Electric truck battery swap station pre-guiding accurate parking system and method

Abstract

The invention relates to the technical field of charging and battery swapping, and discloses an electric truck battery swapping station pre-guiding accurate parking system and method, and the system comprises the ground, a battery swapping station, a battery swapping shed, an electric truck, a laser guiding system, a radar image system, and a parking line. The laser guiding system comprises a laser projector and an adjustable device which are installed on the top of a battery changing area of the battery changing station. The radar image system comprises a radar device installed below the head of the electric truck and a central control display device in the cab of the electric truck, the electric truck can more quickly and accurately drive into the battery replacement area of the battery replacement station through the pre-guiding accurate parking system, the repeated adjustment time caused by inaccurate parking position is reduced, and the accuracy of the electric truck is improved. Therefore, the overall efficiency of battery replacement is greatly improved, the battery replacement station can provide battery replacement service for more electric trucks in unit time, the occurrence rate of battery replacement faults caused by parking deviation is reduced, and the success rate and reliability of battery replacement operation are improved.

Description

Technical Field

[0001] This invention relates to the field of charging and battery swapping technology, specifically to a pre-guided precise parking system and method for electric truck battery swapping stations. Background Technology

[0002] Battery swapping technology is a key technology in the energy replenishment of electric trucks. Electric truck battery swapping stations are energy stations that provide charging and rapid battery replacement for the power batteries of electric trucks. Existing battery swapping stations have entered the field of automation. With technological advancements, automated battery swapping has significantly shortened the energy replenishment time for electric trucks and improved swapping efficiency. However, existing battery swapping stations require drivers to park their electric trucks in designated swapping areas and then use the station's electric truck direction adjustment device to adjust the truck's direction for the swapping operation. When the electric truck enters the swapping station, there may be instances where the truck's direction angle is too large, preventing the swapping operation. The driver must then readjust the truck's direction to enter the station, leading to reduced swapping efficiency. This invention provides a pre-guided precise parking system and method for electric truck battery swapping stations, which solves the problems of electric trucks being unable to accurately park in swapping areas and low swapping efficiency. Summary of the Invention

[0003] To address the problems mentioned in the above-mentioned technical background, the purpose of this invention is to provide a pre-guided precise parking system and method for electric truck battery swapping stations, thereby solving the problems mentioned in the background. This system guides electric trucks to adjust their direction before they enter the battery swapping area of ​​the station, and enables them to accurately park in the battery swapping area, improving battery swapping efficiency. It also solves the difficulties mentioned in the technical background, such as the inability of electric trucks to accurately park in the battery swapping area and the low battery swapping efficiency.

[0004] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: A pre-guided precise parking system for electric truck battery swapping stations is provided, which is used to accurately guide electric trucks into the battery swapping area of ​​the battery swapping station, thereby improving battery swapping efficiency. The electric truck battery swapping station pre-guided precise parking system includes battery swapping stations, battery swapping sheds, and electric trucks deployed on the ground; A laser guidance system is installed inside the battery swapping shed; The battery swapping shed and electric truck are equipped with radar imaging systems. Parking lines are affixed to the floor inside the battery swapping shed.

[0005] Based on the above technical solution, the present invention can be further improved as follows.

[0006] Preferably, the laser guidance system includes an adjustable telescopic guide rod and a laser projector. The adjustable telescopic guide rod is installed on the top of the battery swapping shed and can automatically adjust its length according to the wheel track. The laser projector is installed at both ends of the adjustable telescopic guide rod and projects a laser guide line on the ground to guide the electric truck into the battery swapping area. The width of the laser guide line is the same as the wheel track.

[0007] Preferably, the radar imaging system includes a camera and a radar imaging device. The camera is installed inside the battery swapping shed, and the laser guidance system controls the adjustable telescopic guide rod to automatically extend and retract to a suitable length. The radar imaging device is installed under the front of the electric truck.

[0008] Preferably, the radar imaging device is wirelessly connected to the central control display of the electric truck.

