A safe battery replacing system and method of unmanned battery replacing station

Abstract

This invention relates to the field of battery swapping station technology, specifically providing a safe battery swapping system and method for unmanned battery swapping stations. The system includes: a vehicle positioning module configured to collect three-dimensional point cloud data of the target vehicle and the battery swapping work area; a thermal infrared detection module configured to collect thermal infrared image data of the battery swapping work area; a battery swapping control module configured to calculate the coordinate information of the target vehicle's battery compartment based on the three-dimensional point cloud data and determine whether the target vehicle has changed its battery swapping status, thereby controlling the battery swapping robotic arm to perform corresponding battery swapping actions or shutdown actions; and a foreign object intrusion alarm module configured to determine whether there is biological intrusion in the battery swapping work area based on the thermal infrared image data. This invention can complete battery swapping without moving the vehicle and monitors and issues alarms for situations such as driver violations, foreign object proximity, and abnormal battery swapping robotic arm operation.

Description

Technical Field

[0001] This invention relates to the field of battery swapping station technology, and in particular to a safe battery swapping system and method for unmanned battery swapping stations. Background Technology

[0002] Electric vehicles are increasingly used in daily production and life, and unmanned battery swapping stations provide a more convenient and efficient way to replenish energy. During the battery swapping process, the safety system needs to collect various information in real time, such as vehicle location, battery status, human interference, and battery temperature, and take corresponding control measures in a timely manner.

[0003] However, existing unmanned battery swapping stations still have some shortcomings in target positioning and abnormal situation monitoring and handling: First, vehicle positioning relies on mechanical structures to move and adjust the vehicle to align it with the battery swapping operation area, and mechanical pushing during this process may damage the vehicle's appearance; second, there is a lack of detection and alarm mechanisms for personnel violations (such as the driver opening the door and getting out of the vehicle during the battery swapping process), which poses a safety hazard of accidental injury to personnel by mechanical devices; in addition, when external animals, personnel or other foreign objects approach the battery swapping operation area, they cannot be identified in time and protective or alarm measures cannot be taken, which may affect the normal progress of the battery swapping process. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a safe battery swapping system and method for unmanned battery swapping stations, which can complete vehicle positioning and battery swapping operations without moving the vehicle, and at the same time monitor and alarm for violations and abnormal situations during the battery swapping process.

[0005] To achieve the above objectives, the present invention is implemented using the following technical solution:

[0006] In a first aspect, embodiments of the present invention provide a safe battery swapping system for an unmanned battery swapping station, comprising:

[0007] The vehicle positioning module is configured to collect three-dimensional point cloud data of the target vehicle and the battery swapping work area at preset time intervals;

[0008] The thermal infrared detection module is configured to collect thermal infrared image data of the battery swapping work area at preset time intervals;

[0009] The battery swapping control module is configured to calculate the coordinate information of the battery compartment of the target vehicle based on the three-dimensional point cloud data, so as to control the battery swapping robotic arm to perform the corresponding battery swapping action; it is also configured to determine whether the target vehicle has changed its battery swapping status based on the three-dimensional point cloud data, so as to control the battery swapping robotic arm to perform a shutdown action.

[0010] The foreign object intrusion alarm module is configured to determine whether there is a biological intrusion in the battery swapping work area based on the thermal infrared image data, and to issue a foreign object intrusion alarm if a biological intrusion is found.

[0011] In some embodiments of the present invention, the vehicle positioning module includes an area array lidar, an image sensor, and a first image fusion unit;

[0012] The area array lidar is used to illuminate the field of view of the battery swapping work area with a single laser pulse and to receive the reflected signal using the area array detector to obtain three-dimensional point cloud data covering the target vehicle and the battery swapping work area.

[0013] The image sensor is used to acquire color image data of the field of view of the battery swapping working area;

[0014] The first image fusion unit is used to perform feature fusion of the three-dimensional point cloud data and the color image data to obtain a first fused grayscale image.

[0015] In some embodiments of the present invention, the battery swapping control module includes a battery swapping control unit and a driver violation alarm unit;

[0016] The battery swapping control unit is configured to calculate the coordinate information of the battery compartment of the target vehicle based on the three-dimensional point cloud data; the coordinate information is used to generate battery swapping commands to control the battery swapping robotic arm to perform corresponding battery swapping actions.

