Multi-battery combined battery replacing method and related equipment

Abstract

The invention discloses a multi-battery combination battery replacement method and related equipment, and relates to the technical field of new energy vehicles, and the method comprises the steps: obtaining a position identifier of a target power battery in a multi-battery combination in response to a battery replacement trigger instruction; based on the position identifier, controlling the power distribution unit to disconnect the electrical connection with the target power battery; according to the topological structure data of the electricity taking bin of the multi-battery combination, visual operation guidance is generated, and the physical locking constraint of the target power battery is relieved; replacing the target power battery with a standby power battery based on visual operation guidance; and based on the real-time vehicle working condition data, the cooperative discharging mode of the multi-battery combination is controlled through the power distribution unit. According to the invention, through safe power-off, visual guidance, flexible replacement of a single battery and intelligent cooperative discharge, high safety, convenience, economy and vehicle performance optimization in the battery replacement process are realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of new energy vehicles, and more particularly, relates to a multi-battery combination battery replacement method and related equipment. BACKGROUND

[0002] With the rapid development of the new energy automobile industry, the power battery as the core energy component of the electric vehicle, the flexibility and intelligent level of its battery replacement mode are directly related to the endurance capability of the whole vehicle and the use experience of the user. Compared with the traditional charging mode, the battery replacement technology can complete energy supply in a short time, and has been paid more and more attention in high-frequency use scenarios such as taxis and logistics vehicles; however, the arrangement structure of the multi-battery combination is relatively complex, the number of batteries is large, and the installation positions are scattered, how to efficiently and safely complete the battery replacement operation becomes a key problem that needs to be solved in the industry.

[0003] In the prior art, the battery replacement method usually relies on manual experience or a single overall battery pack replacement mode. On the one hand, manual operation needs to identify the battery position one by one and disconnect the electrical connection, which is tedious and has the risk of misoperation, and is easy to cause safety hazards such as electric arc and short circuit; on the other hand, although the overall battery pack replacement has high efficiency, the maintenance cost is too high, and it cannot replace the single attenuated battery flexibly, resulting in resource waste. That is, the related art generally has the technical problems of poor safety and low operation efficiency in the battery replacement process. SUMMARY

[0004] A series of simplified concepts are introduced in the summary part of the present application, which will be further described in detail in the specific embodiment part. The summary part of the present application does not mean to try to limit the key features and necessary technical features of the claimed technical solution, and even less means to determine the protection scope of the claimed technical solution.

[0005] The multi-battery combination battery replacement method and related equipment provided by the present application can realize high safety, convenience, economy and whole vehicle performance optimization in the battery replacement process through safe power-off, visual guidance, single battery flexible replacement and intelligent collaborative discharge.

[0006] In a first aspect, the application provides a multi-battery combination battery replacement method applied to a target vehicle, the target vehicle comprising a vehicle frame, a power supply distribution unit, a multi-battery combination, and a battery taking compartment, the multi-battery combination being composed of a plurality of power batteries, the multi-battery combination being connected to a vehicle power system of the target vehicle through the power supply distribution unit; the battery taking compartment is fixedly connected to the vehicle frame, and is used to accommodate and position the power batteries in the multi-battery combination; the multi-battery combination battery replacement method comprises the following steps: in response to a battery replacement trigger instruction, obtaining a position identifier of a target power battery in the multi-battery combination; based on the position identifier, controlling the power supply distribution unit to disconnect the electrical connection with the target power battery; generating a visual operation guide according to the topological structure data of the battery taking compartment of the multi-battery combination, and releasing the physical locking constraint of the target power battery; based on the visual operation guide, replacing the target power battery with a backup power battery; based on real-time vehicle working condition data, controlling the cooperative discharge mode of the multi-battery combination through the power supply distribution unit.

[0007] In some embodiments, the target vehicle further comprises a spacer block, a wire harness support, and a cover plate hinge, the spacer block being used to define the installation position of the power battery in the battery taking compartment, the wire harness support being used to support and fix the electrical connection wire harness of the power battery, and the cover plate hinge being used to realize the opening and closing rotation of the battery taking compartment cover; the generating of the visual operation guide and the releasing of the physical locking constraint of the target power battery according to the topological structure data of the battery taking compartment of the multi-battery combination comprises: analyzing the three-dimensional coordinate parameters in the topological structure data of the battery taking compartment, wherein the three-dimensional coordinate parameters comprise a position matrix of the spacer block, a hole position vector of the wire harness support, and a rotation axis coordinate of the cover plate hinge; performing space mapping calculation based on the three-dimensional coordinate parameters to obtain a target operation path of the center coordinate of the spacer block of the target power battery to the opening of the battery taking compartment; based on the target operation path, generating an augmented reality interface containing a dynamic guide arrow, wherein the direction angle of the dynamic guide arrow is determined by the included angle between the tangent vector of the target operation path and a reference plane.

[0008] In some embodiments, the target vehicle further comprises a movable cover segment, a seat-bearing cover segment, a fixed cover segment, and a seat cushion, the movable cover segment and the seat-bearing cover segment are locked to each other by a buckle structure, the upper surface of the seat-bearing cover segment is fixed with the seat cushion, the seat-bearing cover segment is hinged to the power collection compartment through a first rotating shaft, the movable cover segment is hinged to the fixed cover segment through a second rotating shaft, and the fixed cover segment is fixedly connected to the power collection compartment; the physical locking constraint on the target power battery is released by: releasing the buckle constraint between the movable cover segment and the seat-bearing cover segment, wherein the upper surface of the seat-bearing cover segment is fixed with the seat cushion; driving the seat-bearing cover segment to rotate around the first rotating shaft to the first preset angle in the direction of the vehicle head, wherein the first rotating shaft is the shaft of the hinged connection between the seat-bearing cover segment and the vehicle frame; driving the movable cover segment to flip around the second rotating shaft to the second preset angle in the direction of the vehicle tail, wherein the second rotating shaft is the shaft of the hinged connection between the movable cover segment and the fixed cover segment, and the fixed cover segment is fixed to the vehicle frame; when the first preset angle and the second preset angle both reach the preset angle range, a physical locking constraint contact prompt is triggered.

[0009] In some embodiments, based on the visual operation guidance, the target power battery is replaced with a backup power battery, which includes: in response to the visual operation guidance, releasing the physical connection between the wiring harness tie and the wiring harness support of the target power battery; based on the dynamic guidance arrow, moving the target power battery out along the target operation path and triggering a press plate pressure release signal; in response to the press plate pressure release signal, positioning the backup power battery to the position corresponding to the position marker; and in response to a battery placement in place signal sent by the press plate contact sensor, establishing electrical connection between the backup power battery and the power distribution unit.

[0010] In some embodiments, based on real-time vehicle working condition data, the power distribution unit controls the cooperative discharge mode of the multi-battery combination, which includes: acquiring real-time state parameters of each power battery in the multi-battery combination, wherein the real-time state parameters include residual capacity value, temperature gradient, and health degree index; based on the acceleration pedal opening degree change rate in the real-time vehicle working condition data, determining the target power demand; when the target power demand is greater than a preset power threshold, activating a synchronous discharge instruction to control all power batteries in the multi-battery combination to output current at the same time; when the target power demand is less than or equal to the preset power threshold, activating a sequential discharge instruction to sequentially enable the power batteries in the multi-battery combination according to a preset priority order, and dynamically adjusting the preset priority order according to the residual capacity value of each power battery.

[0011] In some embodiments, the multi-battery combination battery replacement method further comprises: obtaining a historical cycle number and a current temperature gradient of each power battery in the multi-battery combination; performing attenuation compensation calculation on the historical cycle number and the current temperature gradient based on a preset health degree algorithm to obtain a battery life attenuation coefficient; determining a battery comprehensive availability score according to a weighted product of the residual capacity value and the battery life attenuation coefficient; and generating the preset priority order according to a sorting rule of the battery comprehensive availability score from high to low.