[0009] Preferably, the radar imaging system includes an acquisition and processing module and a display module; the control system includes an initialization module, a feature extraction and projection module, a calculation module, and a correction and anomaly processing module.

[0010] Preferably, the electric truck battery swapping station pre-guided precise parking system utilizes six modules—initialization module, acquisition and processing module, display module, feature extraction and projection module, calculation module, and correction and anomaly handling module—to achieve precise parking of electric trucks in the battery swapping area using a multimodal fusion method, thereby improving battery swapping efficiency. The initialization module is used for initializing the camera and radar imaging device; The acquisition and processing module acquires and preprocesses data through a camera and radar imaging device; The feature extraction and projection module is used to extract features and perform spatial projection on the preprocessed data. The computing module is used to perform multimodal information fusion calculations on feature extraction and spatial projection; The display module displays the results of multimodal information fusion calculation and guides control. The correction and anomaly handling module is used for closed-loop correction and anomaly handling.

[0011] A parking method for a pre-guided precision parking system for electric truck battery swapping stations includes the following steps: Step 1: When the electric truck is swapping batteries, the control system controls the operation of the entire battery swapping station. Before the electric truck swaps batteries, the laser projector of the battery swapping station is turned off, while the camera is always on to detect whether an electric truck has entered the battery swapping station for battery swapping. Step 2: When an electric truck arrives for battery swapping, the camera detects the electric truck entering the battery swapping station, sends a signal to the control system, and uses machine vision to scan the vehicle body to obtain the wheel track data of the electric truck and feed it back to the control system. The control system controls the adjustable telescopic guide rod to extend and retract to adapt to the wheel track of the electric truck. Step 3: After the adjustable telescopic guide rod extends to the designated position, the laser projector projects a laser guide line onto the ground to guide the electric truck to drive into the battery swapping area of ​​the battery swapping station along the laser guide line; Step 4: The driver turns on the radar imaging device, which is connected to the central control display in the cab. At this time, the central control display shows the electric truck's driving line. The driver uses the electric truck's driving line to align with the laser guide line, adjusts the electric truck's direction in real time, and drives into the battery swapping station. Step 5: The driver drives the electric truck to the parking line and stops it, so that the electric truck can accurately stop at the battery swapping area.

[0012] Compared with the prior art, the technical solution of this application has the following beneficial technical effects: 1. This invention enables electric trucks to enter the battery swapping area of ​​the battery swapping station more quickly and accurately through a pre-guided precise parking system, reducing the time spent on repeated adjustments due to inaccurate parking positions, thereby significantly improving the overall efficiency of battery swapping and enabling the battery swapping station to provide battery swapping services for more electric trucks per unit time.

[0013] 2. This invention enhances the accuracy of battery swapping. Precise parking ensures that the electric truck is parked in the optimal operating position of the battery swapping equipment, which is conducive to the accurate and smooth completion of battery replacement by the battery swapping equipment, reduces the occurrence rate of battery swapping failures caused by parking deviations, and improves the success rate and reliability of battery swapping operations. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a top view of the overall structure of the present invention; Figure 3 This is a schematic diagram of the overall front view of the present invention; Figure 4 This is a schematic diagram of the overall side view structure of the present invention; Figure 5 This is a flowchart illustrating the multimodal fusion method of the present invention.

[0015] In the diagram: 1. Ground; 2. Battery swapping station; 3. Battery swapping shed; 4. Electric truck; 5. Laser projector; 6. Laser guide line; 7. Adjustable telescopic guide rod; 8. Radar imaging device; 9. Camera; 10. Electric truck driving line; 11. Parking line. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] In the embodiments, such as Figure 1-5 As shown, an electric truck battery swapping station pre-guided precise parking system is applicable to any type of battery swapping station 2. The laser projector 5 and camera 9, installed inside the battery swapping shed 3, are suitable for different battery swapping stations 2 and different electric trucks 4. The length of the adjustable telescopic guide rod 7 is related to the wheelbase of the electric truck 4. The adjustable telescopic guide rod 7 of this invention is not limited to hydraulic or electric push rods; similarly, it is similar to a push-drive mechanism that drives the laser projector 5 to extend and retract to adapt to different types of electric trucks 4.

