An automatic battery replacement method and system for an autonomous driving truck

Abstract

The application is an automatic driving truck battery automatic replacement method and a battery automatic replacement system. The method comprises the following steps: cloud cooperation planning and vehicle guiding; accurate positioning and battery unlocking; battery exchange and installation; verification and vehicle recovery. The automatic driving truck battery automatic replacement system comprises an automatic driving management platform, a truck system, a battery replacement station and a battery replacement robot. The automatic driving management platform, the truck system, the battery replacement station and the battery replacement robot communicate with each other. The application constructs a four-in-one cooperation system of "vehicle-station-cloud-battery", and realizes safe, efficient and reliable battery replacement with no human intervention in the whole process through high-precision positioning, state machine driving, multi-sensor fusion verification and cloud intelligent scheduling.

Description

Technical Field

[0001] This invention relates to the field of automatic battery replacement methods and systems for autonomous trucks. Background Technology

[0002] With the intelligent and green transformation of global ports, logistics parks, and trunk transportation, fully electric autonomous trucks have become the core transportation tool for future smart logistics. However, their commercial operation faces a key bottleneck: efficient, reliable, and unmanned energy replenishment. Existing energy replenishment technologies and methods are significantly insufficient to meet the continuous operation requirements of autonomous trucks. Current battery swapping solutions for trucks (mostly lateral or crane-mounted) generally rely on precise parking by the driver, and even require manual assistance for battery box positioning, unlocking, and connection. The degree of automation is low, and they cannot adapt to the "driverless" autonomous truck operation scenario.

[0003] Currently, as described in the invention patent announcement document CN104417505B, the automatic battery replacement system for electric vehicles is applied to electric vehicles with batteries installed on both the left and right sides. This system includes: a host computer subsystem, a vision positioning subsystem, a robot subsystem, a security subsystem, a power distribution control subsystem, and a charging compartment subsystem. The host computer subsystem is connected to the vision positioning subsystem, the robot subsystem, the security subsystem, the charging compartment subsystem, and the power distribution control subsystem, respectively, and is used to control each subsystem.

[0004] The security subsystem is configured to activate the alarm device in the security subsystem to a state of alert when it receives a command from the host computer subsystem indicating that an electric vehicle has entered the battery replacement area and entered the armed state, until it receives a command from the host computer subsystem to dearm the system.

[0005] The visual positioning subsystem is used to obtain the location information of the electric vehicle's battery compartment when it receives a battery compartment positioning command issued by the upper subsystem, and upload the battery compartment location information to the upper computer subsystem; and to obtain the location information of the electric vehicle's battery when it receives a battery positioning command issued by the upper computer subsystem, and upload the battery location information to the upper computer subsystem.

[0006] The robot subsystem is configured to: remove an empty battery from the electric vehicle when it receives the battery location information from the host computer subsystem; install a full battery into the battery compartment of the electric vehicle when it receives the location information of a full battery and the location information of the battery compartment from the host computer subsystem; transport an empty battery to an empty compartment of the charging compartment subsystem for charging via a battery transfer platform after it has been removed from the electric vehicle; and transport a full battery corresponding to the compartment number to the battery transfer platform when it receives the compartment number and information of the battery transfer platform from the host computer subsystem.

[0007] The robot subsystem includes a first robot and a second robot, which respectively grasp the batteries on the left and right sides of the electric vehicle and load them with full batteries.

[0008] The power distribution control subsystem is used to control the power supply status of all electrical appliances in the host computer subsystem, the security subsystem, and the robot subsystem.

[0009] Currently, when swapping batteries for autonomous trucks with chassis-type batteries, the autonomous truck is typically moved to a suitable location at the power station, where a battery swapping robot removes the depleted battery pack. Then, a fully charged battery pack is removed from the power station and installed into the battery compartment of the autonomous truck chassis, all without human intervention.

[0010] The aforementioned electric vehicle battery swapping system is applicable to electric vehicles with batteries installed on both the left and right sides. Human intervention is required when swapping the battery, making it unsuitable for autonomous trucks with chassis-mounted batteries. Summary of the Invention

[0011] This invention addresses the current electric vehicle battery replacement system, which is applicable to electric vehicles with batteries installed on both the left and right sides. The battery replacement process requires human intervention and is not suitable for autonomous trucks with chassis-mounted batteries. The invention provides an automatic battery replacement method and system for autonomous trucks.

