electric vehicles within the target area and can perform power detection based on this power information to detect whether the power of each two-wheeled electric vehicle meets the low-power standard. Here, the low-power standard can be measured by a low-power threshold, so as to obtain the power detection results of all two-wheeled electric vehicles. The low-power threshold here can be 30%, 25%, 20% or 15%. The specific value can be set according to the actual situation. The embodiments of the present invention do not make specific limitations on this.

[0036] Furthermore, if the power detection result indicates that there are two-wheeled electric vehicles with power lower than the low-power threshold, they can be used as the target electric vehicles to be replaced with a battery. It should be noted that after each detection and determination, the determined target electric vehicles may be one or multiple. For each target electric vehicle, the above steps 110 to 130 can be sequentially executed to achieve automatic battery replacement for each target electric vehicle.

[0037] Based on the above embodiments, in step 130, based on the battery replacement path obtained through path planning, controlling the target battery replacement vehicle to go to the location of the target electric vehicle to replace the battery of the target electric vehicle includes: Based on the battery replacement path, controlling the target battery replacement vehicle to move forward, and in the process of moving forward, obtaining the road condition information in real time, and adjusting the battery replacement path in real time based on the road condition information until reaching the location of the target electric vehicle to replace the battery of the target electric vehicle.

[0038] Specifically, in the process of controlling the target battery swapping vehicle to perform battery swapping for the target electric vehicle after obtaining the battery swapping path, specifically in the process of controlling the target battery swapping vehicle to travel to the location of the target electric vehicle according to the planned battery swapping path, considering that road conditions, traffic conditions, etc. are not static, the previously planned optimal route may not always be the best during continuous travel and may change due to changes in vehicle and pedestrian flow, traffic restrictions, road repairs, etc. Therefore, in the embodiments of the present invention, in the actual application process, when controlling the target battery swapping vehicle to travel to the location of the target electric vehicle, the target battery swapping vehicle can also be controlled to obtain real-time road condition information in real time, so as to update and adjust the battery swapping path in combination with real-time road condition information, traffic information, etc., so that the target battery swapping vehicle can reach the location of the target electric vehicle faster and more safely and perform battery swapping for it.

[0039] Based on the above embodiments, the vehicle information further includes vehicle feature information; In step 130, based on the battery swapping path obtained through path planning, controlling the target battery swapping vehicle to travel to the location of the target electric vehicle to perform battery swapping for the target electric vehicle includes: Based on the battery swapping path, controlling the target battery swapping vehicle to travel to the location of the target electric vehicle indicated by the location information of the target electric vehicle; When the target battery swapping vehicle reaches the location of the target electric vehicle, controlling the target battery swapping vehicle to obtain a vehicle image at the location of the target electric vehicle, and matching the target electric vehicle based on the vehicle image and vehicle feature information to perform battery swapping for the target electric vehicle.

[0040] Specifically, in the process of the battery swapping system controlling the target battery swapping vehicle to travel to the location of the target electric vehicle to perform battery swapping for the target electric vehicle according to the battery swapping path obtained through path planning, it may specifically include: First, the battery swapping system can control the movement of the target battery swapping vehicle based on the battery swapping path, so that it travels along this battery swapping path to travel to the location of the target electric vehicle indicated by the location information of the target electric vehicle.

[0041] Next, when the target battery swapping vehicle reaches the location of the target electric vehicle, considering that in the actual application process, operators of two-wheeled electric vehicles often cluster and place vehicles for the convenience of users' use and management, and when users actually use them, popular areas also tend to be the same, such as shopping malls, parks, residential communities, commercial office buildings, etc. Therefore, in order to enable the target battery swapping vehicle to accurately identify the target electric vehicle to be battery-swapped from many two-wheeled electric vehicles and perform battery swapping for it, in the embodiments of the present invention, image recognition technology can be introduced to accurately locate the target electric vehicle through image recognition.

[0042] Here, specifically, after the target battery swapping vehicle arrives at the location of the target electric vehicle, the battery swapping system can first control the target battery swapping vehicle to perform image acquisition, so as to collect images near the location of the target electric vehicle through the camera on the target battery swapping vehicle, that is, vehicle images. Subsequently, image recognition technology can be used to perform image recognition on this vehicle image to identify the feature points of the vehicle in the image, such as color, model, size, license plate, etc., information that can indicate its "identity", and the target electric vehicle can be determined by matching based on the recognized information and the vehicle feature information in the pre-acquired vehicle information, such as vehicle model, vehicle color, vehicle size, vehicle license plate, etc., so as to perform battery swapping for it.