[0018] A battery swapping station 2 is located on the ground 1. A battery swapping shed 3 is connected to the right side of the station 2. A laser projector 5 and a camera 9 are installed inside the shed 3. The laser projector 5 and camera 9 are wirelessly connected, enabling data transmission and control. Laser projectors 5 are installed at both ends of an adjustable telescopic guide rod 7. The laser projectors 5 project a laser guide line 6 onto the ground 1 when the electric truck 4 enters the battery swapping station 2.

[0019] Camera 9 uses machine vision to identify electric truck 4, calculates the width of electric truck 4, and transmits the data to the laser guidance system. The laser guidance system drives the adjustable telescopic guide rod 7 to extend or retract to accommodate the width of electric truck 4, guiding electric truck 4 into the battery swapping area of ​​battery swapping station 2. Parking lines 11 are affixed to the ground 1 inside battery swapping shed 3. The driver drives electric truck 4 to the parking line 11 and stops.

[0020] A radar imaging device 8 is installed at the front of the electric truck 4. This device is connected to the central control display in the driver's cab of the electric truck 4. When the electric truck 4 enters the battery swapping station 2, it displays laser guide lines 6, the driving line 10, and the parking line 11. The driver adjusts the direction of the electric truck 4 before entering the battery swapping station 2 by aligning the driving line 10 with the laser guide line 6. The driver then precisely maneuvers the electric truck 4 into the battery swapping area of ​​the station 2 based on the position of the parking line 11.

[0021] The radar imaging system includes an initialization module, an acquisition and processing module, and a display module; the control system includes a feature extraction and projection module, a calculation module, and a correction and anomaly processing module.

[0022] The electric truck battery swapping station pre-guided precise docking system utilizes six modules—initialization module, acquisition and processing module, display module, feature extraction and projection module, calculation module, and correction and anomaly handling module—to achieve precise docking of electric trucks in the battery swapping area using a multimodal fusion method, thereby improving battery swapping efficiency. The initialization module is used for the initialization of the camera 9 and the radar imaging device 8; The acquisition and processing module acquires and preprocesses data through camera 9 and radar imaging device 8; The feature extraction and projection module is used to extract features and perform spatial projection on the preprocessed data. The computing module is used to perform multimodal information fusion calculations on feature extraction and spatial projection; The display module displays the results of multimodal information fusion calculation and guides control. The correction and anomaly handling module is used for closed-loop correction and anomaly handling.