[0012] The technical solution adopted in this invention is: an automatic battery replacement method for autonomous trucks, comprising the following steps: Step 1: Cloud-based collaborative planning and vehicle guidance. In this step, the low voltage of the truck's battery triggers the need for battery swapping. The autonomous driving management platform coordinates and allocates battery swapping stations and time windows to guide the truck to park in the battery swapping station. Step 2, Precise Positioning and Battery Unlocking: In this step, the battery swapping robot's grabbing platform aligns with the depleted battery on the truck chassis, and the truck's onboard BMS performs a self-check to unlock the battery lock. Step 3: Battery exchange and installation steps; in this step, the charging of depleted batteries and the retrieval of fully charged batteries are carried out simultaneously. Step 4, Final Verification and Vehicle Recovery: In this step, the battery swapping station control system confirms that the battery swapping is complete, and the vehicle performs a self-check. After mutual recognition between the truck's automatic driving system, the battery swapping station host, and the automatic driving management platform, the truck leaves to resume the task, and the equipment in the battery swapping station is reset and put into standby mode.

[0013] Furthermore, in the above-mentioned automatic battery replacement method for autonomous trucks: in step 1: the truck autonomous driving management platform monitors the truck battery power in real time, and triggers a battery swapping requirement when the power is lower than the threshold.

[0014] Furthermore, in the above-mentioned automatic battery replacement method for autonomous trucks: in step 1: the BMS of the truck monitors the battery power in real time, and when the power is lower than the threshold, it reports to the truck autonomous driving management platform to trigger the battery swapping requirement.

[0015] Furthermore, in the above-mentioned automatic battery replacement method for autonomous trucks, the threshold is 20%.

[0016] Furthermore, in the aforementioned method for automatically replacing the battery of an autonomous truck, vehicle guidance includes the following steps: Step 1-1: Relying on high-precision maps and GNSS, guide trucks into the charging station at the lane level; Steps 1-2: Use the lidar and camera on the truck to identify ground markings and use the UWB signal emitted by the battery swapping station to achieve decimeter-level parking guidance. Steps 1-3: The high-precision laser scanner at the battery swapping station scans the outline of the container truck and the chassis reflector, and sends fine-tuning instructions to the container truck until the parking accuracy of the container truck meets the requirements.

[0017] Furthermore, in the above-mentioned automatic battery replacement method for autonomous trucks: step 2 includes the following battery swapping robot positioning process; the battery swapping robot positioning process includes: Step 2-1, coarse positioning: The battery swapping robot moves to the preset theoretical position below the battery pack of the autonomous driving truck model based on the truck model information. Step 2-2, Precise Positioning Steps: The battery swapping robot rises, and the end-effector vision system identifies the positioning latch features under the vehicle and calculates the deviation. The deviation is calculated according to the following steps: Calculate the pose deviation between the battery swapping robot's gripping platform and the vehicle-mounted battery pack installation interface using the following formula:

[0018] In the formula : The pixel coordinates of the target in the camera image; : The pixel coordinates of the camera's optical center in the image coordinate system; : Camera focal length parameter; , , The three-dimensional coordinates of the target in the camera coordinate system; The vertical distance from the robot's gripping platform to the battery pack mounting surface under the vehicle; : Measurement depth, specifically refers to the vertical distance between the end vision sensor of the battery swapping robot and the mounting interface of the vehicle battery pack; Calculate the attitude deviation using the following formula: Rx=arctan((Z2−Z1) / (Y2−Y1)) Ry=arctan((Z1−Z2) / (X1−X2)) In the formula: X1, Y1, Z1: The three-dimensional coordinates of the first target in the robot's base coordinate system; X2, Y2, Z2: The three-dimensional coordinates of the second target in the robot's base coordinate system; Rx is the rotational deviation about the X-axis; Ry is the rotational deviation about the Y-axis; Steps 2-3, millimeter-level alignment: The robot controls multi-axis motion to make the gripping platform guide pin contact the undercarriage guide sleeve, completing millimeter-level alignment.

[0019] Furthermore, in the above-mentioned automatic battery replacement method for autonomous trucks, step 3 includes the following sub-steps; Step 3-1: Unlocking the depleted battery on the truck; Step 3-2: The battery swapping robot smoothly lowers and removes the depleted battery pack; Step 3-3: The battery swapping robot places the depleted battery pack on the transfer platform of the battery swapping station; at the same time, the battery swapping station's storage system retrieves a fully charged battery pack from the fully charged shelf and transfers it to the loading position next to the battery swapping robot. Steps 3-4: The battery swapping robot grabs the fully charged battery pack, lifts it, and installs it into the battery compartment of the truck chassis. Steps 3-5: Perform reverse locking operation: Drive the locking mechanism to rigidly connect the fully charged battery pack to the truck chassis, and perform high-voltage connector insertion and cooling pipe connection.

[0020] Furthermore, in the above-mentioned automatic battery replacement method for autonomous trucks, step 4 includes: Step 4-1: In-depth self-inspection of the container truck itself; Step 4-2: Synchronization and mutual recognition of status between container trucks and battery swapping stations; Step 4-3: Cloud data archiving and resource release for the autonomous driving management platform; Step 4-4: The truck safely departs.