[0012] In a second aspect, the present application also provides a multi-battery combination battery replacement device applied to a target vehicle, the target vehicle comprising a vehicle frame, a power supply distribution unit, a multi-battery combination, and a battery taking compartment, the multi-battery combination being composed of a plurality of power batteries, the multi-battery combination being connected with a vehicle power system of the target vehicle through the power supply distribution unit; the battery taking compartment being fixedly connected with the vehicle frame, the battery taking compartment being used for accommodating and positioning the power batteries in the multi-battery combination; the multi-battery combination battery replacement device comprising: an identification obtaining unit, configured to obtain a position identification of a target power battery in the multi-battery combination in response to a battery replacement triggering instruction; a connection cutting unit, configured to control the power supply distribution unit to disconnect electrical connection with the target power battery based on the position identification; a locking release unit, configured to generate a visual operation instruction according to topology structure data of the battery taking compartment of the multi-battery combination, and release physical locking constraint on the target power battery; a battery replacement unit, configured to replace the target power battery with a backup power battery based on the visual operation instruction; and a cooperative discharging unit, configured to control a cooperative discharging mode of the multi-battery combination through the power supply distribution unit based on real-time vehicle working condition data.

[0013] In a third aspect, the present application also provides an electronic device comprising a memory and a processor, the processor being configured to implement the steps of the multi-battery combination battery replacement method of the first aspect when executing a computer program stored in the memory.

[0014] In a fourth aspect, the present application also provides a computer readable storage medium storing a computer program, the computer program being configured to implement the steps of the multi-battery combination battery replacement method of the first aspect when executed by a processor.

[0015] In a fifth aspect, the present application also provides a computer program product comprising a computer program or computer executable instructions, the computer program or computer executable instructions being configured to implement the steps of the multi-battery combination battery replacement method provided in the embodiments of the present application when executed by a processor.

[0016] In summary, the application controls the power distribution unit to disconnect its electrical connection based on the position information of the target power battery before the battery replacement operation, thereby avoiding the safety risks such as electric arc and short circuit caused by live battery replacement, and significantly improving the safety of the battery replacement process; the visual operation guide is generated according to the topology structure of the power taking compartment, the target power battery can be intuitively identified and positioned, the replacement operation is completed according to the prompt, the operation difficulty is reduced, and the convenience and accuracy of the battery replacement are improved; the single battery in the multi-battery combination can be replaced without replacing the whole battery pack, which improves the flexibility and applicability of the battery replacement operation, effectively reduces the maintenance cost caused by the unbalanced degradation of the battery, and prolongs the service life of the whole vehicle battery system; the power distribution unit can control the cooperative discharge mode of the multi-battery combination in combination with real-time vehicle working condition data, and can select simultaneous discharge of multiple batteries to improve power performance or sequential discharge to improve economic performance according to the needs, so as to realize intelligent balance between power performance and endurance, and further optimize the running performance of the whole vehicle. In summary, the multi-battery combination battery replacement method provided by the application realizes high safety, convenience, economy and whole vehicle performance optimization of the battery replacement process through safe power-off, visual guidance, flexible replacement of single battery and intelligent cooperative discharge. BRIEF DESCRIPTION OF DRAWINGS

[0017] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of the preferred embodiments and are not intended to limit the scope of the present description. Moreover, like reference numerals designate like parts throughout the several views in the drawings. In the drawings: Figure 1 A flowchart of a multi-battery combination battery replacement method provided by an embodiment of the application; Figure 2 A structure diagram of a power taking compartment cover plate and locking mechanism provided by an embodiment of the application; Figure 3 A component structure diagram of a multi-battery combination battery replacement device provided by an embodiment of the application; Figure 4 A component structure diagram of an electronic device provided by an embodiment of the application. DETAILED DESCRIPTION

[0018] The terms in the specification, claims and drawings of the present application, such as "first", "second", "third", "fourth" and the like (if any), are used to distinguish similar objects, not to describe a particular order or sequence. Therefore, it is understood that these terms can be used interchangeably, as appropriate, to describe the embodiments described, unless otherwise specifically required by the illustration or description. In addition, the terms "is" and "has" and any variants thereof in the present application are intended to cover non-exclusive inclusion of all possible constituent elements. For example, a process, method, system, product or device including several steps or units does not necessarily limit to only the steps or units explicitly listed, but can also include other steps or units not explicitly listed, or steps or units inherent to the process, method, product or device.

[0019] In the present application, "module" or "unit" refers to a computer program or a part of a computer program with a specific function, and works with other related parts to achieve a predetermined target. These modules or units can be implemented by software, hardware (such as processing circuitry or memory) or a combination of the two. One or more processors or memories can implement one or more modules or units. At the same time, each module or unit can also be part of a larger module or unit.

[0020] The technical solutions in the present application will be described in detail below in conjunction with the drawings in the embodiments. It should be noted that the described embodiments are only a part of the present application, not all embodiments. In the following description, "some embodiments" mentioned is only a subset of all possible embodiments, which can be the same or different subset, and different embodiments can be combined with each other without conflict.

[0021] Figure 1 is a flowchart of a multi-battery combination battery replacement method provided by an embodiment of the present application. For example, referring to Figure 1 The multi-battery combination battery replacement method provided by the embodiment of the present application is applied to a target vehicle, the target vehicle includes a vehicle frame, a power distribution unit, a multi-battery combination and a power taking compartment, the multi-battery combination is composed of multiple power batteries, the multi-battery combination is connected with a vehicle power system of the target vehicle through the power distribution unit; the power taking compartment is fixedly connected with the vehicle frame, and the power taking compartment is used for accommodating and positioning the power batteries in the multi-battery combination; the multi-battery combination battery replacement method provided by the embodiment of the present application can include the following steps 101 to 105: Step 101, in response to a battery replacement trigger instruction, obtaining a position identifier of a target power battery in the multi-battery combination; In some examples, the battery replacement triggering instruction is a signal instruction for starting the battery replacement process, which can be triggered in two ways, manual triggering and automatic triggering. Manual triggering can be achieved by user operation of physical keys (such as a red battery replacement start button provided in the cockpit), touch of a display screen virtual icon (such as a "battery replacement mode" option on the center control screen), or mobile terminal APP instruction (such as a "start battery replacement" function of a mobile phone application bound to the vehicle). Automatic triggering can be initiated by the data management system of the power distribution unit (PDU), for example, when it is detected that the remaining power of any power battery is lower than a preset threshold (such as 20%), temperature anomaly (such as single battery temperature exceeding 55℃) or fault code (such as CAN communication interruption) occurs, the triggering instruction is automatically generated and the user is prompted by the instrument panel warning light (such as the flashing battery icon). The target power battery is a specific power battery that needs to be replaced, and its screening basis can include power state, health degree and fault information. For example, when it is detected that the state of charge (SOC) of a certain battery is lower than 15% (such as the SOC of battery B3 is displayed as 12%), or the PDU detects that the battery has voltage fluctuation exceeding the standard (such as voltage deviation > 0.5V for 30 consecutive seconds), thermal management abnormality (such as cooling circuit blockage) and other faults, it will be marked as a target power battery. If there are multiple batteries that meet the replacement conditions, they will be sorted according to the rules of fault priority over low power and low power in ascending order of SOC value. For example, if there are both fault battery B2 and low power battery B5, B2 is preferred as the target. The multi-battery combination is a set of 6-8 replaceable power batteries installed in the power taking compartment. The combination is electrically interconnected and cooperatively controlled by the PDU, for example, in this embodiment, 8 lithium iron phosphate batteries with specifications of 3.7V / 100Ah are used, which correspond to 8 installation positions of the interval blocks in the power taking compartment, forming a power supply circuit combining series and parallel connection (total voltage 29.6V, total capacity 100Ah). The position identifier is a coded information for uniquely identifying the installation position of each power battery, which can use a composite identification method of physical number and three-dimensional coordinate. The physical number is the fixed number of the interval block in the power taking compartment (such as B1-B8 marked from left to right), and the three-dimensional coordinate is established based on the reference origin of the vehicle frame floor (such as the center point of the front end of the cockpit seat slide rail).

[0022] Exemplarily, when the user presses the battery replacement trigger button in the cockpit (manual trigger instruction), the PDU immediately starts the detection program, first reads the SOC data of each battery, finds that the SOC of B4 is 18% and there is a slight bulging failure (detected by the pressure sensor), and marks B4 as the target power battery; then calls the pre-stored multi-battery combination configuration table (8 batteries, model LF100) to obtain the position identification of B4 as “B4, (X: 500mm, Y: 800mm, Z: 150mm)”; at the same time, the instrument panel displays “target battery: B4 (2nd from the right in the back row)”, and prompts “please prepare to replace battery No. B4” through voice, completing the information acquisition and feedback of this step.

