Vehicle battery replacement method and device, electronic equipment and storage medium

Abstract

This application relates to the field of vehicle technology, and particularly to a vehicle battery swapping method, apparatus, vehicle, and storage medium. The method includes: in response to a battery swapping command, acquiring the vehicle's parking position and battery compartment attitude information; determining a docking position based on the parking position and battery compartment attitude information, removing the battery to be swapped at the docking position, and moving the battery to be swapped to the target position using a magnetic levitation track, wherein a preset levitation gap exists between the battery to be swapped and the magnetic levitation track; transporting a fully charged battery to the docking position using the magnetic levitation track, and docking the fully charged battery with the vehicle's battery compartment at the docking position. This solves the problems of connector wear, sealing failure, and structural fatigue that are easily caused by battery swapping methods relying on physical plugging and mechanical locking structures. By using magnetic levitation transmission technology, physical contact in mechanical battery swapping is avoided, mitigating safety hazards such as mechanical wear and interface aging.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a vehicle battery swapping method, device, electronic device, and storage medium. Background Technology

[0002] Currently, vehicle charging methods are mainly divided into two categories: supercharging and fast battery swapping. Supercharging is a plug-and-go method that uses high-power DC fast charging. However, supercharging is limited by factors such as grid capacity, battery thermal management bottlenecks, and infrastructure investment costs, making it difficult to implement on a large scale.

[0003] The battery swapping method requires the vehicle to be equipped with a battery pack with a quick-swap installation structure. When the vehicle's power is low, it can go to a battery swapping station, where a robotic arm will automatically remove the depleted battery pack and replace it with a fully charged battery pack.

[0004] However, the mechanical battery swapping method in related technologies relies on physical plugging and unplugging and mechanical locking mechanisms. Frequent operation can easily lead to wear and tear on high-voltage connectors, sealing failure, and structural fatigue, posing certain safety hazards. In addition, different automakers have significant differences in battery pack size, specifications, electrical interfaces, communication protocols, and fixing methods, making it extremely difficult to build universal battery swapping stations compatible with multiple brands and models. This not only results in redundant investment in infrastructure but also severely restricts the large-scale development of battery swapping networks and the formation of network effects. Summary of the Invention

[0005] This application provides a vehicle battery swapping method, device, electronic device, and storage medium to solve the problems that battery swapping methods that rely on physical plugging and mechanical locking mechanisms are prone to causing high-voltage connector wear, sealing failure, and structural fatigue, which pose certain safety hazards. By using magnetic levitation transmission technology, the physical contact, plugging and locking processes in mechanical battery swapping are avoided, thus avoiding safety hazards such as mechanical wear and interface aging, and improving the reliability and lifespan of the battery system.

[0006] The first aspect of this application provides a vehicle battery swapping method, including the following steps: In response to a battery swapping command, the vehicle's parking location and the battery compartment attitude information are obtained. The docking position is determined based on the parking position and the battery compartment attitude information. The battery to be replaced is taken out at the docking position and the battery to be replaced is moved to the target position using a magnetic levitation track. There is a preset suspension gap between the battery to be replaced and the magnetic levitation track. The fully charged battery is transported to the docking position using the magnetic levitation track, and then docked with the vehicle's battery compartment at the docking position.

[0007] Optionally, in some embodiments, before obtaining the vehicle's parking location and battery compartment attitude information in response to a battery swapping command, the method further includes: In response to a battery replacement request, obtain the current location and the battery information to be replaced for the vehicle; Based on the current location and the information of the battery to be replaced, a target battery swapping station is determined, and a battery swapping instruction is generated according to the target battery swapping station and the current location.

[0008] Optionally, in some embodiments, determining the target battery swapping station based on the current location and the battery information to be replaced includes: Based on a preset distance range, at least one battery swapping station location is determined according to the current location; Select a battery swapping station that matches the information of the battery to be replaced from the at least one battery swapping station location as the target battery swapping station.

[0009] Optionally, in some embodiments, determining the docking position based on the parking position and the battery compartment attitude information includes: The center point coordinates of the battery compartment are determined based on the parking location, the feature points of the battery compartment are identified, and the attitude information of the battery compartment is obtained based on the spatial distribution information of the feature points. The docking position is determined based on the coordinates of the center point and the attitude information of the battery compartment.

[0010] Optionally, in some embodiments, transporting the fully charged battery to the docking position using the magnetic levitation track includes: Determine whether there are any obstacles on the magnetic levitation track; If the obstacle is present on the magnetic levitation track, the transport of the battery pack to be replaced is stopped, and a transport abnormality reminder instruction is generated to provide a transport abnormality reminder.

[0011] Optionally, in some embodiments, after docking the fully charged battery with the vehicle's battery compartment at the docking position, the method further includes: Identify whether the vehicle has completed the battery swapping process; When the vehicle completes the battery swap, a battery swap completion message is generated and sent to a preset mobile terminal.

[0012] A second aspect of this application provides a vehicle battery swapping device, comprising: The acquisition module is used to acquire the vehicle's parking location and the battery compartment attitude information in response to the battery swapping command. The replacement module is used to determine the docking position based on the parking position and the battery compartment attitude information, and to remove the battery to be replaced at the docking position. A mobile module is used to move the battery to be replaced in the vehicle to a target location using a magnetic levitation track, wherein there is a preset suspension gap between the battery to be replaced and the magnetic levitation track; The docking module is used to transport a fully charged battery to the docking position using the magnetic levitation track, and dock the fully charged battery with the battery compartment of the vehicle at the docking position.