[0017] The driver violation alarm unit is configured to determine whether the target vehicle has a battery swapping status change exceeding a preset difference threshold by comparing the difference between the first fused grayscale image and the preset first reference grayscale image of the target vehicle under normal battery swapping conditions; if the target vehicle has a battery swapping status change exceeding the preset difference threshold, a driver violation alarm is issued and a stop command is generated to control the battery swapping robotic arm to stop the battery swapping operation.

[0018] In some embodiments of the present invention, the thermal infrared detection module includes a thermal infrared sensor and a second image fusion unit;

[0019] The thermal infrared sensor is used to detect thermal infrared signals in the battery swapping work area and generate thermal infrared image data.

[0020] The second image fusion unit is used to perform feature fusion of the thermal infrared image data and the color image data to obtain a second fused grayscale image;

[0021] The foreign object intrusion alarm module is configured to determine whether there is a biological intrusion in the battery swapping work area by comparing the difference between the second fused grayscale image and the preset second reference grayscale image of the battery swapping work area under normal conditions.

[0022] In some embodiments of the present invention, an adjustment mechanism is further included; the adjustment mechanism is disposed above the battery swapping working area and is used to adjust the positions of the vehicle positioning module and the thermal infrared detection module;

[0023] The adjustment mechanism includes a rotating shaft and a sliding rail;

[0024] The middle part of the movable slide rail is mounted above the battery swapping work area via a rotating shaft;

[0025] The vehicle positioning module and the thermal infrared detection module are slidably connected to the side of the mobile slide rail near the battery swapping work area.

[0026] In some embodiments of the present invention, a main control computer is also included;

[0027] The main control computer is configured to adjust the positions of the vehicle positioning module and the thermal infrared detection module by controlling the moving slide rail;

[0028] The vehicle positioning module and the thermal infrared detection module are configured on the main control computer.

[0029] In some embodiments of the present invention, a PLC controller and an audible and visual alarm device are also included;

[0030] The PLC controller is connected to the battery swapping control module, the foreign object intrusion alarm module, the audible and visual alarm device, and the battery swapping robotic arm, respectively.

[0031] The PLC controller is configured to receive control commands from the battery swapping control module and the foreign object intrusion alarm module, control the battery swapping robotic arm to perform corresponding battery swapping or shutdown actions, and control the audible and visual alarm device to issue an alarm.

[0032] In some embodiments of the present invention, a robotic arm motion status monitoring module is also included; the robotic arm motion status monitoring module includes a current sensor, an encoder, a gyroscope, and a robotic arm abnormality alarm unit;

[0033] The current sensor is installed on the drive motor of the battery swapping robotic arm and is configured to monitor the drive current of the motors of each joint of the battery swapping robotic arm.

[0034] The encoder is mounted on the rotating shaft of the battery swapping robot arm and is configured to measure the rotational angular velocity of each joint of the battery swapping robot arm.

[0035] The gyroscope is located at the top of the battery swapping robotic arm and is configured to detect the degree of matching between the battery position and the battery compartment.

[0036] The robotic arm abnormality alarm unit is configured on the main control computer to determine whether there is an abnormality in the battery swapping robotic arm based on the monitoring information of the current sensor, encoder and gyroscope; when an abnormality occurs, a stop command is generated to control the battery swapping robotic arm to stop the battery swapping operation.

[0037] Secondly, embodiments of the present invention also provide a safe battery swapping method for unmanned battery swapping stations, the method comprising:

[0038] Continuously acquire 3D point cloud data of the target vehicle and the battery swapping work area at preset time intervals;

[0039] Thermal infrared image data of the battery swapping work area are continuously acquired at preset time intervals;

[0040] Based on the three-dimensional point cloud data, the coordinate information of the battery compartment of the target vehicle is calculated to control the battery swapping robotic arm to perform the corresponding battery swapping action; and based on the three-dimensional point cloud data, it is determined whether the target vehicle has changed its battery swapping status to control the battery swapping robotic arm to perform a shutdown action.

[0041] Based on the thermal infrared image data, it is determined whether there is any biological intrusion in the battery swapping work area. If there is biological intrusion, a foreign object intrusion alarm is issued.

[0042] In some embodiments of the present invention, determining whether the target vehicle has undergone a battery swapping state change based on the three-dimensional point cloud data includes:

[0043] Collect color image data of the target vehicle and the battery swapping work area;

[0044] The three-dimensional point cloud data and the color image data are fused to obtain a first fused grayscale image;

[0045] By comparing the difference between the first fused grayscale image and the first reference grayscale image of the target vehicle under normal battery swapping conditions, it is determined whether the target vehicle has a battery swapping state change that exceeds a preset difference threshold.