[0023] Through the implementation of step 101, the position identification of the target power battery in the multi-battery combination is obtained after receiving the battery replacement trigger instruction, which can accurately locate the position of the battery to be replaced, avoid misoperation caused by the large number of batteries and complex arrangement, and provide accurate pre-information for subsequent battery replacement operation.

[0024] Step 102, based on the position identification, control the power distribution unit to disconnect the electrical connection with the target power battery; In some examples, the power distribution unit is a core component integrating high-voltage power distribution, low-voltage control and data interaction functions, which contains high-voltage contactor group, low-voltage relay, CAN communication module and state monitoring chip inside, for realizing power distribution and signal interaction between multi-battery combination and vehicle driving system, control system. The electrical connection with the target power battery is the high-voltage power supply loop and low-voltage communication link between the target power battery and the power distribution unit, wherein the high-voltage connection includes the connection of the positive electrode of the power battery through the red high-voltage wire harness with the input end of the corresponding contactor in the power distribution unit, the connection of the negative electrode through the black high-voltage wire harness with the negative electrode busbar in the power distribution unit, and the low-voltage connection includes the connection of the temperature sensor and SOC detection chip of the power battery through the blue low-voltage wire harness with the signal acquisition module in the power distribution unit.

[0025] Exemplarily, after the power distribution unit obtains the position identification of the target power battery B4 “B4, (X: 500mm, Y: 800mm, Z: 150mm)”, it immediately calls the pre-stored position-circuit mapping table to determine the corresponding high-voltage contactor K4 and low-voltage relay RL4 of B4; then the power distribution unit sends a disconnection instruction (voltage signal 12V→0V) to K4 to drive the contactor core to separate, and controls RL4 to cut off the low-voltage communication loop; 300ms later, the power distribution unit detects that the output voltage of B4 decreases from 3.7V to 0V through the high-voltage side voltage sensor, and the low-voltage side CAN bus feedbacks “node offline”, and determines that the electrical connection has been disconnected, then displays “B4 has been disconnected” through the instrument panel, and lights up the green indicator light at the corresponding position in the battery taking compartment, completing the operation of this step.

[0026] By implementing step 102, the electrical connection of the target power battery is disconnected by the power distribution unit based on the location identification before replacement, ensuring that the battery replacement process is carried out in a non-electric state, effectively avoiding potential safety hazards such as electric arc and short circuit caused by live operation, and improving the safety of the battery replacement process.

[0027] In step 103, according to the topology data of the power taking compartment of the multi-battery combination, a visual operation guide is generated, and the target power battery is released from physical locking constraint; In some examples, the topology data of the power taking compartment is a structured parameter set describing the internal space layout and component position relationship of the power taking compartment, including the position matrix of the spacer block (such as a three-dimensional coordinate array of eight spacer blocks), the cover hinge rotation axis parameter (such as the axial vector and coordinate origin of the first rotation axis), the wire harness support hole distribution (such as the polar coordinate parameter of 16 hole positions), and the power taking compartment opening boundary data (such as the polygon vertex coordinates of the opening contour). The visual operation guide is an interactive interface that shows the battery replacement operation steps to the user in a graphical way, including dynamic path guidance (such as a three-dimensional moving track from the spacer block to the power taking compartment opening), component operation prompt (such as animation demonstration of cover flip angle), and key action reminder (such as force feedback icon of wire harness insertion and extraction), etc. The release of the physical locking constraint refers to the release of the locking structure in the power taking compartment that restricts the removal of the target power battery by mechanical or electrical control, including the cover locking mechanism, the battery pressing plate fixing device, and the wire harness anti-dropping buckle. The current state (locked / unlocked) of each locking component can be detected by a position sensor (such as a Hall sensor), and the spatial position of the locking component can be located based on the topology data of the power taking compartment.

[0028] For example, after confirming that the B4 electrical connection is disconnected, the power distribution unit calls the B4 spacer block associated data in the topology database of the power taking compartment, parses the spatial path parameters from the center coordinates to the power taking compartment opening; generates an optimal operation path containing three key nodes (spacer block center, cover 2 flip critical point, opening center point) through path planning algorithm, and transmits the path data to the graphic rendering module of the vehicle-mounted central control screen; the rendering module adjusts the perspective based on the current seat position of the user (positioned by seat pressure sensor), generates a dynamic guide interface displayed in the first person perspective - the blue arrow updates the direction in real time with the movement of the user's hand, when the user's hand is detected to approach the cover buckle, the interface automatically enlarges the buckle area and displays the animation prompt "rotate clockwise 90° to unlock", at the same time, the vehicle-mounted audio plays the voice guidance "please flip cover 1 to 45° position", the generation and output of the visual guide are completed.

[0029] Through implementation of the step 103, the visual operation instruction is generated according to the topology data of the power taking compartment, the battery position and the operation step can be intuitively displayed, the target power battery can be quickly identified and accurately operated, the professional requirement of battery replacement is reduced, and the efficiency of battery replacement and the reliability of operation can be improved.

[0030] In step 104, the target power battery is replaced by the standby power battery based on the visual operation instruction. In some examples, the standby power battery is a brand new or recharged power battery used to replace the target power battery, which needs to meet the consistency of the model, the compatibility of the electrical parameters and the matching of the physical size with the target power battery. The acquisition method includes user pre-reserve (such as the standby battery group stored in the trunk of the vehicle), battery replacement service point (such as the standardized standby battery of the community battery replacement station), and needs to pass through the pre-detection function (such as accessing the temporary detection interface to verify the battery health SOC≥80%, no fault code) of the power distribution unit to confirm the availability. The operation process of taking out the target battery and installing the standby battery can be completed according to the dynamic prompt of the visual interface, including physical constraint release (such as loosening the wiring harness strap), path following (such as moving the battery along the arrow), position calibration (such as aligning the positioning groove of the interval block) and connection recovery (such as inserting the wiring harness connector).

[0031] Through implementation of the step 104, the target power battery can be successfully replaced by the standby power battery based on the visual instruction, the flexible replacement of single battery is realized, the whole battery pack does not need to be replaced, the applicability of the battery replacement mode is improved, the maintenance cost is effectively reduced, and the service life of the vehicle battery system is prolonged.

[0032] In step 105, the cooperative discharge mode of the multi-battery combination is controlled by the power distribution unit based on the real-time vehicle working condition data. In some examples, the real-time vehicle operating condition data refers to a set of parameters reflecting the driving state and power demand collected in real time during vehicle operation, including accelerator pedal opening degree (0-100%), accelerator pedal opening degree change rate (unit: % / s), current vehicle speed (0-120 km / h), motor output power (0-50 kW), and brake pedal state (pressed / loose), etc. The real-time vehicle operating condition data can be collected in real time by the vehicle-mounted sensor and controller, and transmitted to the power distribution unit through the CAN bus. For example, the data under the condition of sudden acceleration is "accelerator pedal opening degree 80%, opening degree change rate 40% / s, vehicle speed 30 km / h, motor power demand 45 kW". The coordinated discharge mode refers to the discharge strategy of the power distribution unit dynamically regulating the multi-battery combination according to the vehicle power demand, which can include synchronous discharge and sequential discharge modes. In the synchronous discharge mode, the power distribution unit controls the high-voltage contactors of all power batteries (such as 8 batteries) to be closed at the same time, realizing parallel output of electric energy to meet high power demand. In the sequential discharge mode, the power distribution unit closes the contactors of single batteries in a predetermined priority (such as based on battery health and remaining capacity) to release electric energy piece by piece to optimize energy consumption. After the power distribution unit receives the operating condition data in real time, it can calculate the target power demand (such as the required power according to the accelerator pedal opening degree and vehicle speed) through the built-in algorithm, and then compare it with the preset power threshold (such as 30 kW). When the target power is greater than 30 kW, the synchronous discharge mode is triggered; when the target power is less than or equal to 30 kW, the sequential discharge mode is enabled. At the same time, the power distribution unit dynamically adjusts the discharge strategy in combination with the real-time state parameters of each battery (such as remaining capacity, temperature), for example, skips the battery with temperature exceeding the standard in sequential discharge.