[0013] Optionally, in some embodiments, before acquiring the vehicle's parking location and battery compartment attitude information in response to a battery swapping command, the acquisition module further includes: The acquisition unit is used to acquire the current location and the battery information to be replaced of the vehicle in response to a battery replacement request. The generation unit is used to determine the target battery swapping station based on the current location and the information of the battery to be replaced, and to generate the battery swapping instruction according to the target battery swapping station and the current location.

[0014] Optionally, in some embodiments, the generation unit includes: A subunit is defined to determine the location of at least one battery swapping station based on a preset distance range and the current location. A matching subunit is used to select, from the at least one battery swapping station location, a battery swapping station that matches the information of the battery to be replaced as the target battery swapping station.

[0015] Optionally, in some embodiments, the replacement module includes: The identification unit is used to determine the center point coordinates of the battery compartment based on the parking position, identify the feature points of the battery compartment, and obtain the battery compartment attitude information based on the spatial distribution information of the feature points. The determining unit is used to determine the docking position based on the center point coordinates and the battery compartment attitude information.

[0016] Optionally, in some embodiments, the docking module includes: The judgment unit is used to determine whether there are obstacles on the magnetic levitation track; The reminder unit is used to stop transporting the battery pack to be replaced when the obstacle is present on the magnetic levitation track, and to generate a transport abnormality reminder instruction to provide a transport abnormality reminder according to the transport abnormality reminder instruction.

[0017] Optionally, in some embodiments, after docking the fully charged battery with the vehicle's battery compartment at the docking position, the docking module further includes: The identification unit is used to identify whether the vehicle has completed the battery swapping operation; The sending unit is used to generate battery swap completion information and send the battery swap completion information to a preset mobile terminal when the vehicle completes the battery swapping operation.

[0018] A third aspect of this application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle battery swapping method as described in the above embodiments.

[0019] A fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the vehicle battery swapping method as described in the above embodiments.

[0020] Therefore, by responding to a battery swapping command, the system acquires the vehicle's parking position and battery compartment attitude information, determines the docking position based on these information, removes the battery to be replaced at the docking position, and moves it to the target location using a magnetic levitation track. A pre-set levitation gap exists between the battery and the magnetic levitation track. The fully charged battery is then transported to the docking position using the magnetic levitation track and docked with the vehicle's battery compartment. This solves the problems of connector wear, sealing failure, and structural fatigue that easily occur with battery swapping methods that rely on physical plugging and mechanical locking structures. Magnetic levitation transmission technology avoids physical contact inherent in mechanical battery swapping, mitigating safety hazards such as mechanical wear and interface aging.

[0021] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0022] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein: Figure 1 This is a flowchart of a vehicle battery swapping method provided according to an embodiment of this application; Figure 2 This is a schematic diagram illustrating the principle of a vehicle battery swapping method according to an embodiment of this application; Figure 3 This is a flowchart of a vehicle battery swapping method according to an embodiment of this application; Figure 4This is a block diagram of a vehicle battery swapping device provided according to an embodiment of this application; Figure 5 This is a schematic diagram of the structure of an electronic device provided according to an embodiment of this application. Detailed Implementation

[0023] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0024] The following description, with reference to the accompanying drawings, outlines a vehicle battery swapping method, apparatus, electronic device, and storage medium according to embodiments of this application. Addressing the problems of connector wear, sealing failure, and structural fatigue that easily arise from battery swapping methods relying on physical plugging and mechanical locking structures, as mentioned in the background art, this application provides a vehicle battery swapping method. In this method, in response to a battery swapping command, the vehicle's parking position and battery compartment attitude information are obtained. A docking position is determined based on the parking position and battery compartment attitude information. The battery to be replaced is removed from the docking position and moved to the target position using a magnetic levitation track. A preset suspension gap exists between the battery to be replaced and the magnetic levitation track. The fully charged battery is transported to the docking position using the magnetic levitation track, and then docked with the vehicle's battery compartment at the docking position. This solves the problems of connector wear, sealing failure, and structural fatigue easily caused by battery swapping methods relying on physical plugging and mechanical locking structures. By using magnetic levitation transmission technology, physical contact in mechanical battery swapping is avoided, mitigating safety hazards such as mechanical wear and interface aging.

[0025] Specifically, Figure 1 This is a schematic flowchart of a vehicle battery swapping method provided in an embodiment of this application.

[0026] like Figure 1 As shown, the battery swapping method for this vehicle includes the following steps: In step S101, in response to the battery swapping command, the vehicle's parking position and the vehicle's battery compartment attitude information are obtained.

[0027] Among them, the battery swapping command is a control signal issued by the user operation, the vehicle system or the battery swapping station scheduling platform to start the battery swapping process; the parking position is the three-dimensional coordinates of the vehicle in the battery swapping station; the battery compartment attitude information is the spatial orientation state of the battery compartment relative to the preset reference coordinate system, which may include: three-dimensional position offset (X, Y, Z) and three rotational degrees of freedom (yaw, pitch, roll).

[0028] Specifically, in this embodiment of the application, after receiving a battery swapping command, the vehicle's current parking location can be obtained through the vehicle positioning module, and images or point cloud data of the battery compartment area can be collected using sensors installed on the battery swapping station or vehicle. Combined with preset structural features or markers on the battery compartment, the attitude information of the battery compartment can be determined.