[0043] Among them, the process of battery swapping has been described in detail above and will not be elaborated here.

[0044] In addition, it should be noted that in addition to positioning the target electric vehicle by means of image recognition, in the embodiments of the present invention, the target electric vehicle can also be accurately positioned by means of communication protocols and communication connections. For example, after the target battery swapping vehicle arrives at the location of the target electric vehicle, it can communicate with the target electric vehicle through the pre-acquired communication address, communication protocol, etc. At this time, if the position of the target electric vehicle can be determined very accurately within a small range, accurate positioning can be achieved. If the position of the target electric vehicle cannot be determined very accurately, the target electric vehicle can be made to issue a specific instruction through the communication connection, for example, issue a voice, indicator light flashing, etc., so as to facilitate the target battery swapping vehicle to accurately capture the target electric vehicle.

[0045] Based on the above embodiments, a battery box is further provided on the target battery swapping vehicle. The battery box is used to accommodate the fully charged battery; a battery accommodation space is provided inside the robotic arm. The robotic arm is further used to take out the fully charged battery from the battery box and put it into the target electric vehicle, and to recycle the battery to be swapped into the battery accommodation space. In step 130, based on the battery swapping path obtained by path planning, control the target battery swapping vehicle to go to the location of the target electric vehicle to perform battery swapping for the target electric vehicle. After that, it further includes: Based on the current position of the target battery swapping vehicle, determine the target battery swapping station corresponding to the target battery swapping vehicle and the location information of the target battery swapping station; Perform path planning based on the location information of the target battery swapping station and the current position of the target battery swapping vehicle, and based on the charging path obtained by path planning, control the target battery swapping vehicle to go to the location of the target battery swapping station to charge the battery to be swapped through the charging bin in the target battery swapping station.

[0046] Specifically, after the target battery swapping vehicle has completed battery swapping for the target electric vehicle, to enable the battery swapping process for two-wheeled electric vehicles to continue, that is, the fully charged batteries in the target battery swapping vehicle will eventually run out. At this time, if the batteries to be swapped cannot be changed into fully charged batteries, the automatic battery swapping process will eventually be interrupted and unable to continue.

[0047] In view of this, in the embodiments of the present invention, charging is proposed for the batteries to be swapped to achieve cyclic alternation and recharge reuse of the batteries. Specifically, in the embodiments of the present invention, after the battery swapping for the target electric vehicle is completed, the number of fully charged batteries in the target battery swapping vehicle can be detected at this time, and the distance between the current position of the target battery swapping vehicle and the battery swapping station can be checked, and a comprehensive judgment is made on whether to go for charging currently. For example, when the number of fully charged batteries in the target battery swapping vehicle is sufficient, or the current position of the target battery swapping vehicle is relatively far from the nearest battery swapping station, charging for the batteries to be swapped at the battery swapping station can be postponed at this time, and waiting can continue until the number of fully charged batteries in the target battery swapping vehicle is small, or the fully charged batteries are about to run out, or the position of the target battery swapping vehicle after the next battery swapping task is completed is close to the nearest battery swapping station.

[0048] Further, if it is determined that charging is required, the target battery swapping station corresponding to the target battery swapping vehicle and the location information of the target battery swapping station can be determined based on the current position of the target battery swapping vehicle; here, the current position of the target battery swapping vehicle is usually the position of the target electric vehicle before battery swapping, and a battery swapping station that can charge the batteries to be swapped can be found according to this position. Specifically, here, according to the current position of the target battery swapping vehicle, the nearest battery swapping station can be found and used as the target battery swapping station corresponding to the target battery swapping vehicle, and the location information of the target battery swapping station can be determined.

[0049] Considering the actual situation, in the embodiments of the present invention, when specifically determining the target battery swapping station, based on the current position of the target battery swapping vehicle, the environmental information of the target battery swapping vehicle, such as the road conditions, traffic conditions, weather conditions, etc. around the target battery swapping vehicle, and / or the situation of the operating battery swapping stations, such as whether there is any idle space in the battery swapping station and charging bins that can charge the batteries to be swapped, can be combined for joint analysis, and finally the most suitable battery swapping station for charging the batteries to be swapped in the target battery swapping vehicle can be decided.