[0046] If the target vehicle experiences a battery swapping status change exceeding a preset difference threshold, a driver violation alarm will be issued, and a shutdown command will be generated to control the battery swapping robotic arm to stop the battery swapping operation.

[0047] Compared with the prior art, the above-described technical solution of the present invention has the following advantages:

[0048] (1) By acquiring high-resolution three-dimensional images through area array lidar and combining them with infrared thermal imaging technology, a dual safety barrier of three-dimensional space and biological detection is constructed. It can simultaneously and accurately calculate battery coordinates and effectively identify biological intrusion, greatly improving the comprehensiveness and reliability of environmental perception; (2) By dynamically comparing vehicle status with the benchmark model, abnormal situations such as drivers illegally opening car doors or starting the car during battery replacement can be monitored in real time. At the same time, the sensor acquisition angle is optimized by adjusting the mechanism, enhancing the system's adaptability to different vehicle models and complex scenarios; (3) Multiple sensors such as current, angle, and attitude are integrated to monitor the battery swapping robotic arm in its entirety, realizing early warning and rapid response to abnormalities in the battery swapping process. A closed-loop safety control system from environmental monitoring and vehicle positioning to actuator monitoring has been constructed, comprehensively ensuring the safe, efficient, and stable operation of battery swapping. Attached Figure Description

[0049] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention, and those skilled in the art can obtain other embodiments based on these drawings without creative effort.

[0050] Figure 1 This is a schematic diagram of the structure of a safe battery swapping system for an unmanned battery swapping station provided in an embodiment of the present invention;

[0051] Figure 2 This is a schematic diagram of the structure of the area array lidar in an embodiment of the present invention;

[0052] Figure 3 This is a schematic diagram of the adjustment mechanism in an embodiment of the present invention;

[0053] Figure 4 This is a flowchart illustrating a safe battery swapping method for an unmanned battery swapping station provided in an embodiment of the present invention.

[0054] Figure 5 This is a schematic diagram of the structure of the electronic device provided in an embodiment of the present invention.

[0055] The above figures include the following reference numerals:

[0056] 1—Rotating shaft; 2—Moving slide rail; 3—Sensor module; 4—Vertical cavity surface-emitting laser; 5—Area array detector; 6—Optical module; 7—Fixed rod; 8—Battery swapping working area; 9—Target vehicle. Detailed Implementation

[0057] Embodiments of the present invention will now be described in more detail with reference to the accompanying drawings. While some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0058] like Figure 1 As shown, this embodiment of the invention provides a safe battery swapping system for unmanned battery swapping stations, comprising:

[0059] The vehicle positioning module is configured to collect three-dimensional point cloud data of the target vehicle and the battery swapping work area at preset time intervals;

[0060] The thermal infrared detection module is configured to collect thermal infrared image data of the battery swapping work area at preset time intervals;

[0061] The battery swapping control module is configured to calculate the coordinate information of the battery compartment of the target vehicle based on the 3D point cloud data, so as to control the battery swapping robotic arm to perform the corresponding battery swapping action; it is also configured to determine whether the target vehicle has changed its battery swapping status based on the 3D point cloud data, so as to control the battery swapping robotic arm to perform a shutdown action.

[0062] The foreign object intrusion alarm module is configured to determine whether there is a biological intrusion in the battery swapping work area based on thermal infrared image data. If a biological intrusion is found, a foreign object intrusion alarm will be issued.

[0063] In some embodiments of the invention, the vehicle positioning module includes an area array lidar, an image sensor, and a first image fusion unit.

[0064] A planar array lidar is a type of solid-state lidar that achieves high frame rate 3D imaging by simultaneously emitting a planar light source and using a planar array detector to collect reflected signals across the entire field of view. For example... Figure 2 As shown, in this embodiment of the invention, the laser pulse emitted by the vertical-cavity surface-emitting laser (VCSEL) 4 illuminates the field of view of the battery swapping work area. The reflected signal is received by the area array detector 5, and the original laser emitted by the VCSEL array is collimated and diffused by the optical module 6, and the echo reflected by the target is collected and focused onto the corresponding pixel of the area array detector 5, so as to finally obtain three-dimensional point cloud data covering the target vehicle and the battery swapping work area.

[0065] Image sensors are used to acquire color image data of the field of view in the battery swapping work area.

[0066] In some embodiments of the invention, the image sensor may be a camera.

[0067] The first image fusion unit is used to fuse the features of 3D point cloud data and color image data to obtain a first fused grayscale image.