[0029] Optionally, in some embodiments, before obtaining the vehicle's parking location and battery compartment attitude information in response to a battery swapping command, the method further includes: in response to a battery swapping request, obtaining the current location and the battery information to be swapped; determining a target battery swapping station based on the current location and the battery information to be swapped; and generating a battery swapping command based on the target battery swapping station and the current location.

[0030] Furthermore, in some embodiments, determining a target battery swapping station based on the current location and the information of the battery to be replaced includes: determining at least one battery swapping station location based on a preset distance range and selecting a battery swapping station from the at least one battery swapping station location that matches the information of the battery to be replaced as the target battery swapping station.

[0031] Among them, the battery replacement request is a signal initiated by the user or vehicle system to trigger the battery replacement process; the information of the battery to be replaced includes characteristic data such as the current battery model, charge, and health status; the target battery swapping station refers to the battery swapping station selected from multiple candidate battery swapping stations based on the vehicle's current location and battery needs, which has matching battery resources and can perform battery swapping operations. The preset distance range can be pre-set by the user, obtained through a limited number of experiments, or obtained through a limited number of computer simulations, and is not specifically limited here.

[0032] Specifically, this embodiment of the application can continuously monitor the SOC (State of Charge), temperature, and SOH (State of Health) of the main battery pack during vehicle use. When the battery charge is detected to be lower than a preset charge threshold, the battery temperature is higher than a preset temperature threshold, or the battery health status is lower than a preset health threshold, the vehicle will automatically send a battery replacement request to the cloud service center through the vehicle communication module. In addition, when the user actively requests a battery replacement, a request can also be initiated through the vehicle's human-machine interface, and the vehicle will upload the instruction to the cloud service center, thereby triggering the battery replacement scheduling process to ensure vehicle range safety and usage efficiency.

[0033] Upon receiving a battery replacement request, the cloud service center can obtain the vehicle's current location via GPS or an onboard positioning module, and simultaneously extract relevant information about the battery to be replaced (such as model, specifications, interface type, and power requirements). Then, it searches for all available battery swapping stations within a preset distance range. Stations that match the battery information (e.g., same model, compatible specifications, or support the corresponding interface) and whose current status meets service conditions (e.g., fully charged batteries in stock, equipment available) are selected as candidate target swapping stations. Based on this, the cloud service center uses an intelligent scheduling algorithm to select a target swapping station by combining the vehicle's precise location, the location of each candidate swapping station, and the real-time status of their battery swapping equipment. Based on the vehicle's current location and the target swapping station's location, it plans the optimal driving route. Subsequently, the system generates a battery swapping instruction based on the optimal route to guide the user to the target swapping station. For example, in this embodiment, a battery swapping instruction containing navigation guidance, estimated arrival time, battery swapping reservation information, and target battery specifications can be generated based on the optimal route. This instruction is then sent to the vehicle terminal and the corresponding swapping station equipment to guide the user smoothly to the target swapping station.

[0034] In actual operation, when the state of charge (SOC) of the main battery pack is lower than the set SOC value... e (15%), or the healthy state SOH is below the safe threshold SOH. e When the battery pack temperature T exceeds the normal operating range (below 0℃ / above 50℃), a battery swap request is initiated. The battery pack temperature T is the average value of multiple internal sensors. The cloud identifies a specific vehicle through the vehicle VIN (Vehicle Identification Number).

[0035] Therefore, the embodiments of this application can pre-plan suitable battery swapping stations before initiating battery swapping, ensuring that the selected stations have suitable battery resources, avoiding battery swapping failures or low efficiency due to battery mismatch or excessive distance between stations, thereby improving the accuracy of battery swapping services and user experience.

[0036] In step S102, the docking position is determined based on the parking position and battery compartment attitude information, and the battery to be replaced is removed at the docking position.

[0037] Furthermore, in some embodiments, determining the docking position based on the parking location and battery compartment attitude information includes: determining the center point coordinates of the battery compartment based on the parking location, identifying feature points of the battery compartment, and obtaining battery compartment attitude information based on the spatial distribution information of the feature points; determining the docking position based on the center point coordinates and battery compartment attitude information. Wherein, the docking position is the operating position where the battery swapping device removes the battery to be replaced; the target position refers to the designated endpoint position to which the battery to be replaced is transported via the magnetic levitation track after being removed; the center point coordinates are the position coordinates of the geometric center of the battery compartment in the global coordinate system; the feature points are reference points used for positioning and identification, and can be pre-set visual markers or special mechanical features of the battery compartment, such as locking edges or positioning pin holes; the magnetic levitation track is the track used to carry and move the battery, and during operation, it keeps the battery suspended at a certain distance above the track.

[0038] Specifically, in this embodiment, the center point coordinates of the battery compartment in the global coordinate system can be calculated based on the parking location. Simultaneously, one or more feature points on the battery compartment are identified using a visual sensor, laser scanner, or other sensing device. The attitude information (including yaw, pitch, and roll) of the battery compartment is calculated based on the spatial distribution of these feature points (such as relative positions and angular relationships). Subsequently, by combining the center point coordinates and attitude information, the precise docking position of the battery swapping device is determined. At this position, the battery swapping device can change its magnetic force to remove the battery to be replaced from the battery compartment.