[0050] Here, the location information of the target battery swapping station can be obtained during the process of determining this target battery swapping station, that is, since the distance factor is primarily considered when determining the target battery swapping station, the location information of the target battery swapping station can be directly obtained during this process.

[0051] After determining the location information of the target battery swapping station, in the embodiments of the present invention, the path planning can be performed according to the location information of the target battery swapping station and the current location of the target battery swapping vehicle, so as to determine the route for the target battery swapping vehicle to travel from the current location to the location of the target battery swapping station indicated by the location information of the target battery swapping station, that is, the route for the target battery swapping vehicle to charge the battery to be swapped, also known as the charging path. Here, specifically, based on the location information of the target battery swapping station and the current location of the target battery swapping vehicle, information such as weather and traffic can be further considered, and the optimal route from the current location of the target battery swapping vehicle to the location of the target battery swapping station can be planned through optimal path planning methods, such as Dijkstra algorithm, Rapidly-exploring Random Tree algorithm, Dynamic Window Approach, Multi-agent Path Planning algorithm, etc., as the charging path.

[0052] After that, based on this charging path, the target battery swapping vehicle can be controlled to go to and charge the battery to be swapped; that is, based on this charging path, the movement of the target battery swapping vehicle can be controlled so that it travels along this charging path to the location of the target battery swapping station; and when reaching the location of the target battery swapping station, the battery to be swapped can be charged through the charging bin in the target battery swapping station. Here, the specific charging process can be that the battery swapping system can control the robotic arm on the target battery swapping vehicle to dock with the target battery swapping station, so as to control the robotic arm to convey the battery to be swapped recovered from its battery accommodation space to an idle charging bin in the battery swapping station, and charge the battery to be swapped through the charging system connected to the charging bin until it is fully charged, and then take it out as a fully charged battery for battery swapping for other two-wheeled electric vehicles.

[0053] Based on the above embodiments, controlling the target battery swapping vehicle to go to the location of the target battery swapping station based on the charging path obtained through path planning, so as to charge the battery to be swapped through the charging bin in the target battery swapping station, includes: Based on the charging path, controlling the target battery swapping vehicle to go to the location of the target battery swapping station indicated by the location information of the target battery swapping station; When the target battery swapping vehicle reaches the location of the target battery swapping station, obtaining the working status of each charging bin in the target battery swapping station, where the working status includes charging status and idle status; Based on the working status, controlling the robotic arm on the target battery swapping vehicle to put the recovered battery to be swapped into the charging bin with an idle status, and controlling the robotic arm to take out the fully charged battery in the charging bin with a charging completed status and put it into the battery box on the target battery swapping vehicle.

[0054] Specifically, in the above process of controlling the target battery swapping vehicle to move to the location of the target battery swapping station according to the charging path, so as to charge the battery to be swapped through the charging bin in the target battery swapping station, specifically, first, according to this charging path, control the target battery swapping vehicle to move so that it travels along this charging path to move to the location of the target battery swapping station; and when arriving at the location of the target battery swapping station, the battery swapping system can first obtain the working status of the charging bins in each battery swapping cabinet in the target battery swapping station to determine whether it is "busy" or "idle".

[0055] If a "idle" charging bin is detected, the robotic arm can be controlled to send the battery to be swapped into this charging bin for charging. That is, based on the working status, the robotic arm on the target battery swapping vehicle can be controlled to place the battery, so as to put the battery to be swapped recovered from the battery accommodation space into the charging bin with an idle working status.

[0056] Meanwhile, if it is detected that the battery in a charging bin in the battery swapping station is fully charged, that is, the charging is completed, the battery can be taken out and placed in the target battery swapping vehicle to vacate the charging bin, and at the same time, the reserve of fully charged batteries in the target battery swapping vehicle can be increased; that is, the robotic arm can be controlled to take out the fully charged battery in the charging bin with a charging completed status and place it in the battery box on the target battery swapping vehicle to prepare for the next battery swapping task.

[0057] The battery swapping device for two-wheeled electric vehicles provided by the present invention will be described below. The battery swapping device for two-wheeled electric vehicles described below can be mutually referred to corresponding to the battery swapping method for two-wheeled electric vehicles described above.