[0033] For example, when the user deeply presses the accelerator pedal (accelerator pedal opening degree change rate 40% / s), the VCU sends "real-time operating condition data: target power 45 kW" to the power distribution unit through the CAN bus; the power distribution unit determines that 45 kW>30 kW, and immediately sends a closing instruction to the high-voltage contactors (K1-K8) corresponding to the 8 batteries, and completes the attraction of all contactors within 100 ms, realizing synchronous discharge of the 8 batteries (total voltage 29.6 V, total current 200 A) to meet the high power demand of the motor; when the vehicle enters the cruising state (vehicle speed 60 km / h, target power 15 kW), the power distribution unit switches to the sequential discharge mode, and controls the contactors to be closed in the priority order of "B1 (SOC 90%)→B3 (SOC 85%)→B5 (SOC 82%)". Each battery is switched every 30 seconds, while the data management system monitors the temperature of each battery (all <40°C) to ensure discharge stability, and finally realizes the improvement of the cruising range.

[0034] Through the implementation of step 105, based on real-time vehicle working condition data, the multi-battery combination is controlled to be discharged cooperatively by using the power distribution unit, and the multi-battery can be selected to be discharged simultaneously to improve the power performance or to be discharged sequentially to improve the economy performance, so that intelligent balance between the endurance and the power is realized, and the vehicle performance is further optimized.

[0035] In summary, the embodiment of the present application controls the power distribution unit to disconnect the electrical connection based on the position information of the target power battery before the battery replacement operation, thereby avoiding the safety risks such as electric arc and short circuit caused by the live battery replacement, and significantly improving the safety of the battery replacement process; the visual operation guide is generated according to the topological structure of the power taking compartment, the target power battery can be intuitively identified and located, the replacement operation is completed according to the prompt, the operation difficulty is reduced, and the convenience and accuracy of the battery replacement are improved; the single battery in the multi-battery combination can be replaced without replacing the whole battery pack, which improves the flexibility and applicability of the battery replacement operation, effectively reduces the maintenance cost caused by the unbalanced degradation of the battery, and prolongs the service life of the whole vehicle battery system; the multi-battery combination can be controlled to discharge cooperatively by using the power distribution unit in combination with real-time vehicle working condition data, and the multi-battery can be selected to be discharged simultaneously to improve the power performance or to be discharged sequentially to improve the economy performance, so that intelligent balance between the power performance and the endurance is realized, and the running performance of the whole vehicle is further optimized. In summary, the multi-battery combination battery replacement method provided by the embodiment of the present application realizes high safety, convenience, economy and optimization of the whole vehicle performance in the battery replacement process through safe power-off, visual guidance, flexible replacement of single battery and intelligent cooperative discharge.

[0036] In some embodiments, the target vehicle further comprises a spacer block, a wire harness support and a cover plate hinge, the spacer block is used to define the installation position of the power battery in the power taking compartment, the wire harness support is used to support and fix the electrical connection wire harness of the power battery, and the cover plate hinge is used to realize the opening and closing rotation of the cover plate of the power taking compartment; the foregoing generation of the visual operation guide according to the topological structure data of the power taking compartment of the multi-battery combination and the release of the physical locking constraint of the target power battery can include: analyzing the three-dimensional coordinate parameters in the topological structure data of the power taking compartment, wherein the three-dimensional coordinate parameters can include the position matrix of the spacer block, the hole position vector of the wire harness support and the rotation axis coordinates of the cover plate hinge; performing space mapping calculation based on the three-dimensional coordinate parameters to obtain the target operation path from the center coordinates of the spacer block of the target power battery to the opening of the power taking compartment; generating an augmented reality interface containing a dynamic guide arrow based on the target operation path, wherein the direction angle of the dynamic guide arrow is determined by the included angle between the tangent vector of the target operation path and the reference plane.

[0037] In some examples, the three-dimensional coordinate parameter refers to a set of three-dimensional Cartesian coordinate system parameters for describing the spatial position of key components in the power taking compartment. The coordinate origin (0, 0, 0) is the midpoint of the front seat slide rail on the vehicle frame floor, the X-axis is along the longitudinal direction of the vehicle body (positive at the front), the Y-axis is along the lateral direction of the vehicle body (positive at the side of the co-pilot), and the Z-axis is perpendicular to the ground (positive upward). The three-dimensional coordinate parameter can be obtained by scanning the entity structure of the power taking compartment with a laser three-dimensional scanner, generating point cloud data, and then analyzing it with modeling software. The position matrix of the spacer block is a two-dimensional array describing the center coordinates of each battery spacer block in the power taking compartment. The format can be [spacer block number, X coordinate, Y coordinate, Z coordinate], where the spacer block number corresponds one-to-one with the battery position identifier. For example, the position matrix of the spacer blocks of 8 batteries is: [[B1, 500, 300, 150], [B2, 500, 450, 150],..., [B8, 500, 1350, 150]] (units: mm). The hole position vector of the wire harness support refers to the position vector of each bundling hole on the wire harness support relative to the reference point of the support. It is composed of the X, Y, and Z axis coordinate differences between the hole position and the reference point. The upper left corner of the support is taken as the reference point, and the relative coordinates of each hole position are calculated based on the three-dimensional coordinate parameters. For example, the reference point coordinates of the wire harness support are (600, 1400, 200), and the hole position vector corresponding to the B4 battery is (-50, -100, 0), indicating that the hole is located 50 mm negative in the X-axis and 100 mm negative in the Y-axis relative to the reference point. The rotation axis coordinate of the cover plate hinge is a three-dimensional coordinate parameter describing the rotation axis of the cover plate hinge of the power taking compartment. It includes the coordinate values of the two end points of the rotation axis, and the geometric axis parameter of the hinge shaft can be extracted from the three-dimensional coordinate parameter. For example, the two end point coordinates of the first rotation axis of cover plate 1 are (400, 300, 180) and (600, 300, 180), and the two end point coordinates of the second rotation axis of cover plate 2 are (400, 1000, 180) and (600, 1000, 180). Space mapping calculation refers to the process of converting the three-dimensional coordinate parameters of the power taking compartment into path coordinates in the user's operating perspective, including coordinate system conversion (converting the vehicle frame coordinate system to the user's perspective coordinate system), obstacle collision detection (such as avoiding the cover plate hinge, wire harness, etc.), and path smoothing processing (using a Bezier curve to optimize the corner). The center coordinate of the spacer block refers to the geometric center three-dimensional coordinate of the spacer block where the target power battery is located, which is the coordinate value corresponding to the target battery number in the position matrix of the spacer block. The coordinate parameter of the target battery (such as B4) can be extracted from the position matrix of the spacer block. For example, the center coordinate of the spacer block of battery B4 is (500, 800, 150).The target operation path refers to the optimal physical movement path from the center coordinate of the interval block to the opening of the battery taking compartment, composed of a series of consecutive spatial coordinate points, ensuring to avoid structural obstacles in the battery taking compartment, and can be the output result of spatial mapping calculation, generated by path planning algorithm (such as A* algorithm); for example, the target operation path of battery B4 contains 5 key coordinate points: (500, 800, 150)→(500, 850, 150)→(500, 950, 180)→(500, 1100, 200)→(500, 1200, 200), corresponding to the arc-shaped movement trajectory from the battery position to the opening. The augmented reality interface containing dynamic guide arrows is a real-time interactive interface projected by the vehicle-mounted AR display screen or AR glasses, in which the dynamic guide arrows are superimposed in the actual battery taking compartment scene to indicate the operation direction. The dynamic guide arrow refers to a graphical element in the augmented reality interface for indicating the direction of battery taking and placing, with its head pointing to the tangent direction of the path and its tail updating its position in real time as the user moves, and the arrow graphics can be generated according to the real-time coordinate points of the target operation path and the display angle can be adjusted by tracking the user's perspective through sensors (such as cameras, gyroscopes); for example, the dynamic guide arrow is semi-transparent blue, with a triangular head (2 cm in length) and a line segment tail (5 cm in length), and the position is refreshed 30 times per second. The rotation angle of the dynamic guide arrow in the plane perpendicular to the direction of the target operation path, wherein the reference plane is the horizontal plane (Z=150mm) where the battery taking compartment is located, the tangent vector is the tangent direction vector of a point on the target operation path, and the direction angle is the included angle between the projection of the tangent vector on the reference plane and the positive direction of the Y axis.