[0039] As one embodiment of this application, after the vehicle completes parking and issues a battery swapping command, the center point coordinates (Xc, Yc, Zc) of the battery compartment are determined based on the vehicle's parking position (X0, Y0, Z0) and the structural parameters corresponding to the vehicle model (such as the fixed offset of the battery compartment relative to the rear axle Δx, Δy, Δz). Additionally, feature points in the battery compartment area are scanned. For example, assuming four high-contrast circular markers are pre-set on the battery compartment shell in a rectangular distribution, a visual algorithm identifies the pixel coordinates of these four markers to determine the battery compartment's attitude information relative to the global coordinate system, including yaw, pitch, and roll. Then, this embodiment of the application fuses the center point coordinates (Xc, Yc, Zc) with the attitude information to generate a 6-DOF pose description, and determines the docking position of the battery swapping device accordingly. It should be noted that before the battery swapping equipment can perform the swapping operation, the vehicle needs to be in a preset safety state, such as (vehicle speed v=0, VCU_CrntGearLvl= P, main high voltage contactor is disconnected). In addition, the battery swapping equipment must establish communication with the vehicle and verify the legality of the command to ensure that the battery swapping equipment is serving the correct vehicle.

[0040] In actual operation, after receiving the battery swapping command, the battery swapping equipment (with a built-in magnetic levitation transmission system) activates its precise positioning module and moves to the vehicle's location (the designated battery swapping station or vehicle parking spot). The battery swapping equipment authenticates with the vehicle using a specific electronic key. After successful authentication, the vehicle automatically releases the mechanical locking mechanism of the battery pack, preparing for separation. The magnetic levitation transmission system then begins to work, using electromagnetic attraction or repulsion to overcome gravity and levitate the battery pack. By precisely controlling the direction and intensity of the magnetic field, the system smoothly and undamagedly removes the levitated battery pack from the bottom of the vehicle.

[0041] Therefore, by fusing the coordinates of the battery compartment center point with the attitude information calculated based on feature points, the embodiments of this application can determine the docking position with high precision, ensuring the reliability and safety of the battery disassembly and assembly process.

[0042] In step S103, the vehicle's battery to be replaced is moved to the target location using a magnetic levitation track, wherein a preset suspension gap exists between the battery to be replaced and the magnetic levitation track.

[0043] The preset suspension gap is a relatively fixed air gap maintained between the battery to be replaced and the magnetic levitation track. It can be preset by the user, obtained through a limited number of experiments, or obtained through a limited number of computer simulations. No specific limitation is made here.

[0044] Specifically, after the battery to be replaced is removed from the docking position, it is placed on a magnetic levitation track. The battery is then transported to the target location (such as a battery buffer area or charging rack) in a non-contact manner on the magnetic levitation track. In actual operation, the battery to be replaced is placed at the entrance end of the magnetic levitation track below by the battery swapping equipment. The track has an internal electromagnetic coil array, which generates a controllable magnetic field when energized, causing the magnetic guide plate at the bottom of the battery to float stably at a preset levitation gap. The control system activates the traveling magnetic field, propelling the battery to slide non-contactly along the track and transporting it to the charging station designated by the system. For example, it is transported to the second compartment of the third layer of the battery buffer rack at the rear of the battery swapping station, completing the unloading process and ensuring that there is no mechanical contact or friction throughout the entire transfer process.

[0045] Those skilled in the art should note that during magnetic levitation transmission, it is necessary to ensure that the docking plane is parallel to the battery pack plane. The controller controls the battery pack transmission speed v=2 m / s, reducing it to 0.1 m / s during the docking phase. The physical docking point on the battery pack and the target point on the vehicle interface need to achieve a repeatability accuracy of ±0.05 mm or even higher to ensure that the battery pack can enter the predetermined track without deviation. The suspension gap d=1 mm between the magnetic levitation mover and the fixed track (stator) is precisely controlled by electromagnetic force and kept stable to avoid scratching or falling. In addition, the force sensor installed on the actuator (electromagnet assembly) needs to monitor the contact force F during the docking process in real time. When F>50N safety threshold, the central controller immediately triggers an emergency stop or fine-tuning program to prevent mechanical damage.

[0046] Here, this application embodiment provides a method for controlling the suspension gap between a levitating mover and a fixed track using electromagnetic force: It is understandable that the magnitude of the electromagnetic force (F) is directly proportional to the square of the current (I) and inversely proportional to the square of the levitation gap (g) (F∝I² / g²). This is an unstable equilibrium: if the gap is slightly reduced, the electromagnetic attraction will increase sharply, causing the object to be further attracted to the electromagnet; conversely, if the gap is slightly increased, the attraction will decrease sharply, causing the object to fall. Therefore, active control must be introduced to achieve stability.

[0047] Taking a battery transport system as an example, suppose the system goal is to maintain a stable 10 mm suspension gap between the battery pack (mover) and the track (stator). This application embodiment can use high-precision sensors to monitor the system in real time. The system is equipped with inductive displacement sensors and acceleration sensors, measuring the current actual suspension gap (e.g., currently 10.2 mm) and the battery pack's acceleration (e.g., it is sinking at a very slow speed) at a frequency of thousands or even tens of thousands of times per second.

[0048] Then, the controller calculates and compares the measured gap value (10.2 mm) with the target gap value (10.0 mm) to calculate the "gap error" (here, +0.2 mm). Simultaneously, accelerometer data helps predict future trends (such as sinking). Using a preset algorithm (such as a PID (Proportional-Integral-Derivative) controller or an active disturbance rejection controller), based on the "gap error" and the trend, millisecond-level calculations are performed to derive a precise command on how much the electromagnet's operating current needs to be increased.