[0058] Figure 2 is a schematic structural diagram of the battery swapping device for two-wheeled electric vehicles provided by the present invention, as Figure 2 shown, the device includes: A first determination unit 210, configured to determine the target electric vehicle to be swapped and the vehicle information of the target electric vehicle; A second determination unit 220, configured to determine the target battery swapping vehicle corresponding to the target electric vehicle and the position information of the target battery swapping vehicle based on the position information in the vehicle information; A battery swapping control unit 230, configured to perform path planning based on the position information of the target electric vehicle and the position information of the target battery swapping vehicle, and control the target battery swapping vehicle to move to the location of the target electric vehicle based on the battery swapping path obtained by the path planning, so as to swap the battery for the target electric vehicle; Wherein, the target battery swapping vehicle is loaded with fully charged batteries and a robotic arm, and the robotic arm is used to take out the battery to be swapped from the target electric vehicle and put in the fully charged battery.

[0059] The battery swapping device for two-wheeled electric vehicles provided by the present invention determines the target electric vehicle to be swapped and its vehicle information; based on the position information in the vehicle information, determines the target battery swapping vehicle corresponding to the target electric vehicle and the position information of the target battery swapping vehicle; performs path planning based on the position information of the target electric vehicle and the position information of the target battery swapping vehicle, and controls the target battery swapping vehicle to travel to the location of the target electric vehicle based on the battery swapping path obtained from the path planning, so as to swap the battery of the target electric vehicle; the target battery swapping vehicle is loaded with a fully charged battery and a robotic arm, and the robotic arm is used to take out the battery to be swapped from the target electric vehicle and put in the fully charged battery, realizing fully automatic vehicle battery swapping without manual participation, overcoming the problems in the traditional solution that battery swapping depends on the initiative of users, is not convenient and efficient enough, and has high costs. By setting a moving battery swapping vehicle and swapping the battery accordingly, it actively swaps the battery for two-wheeled electric vehicles that need battery swapping, with stronger flexibility, higher freedom, smaller loss, and greater practicality.

[0060] Based on the above embodiment, the vehicle information further includes vehicle characteristic information; The battery swapping control unit 230 is used for: Based on the battery swapping path, control the target battery swapping vehicle to travel to the location of the target electric vehicle indicated by the position information of the target electric vehicle; When the target battery swapping vehicle arrives at the location of the target electric vehicle, control the target battery swapping vehicle to acquire the vehicle image at the location of the target electric vehicle, and match the target electric vehicle based on the vehicle image and the vehicle characteristic information, so as to swap the battery of the target electric vehicle.

[0061] Based on the above embodiment, the battery swapping control unit 230 is used for: Based on the battery swapping path, control the target battery swapping vehicle to travel, and in the process of traveling, acquire the road condition information in real time, and adjust the battery swapping path in real time based on the road condition information until it arrives at the location of the target electric vehicle, so as to swap the battery of the target electric vehicle.

[0062] Based on the above embodiment, a battery box is further provided on the target battery swapping vehicle, and the battery box is used to accommodate the fully charged battery; a battery accommodation space is provided inside the robotic arm, and the robotic arm is further used to take out the fully charged battery from the battery box and put it into the target electric vehicle, and to recycle the battery to be swapped into the battery accommodation space; The device further includes a charging control unit, which is used for: Based on the current position of the target battery swapping vehicle, determine the target battery swapping station corresponding to the target battery swapping vehicle and the position information of the target battery swapping station; Perform path planning based on the location information of the target battery swapping station and the current location of the target battery swapping vehicle, and control the target battery swapping vehicle to travel to the location of the target battery swapping station based on the charging path obtained from the path planning, so as to charge the battery to be swapped through the charging bin in the target battery swapping station.

[0063] Based on the above embodiments, the charging control unit is used for: Control the target battery swapping vehicle to travel to the location of the target battery swapping station indicated by the location information of the target battery swapping station based on the charging path; When the target battery swapping vehicle arrives at the location of the target battery swapping station, obtain the working status of each charging bin in the target battery swapping station, where the working status includes a charging status and an idle status; Based on the working status, control the robotic arm on the target battery swapping vehicle to place the battery to be swapped recovered into the charging bin with an idle working status.

[0064] Based on the above embodiments, the charging control unit is used for: Based on the working status, control the robotic arm to take out the fully charged battery in the charging bin with a charging completed status and place it into the battery box on the target battery swapping vehicle.