[0038] For example, first, the three-dimensional coordinate parameters corresponding to B4 are parsed from the topological structure data of the battery taking compartment: interval block center (500, 800, 150), hole vector of wire harness support (-50, -100, 0), and first rotation axis (400, 300, 180)-(600, 300, 180); then, spatial mapping calculation is performed to convert these parameters into path coordinates under the user's perspective, avoid the rotating area of cover plate 2 through collision detection algorithm, and generate a target operation path containing 7 coordinate points; then, the included angle (30°) between the tangent vector (such as (0, 0.8, 0.2)) of each point on the path and the reference plane is calculated, and a dynamic arrow with a direction angle of 30° is rendered in the AR interface; when the user's hand moves to the midpoint of the path, the direction angle of the arrow is updated to 15° in real time, and a vibration feedback is given to prompt the path turning, ensuring that the user takes out the battery along the optimal path.

[0039] Through the implementation of the above embodiments, the three-dimensional coordinate parameters of the power taking bin are analyzed and spatial mapping is performed, an augmented reality operation interface with dynamic arrows is generated, the target battery taking-out path and putting-in path are visualized and intuitive, and then precise positioning and operation along the optimal path can be performed in a complex battery bin environment, the risk of misoperation or collision caused by limited space is reduced, and the accuracy and overall efficiency of battery replacement operation are improved.

[0040] In some embodiments, the target vehicle further comprises a movable cover segment, a seat bearing cover segment, a fixed cover segment and a seat cushion, the movable cover segment and the seat bearing cover segment are locked by a buckle structure, the upper surface of the seat bearing cover segment is fixed with the seat cushion, the seat bearing cover segment is hinged to the power taking bin through a first rotating shaft, the movable cover segment is hinged to the fixed cover segment through a second rotating shaft, and the fixed cover segment is fixedly connected to the power taking bin; the aforementioned releasing the physical locking constraint of the target power battery can include: releasing the buckle constraint between the movable cover segment and the seat bearing cover segment, wherein the upper surface of the seat bearing cover segment is fixed with the seat cushion; driving the seat bearing cover segment to rotate around the first rotating shaft to the first preset angle in the direction of the vehicle head, wherein the first rotating shaft is the shaft of the hinged connection between the seat bearing cover segment and the vehicle frame; driving the movable cover segment to flip around the second rotating shaft to the second preset angle in the direction of the vehicle tail, wherein the second rotating shaft is the shaft of the hinged connection between the movable cover segment and the fixed cover segment, and the fixed cover segment is fixed to the vehicle frame; when the first preset angle and the second preset angle both reach the preset angle range, the physical locking constraint contact prompt is triggered.

[0041] In some examples, the movable cover segment is a cover assembly that can be flipped at the power taking compartment opening to close the inside area of the power taking compartment, which can be made of ABS engineering plastic material, one end of which is connected to the fixed cover segment through a hinge, and the other end is locked to the seat load-bearing cover segment through a buckle. The seat load-bearing cover segment is a load-bearing cover segment of the power taking compartment close to the co-driver seat, which can be made of glass fiber reinforced polypropylene material and can be connected to the vehicle frame through a hinge, which is both a seat support structure and a closing part of the power taking compartment. The process of releasing the buckle constraint between the movable cover segment and the seat load-bearing cover segment is to separate the locking structure of the two by mechanical operation. The buckle is designed in a rotating manner, which is composed of a protruding buckle on the movable cover segment and a groove on the seat load-bearing cover segment. When locked, the protrusion is embedded in the groove by rotating 90° clockwise. The seat cushion is connected to the threaded holes on the upper surface of the seat load-bearing cover segment through four bolts, which are distributed at the four corners of the cover. A rubber cushion is provided between the seat cushion and the seat load-bearing cover segment. The first rotating shaft is a metal hinge shaft connecting the seat load-bearing cover segment to the vehicle frame, which is responsible for supporting the forward flipping of the cover segment. The first preset angle is the target angle of the forward flipping of the seat load-bearing cover segment, which can be 90°±25°. This angle is determined by the height of the power taking compartment opening and the comfort of human operation, to ensure that the cover does not block the power taking path. The second rotating shaft is a hinge shaft connecting the movable cover segment to the fixed cover segment, which is responsible for supporting the backward flipping of the movable cover segment. The second preset angle is the target angle of the backward flipping of the movable cover segment, which can be 90°±25°. This angle ensures that the movable cover segment completely fits the back of the fixed cover segment, avoiding interference with the battery taking-out path. The fixed cover segment is a fixed cover close to the tail of the power taking compartment, which is rigidly fixed to the vehicle frame by bolts and serves as the support basis for the movable cover segment. The preset angle range is the angle interval for determining whether the cover is flipped in place, i.e. the first rotating shaft angle is between 80° and 100°, and the second rotating shaft angle is between 85° and 95°. This range can be determined through multiple tests to balance the operation space and structural safety. The physical locking constraint contact prompt is an audible and visual signal emitted when the cover angle meets the preset range, which can include a green LED light constantly on inside the power taking compartment and a "cover opened" prompt sound played by the vehicle-mounted speaker. As shown in Figure 2 the front edge of the seat load-bearing cover segment is hinged to the vehicle frame longitudinal beam through a stainless steel hinge shaft (i.e. the first rotating shaft), and two arc-shaped grooves are symmetrically provided on the rear edge; the rear edge of the movable cover segment is hinged to the fixed cover segment through an engineering plastic hinge shaft (i.e. the second rotating shaft), and cylindrical protruding buckles are provided on the front edge; when the seat load-bearing cover segment is flipped forward to 90° around the first rotating shaft (falling into the 80°-100° preset interval) and the movable cover segment is flipped backward to 90° around the second rotating shaft (falling into the 85°-95° preset interval), the circumferential limiting relationship between the protrusions and the grooves is released, and the buckle constraint between the two is disconnected; at this time, the power taking compartment opening is exposed below the seat load-bearing cover segment, and the flipping trajectories of the two covers do not interfere with the battery taking and placing space.

[0042] For example, after analyzing the power taking compartment topology data of the B4 battery, the AR interface first guides the rotation of the rotating cover segment and the buckling of the seat bearing cover segment (labeled "rotate to unlock indicator"); after the operation is completed, the Hall sensor feedbacks the buckle unlocking signal, and the system starts angle detection; the seat bearing cover segment rotates around the first rotation axis, and when the angle sensor detects 45°, it triggers the limiting damping (the resistance increases to 20N); the rotating cover segment synchronously flips around the second rotation axis, and when it reaches 60°, it triggers another set of dampers; when the angles of both reach the preset range, the green LED light turns on with a prompt sound, and the central control screen displays "B4 battery can be taken out", completing the physical locking constraint release.

[0043] Through the implementation of the above embodiments, the flip and locking constraint release mechanism of the segmented cover plate is set, so that the seat bearing cover plate and the rotating cover plate can be rotated or flipped at a preset angle in sequence, and a prompt is triggered when the angle range is reached; it can make the physical locking process before battery replacement more secure and standardized, which not only avoids the danger of sudden cover plate pop-up or interference operation, but also ensures that the battery replacement space is quickly and reliably opened, thereby improving the safety and convenience of the battery replacement preparation stage.

[0044] In some embodiments, the foregoing step 104 can include: in response to the visual operation guide, releasing the physical connection between the wire harness tie and the wire harness support of the target power battery; based on the dynamic guide arrow, moving the target power battery along the target operation path and triggering a press plate pressure release signal; in response to the press plate pressure release signal, positioning the standby power battery to the position corresponding to the position marker; in response to the battery placement in place signal sent by the press plate contact sensor, establishing the electrical connection between the standby power battery and the power distribution unit.