[0068] The image sensor needs to maintain the same field of view as the area array lidar. Therefore, the image sensor and the area array lidar are placed together above the battery swapping work area, and their positions are moved by an adjustment mechanism to obtain the best acquisition angle.

[0069] The battery swapping control unit is configured to calculate the coordinate information of the battery compartment of the target vehicle based on 3D point cloud data; the coordinate information is used to generate battery swapping commands to control the battery swapping robotic arm to perform corresponding battery swapping actions; the driver violation alarm unit is configured to determine whether the target vehicle has a battery swapping status change exceeding a preset difference threshold by comparing the difference between the first fused grayscale image and the first reference grayscale image of the target vehicle under normal battery swapping conditions; if the target vehicle has a battery swapping status change exceeding the preset difference threshold, a driver violation alarm is issued and a stop command is generated to control the battery swapping robotic arm to stop the battery swapping action.

[0070] The area-array lidar emits laser pulses at preset intervals and, by receiving the returned signals, quickly generates 3D point cloud data covering the target vehicle and the battery swapping work area. Each point contains its 3D spatial coordinates (X, Y, Z). After receiving the point cloud data, the main control computer performs vehicle identification and registration: the target vehicle body is segmented from the complex scene point cloud and quickly registered and compared with a high-precision 3D reference model of the vehicle model (including the precise geometric dimensions and position of the standard battery compartment) pre-stored in the database. Even if there is a slight angular deviation in the vehicle's parking position, the registration algorithm can calculate the target vehicle's pose through algorithms such as iterative nearest point. The second step is coordinate calculation and transformation: after completing the vehicle model registration, based on the known fixed positional relationship of the battery compartment in the vehicle model, the 3D coordinates of the battery compartment in the current actual scene are directly calculated.

[0071] The calculated battery compartment coordinates are sent to the battery swapping robotic arm control system, which is configured on the main control computer. The control system is configured to convert the battery coordinates from the LiDAR coordinate system to coordinates based on the robotic arm's base coordinate system using a pre-calibrated transformation matrix. Subsequently, a path planning algorithm calculates an efficient, smooth, and collision-free trajectory based on these coordinates, the current state of the robotic arm, and the surrounding point cloud, decomposing it into a series of joint angle or end-effector pose commands. The battery swapping commands contain this series of precise motion control instructions, controlling the robotic arm to perform corresponding actions such as gripping, disassembling, and installing batteries.

[0072] During the movement of the battery swapping robotic arm and the execution of battery replacement, the driver violation alarm unit continuously compares the difference between the first fused grayscale image and the first reference grayscale image of the target vehicle under normal battery swapping conditions. If the target vehicle undergoes deformation or displacement exceeding the preset difference threshold due to personnel movement or operation (such as opening the car door or starting the car), a stop command is immediately triggered to interrupt the current battery swapping action of the battery swapping robotic arm.

[0073] The first reference grayscale image of the target vehicle in normal battery swapping state is a grayscale image of the same model in normal battery swapping state that is pre-stored in the database. In normal battery swapping state, all doors and the trunk of the vehicle are closed, and the vehicle is parked in a pre-defined parking area.

[0074] The thermal infrared detection module includes a thermal infrared sensor and a second image fusion unit. The thermal infrared sensor is used to detect thermal infrared signals in the battery swapping working area and generate thermal infrared image data. The second image fusion unit is used to fuse the thermal infrared image data and color image data to obtain a second fused grayscale image.

[0075] To save hardware resources, the thermal infrared detection module and the battery swapping control module of this invention share an image sensor.

[0076] The battery swapping control module generally only needs to operate when a vehicle is swapping batteries, while the thermal infrared detection module needs to operate continuously. Therefore, the operating frequency of the image sensor needs to be consistent with that of the thermal infrared sensor.

[0077] The thermal infrared sensor is also positioned above the battery swapping area and its position is adjusted via a mechanism to obtain the optimal acquisition angle.

[0078] The foreign object intrusion alarm module is configured to determine whether there is a biological intrusion in the battery swapping work area by comparing the difference between the second fused grayscale image and the second reference grayscale image of the preset battery swapping work area under normal conditions.

[0079] The second reference grayscale image of the battery swapping work area under normal conditions is a grayscale image of the battery swapping work area stored in the database under the condition that no animals or people have entered.