[0065] Based on the above embodiments, the first determination unit 210 is used for: Obtain the power information of all two-wheeled electric vehicles in the target area; Perform power detection based on the power information to obtain a power detection result; Based on the power detection result, determine the target electric vehicle to be swapped from all two-wheeled electric vehicles in the target area.

[0066] Figure 3 Illustrate a schematic physical structure diagram of an electronic device, such as Figure 3As shown in the figure, the electronic device may include: a processor 310, a communications interface 320, a memory 330, and a communication bus 340. Among them, the processor 310, the communications interface 320, and the memory 330 complete communication with each other through the communication bus 340. The processor 310 may call the logical instructions in the memory 330 to execute the battery swapping method for an electric two-wheeler. The method includes: determining a target electric vehicle to be battery-swapped and vehicle information of the target electric vehicle; based on the location information in the vehicle information, determining a target battery-swapping vehicle corresponding to the target electric vehicle and location information of the target battery-swapping vehicle; performing path planning based on the location information of the target electric vehicle and the location information of the target battery-swapping vehicle, and controlling the target battery-swapping vehicle to travel to the location of the target electric vehicle based on the battery-swapping path obtained from the path planning to perform battery swapping on the target electric vehicle; where a fully-charged battery and a robotic arm are loaded on the target battery-swapping vehicle, and the robotic arm is used to remove the battery to be battery-swapped from the target electric vehicle and place the fully-charged battery therein.

[0067] In addition, when the logical instructions in the aforementioned memory 330 can be implemented in the form of software functional units and sold or used as an independent product, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0068] On the other hand, the present invention also provides a computer program product. The computer program product includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the battery replacement method for two-wheeled electric vehicles provided by the above-mentioned various methods. The method includes: determining a target electric vehicle to be replaced with a battery, and vehicle information of the target electric vehicle; based on the position information in the vehicle information, determining a target battery replacement vehicle corresponding to the target electric vehicle and position information of the target battery replacement vehicle; performing path planning based on the position information of the target electric vehicle and the position information of the target battery replacement vehicle, and based on the battery replacement path obtained from the path planning, controlling the target battery replacement vehicle to travel to the location of the target electric vehicle to replace the battery of the target electric vehicle; wherein, a fully charged battery and a robotic arm are loaded on the target battery replacement vehicle, and the robotic arm is used to take out the battery to be replaced from the target electric vehicle and put it into the fully charged battery.

[0069] In another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is configured to execute the battery replacement method for two-wheeled electric vehicles provided by the above-mentioned various methods. The method includes: determining a target electric vehicle to be replaced with a battery, and vehicle information of the target electric vehicle; based on the position information in the vehicle information, determining a target battery replacement vehicle corresponding to the target electric vehicle and position information of the target battery replacement vehicle; performing path planning based on the position information of the target electric vehicle and the position information of the target battery replacement vehicle, and based on the battery replacement path obtained from the path planning, controlling the target battery replacement vehicle to travel to the location of the target electric vehicle to replace the battery of the target electric vehicle; wherein, a fully charged battery and a robotic arm are loaded on the target battery replacement vehicle, and the robotic arm is used to take out the battery to be replaced from the target electric vehicle and put it into the fully charged battery.

[0070] The device embodiments described above are merely illustrative. 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 to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without creative effort.

[0071] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments or equivalently replace some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for battery swapping of a two-wheeled electric vehicle, characterized in that, Including: Determine the target electric vehicle to be battery-swapped and the vehicle information of the target electric vehicle; Based on the location information in the vehicle information, determine the target battery-swapping vehicle corresponding to the target electric vehicle and the location information of the target battery-swapping vehicle; Perform path planning based on the location information of the target electric vehicle and the location information of the target battery-swapping vehicle, and based on the battery-swapping path obtained from the path planning, control the target battery-swapping vehicle to go to the location where the target electric vehicle is located to perform battery swapping on the target electric vehicle; Wherein, a fully charged battery and a robotic arm are loaded on the target battery-swapping vehicle, and the robotic arm is used to take out the battery to be battery-swapped from the target electric vehicle and put it into the fully charged battery.

2. The battery swapping method of the two-wheeled electric vehicle according to claim 1, characterized in that The vehicle information further includes vehicle feature information; The controlling the target battery-swapping vehicle to go to the location where the target electric vehicle is located to perform battery swapping on the target electric vehicle based on the battery-swapping path obtained from the path planning includes: Based on the battery-swapping path, control the target battery-swapping vehicle to go to the location where the target electric vehicle is located indicated by the location information of the target electric vehicle; When the target battery-swapping vehicle arrives at the location where the target electric vehicle is located, control the target battery-swapping vehicle to obtain a vehicle image at the location where the target electric vehicle is located, and match the target electric vehicle based on the vehicle image and the vehicle feature information to perform battery swapping on the target electric vehicle.