[0045] In some examples, the process of releasing the physical connection between the wire harness strap of the target power battery and the wire harness support refers to removing the binding component for fixing the wire harness of the target power battery, and separating the wire harness from the wire harness support. The wire harness strap is made of temperature-resistant nylon material, is fixed by being tightened after being inserted into the preset hole of the wire harness support, and has an easy-to-tear opening on the surface for manual or automatic release. Under the guidance of the dynamic arrow of the augmented reality interface, the battery can be taken out along the preset path, and the pressure release mechanism of the pressing plate is triggered at the same time. The dynamic guide arrow is real-time attached to the actual scene of the battery taking compartment, and indicates the force point and movement trajectory of the hand holding the battery. The pressure release signal of the pressing plate is triggered by the pressure sensor installed on the inner side of the pressing plate. When the pressure of the battery on the pressing plate is detected to decrease from the initial 80N to below 10N, a low-level signal (pressure release signal) is sent to the power distribution unit. The pressing plate contact sensor is a contact sensor installed on the lower surface of the pressing plate of the battery taking compartment, which is used to detect whether the battery is completely placed in the spacer block. The pressing plate contact sensor is connected to the power distribution unit through a wire. When the upper surface of the battery is pressed, the resistance value decreases from 1MΩ to below 1kΩ, forming an electrical signal triggering condition. The battery placement signal is an electrical signal sent to the power distribution unit by the pressing plate contact sensor when the standby battery is completely in place; the signal triggering condition is that the pressure of the pressing plate contact sensor lasts for 2 seconds≥30N, which ensures that the battery is not loose. The process of establishing the electrical connection between the standby power battery and the power distribution unit refers to connecting the high-voltage wire harness and the low-voltage wire harness of the standby battery to the corresponding interfaces of the power distribution unit through the connector.

[0046] Through the implementation of the above embodiments, in the replacement process, the wire harness release, target battery removal, standby battery placement and electrical connection reconstruction are sequentially completed according to the dynamic guidance, and are confirmed by the sensor signals, which can standardize and automate the battery replacement steps, avoid safety hazards caused by unfixed wire harness and unpressed battery, shorten the operation time, and make the battery replacement process efficient, safe and controllable.

[0047] In some embodiments, the foregoing step 105 can include: acquiring real-time state parameters of each power battery in the multi-battery combination, wherein the real-time state parameters can include a remaining capacity value, a temperature gradient and a health degree indicator; determining a target power demand based on an acceleration pedal opening rate of change in the real-time vehicle working condition data; when the target power demand is greater than a preset power threshold, activating a synchronous discharge instruction to control all power batteries in the multi-battery combination to output current at the same time; when the target power demand is less than or equal to the preset power threshold, activating a sequential discharge instruction to sequentially enable the power batteries in the multi-battery combination according to a preset priority order, and dynamically adjusting the preset priority order according to the remaining capacity value of each power battery.

[0048] In some examples, the real-time state parameters refer to the dynamic monitoring data of each power battery in the multi-battery combination during operation, which are used to reflect the current working state and health level of the battery. The battery management system connected by the low-voltage wire harness can collect the real-time state parameters in real time, the sampling frequency is 10 Hz, and the data is transmitted to the controller through the CAN bus; for example, the real-time state parameter set of B1-B8 at a certain moment is "[B1: SOC 85%, ΔT 3℃, SOH 92%; B2: SOC 70%, ΔT 4℃, SOH 88%;...]". The residual capacity value, i.e. SOC (State of Charge), represents the percentage of the current capacity of the battery to the rated capacity, which can be calculated by integrating the ampere-hour method combined with open-circuit voltage calibration, and the residual capacity value of B3 in the example is 65%; the temperature gradient refers to the difference between the highest temperature inside the battery and the surface temperature, which is detected by the negative temperature coefficient thermistor array built-in the battery, for example, the temperature gradient of battery B5 is 2.5℃ (center temperature 35℃, surface temperature 32.5℃); the health degree index, i.e. SOH (State of Health), represents the ratio of the current actual capacity of the battery to the initial rated capacity, which is calculated by the cyclic charge-discharge test combined with impedance monitoring, and the health degree index of B7 in the example is 85% (initial capacity 100Ah, current capacity 85Ah). The acceleration pedal opening degree change rate refers to the change amount of the angle of the acceleration pedal in unit time, which is detected by the Hall sensor built-in the pedal in real time; for example, the value is 60% / s when the driver accelerates urgently, and is 15% / s when the driver accelerates smoothly. The target power demand refers to the power required by the drive system calculated according to the acceleration pedal opening degree change rate, which is in kW, and is calculated and generated by the vehicle controller through a preset power demand model (such as a mapping table of opening degree change rate and power); for example, when the opening degree change rate is 60% / s, the target power demand is 80kW; when it is 15% / s, the target power demand is 30kW. The preset power threshold is a critical power value for distinguishing between synchronous discharge and sequential discharge, which is preset according to the rated total power of the battery and the power performance demand of the vehicle, and is stored in the control program of the power distribution unit, for example, the preset power threshold can be set to 50kW, which is 60% of the total power. The activation of the synchronous discharge instruction refers to the process of controlling all power batteries in the multi-battery combination to output current simultaneously, which is that the power distribution unit sends a closing instruction to the high-voltage contactor of all batteries, so that the 8 batteries supply power to the drive system through the parallel circuit at the same time, at this time the total output current is the sum of the output currents of each battery, in the example, each battery outputs 100A, the total current is 800A, which meets the power demand of 80kW.The process of activating the sequence discharge instruction to enable the power battery in the multi-battery combination block by block in the preset priority order is that the power distribution unit closes the high-voltage contactor of the corresponding battery in the priority from high to low, and only 1-2 blocks of batteries supply power at the same time, for example, the initial priority is B1 (85%) → B3 (65%) → B2 (70%) …, B1 is preferentially enabled to supply power, and when the B1 power decreases to 20%, B3 is switched to. The power distribution unit updates the residual power value of each battery every 10 seconds, reorders the priority, for example, after 5 minutes, the B1 power decreases to 50% and the B2 power increases to 75%, and the priority is adjusted to B2 (75%) → B1 (50%) → B3 (60%) …, ensuring that the battery with higher power is preferentially used to avoid over-discharge of a single battery.

[0049] For example, the power distribution unit collects the state parameters of B1-B8 in real time: B1 (SOC 85%, ΔT 3℃, SOH 92%), B2 (SOC 70%, ΔT 4℃, SOH 88%) …; when the driver steps on the accelerator pedal, the pedal opening degree changes at a rate of 60% / s, the VCU calculates the target power demand as 80kW, which is greater than the preset threshold 50kW, and the power distribution unit immediately activates the synchronous discharge instruction, and the 8 blocks of batteries output current (total current 800A) at the same time; when the vehicle is running smoothly, the pedal opening degree changes at a rate of 15% / s, and the target power demand is 30kW≤50kW, the power distribution unit activates the sequence discharge instruction, and B1 is enabled to supply power according to the initial priority, and after 10 minutes, the B1 power decreases to 50%, the priority is dynamically adjusted to B2 (SOC 75% at this time) → B1 → B3, and the power supply is automatically switched to B2, realizing balanced use of power.

[0050] Through the implementation of the above embodiments, the real-time parameters of each power battery in the multi-battery combination are obtained, and the synchronous discharge or sequence discharge mode is dynamically selected according to the vehicle operating condition demand, realizing intelligent balance of power and energy consumption; when the vehicle needs high power output, the power performance can be guaranteed, and when the power demand is low, the energy can be preferentially saved, thereby improving the battery utilization rate and the endurance capability, and avoiding overuse of a single battery, improving the overall safety of the system.

[0051] In some embodiments, the foregoing multi-battery combination battery replacement method can further include: obtaining the historical cycle number and the current temperature gradient of each power battery in the multi-battery combination; performing attenuation compensation calculation on the historical cycle number and the current temperature gradient based on a preset health degree algorithm to obtain a battery life attenuation coefficient; determining a battery comprehensive availability score according to the weighted product of the residual power value and the battery life attenuation coefficient; and generating a preset priority order according to a sorting rule from high to low of the battery comprehensive availability score.