[0049] The power regulator (such as an IGBT power module) then receives the command and rapidly increases the output current. The current flows into the electromagnet, and according to electromagnetic principles, the strength of the magnetic field (B) it generates increases accordingly. Since the electromagnetic force is proportional to the square of the current, even a small increase in current can lead to a significant increase in magnetic force. The increased magnetic force overcomes the downward tendency of the battery pack, attracting it upwards, thereby reducing the actual levitation gap from 10.2 mm and stabilizing it back to the target value of 10.0 mm.

[0050] Repeating the above process can quickly counteract external disturbances (such as slight track unevenness, vehicle vibration, wind, etc.) and achieve smooth and stable "hovering flight". Among them, the PID or active disturbance rejection control algorithm can not only react to the gap error, but also estimate and compensate for various internal and external disturbances to the system in real time (such as sudden changes in load weight), thereby providing stronger stability.

[0051] Therefore, by using magnetic levitation tracks to transport batteries and maintaining a preset levitation gap, mechanical friction and collisions can be avoided, thereby improving battery swapping efficiency and equipment lifespan.

[0052] In step S104, the fully charged battery is transported to the docking position using a magnetic levitation track, and then docked with the vehicle's battery compartment at the docking position.

[0053] Among them, the fully charged batteries are those that have been charged in the battery swapping station, are in a usable state, and whose model matches the battery to be replaced.

[0054] Specifically, in this embodiment, a fully charged battery matching the vehicle can be retrieved from the battery swapping station and placed at the starting end of the magnetic levitation track. After the magnetic levitation track is powered on, a preset suspension gap (e.g., 5–10 mm) is formed between the bottom of the battery and the track, allowing the battery to levitate stably. The control system drives the magnetic field of the magnetic levitation track according to the pre-stored docking position coordinates, transporting the battery along the track to the docking position without contact. When the battery reaches the docking position, the battery swapping equipment works in concert to smoothly transition the battery from the suspended state to the vehicle's battery compartment entrance and advance it along the orientation direction of the battery compartment, completing the insertion, locking, and automatic connection of the high-voltage / communication interface, thus realizing the docking of the battery and the battery compartment.

[0055] In actual operation, while or after removing the depleted battery pack, the magnetic levitation transmission system precisely delivers and installs another pre-charged battery pack into the battery compartment at the bottom of the vehicle in the same manner until the electrical and mechanical interfaces are completely locked. Throughout the battery swapping process, the vehicle's low-voltage electrical system is maintained by the backup power system to ensure uninterrupted power to in-vehicle entertainment, air conditioning, and other equipment, thus enhancing the user experience.

[0056] It should be noted that during battery replacement, the mechanical locking mechanism must be fully unlocked before the battery can be removed; the new battery can only be installed after it has been transported to its designated location; the high-voltage contactor must be disconnected before the battery is physically connected to prevent arcing during live insertion; and the backup power supply must immediately and seamlessly take over at the moment the main battery is disconnected to maintain low-voltage power supply to the vehicle and ensure uninterrupted control. Specifically, the microswitch or Hall sensor of the battery locking mechanism sends an "unlocked / locked" confirmation signal; after the battery is connected to the vehicle, ensure that the small current I... m <1mΩ to ensure reliable connection and avoid overheating; ensure backup power switching time t ex <100ms to ensure the system does not lose power.

[0057] In summary, the embodiments of this application can use technologies such as UWB (Ultra-Wideband) or LiDAR to determine the (X, Y, Z) coordinates of the center point of the battery compartment in space when the vehicle enters the work station. Then, a higher-precision measurement unit (such as a high-resolution industrial camera or a laser rangefinder) is activated to scan the pre-set visual markers or specific mechanical features (such as latch edges or positioning pin holes) on the battery compartment. By analyzing the spatial distribution of these feature points, the system can calculate the yaw angle, pitch angle, and roll angle of the battery compartment plane relative to the docking plane of the magnetic levitation transmission equipment, as well as the horizontal deviation and vertical distance accurate to the millimeter or even micrometer level.

[0058] After receiving the pose deviation data, the control algorithm plans the motion trajectory of the magnetic levitation transmission device. This spatial trajectory is then decomposed into coordinated actions required for each motion axis of the magnetic levitation transmission device (such as linear motion along the X, Y, and Z axes, and rotation around these axes). Based on these decomposed instructions, the magnetic levitation transmission system drives the servo motors or electromagnetic actuators of each axis to perform closed-loop motion control. During this process, high-precision position feedback devices (such as linear scales and encoders) provide real-time feedback of the actuator's actual position to the controller, ensuring it strictly follows the instructions and achieves nanometer- or micrometer-level repeatability accuracy.

[0059] As contact approaches, the system switches from position control mode to a force-position hybrid control mode. The force sensor then activates, monitoring the contact force in real time. If uneven force is detected (indicating a slight angular deviation), the controller instructs the actuator to adaptively adjust, guiding the interface to slide into the correct position. Once the system confirms via sensor signals that all mechanical and electrical interfaces have reached the preset mating positions, it triggers a mechanical locking mechanism (such as an electric bolt or hydraulic clamp) to complete the final locking. Simultaneously, a microswitch or position sensor sends a locking signal, and the contact resistance detection circuit confirms a good electrical connection.

[0060] Optionally, in some embodiments, transporting a fully charged battery to a docking position using a magnetic levitation track includes: determining whether there are obstacles on the magnetic levitation track; if there are obstacles on the magnetic levitation track, stopping the transport of the battery pack to be replaced and generating a transport abnormality reminder instruction to provide a transport abnormality reminder according to the transport abnormality reminder instruction.