3. The battery swapping method for a two-wheeled electric vehicle according to claim 1, wherein The controlling the target battery-swapping vehicle to go to the location where the target electric vehicle is located to perform battery swapping on the target electric vehicle based on the battery-swapping path obtained from the path planning includes: Based on the battery-swapping path, control the target battery-swapping vehicle to travel, and in the process of traveling, obtain road condition information in real time, and adjust the battery-swapping path in real time based on the road condition information until reaching the location where the target electric vehicle is located to perform battery swapping on the target electric vehicle.

4. The battery swapping method for a two-wheeled electric vehicle according to any one of claims 1 to 3, characterized in that, A battery box is further provided on the target battery-swapping vehicle, and the battery box is used to accommodate the fully charged battery; a battery accommodating space is provided inside the robotic arm, and the robotic arm is further used to take out the fully charged battery from the battery box and put it into the target electric vehicle, and to recycle the battery to be battery-swapped into the battery accommodating space; After the controlling the target battery-swapping vehicle to go to the location where the target electric vehicle is located to perform battery swapping on the target electric vehicle based on the battery-swapping path obtained from the path planning, it further includes: Based on the current location of the target battery-swapping vehicle, determine the target battery-swapping station corresponding to the target battery-swapping vehicle and the location information of the target battery-swapping station; Perform path planning based on the location information of the target battery-swapping station and the current location of the target battery-swapping vehicle, and based on the charging path obtained from the path planning, control the target battery-swapping vehicle to go to the location where the target battery-swapping station is located to charge the battery to be battery-swapped through the charging bin in the target battery-swapping station.

5. The battery swapping method for a two-wheel electric vehicle according to claim 4, wherein The controlling the target battery-swapping vehicle to go to the location where the target battery-swapping station is located to charge the battery to be battery-swapped through the charging bin in the target battery-swapping station includes: Based on the charging path, control the target battery swapping vehicle to go to the location of the target battery swapping station indicated by the location information of the target battery swapping station; When the target battery swapping vehicle arrives at the location of the target battery swapping station, obtain the working states of each charging bin in the target battery swapping station, where the working states include a charging state and an idle state; Based on the working states, control the robotic arm on the target battery swapping vehicle to put the battery to be swapped, which has been recycled, into the charging bin with an idle working state.

6. The battery swapping method for a two-wheeled electric vehicle according to claim 5, characterized in that After obtaining the working states of each charging bin in the target battery swapping station, it further includes: Based on the working states, control the robotic arm to take out the fully charged battery in the charging bin with a charging completed state and put it into the battery box on the target battery swapping vehicle.

7. The battery swapping method for a two-wheel electric vehicle according to any one of claims 1 to 3, characterized in that, The target electric vehicle to be battery swapped is determined based on the following steps: Obtain the power information of all two-wheeled electric vehicles in the target area; Conduct a power detection based on the power information to obtain a power detection result; Based on the power detection result, determine the target electric vehicle to be battery swapped from all two-wheeled electric vehicles in the target area.

8. A battery swapping device for a two-wheeled electric vehicle, characterized in that, It includes: A first determination unit, configured to determine the target electric vehicle to be battery swapped and the vehicle information of the target electric vehicle; A second determination unit, configured to determine the target battery swapping vehicle corresponding to the target electric vehicle and the location information of the target battery swapping vehicle based on the location information in the vehicle information; A battery swapping control unit, configured to perform path planning based on the location information of the target electric vehicle and the location information of the target battery swapping vehicle, and control the target battery swapping vehicle to go to the location of the target electric vehicle based on the obtained battery swapping path for battery swapping of the target electric vehicle; Wherein, the target battery swapping vehicle is loaded with fully charged batteries and a robotic arm, and the robotic arm is used to take out the battery to be swapped from the target electric vehicle and put in the fully charged battery.

9. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and running on the processor, characterized in that, When the processor executes the computer program, it implements the battery swapping method for two-wheeled electric vehicles according to any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the battery swapping method for two-wheeled electric vehicles according to any one of claims 1 to 7.

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