[0052] In some examples, the historical cycle number refers to the number of charging and discharging cycles completed by each block of power battery from factory to the current time, one complete cycle refers to the process of discharging the battery from full charge to below 20% and then charging to full, which is recorded and stored in the non-volatile memory by the battery management system in real time and can be read through the CAN bus. The current temperature gradient is the difference between the highest temperature inside the battery and the surface temperature. The preset health algorithm is a mathematical model for calculating the degree of battery life attenuation, the expression is: battery life attenuation coefficient = (historical cycle number / rated cycle life) x 0.6 + (current temperature gradient / maximum allowed temperature gradient) x 0.4; wherein, the rated cycle life (2000 times) and the maximum allowed temperature gradient (5℃) are preset constants, and the weight coefficients (0.6 and 0.4) are calibrated based on battery aging test data, and the algorithm is solidified in the control chip of the power distribution unit. The battery life attenuation coefficient is the output value of the preset health algorithm, the value range is 0-1, the larger the value, the more serious the battery attenuation, the preset health algorithm can be called by the power distribution unit, and the historical cycle number and the current temperature gradient are input to automatically calculate; for example, the attenuation coefficient of B1 = (500 / 2000) x 0.6 + (2 / 5) x 0.4 = 0.15 + 0.16 = 0.31; the attenuation coefficient of B2 = (800 / 2000) x 0.6 + (4 / 5) x 0.4 = 0.24 + 0.32 = 0.56. The battery comprehensive availability score is a comprehensive index for measuring the current available capacity of the battery, the calculation formula is: battery comprehensive availability score = residual capacity value (SOC) x (1-battery life attenuation coefficient), which can be automatically solved according to the real-time residual capacity value and the calculated attenuation coefficient, and the score range is 0-100 points; for example, the SOC of B1 is 85%, the comprehensive score = 85 x (1-0.31) = 85 x 0.69 = 58.65 points; the SOC of B2 is 70%, the comprehensive score = 70 x (1-0.56) = 70 x 0.44 = 30.8 points. The power distribution unit arranges the comprehensive scores of all batteries in descending order to form the power supply priority, and the battery with high priority is preferentially involved in discharging; for example, the score of 8 batteries is sorted as: B1 (58.65) → B3 (52.30) → B4 (49.80) →... → B2 (30.80), and the corresponding preset priority order is B1 > B3 > B4 >... > B2.

[0053] Through the implementation of the above examples, in the determination of the discharge priority, the historical cycle number, temperature gradient and life attenuation coefficient of the battery are considered comprehensively, the residual capacity is weighted and calculated to generate the availability score; the discharge strategy not only based on the capacity, but also takes into account the battery life health, so that the battery combination after battery replacement can be optimized in safety and life extension, further improving the reliability and economy of long-term operation of the vehicle.

[0054] Further, as an implementation of the foregoing method embodiments, the present application also provides a multi-battery combination battery replacement device for implementing the foregoing method embodiments. The device embodiments correspond to the foregoing method embodiments, and for ease of reading, the details of the foregoing method embodiments will not be described one by one in the multi-battery combination battery replacement device embodiments. However, it should be clear that the device in the embodiments of the present application can correspondingly implement all the contents in the foregoing method embodiments. The multi-battery combination battery replacement device in the embodiments of the present application is applied to a target vehicle, and the target vehicle includes a vehicle frame, a power distribution unit, a multi-battery combination, and a battery taking compartment. The multi-battery combination is composed of a plurality of power batteries, and the multi-battery combination is connected with a vehicle power system of the target vehicle through the power distribution unit. The battery taking compartment is fixedly connected with the vehicle frame, and is used for accommodating and positioning the power batteries in the multi-battery combination. As shown in Figure 3 The multi-battery combination battery replacement device 20 includes an identification acquisition unit 201, a connection cutting unit 202, a locking release unit 203, a battery replacement unit 204, and a cooperative discharge unit 205. The identification acquisition unit 201 is used for acquiring a position identifier of a target power battery in the multi-battery combination in response to a battery replacement trigger instruction. The connection cutting unit 202 is used for controlling the power distribution unit to disconnect the electrical connection with the target power battery based on the position identifier. The locking release unit 203 is used for generating a visual operation guide according to the topological structure data of the battery taking compartment of the multi-battery combination, and releasing the physical locking constraint of the target power battery. The battery replacement unit 204 is used for replacing the target power battery with a backup power battery based on the visual operation guide. The cooperative discharge unit 205 is used for controlling the cooperative discharge mode of the multi-battery combination through the power distribution unit based on real-time vehicle working condition data.

[0055] In some embodiments, the target vehicle further includes a spacer block, a wire harness support, and a cover plate hinge. The spacer block is used for defining the mounting position of the power battery in the battery taking compartment. The wire harness support is used for supporting and fixing the electrical connection wire harness of the power battery. The cover plate hinge is used for realizing the opening and closing rotation of the cover plate of the battery taking compartment. The locking release unit 203 is further used for analyzing the three-dimensional coordinate parameters in the topological structure data of the battery taking compartment, wherein the three-dimensional coordinate parameters include the position matrix of the spacer block, the hole position vector of the wire harness support, and the rotation axis coordinates of the cover plate hinge. The space mapping calculation is performed based on the three-dimensional coordinate parameters to obtain the target operation path from the center coordinates of the spacer block of the target power battery to the opening of the battery taking compartment. Based on the target operation path, an augmented reality interface containing a dynamic guide arrow is generated, wherein the direction angle of the dynamic guide arrow is determined by the included angle between the tangent vector of the target operation path and the reference plane.

[0056] In some embodiments, the target vehicle further comprises a movable cover segment, a seat bearing cover segment, a fixed cover segment and a seat cushion, the movable cover segment and the seat bearing cover segment are locked by a buckle structure, the upper surface of the seat bearing cover segment is fixed with the seat cushion, the seat bearing cover segment is hinged to the power taking compartment through a first rotating shaft, the movable cover segment is hinged to the fixed cover segment through a second rotating shaft, and the fixed cover segment is fixedly connected to the power taking compartment; the lock release unit 203 is further used to release the buckle constraint between the movable cover segment and the seat bearing cover segment, wherein the upper surface of the seat bearing cover segment is fixed with the seat cushion; the seat bearing cover segment is driven to rotate around the first rotating shaft to the first preset angle in the direction of the vehicle head, wherein the first rotating shaft is the shaft of the hinged connection between the seat bearing cover segment and the vehicle frame; the movable cover segment is driven to flip around the second rotating shaft to the second preset angle in the direction of the vehicle tail, wherein the second rotating shaft is the shaft of the hinged connection between the movable cover segment and the fixed cover segment, and the fixed cover segment is fixed to the vehicle frame; when the first preset angle and the second preset angle both reach the preset angle range, the physical lock constraint contact prompt is triggered.

[0057] In some embodiments, the battery replacement unit 204 is further used to release the physical connection between the wire harness tie and the wire harness support of the target power battery in response to the visual operation guide; move the target power battery out along the target operation path based on the dynamic guide arrow, and trigger the press plate pressure release signal; position the standby power battery to the position corresponding to the position mark in response to the battery placement in place signal sent by the press plate contact sensor; and establish the electrical connection between the standby power battery and the power distribution unit in response to the battery placement in place signal sent by the press plate contact sensor.

[0058] In some embodiments, the cooperative discharge unit 205 is further used to obtain the real-time state parameters of each power battery in the multi-battery combination, wherein the real-time state parameters include the residual capacity value, the temperature gradient and the health degree index; determine the target power demand based on the acceleration pedal opening degree change rate in the real-time vehicle working condition data; when the target power demand is greater than the preset power threshold, activate the synchronous discharge instruction to control all power batteries in the multi-battery combination to output current at the same time; when the target power demand is less than or equal to the preset power threshold, activate the sequence discharge instruction to sequentially enable the power batteries in the multi-battery combination according to the preset priority order, and dynamically adjust the preset priority order according to the residual capacity value of each power battery.

[0059] In some embodiments, the cooperative discharge unit 205 is further used to obtain the historical cycle number and the current temperature gradient of each power battery in the multi-battery combination; perform attenuation compensation calculation on the historical cycle number and the current temperature gradient based on a preset health degree algorithm to obtain a battery life attenuation coefficient; determine a battery comprehensive availability score according to the weighted product of the residual capacity value and the battery life attenuation coefficient; and generate a preset priority order according to the sorting rule from high to low of the battery comprehensive availability score.

[0060] The application further provides a computer readable storage medium, in which computer executable instructions or computer programs are stored, and when the computer executable instructions or computer programs are executed by a processor, the processor will execute any step of the multi-battery combination battery replacement method provided by the application.