[0080] The first and second image fusion units of this invention both map the fused two images to grayscale images, primarily based on considerations of efficiency and robustness. First, grayscale conversion compresses three-channel data into a single channel, reducing the data volume by two-thirds, significantly lowering computational complexity and memory usage. Second, image comparison algorithms primarily rely on structural information such as edges, textures, and shapes to identify targets; these key features are fully preserved in grayscale images. In contrast, color information is easily affected by environmental factors such as lighting changes and shadows, exhibiting poor stability. Removing color variables simplifies the model's learning task, allowing it to focus more on learning essential features that are more invariant to lighting changes, thereby improving the overall robustness of the system.

[0081] The difference between the first reference grayscale image and the first fused grayscale image, as well as the second reference grayscale image and the second fused grayscale image, is measured using an image comparison algorithm.

[0082] In some embodiments of the invention, the image comparison algorithm can use a pre-trained convolutional neural network model to extract deep semantic features from the baseline grayscale image and the fused grayscale image, transform the image into a high-dimensional feature vector, and measure the difference between the two by calculating the distance between the feature vectors.

[0083] In some embodiments of the invention, the image comparison algorithm may use a Siamese Network model. A Siamese Network consists of two subnetworks with identical structures and shared weights. A baseline grayscale image and a fused grayscale image are input into the Siamese Network model, and the model outputs a similarity score between the two.

[0084] Furthermore, when the difference between the fused grayscale image and the reference grayscale image exceeds a preset threshold, this embodiment of the invention will use a target tracking algorithm to detect and track the target objects that differ in the fused grayscale image, thereby achieving continuous tracking of abnormal state changes of target vehicles and / or the movement trajectory of invading organisms.

[0085] The adjustment mechanism is located above the battery swapping work area and is used to adjust the position of the vehicle positioning module and the thermal infrared detection module.

[0086] like Figure 3 As shown, the adjustment mechanism of this embodiment includes a rotating shaft 1 and a movable slide rail 2; the middle part of the movable slide rail 2 is fixedly installed above the battery swapping work area 8 via the rotating shaft 1, and the movable slide rail 2 can rotate horizontally with the rotating shaft 1 as the center; the vehicle positioning module and the thermal infrared detection module are slidably connected on the movable slide rail 2 on the side close to the battery swapping work area 8.

[0087] In this embodiment of the invention, the rotating shaft 1 is installed above the battery swapping work area 8 by means of the fixing rod 7. By adjusting the length of the fixing rod 7, the field of view of multiple sensors in the sensor module 3 can be adjusted.

[0088] The vehicle positioning module and the thermal infrared detection module are integrated into the sensor module 3, and the moving slide rail 2 and the sensor module 3 are controlled by the main control computer. Through the cooperation of the rotating shaft 1 and the moving slide rail 2, the vehicle positioning module and the thermal infrared detection module can move arbitrarily within a circular range with the moving slide rail 2 as its diameter.

[0089] Normally, the sensor module 3 is moved above the target vehicle 9.

[0090] The vehicle positioning module and the thermal infrared detection module are configured on the main control computer.

[0091] The safe battery swapping system of the unmanned battery swapping station in this embodiment of the invention also includes a PLC controller and an audible and visual alarm device. The PLC controller is connected to the battery swapping control module, the foreign object intrusion alarm module, the audible and visual alarm device, and the battery swapping robotic arm. The PLC controller is configured to receive control commands from the battery swapping control module and the foreign object intrusion alarm module, control the battery swapping robotic arm to perform corresponding battery swapping actions or shutdown actions, and control the audible and visual alarm device to issue an alarm.

[0092] The audible and visual alarm device of this invention uses a buzzer and red and green LED lights to set different alarm sounds and different colored alarm lights for different types of abnormal situations.

[0093] Furthermore, in this embodiment of the invention, the main control computer is connected to a server to upload abnormal information for recording and analysis. Upon receiving an alarm for an abnormal situation, the battery swapping operation stops. Safety personnel remotely confirm the abnormal situation, determine if there are any safety hazards, and issue instructions for subsequent operations. This embodiment of the invention visualizes these operations through a display screen.

[0094] The safe battery swapping system of the unmanned battery swapping station in this embodiment of the invention also includes a robotic arm motion status monitoring module; the robotic arm motion status monitoring module includes a current sensor, an encoder, a gyroscope, and a robotic arm abnormality alarm unit.