[0061] Among them, obstacles refer to objects that appear on the operating path of the magnetic levitation track and hinder the normal passage of the battery.

[0062] Specifically, during the process of transporting a fully charged battery to the docking position using a magnetic levitation track, obstacle detection is required. For example, sensors along the path (such as gratings and 3D cameras) monitor in real time whether there are obstacles on the track surface and in the suspended space. If an obstacle is detected, the magnetic levitation track immediately stops transporting the battery pack to be replaced to prevent collisions or jamming. At the same time, a transportation anomaly reminder command is automatically generated and sent to the battery swapping station system or cloud server to trigger the corresponding transportation anomaly reminder, such as lighting up a fault indicator light, pushing an alarm message, or suspending the current battery swapping task for manual intervention.

[0063] Therefore, this embodiment of the application effectively avoids equipment damage, battery drop, or battery swapping failure caused by track blockage by judging whether there are obstacles on the magnetic levitation track in real time before or during transportation, and actively stopping transportation and issuing a reminder when there is an abnormality. It improves the operational safety and reliability of the battery swapping system, and provides clear fault location basis for operation and maintenance personnel, shortening the abnormal handling time.

[0064] Optionally, in some embodiments, after docking the fully charged battery with the vehicle's battery compartment at the docking position, the method further includes: identifying whether the vehicle has completed the battery swapping action; if the vehicle has completed the battery swapping action, generating battery swapping completion information and sending the battery swapping completion information to a preset mobile terminal.

[0065] Among them, the preset mobile terminal is a mobile device (such as a smartphone, vehicle terminal or maintenance handheld terminal) bound to the battery swapping station or user, used to receive battery swapping status notifications.

[0066] Specifically, after the fully charged battery is docked with the vehicle's battery compartment, the system identifies whether the vehicle has completed the battery swapping action. For example, it reads the positioning sensor signal of the battery compartment locking mechanism; or receives a confirmation signal that the new battery has been activated returned by the vehicle's BMS or vehicle controller via CAN bus or wireless communication; or detects whether the magnetic levitation track and battery swapping actuator have returned to their original positions and are in normal condition. After identifying that the vehicle has completed the battery swapping action, the system immediately generates battery swapping completion information and sends the information to a preset mobile terminal.

[0067] In actual operation, after the new battery is installed in the vehicle, the VCU (Vehicle Control Unit) and BMS (Battery Management System) perform a series of high-voltage system self-checks. Insulation monitoring requires that the insulation resistance value Rc > 500Ω / V; the HVIL (High Voltage Interlock Loop) detection involves the VCU sending a low-voltage detection signal, which flows through the connectors and high-voltage wiring harness of the high-voltage components and returns to the VCU. Once the high-voltage system self-check is complete, high-voltage power is allowed. The VCU and BMS bind the newly installed battery to the vehicle's identity by exchanging and verifying encryption keys, ensuring that the encrypted information exchanged between the battery and the vehicle matches perfectly, guaranteeing that the battery is legitimate and authorized. After confirmation, the cloud and vehicle interface are updated to "Battery swap complete, vehicle ready." The battery swapping equipment, having completed its task, returns to the standby area or proceeds to the next work site, awaiting new instructions.

[0068] In addition, for depleted battery packs transported to the charging station, they can be efficiently replenished using ultra-fast charging piles. The charging strategy can be optimized according to the battery state of the depleted battery pack to extend battery life. For example, the BMS selects the optimal charging rate C-rate based on the current SOH and temperature T, and controls the charging current Ic∈[0.5C, 6C]. During charging, the liquid cooling system controls the battery temperature T within [20℃, 30℃]. If the temperature exceeds the limit, the charging power needs to be actively reduced. The BMS, in conjunction with the TMS, dynamically adjusts the flow rate and temperature of the liquid cooling system according to the heat dissipation requirements (battery temperature T within [20℃, 30℃]). Charging is terminated when the current I < 0.05C or the charging time tc > 60min.

[0069] To enable those skilled in the art to further understand the vehicle battery swapping method of the embodiments of this application, the following description is provided in conjunction with specific embodiments.

[0070] Combination Figure 2 and Figure 3 As shown, when the vehicle detects that the main battery pack is low on power, or when the user initiates a battery swap request, the vehicle will send its precise location and battery status to the cloud service center via the onboard communication module. Based on this information, the cloud system will dispatch the nearest magnetic levitation transmission device, plan the optimal movement path for it, and instruct it to travel to the vehicle's location.

[0071] After receiving the command, the magnetic levitation transmission device moves to the bottom of the vehicle and uses a precise positioning module (such as UWB or LiDAR) to find the absolute coordinates and relative orientation of the battery compartment, ensuring that the docking plane is parallel. Subsequently, the magnetic levitation transmission device performs authentication using a specific electronic key to ensure it is "serving the correct vehicle." Once authentication is successful, the mechanical locking mechanism of the vehicle's battery pack automatically disengages, preparing for separation.

[0072] Next, the magnetic levitation system begins operation, using electromagnetic attraction or repulsion to overcome gravity and levitate the depleted battery pack. By precisely controlling the direction and intensity of the magnetic field, the system can smoothly and undamagedly remove the battery pack from the bottom of the vehicle and transport it along the magnetic levitation track to the designated charging station. The entire process involves no mechanical contact or friction, and its repeatability can reach ±0.05mm or even higher.