[0023] The multimodal fusion process includes the following specific implementation steps: Step 1: Initialization module performs initialization: When the pre-boot system starts, the initialization module initializes the parameters and performs synchronization calibration on the camera 9 and the radar imaging device 8 respectively. The calibration obtains the internal and external parameters of the camera 9 and establishes the spatial correspondence between the radar coordinate system and the camera 9 coordinate system. A unified time synchronization protocol is used to ensure that the timestamps of the data from different sensors are consistent, thereby ensuring the spatiotemporal accuracy of subsequent fusion calculations. Step 2: Data acquisition and processing module performs data acquisition and preprocessing: When electric truck 4 enters the detection range of the battery swapping area, camera 9 acquires vehicle image information in real time, and radar imaging device 8 simultaneously acquires distance and reflection intensity data in front of the vehicle. Camera 9 performs noise reduction and illumination equalization processing on the image, and extracts vehicle body boundary and wheel features; radar performs filtering and threshold detection on point cloud data, outputs the distance distribution in front of the vehicle, and the control system matches and caches the two types of data according to the timestamp to form a time-consistent multi-source information frame. Step 3: Feature extraction and projection module performs feature extraction and spatial projection: The feature extraction and projection module projects the visual features such as vehicle body feature points and wheel centers identified by camera 9 to a unified global coordinate system according to the calibration parameters. At the same time, it converts the radar point cloud data into a coordinate system consistent with camera 9, thereby realizing the spatial alignment of visual information and ranging information, and providing a consistent input data format for fusion computing. Step 4: The calculation module performs multimodal information fusion calculation: The calculation module uses extended Kalman filtering or weighted fusion algorithm to fuse the image features of camera 9 and the distance information of radar. Camera 9 provides high-resolution vehicle attitude angle and wheelbase estimation, and radar provides accurate longitudinal distance. The calculation module automatically adjusts the weights according to the confidence of each sensor to obtain the fused vehicle pose estimation result. When the lighting is insufficient or the visual confidence decreases, the system automatically increases the radar weight to ensure the stability and accuracy of the positioning result. Step 5: The display module performs guidance control and dynamic display: The fusion calculation results are transmitted to the central control display terminal in real time. The system generates driving guide lines based on the vehicle's posture and deviation. The vehicle driving line identified by camera 9, the distance information measured by radar, and the laser guide line 6 are superimposed and displayed on the interface. The driver can make fine adjustments according to the prompts. When the vehicle's lateral deviation, angle error, and longitudinal distance are all less than the preset threshold, the control system issues a parking command to achieve precise parking. Step 6: The calibration and anomaly handling module performs closed-loop calibration and anomaly handling: During vehicle parking, the control system continuously monitors the fusion deviation between vision and radar. When there is a significant difference between the two outputs, the system automatically enters the closed-loop calibration mode, maintaining positioning accuracy through reweighted calculation or single-modal compensation. If a single sensor anomaly is detected, the system automatically switches to the other modality-dominated working mode to ensure safe parking. After parking is completed, the system saves the fused data and error logs for subsequent algorithm optimization and equipment maintenance.

[0024] A pre-guided precise parking system for electric truck battery swapping stations, the method of using which includes the following steps: Step 1: When the electric truck 4 is swapping batteries, the control system controls the operation of the entire battery swapping station 2. Before the electric truck 4 is swapped, the laser projector 5 of the battery swapping station 2 is turned off, and the camera 9 is always turned on to detect whether the electric truck 4 has entered the battery swapping station 2 for battery swapping. Step 2: When an electric truck 4 arrives for battery swapping, the camera 9 detects that the electric truck 4 has entered the battery swapping station 2, sends a signal to the control system, and uses machine vision to scan the vehicle body to obtain the wheel track data of the electric truck 4 and feeds it back to the control system. The control system controls the adjustable telescopic guide rod 7 to extend and retract to adapt to the wheel track of the electric truck 4. Step 3: After the adjustable telescopic guide rod 7 extends and retracts to the designated position, the laser projector 5 projects the laser guide line 6 onto the ground 1, guiding the electric truck 4 to drive into the battery swapping area of ​​the battery swapping station 2 along the laser guide line 6. Step 4: The driver turns on the radar imaging device 8, which is connected to the central control display in the cab. At this time, the central control display shows the electric truck driving line 10. The driver uses the electric truck driving line 10 to align with the laser guide line 6, adjusts the direction of the electric truck 4 in real time, and drives into the battery swapping station 2. Step 5: The driver drives the electric truck 4 to parking line 11 and stops it, so that the electric truck 4 can accurately stop at the battery swapping area.

[0025] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0026] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A pre-guided precise parking system for electric truck battery swapping stations, characterized in that, The electric truck battery swapping station pre-guided precise parking system is used to ensure that electric trucks accurately drive into the battery swapping area of ​​the battery swapping station, thereby improving battery swapping efficiency. The electric truck battery swapping station pre-guided precise docking system includes a battery swapping station (2), a battery swapping shed (3), and an electric truck (4) deployed on the ground (1). A laser guidance system is installed inside the battery swapping shed (3); The battery swapping shed (3) and the electric truck (4) are equipped with radar imaging systems; Parking lines (11) are affixed to the ground (1) inside the battery swapping shed (3).