[0095] A current sensor is installed on the drive motor of the battery swapping robot arm and is configured to monitor the drive current of the motors of each joint of the battery swapping robot arm; an encoder is installed on the rotation axis of the battery swapping robot arm and is configured to measure the rotational angular velocity of each joint of the battery swapping robot arm; a gyroscope is installed at the top of the battery swapping robot arm and is configured to detect the matching degree between the battery position and the battery compartment; a robot arm abnormality alarm unit is configured on the main control computer and is configured to determine whether there is an abnormality in the battery swapping robot arm based on the monitoring information of the current sensor, encoder and gyroscope; when an abnormality occurs, a stop command is generated to control the battery swapping robot arm to stop the battery swapping operation.

[0096] On the other hand, such as Figure 4 As shown in the figure, this application embodiment also provides a safe battery swapping method for unmanned battery swapping stations, which is implemented through the safe battery swapping system for unmanned battery swapping stations described in the above embodiment. The solution provided by this method is similar to the implementation solution described in the safe battery swapping system for unmanned battery swapping stations described above. Therefore, the specific limitations in the embodiments of the safe battery swapping method for unmanned battery swapping stations provided below can be found in the limitations of the safe battery swapping system for unmanned battery swapping stations described above, and will not be repeated here. Figure 4 This is a flowchart illustrating a safe battery swapping method for unmanned battery swapping stations. This flowchart only shows the logical sequence of the method in this embodiment. Provided there are no conflicts, other possible embodiments of the invention may use different methods. Figure 4 Complete the steps shown or described in the order indicated.

[0097] See Figure 4 The method of this invention specifically includes the following steps:

[0098] Step S101: Continuously acquire 3D point cloud data of the target vehicle and the battery swapping work area at preset time intervals.

[0099] Step S102: Continuously acquire thermal infrared image data of the battery swapping work area at preset time intervals.

[0100] Step S103: Based on the 3D point cloud data, calculate the coordinate information of the battery compartment of the target vehicle to control the battery swapping robotic arm to perform the corresponding battery swapping action; and based on the 3D point cloud data, determine whether the target vehicle has changed its battery swapping status to control the battery swapping robotic arm to perform the shutdown action.

[0101] Among these methods, determining whether the target vehicle has undergone a battery swapping change based on 3D point cloud data includes:

[0102] Collect color image data of the target vehicle and the battery swapping work area;

[0103] The 3D point cloud data and color image data are fused to obtain the first fused grayscale image;

[0104] By comparing the difference between the first fused grayscale image and the first reference grayscale image of the target vehicle under normal battery swapping conditions, it is determined whether the target vehicle has a battery swapping state change that exceeds the preset difference threshold.

[0105] If the target vehicle exhibits a battery swapping status change exceeding a preset difference threshold, a driver violation alarm will be issued, and a stop command will be generated to control the battery swapping robotic arm to cease its battery swapping operation.

[0106] Step S104: Based on thermal infrared image data, determine whether there is biological intrusion in the battery swapping work area. If biological intrusion is found, issue a foreign object intrusion alarm.

[0107] An embodiment of the present invention also provides a non-transitory machine-readable medium storing a computer program, wherein the computer program, when executed by a computer's processor, is used to cause the computer to perform the safe battery swapping method of an unmanned battery swapping station according to an embodiment of the present invention.

[0108] An embodiment of the present invention also provides a computer program product, including a computer program, wherein the computer program, when executed by a computer's processor, is used to cause the computer to perform the safe battery swapping method of the unmanned battery swapping station of the present invention.

[0109] An embodiment of the present invention also provides an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor. The memory stores a computer program executable by the at least one processor, which, when executed by the at least one processor, causes the electronic device to perform the safe battery swapping method of the unmanned battery swapping station according to an embodiment of the present invention.

[0110] refer to Figure 5 The present invention will now describe a structural block diagram of an electronic device that can serve as an embodiment of the present invention, serving as an example of a hardware device applicable to various aspects of the present invention. The electronic device is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0111] like Figure 5As shown, the electronic device includes a computing unit 101, which can perform various appropriate actions and processes based on a computer program stored in a read-only memory (ROM) 102 or a computer program loaded from a storage unit 108 into a random access memory (RAM) 103. The RAM 103 may also store various programs and data required for the operation of the electronic device. The computing unit 101, ROM 102, and RAM 103 are interconnected via a bus 104. An input / output (I / O) interface 105 is also connected to the bus 104.