[0061] In some embodiments, the computer readable storage medium can be a random access memory (RAM), a Read-Only Memory (ROM), a flash memory, a magnetic surface memory, an optical disc, or a Compact Disc Read-Only Memory (CD-ROM), etc. It can also be various devices including one or any combination of the above storage devices.

[0062] In some embodiments, the computer executable instructions can be in the form of programs, software, software modules, scripts or codes, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and can be deployed in any form, including being deployed as independent programs or as modules, components, subroutines or other units suitable for use in a computing environment.

[0063] In some embodiments, the computer executable instructions can but not necessarily correspond to files in a file system, can be stored in a part of a file storing other programs or data, for example, in one or more scripts in a HyperText Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple cooperative files (for example, files storing one or more modules, subroutines or code parts).

[0064] In some embodiments, the computer executable instructions can be deployed to execute on one electronic device, or on multiple electronic devices located in one place, or on multiple electronic devices distributed in multiple places and interconnected through a communication network.

[0065] As shown in Figure 4 The application further provides an electronic device 30, which comprises a memory 310, a processor 320, and a computer program 311 stored in the memory 310 and executable on the processor, and when the processor 320 executes the computer program 311, any step of the multi-battery combination battery replacement method described above is implemented.

[0066] The application also provides a computer program product, which comprises a computer program or computer executable instructions stored in a computer readable storage medium. A processor of an electronic device reads the computer program or computer executable instructions from the computer readable storage medium, and the processor executes the computer program or computer executable instructions, so that the electronic device performs any step of the multi-battery combination battery replacement method described above.

[0067] The above examples are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for part 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 application.

Claims

1. A multi-battery combination battery swapping method, characterized in that, Applied to a target vehicle, the target vehicle includes a frame, a power distribution unit, a multi-battery assembly, and a power collection compartment. The multi-battery assembly consists of multiple power batteries and is connected to the vehicle's electrical system via the power distribution unit. The power collection compartment is fixedly connected to the frame and is used to house and position the power batteries in the multi-battery assembly. The multi-battery combination battery swapping method includes: In response to a battery swapping trigger command, the location identifier of the target power battery in the multi-battery combination is obtained; Based on the location identifier, the power distribution unit is controlled to disconnect its electrical connection with the target power battery; Based on the topology data of the power collection compartment of the multi-battery combination, a visual operation guide is generated, and the physical locking constraint on the target power battery is released. Based on the aforementioned visual operation guide, the target power battery is replaced with a backup power battery; Based on real-time vehicle operating data, the power distribution unit controls the coordinated discharge mode of the multi-battery combination.

2. The multi-battery combination battery swapping method according to claim 1, characterized in that, The target vehicle also includes a spacer block, a wiring harness bracket, and a cover hinge. The spacer block defines the installation position of the power battery within the power collection compartment. The wiring harness bracket supports and secures the electrical connection wiring harness of the power battery. The cover hinge enables the opening, closing, and rotation of the power collection compartment cover. The step of generating visual operation instructions based on the topology data of the power collection compartment of the multi-battery combination, and releasing the physical locking constraints on the target power battery, includes: The three-dimensional coordinate parameters in the topology data of the power collection compartment are analyzed, wherein the three-dimensional coordinate parameters include the position matrix of the spacer block, the hole position vector of the wire harness bracket, and the rotation axis coordinate of the cover plate hinge; Based on the three-dimensional coordinate parameters, a spatial mapping calculation is performed to obtain the target operation path from the center coordinates of the spacer block of the target power battery to the opening of the power collection compartment. Based on the target operation path, an augmented reality interface containing dynamic guide arrows is generated, wherein the direction angle of the dynamic guide arrows is determined by the angle between the tangent vector of the target operation path and the reference plane.

3. The multi-battery combination battery swapping method according to claim 1, characterized in that, The target vehicle further includes a movable cover section, a seat support cover section, a fixed cover section, and a seat cushion. The movable cover section and the seat support cover section are locked together by a snap-fit ​​structure. The seat cushion is fixed to the upper surface of the seat support cover section. The seat support cover section is hinged to the power collection compartment via a first rotating shaft. The movable cover section is hinged to the fixed cover section via a second rotating shaft. The fixed cover section is fixedly connected to the power collection compartment. Releasing the physical locking constraint on the target power battery includes: Release the latch constraint between the movable cover section and the seat load-bearing cover section; Drive the seat support cover section to rotate around the first rotation axis in the direction of the vehicle head to the first preset angle, wherein the first rotation axis is the axis through which the seat support cover section is hinged to the vehicle frame; The movable cover plate segment is driven to rotate around the second rotation axis towards the rear of the vehicle to the second preset angle, wherein the second rotation axis is the axis that hinges the movable cover plate segment and the fixed cover plate segment; When both the first preset angle and the second preset angle reach the preset angle range, a physical locking constraint contact prompt is triggered.

4. The multi-battery combination battery swapping method according to claim 1, characterized in that, The process of replacing the target power battery with a backup power battery based on the visual operation guide includes: In response to the visual operation instructions, the physical connection between the cable ties of the target power battery and the cable harness bracket is released. Based on the dynamic guide arrow, the target power battery is moved out along the target operation path, and the pressure release signal of the pressure plate is triggered; In response to the pressure release signal of the pressure plate, the backup power battery is positioned to the position corresponding to the position mark; In response to the battery placement signal emitted by the pressure plate contact sensor, an electrical connection is established between the backup power battery and the power distribution unit.

5. The multi-battery combination battery swapping method according to claim 1, characterized in that, The method of controlling the coordinated discharge mode of the multi-battery combination through the power distribution unit based on real-time vehicle operating condition data includes: The real-time status parameters of each power battery in the multi-battery combination are obtained, wherein the real-time status parameters include the remaining power value, temperature gradient and health index. The target power requirement is determined based on the accelerator pedal opening change rate in the real-time vehicle operating data. When the target power demand exceeds the preset power threshold, a synchronous discharge command is activated to control all power batteries in the multi-battery combination to output current simultaneously. When the target power demand is less than or equal to a preset power threshold, a sequential discharge command is activated, and the power batteries in the multi-battery combination are activated one by one according to a preset priority order. The preset priority order is dynamically adjusted according to the remaining power value of each power battery.

6. The multi-battery combination battery swapping method according to claim 5, characterized in that, The multi-battery combination battery swapping method also includes: Obtain the historical cycle count and current temperature gradient of each power battery in the multi-battery combination; Based on a preset health algorithm, the historical cycle count and the current temperature gradient are used to calculate the attenuation compensation to obtain the battery life attenuation coefficient. The overall battery availability score is determined by the weighted product of the remaining battery capacity and the battery life degradation coefficient. The preset priority order is generated according to the sorting rules of the battery comprehensive availability score from high to low.

7. A multi-battery combination battery swapping device, characterized in that, Applied to a target vehicle, the target vehicle includes a frame, a power distribution unit, a multi-battery assembly, and a power collection compartment. The multi-battery assembly consists of multiple power batteries and is connected to the vehicle's electrical system via the power distribution unit. The power collection compartment is fixedly connected to the frame and is used to house and position the power batteries in the multi-battery assembly. The multi-battery combination battery swapping device includes: The identification acquisition unit is used to acquire the position identification of the target power battery in the multi-battery combination in response to the battery swapping trigger command; A connection disconnection unit is used to control the power distribution unit to disconnect the electrical connection with the target power battery based on the location identifier; The lock release unit is used to generate a visual operation guide based on the topology data of the power collection compartment of the multi-battery combination, and to release the physical lock constraint on the target power battery. A battery replacement unit is used to replace the target power battery with a backup power battery based on the visual operation instructions. The collaborative discharge unit is used to control the collaborative discharge mode of the multi-battery combination through the power distribution unit based on real-time vehicle operating condition data.

8. An electronic device, comprising: The memory and processor are characterized in that the processor, when executing a computer program stored in the memory, implements the steps of the multi-battery combination swapping method as described in any one of claims 1-6.

9. A 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 steps of the multi-battery combination battery swapping method as described in any one of claims 1-6.

10. A computer program product comprising a computer program or computer-executable instructions, characterized in that, When the computer program or computer-executable instructions are executed by the processor, the steps of the multi-battery combination battery swapping method as described in any one of claims 1 to 6 are implemented.

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