[0073] At the same time or after removing the depleted battery pack, the magnetic levitation transmission system will precisely deliver and install another pre-charged battery pack into the battery compartment at the bottom of the vehicle in the same manner. During this process, in order to ensure that the vehicle's low-voltage systems (such as control systems and sensors) are powered continuously, the vehicle will be maintained by the backup power system.

[0074] The depleted battery packs transported to the charging station are then replenished with energy by the ultra-fast charging station. The charging strategy can be optimized according to the battery status (e.g., using a voltage-limited converter pulse charging method) to extend battery life.

[0075] The replaced battery enters an independent, controlled energy replenishment phase. Its charging strategy (such as constant voltage charging or trickle charging) can be optimized based on the battery's current state of health (SOH), temperature, and historical data, aiming to balance charging speed and battery life. Throughout the charging process, the liquid cooling system must maintain the battery temperature within the optimal window (e.g., 20℃-30℃). If the temperature exceeds this range, the system will actively reduce the charging power to prevent overheating and ensure safety.

[0076] After the new battery is installed, the vehicle controller and battery management system perform a series of high-voltage system self-checks, including insulation testing and high-voltage interlock circuit testing. Only after all checks are passed is high-voltage power supplied to ensure safety. Subsequently, the system binds the newly installed battery to the vehicle (e.g., by exchanging and verifying encryption keys) to ensure the battery is "legitimate" and authorized, preventing theft or misuse. Finally, the vehicle and cloud service center update the status to "Battery swap complete, vehicle ready." The magnetic levitation transmission equipment then returns to the standby area or proceeds to the next work site, forming a closed-loop operation process.

[0077] According to the vehicle battery swapping method proposed in this application, in response to a battery swapping command, the vehicle's parking position and battery compartment attitude information are obtained. A docking position is determined based on the parking position and battery compartment attitude information. The battery to be replaced is then removed from the docking position and moved to the target location using a magnetic levitation track. A preset suspension gap exists between the battery to be replaced and the magnetic levitation track. The fully charged battery is transported to the docking position using the magnetic levitation track and docked with the vehicle's battery compartment at the docking position. This solves the problems of connector wear, sealing failure, and structural fatigue that are easily caused by battery swapping methods that rely on physical plugging and mechanical locking structures. By using magnetic levitation transmission technology, physical contact in mechanical battery swapping is avoided, mitigating safety hazards such as mechanical wear and interface aging.

[0078] Next, the vehicle battery swapping device proposed according to the embodiments of this application is described with reference to the accompanying drawings.

[0079] Figure 4 This is a block diagram of a vehicle battery swapping device according to an embodiment of this application.

[0080] like Figure 4 As shown, the vehicle battery swapping device 10 includes: an acquisition module 100, a swapping module 200, a moving module 300, and a docking module 400.

[0081] The acquisition module 100 is used to acquire the vehicle's parking location and battery compartment attitude information in response to the battery swapping command.

[0082] Replacement module 200 is used to determine the docking position based on the parking location and battery compartment attitude information, and to remove the battery to be replaced at the docking position; The mobile module 300 is used to move the vehicle's battery to be replaced to a target location using a magnetic levitation track, wherein there is a preset suspension gap between the battery to be replaced and the magnetic levitation track.

[0083] The docking module 400 is used to transport a fully charged battery to the docking position using a magnetic levitation track, and then dock the fully charged battery with the vehicle's battery compartment at the docking position.

[0084] Optionally, in some embodiments, before acquiring the vehicle's parking location and battery compartment attitude information in response to a battery swapping command, the acquisition module 100 further includes an acquisition unit and a generation unit.

[0085] The acquisition unit is used to acquire the current location and the battery information to be replaced in response to a battery replacement request.

[0086] The generation unit is used to determine the target battery swapping station based on the current location and the information of the battery to be replaced, and to generate a battery swapping instruction based on the target battery swapping station and the current location.

[0087] Optionally, in some embodiments, the generating unit includes: a determining subunit and a matching subunit.

[0088] The determination sub-unit is used to determine the location of at least one battery swapping station based on a preset distance range and the current location.

[0089] The matching subunit is used to select a battery swapping station that matches the information of the battery to be replaced from at least one battery swapping station location as the target battery swapping station.

[0090] Optionally, in some embodiments, the replacement module 200 includes: an identification unit and a determination unit.

[0091] The identification unit is used to determine the center point coordinates of the battery compartment based on the parking location, identify the feature points of the battery compartment, and obtain the battery compartment attitude information based on the spatial distribution information of the feature points.

[0092] The determination unit is used to determine the docking position based on the center point coordinates and battery compartment attitude information.

[0093] Optionally, in some embodiments, the docking module 400 includes: a judgment unit and a reminder unit.

[0094] The judgment unit is used to determine whether there are obstacles on the magnetic levitation track.

[0095] The reminder unit is used to stop the transport of the battery pack to be replaced when there is an obstacle on the magnetic levitation track, and to generate a transport abnormality reminder instruction to provide a transport abnormality reminder according to the transport abnormality reminder instruction.

[0096] Optionally, in some embodiments, after the fully charged battery is docked with the vehicle's battery compartment at the docking position, the docking module 400 further includes an identification unit and a sending unit.

[0097] The identification unit is used to identify whether the vehicle has completed the battery swapping process.

[0098] The sending unit is used to generate battery swap completion information and send the battery swap completion information to a preset mobile terminal when the vehicle completes the battery swap operation.

[0099] It should be noted that the foregoing explanation of the vehicle battery swapping method embodiment also applies to the vehicle battery swapping device of this embodiment, and will not be repeated here.