2. The electric truck battery swapping station pre-guided precise docking system according to claim 1, characterized in that: The laser guidance system includes an adjustable telescopic guide rod (7) and a laser projector (5). The adjustable telescopic guide rod (7) is installed on the top of the battery swapping shed (3). The adjustable telescopic guide rod (7) can automatically adjust its length according to the wheel track to adapt to the wheel track. The laser projector (5) is installed at both ends of the adjustable telescopic guide rod (7). The laser projector (5) projects a laser guide line (6) on the ground (1) to guide the electric truck (4) into the battery swapping area. The width of the laser guide line (6) is the same as the wheel track.

3. The electric truck battery swapping station pre-guided precise docking system according to claim 2, characterized in that: The radar imaging system includes a camera (9) and a radar imaging device (8). The camera (9) is installed inside the battery swapping shed (3). The laser guidance system controls the adjustable telescopic guide rod (7) to automatically extend and retract to a suitable length. The radar imaging device (8) is installed under the front of the electric truck (4).

4. The electric truck battery swapping station pre-guided precise docking system according to claim 3, characterized in that: The radar imaging device (8) is wirelessly connected to the central control display of the electric truck (4).

5. The electric truck battery swapping station pre-guided precise docking system according to claim 3, characterized in that: The radar image system includes an acquisition and processing module and a display module; the control system includes an initialization module, a feature extraction and projection module, a calculation module, and a correction and anomaly processing module.

6. The electric truck battery swapping station pre-guided precise docking system according to claim 5, characterized in that: The electric truck battery swapping station pre-guided precise docking system utilizes six modules: initialization module, acquisition and processing module, display module, feature extraction and projection module, calculation module, and correction and anomaly handling module. It uses a multimodal fusion method to achieve precise docking of electric trucks (4) in the battery swapping area, thereby improving battery swapping efficiency. The initialization module is used for initializing the camera (9) and the radar imaging device (8); The acquisition and processing module acquires and preprocesses data through a camera (9) and a radar imaging device (8); The feature extraction and projection module is used to extract features and perform spatial projection on the preprocessed data. The computing module is used to perform multimodal information fusion calculations on feature extraction and spatial projection; The display module displays the results of multimodal information fusion calculation and guides control. The correction and anomaly handling module is used for closed-loop correction and anomaly handling.

7. The parking method of the pre-guided precise parking system for an electric truck battery swapping station according to claim 4, characterized in that, Includes the following steps: Step 1: When the electric truck (4) is swapping batteries, the control system controls the operation of the entire battery swapping station (2). Before the electric truck (4) is swapped, the laser projector (5) of the battery swapping station (2) is turned off, and the camera (9) is always turned on to detect whether the electric truck (4) has entered the battery swapping station (2) for battery swapping. Step 2: When an electric truck (4) comes to swap batteries, the camera (9) detects that the electric truck (4) has entered the battery swapping station (2), sends a signal to the control system, and uses machine vision to scan the vehicle body to obtain the wheel track data of the electric truck (4) and feeds it back to the control system. The control system controls the adjustable telescopic guide rod (7) to extend and retract to adapt to the wheel track of the electric truck (4). Step 3: After the adjustable telescopic guide rod (7) extends to the designated position, the laser projector (5) projects a laser guide line (6) onto the ground (1) to guide the electric truck (4) to drive into the battery swapping area of ​​the battery swapping station (2) along the laser guide line (6); Step 4: The driver turns on the radar image device (8), which is connected to the central control display in the cab. At this time, the central control display shows the electric truck driving line (10). The driver uses the electric truck driving line (10) to overlap with the laser guide line (6) to adjust the direction of the electric truck (4) in real time and drive into the battery swapping station (2). Step 5: The driver drives the electric truck (4) to the parking line (11) and stops, so that the electric truck (4) can accurately stop at the battery swapping area.

Images