[0112] Multiple components in the electronic device are connected to I / O interface 105, including: input unit 106, output unit 107, storage unit 108, and communication unit 109. Input unit 106 can be any type of device capable of inputting information into the electronic device. Input unit 106 can receive input digital or character information and generate key signal inputs related to user settings and / or function control of the electronic device. Output unit 107 can be any type of device capable of presenting information and may include, but is not limited to, a display, speaker, video / audio output terminal, vibrator, and / or printer. Storage unit 108 may include, but is not limited to, disks and optical discs. Communication unit 109 allows the electronic device to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks, and may include, but is not limited to, modems, network cards, infrared communication devices, and / or wireless communication transceivers, such as Bluetooth devices, WiFi devices, WiMax devices, cellular communication devices, and / or the like.

[0113] The computing unit 101 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 101 include, but are not limited to, CPUs, graphics processing units (GPUs), various special-purpose artificial intelligence (AI) computing units, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any suitable processor, controller, microcontroller, etc. The computing unit 101 performs the various methods and processes described above. For example, in some embodiments, the method embodiments of the present invention can be implemented as computer programs tangibly contained in a machine-readable medium, such as storage unit 108. In some embodiments, part or all of the computer program can be loaded and / or installed on an electronic device via ROM 102 and / or communication unit 109. In some embodiments, the computing unit 101 can be configured to perform the methods described above by any other suitable means (e.g., by means of firmware).

[0114] Computer programs for implementing the methods of embodiments of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0115] In the context of embodiments of this invention, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable signal medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, or infrared systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0116] It should be noted that the term "comprising" and its variations used in the embodiments of this invention are open-ended, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The modifications of "one" and "a plurality" mentioned in the embodiments of this invention are illustrative and not restrictive, and those skilled in the art should understand that unless explicitly indicated otherwise in the context, they should be understood as "one or more".

[0117] The user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in the embodiments of this invention are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0118] The steps described in the method embodiments provided by the present invention can be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of protection of the present invention is not limited in this respect.

[0119] The term "embodiment" in this specification refers to a specific feature, structure, or characteristic described in connection with an embodiment that may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily imply the same embodiment, nor does it imply independence or alternativeity from other embodiments. The various embodiments in this specification are described in a related manner, with reference to each other for similar or identical parts. In particular, for apparatus, device, and system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, and relevant details are referred to in the description of the method embodiments.

[0120] The above embodiments merely illustrate several implementation methods of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of protection. It should be noted that those skilled in the art can make various modifications and improvements without departing from the inventive concept of the present invention, and these all fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims.

Claims

1. A safe battery swapping system for an unmanned battery swapping station, characterized in that, include: The vehicle positioning module is configured to collect three-dimensional point cloud data of the target vehicle and the battery swapping work area at preset time intervals; The thermal infrared detection module is configured to collect thermal infrared image data of the battery swapping work area at preset time intervals; The battery swapping control module is configured to calculate the coordinate information of the battery compartment of the target vehicle based on the three-dimensional point cloud data, so as to control the battery swapping robotic arm to perform the corresponding battery swapping action; it is also configured to determine whether the target vehicle has changed its battery swapping status based on the three-dimensional point cloud data, so as to control the battery swapping robotic arm to perform a shutdown action. The foreign object intrusion alarm module is configured to determine whether there is a biological intrusion in the battery swapping work area based on the thermal infrared image data, and if there is a biological intrusion, a foreign object intrusion alarm will be issued. The vehicle positioning module includes an array lidar, an image sensor, and a first image fusion unit. The area array lidar is used to illuminate the field of view of the battery swapping work area with a single laser pulse and to receive the reflected signal using the area array detector in order to obtain three-dimensional point cloud data covering the target vehicle and the battery swapping work area. The image sensor is used to acquire color image data of the field of view of the battery swapping working area; The first image fusion unit is used to perform feature fusion of the three-dimensional point cloud data and the color image data to obtain a first fused grayscale image.

2. The safe battery swapping system for an unmanned battery swapping station according to claim 1, characterized in that, The battery swapping control module includes a battery swapping control unit and a driver violation alarm unit; The battery swapping control unit is configured to calculate the coordinate information of the battery compartment of the target vehicle based on the three-dimensional point cloud data; the coordinate information is used to generate battery swapping commands to control the battery swapping robotic arm to perform corresponding battery swapping actions. The driver violation alarm unit is configured to determine whether the target vehicle has a battery swapping state change that exceeds a preset difference threshold by comparing the difference between the first fused grayscale image and the preset first reference grayscale image of the target vehicle in a normal battery swapping state. If the target vehicle experiences a battery swapping status change exceeding a preset difference threshold, a driver violation alarm will be issued, and a shutdown command will be generated to control the battery swapping robotic arm to stop the battery swapping operation.