[0100] According to the vehicle battery swapping device proposed in this application, in response to a battery swapping command, the device acquires the vehicle's parking position and battery compartment attitude information, determines a docking position based on the parking position and battery compartment attitude information, removes the battery to be replaced at the docking position, and moves the battery to be replaced to the target position using a magnetic levitation track. A preset suspension gap exists between the battery to be replaced and the magnetic levitation track. The fully charged battery is transported to the docking position using the magnetic levitation track, and then docked with the vehicle's battery compartment at the docking position. This solves the problems of connector wear, sealing failure, and structural fatigue that are easily caused by battery swapping methods that rely on physical plugging and mechanical locking structures. By using magnetic levitation transmission technology, physical contact in mechanical battery swapping is avoided, mitigating safety hazards such as mechanical wear and interface aging.

[0101] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device may include: The memory 501, the processor 502, and the computer program stored on the memory 501 and capable of running on the processor 502.

[0102] When processor 502 executes the program, it implements the vehicle battery swapping method provided in the above embodiments.

[0103] Furthermore, electronic devices also include: Communication interface 503 is used for communication between memory 501 and processor 502.

[0104] The memory 501 is used to store computer programs that can run on the processor 502.

[0105] The memory 501 may include high-speed RAM (Random Access Memory) memory, and may also include non-volatile memory, such as at least one disk storage.

[0106] If the memory 501, processor 502, and communication interface 503 are implemented independently, then the communication interface 503, memory 501, and processor 502 can be interconnected via a bus to complete communication between them. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 5The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0107] Optionally, in a specific implementation, if the memory 501, processor 502, and communication interface 503 are integrated on a single chip, then the memory 501, processor 502, and communication interface 503 can communicate with each other through an internal interface.

[0108] The processor 502 may be a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of this application.

[0109] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the above-described vehicle battery swapping method.

[0110] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0111] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0112] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0113] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (FPGAs), field-programmable gate arrays (FPGAs), etc.

[0114] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0115] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A vehicle battery swapping method, characterized in that, Includes the following steps: In response to a battery swapping command, the vehicle's parking location and the battery compartment attitude information are obtained. The docking position is determined based on the parking location and the battery compartment attitude information, and the battery to be replaced is removed at the docking position. The battery to be replaced in the vehicle is moved to the target location using a magnetic levitation track, wherein there is a preset suspension gap between the battery to be replaced and the magnetic levitation track; The fully charged battery is transported to the docking position using the magnetic levitation track, and then docked with the battery compartment of the vehicle at the docking position.

2. The method according to claim 1, characterized in that, Before obtaining the vehicle's parking location and battery compartment attitude information in response to a battery swapping command, the process also includes: In response to a battery replacement request, obtain the current location and the battery information to be replaced for the vehicle; Based on the current location and the information of the battery to be replaced, a target battery swapping station is determined, and a battery swapping instruction is generated according to the target battery swapping station and the current location.

3. The method according to claim 2, characterized in that, The step of determining the target battery swapping station based on the current location and the information of the battery to be replaced includes: Based on a preset distance range, at least one battery swapping station location is determined according to the current location; Select a battery swapping station that matches the information of the battery to be replaced from the at least one battery swapping station location as the target battery swapping station.

4. The method according to claim 1, characterized in that, Determining the docking position based on the parking location and the battery compartment attitude information includes: The center point coordinates of the battery compartment are determined based on the parking location, the feature points of the battery compartment are identified, and the attitude information of the battery compartment is obtained based on the spatial distribution information of the feature points. The docking position is determined based on the coordinates of the center point and the attitude information of the battery compartment.

5. The method according to claim 1, characterized in that, The method of transporting a fully charged battery to the docking position using the magnetic levitation track includes: Determine whether there are any obstacles on the magnetic levitation track; If the obstacle is present on the magnetic levitation track, the transport of the battery pack to be replaced is stopped, and a transport abnormality reminder instruction is generated to provide a transport abnormality reminder.

6. The method according to claim 1, characterized in that, After docking the fully charged battery with the vehicle's battery compartment at the docking position, the process further includes: Identify whether the vehicle has completed the battery swapping process; When the vehicle completes the battery swap, a battery swap completion message is generated and sent to a preset mobile terminal.

7. A vehicle battery swapping device, characterized in that, include: The acquisition module is used to acquire the vehicle's parking location and the battery compartment attitude information in response to the battery swapping command. The replacement module is used to determine the docking position based on the parking position and the battery compartment attitude information, and to remove the battery to be replaced at the docking position. A mobile module is used to move the battery to be replaced in the vehicle to a target location using a magnetic levitation track, wherein there is a preset suspension gap between the battery to be replaced and the magnetic levitation track; The docking module is used to transport a fully charged battery to the docking position using the magnetic levitation track, and dock the fully charged battery with the battery compartment of the vehicle at the docking position.

8. The apparatus according to claim 7, characterized in that, Before acquiring the vehicle's parking location and battery compartment attitude information in response to a battery swapping command, the acquisition module further includes: The acquisition unit is used to acquire the current location and the battery information to be replaced of the vehicle in response to a battery replacement request. The generation unit is used to determine the target battery swapping station based on the current location and the information of the battery to be replaced, and to generate the battery swapping instruction according to the target battery swapping station and the current location.

9. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the vehicle battery swapping method as described in any one of claims 1-6.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the vehicle battery swapping method as described in any one of claims 1-6.

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