3. The safe battery swapping system for an unmanned battery swapping station according to claim 1, characterized in that, The thermal infrared detection module includes a thermal infrared sensor and a second image fusion unit; The thermal infrared sensor is used to detect thermal infrared signals in the battery swapping work area and generate thermal infrared image data. The second image fusion unit is used to perform feature fusion of the thermal infrared image data and the color image data to obtain a second fused grayscale image; The foreign object intrusion alarm module is configured to determine whether there is a biological intrusion in the battery swapping work area by comparing the difference between the second fused grayscale image and the preset second reference grayscale image of the battery swapping work area under normal conditions.

4. The safe battery swapping system for an unmanned battery swapping station according to claim 1, characterized in that, It also includes an adjustment mechanism; the adjustment mechanism is located above the battery swapping work area and is used to adjust the positions of the vehicle positioning module and the thermal infrared detection module; The adjustment mechanism includes a rotating shaft and a sliding rail; The middle part of the movable slide rail is mounted above the battery swapping work area via a rotating shaft; The vehicle positioning module and the thermal infrared detection module are slidably connected to the side of the moving slide rail near the battery swapping work area.

5. The safe battery swapping system for an unmanned battery swapping station according to claim 4, characterized in that, It also includes the main control computer; The main control computer is configured to adjust the positions of the vehicle positioning module and the thermal infrared detection module by controlling the moving slide rail; The vehicle positioning module and the thermal infrared detection module are configured on the main control computer.

6. The safe battery swapping system for an unmanned battery swapping station according to claim 5, characterized in that, It also includes PLC controllers and audible and visual alarm devices; The PLC controller is connected to the battery swapping control module, the foreign object intrusion alarm module, the audible and visual alarm device, and the battery swapping robotic arm, respectively. The PLC controller is configured to receive control commands from the battery swapping control module and the foreign object intrusion alarm module, control the battery swapping robotic arm to perform corresponding battery swapping or shutdown actions, and control the audible and visual alarm device to issue an alarm.

7. The safe battery swapping system for an unmanned battery swapping station according to claim 6, characterized in that, It also includes a robotic arm motion status monitoring module; the robotic arm motion status monitoring module includes a current sensor, an encoder, a gyroscope, and a robotic arm abnormality alarm unit; The current sensor is installed on the drive motor of the battery swapping robotic arm and is configured to monitor the drive current of the motors of each joint of the battery swapping robotic arm. The encoder is mounted on the rotating shaft of the battery swapping robot arm and is configured to measure the rotational angular velocity of each joint of the battery swapping robot arm. The gyroscope is located at the top of the battery swapping robotic arm and is configured to detect the degree of matching between the battery position and the battery compartment. The robotic arm abnormality alarm unit is configured on the main control computer and is configured to determine whether there is an abnormality in the battery swapping robotic arm based on the monitoring information of the current sensor, encoder and gyroscope; When an abnormal situation occurs, a shutdown command is generated to control the battery swapping robotic arm to stop the battery swapping operation.

8. A safe battery swapping method for an unmanned battery swapping station, characterized in that, include: Continuously acquire 3D point cloud data of the target vehicle and the battery swapping work area at preset time intervals; Thermal infrared image data of the battery swapping work area are continuously acquired at preset time intervals; Based on the three-dimensional point cloud data, the coordinate information of the battery compartment of the target vehicle is calculated so as to control the battery swapping robotic arm to perform the corresponding battery swapping action. And based on the three-dimensional point cloud data, determine whether the target vehicle has changed its battery swapping status, so as to control the battery swapping robotic arm to perform a shutdown action; Based on the thermal infrared image data, it is determined whether there is any biological intrusion in the battery swapping work area. If there is biological intrusion, a foreign object intrusion alarm is issued. Based on the three-dimensional point cloud data, determine whether the target vehicle has undergone a battery swapping change, including: Collect color image data of the target vehicle and the battery swapping work area; The three-dimensional point cloud data and the color image data are fused to obtain a first fused grayscale image; By comparing the difference between the first fused grayscale image and the first reference grayscale image of the target vehicle under normal battery swapping conditions, it is determined whether the target vehicle has a battery swapping state change that exceeds a preset difference threshold. If the target vehicle experiences a battery swapping status change exceeding a preset difference threshold, a driver violation alarm will be issued, and a shutdown command will be generated to control the battery swapping robotic arm to stop the battery swapping operation.

Images