[0021] Furthermore, in the above-mentioned automatic battery replacement method for autonomous trucks, step 4-1 includes: Step 4-1-1: Establish full-parameter communication between the truck's onboard BMS and the newly installed fully charged battery pack; Step 4-1-2: High-voltage system safety inspection; Step 4-1-3: Summarize the status of key subsystems of the truck, including polling and confirming the vehicle's VCU, ensuring the steering system is fault-free, confirming normal air and hydraulic pressure in the braking system and that the EPB can be released, ensuring normal airbag height in the chassis system and that there are no serious fault codes, confirming that all mechanical locks are in the "locked" position using onboard sensors, and confirming that the autonomous driving system's perception, positioning, and planning modules are functioning normally and ready to take over.

[0022] The present invention also provides an automatic battery swapping system for autonomous trucks, including an autonomous driving management platform, a truck system, a battery swapping station, and a battery swapping robot; the autonomous driving management platform, the truck system, the battery swapping station, and the battery swapping robot communicate with each other; The autonomous driving management platform includes a demand triggering and prediction module, a multi-objective dynamic scheduling module, a scheduling algorithm module, and an allocation decision module; The truck system includes an automatic parking module and a chassis battery compartment module; The battery swapping robot includes a laser scanner and a gripping platform; The battery swapping station includes a battery storage compartment and a charging system.

[0023] This invention constructs a four-in-one collaborative system of "vehicle-station-cloud-battery", and achieves safe, efficient and reliable battery swapping with no human intervention throughout the process through high-precision positioning, state machine driving, multi-sensor fusion verification and cloud intelligent scheduling.

[0024] The present invention will now be described in more detail with reference to the accompanying drawings and embodiments. Attached Figure Description

[0025] Appendix Figure 1 This is a flowchart of the present invention. Detailed Implementation

[0026] Example 1 addresses the issue of efficient, unmanned energy replenishment for fully electric autonomous trucks used in ports, logistics parks, and long-haul transportation, thus promoting the green and unmanned operation of smart logistics. Traditional side-mounted or crane-mounted battery swapping solutions have low automation levels, rely on manual assistance, and cannot adapt to "driverless" autonomous driving scenarios.

[0027] This embodiment provides an automatic battery swapping system for autonomous trucks, including an autonomous driving management platform, a truck system, a battery swapping station, and a battery swapping robot; the autonomous driving management platform, truck system, battery swapping station, and battery swapping robot communicate with each other; the autonomous driving management platform includes a demand triggering and prediction module, a multi-objective dynamic scheduling module, a scheduling algorithm module, and an allocation decision module; the truck system includes an automatic parking module and a chassis battery compartment module; the battery swapping robot includes a laser scanner and a gripping platform; the battery swapping station includes a battery storage compartment and a charging system.

[0028] This embodiment aims to achieve seamless collaboration between "vehicle-station-cloud-battery" as a unified system. Through high-precision positioning, state machine-driven operation, multi-sensor fusion verification, and cloud-based intelligent scheduling, it ensures safe, efficient, and reliable battery replacement without human intervention. Here, "vehicle" refers to a container truck, specifically an autonomous driving container truck with a chassis battery compartment; "station" refers to a battery swapping station; "cloud" refers to the autonomous driving management platform set up in the background; and "battery" refers to the depleted battery to be removed from the container truck and the fully charged battery selected from the battery swapping station to be installed in the container truck's chassis battery compartment.

[0029] Step 1, the pre-battery swapping stage, involves cloud-based collaborative planning and vehicle guidance.

[0030] In this step, the multi-level closed-loop control process of "cloud-based global planning + station collaborative execution" follows the main line of "planning -> allocation -> guidance -> verification -> fine-tuning".

[0031] Cloud-based intelligent planning and reservation The truck's autonomous driving management platform monitors the vehicle's battery level in real time. When the battery level falls below a threshold (e.g., 20%), the vehicle initiates a battery swapping request to the cloud-based battery swapping scheduling system.

[0032] The cloud system comprehensively considers the queuing situation at each battery swapping station, the status of the inventory batteries, and the vehicle task priority to allocate appropriate stations and time windows for vehicles, and sends the reservation information to the vehicles and designated battery swapping stations.

[0033] Step 1-1: Demand Triggering and Forecasting Proactive reporting: The vehicle's BMS periodically reports its status to the cloud-based operation and management platform when the battery level is below a threshold.

[0034] Cloud-based prediction: The platform combines historical data, traffic conditions, and task plans to predict the future battery consumption of vehicles and can push battery swapping suggestions to vehicles that have not yet applied for it.

[0035] Step 1-2. Precise Vehicle Guidance and Parking: Following cloud-based instructions, the vehicle autonomously drives to the battery swapping station. During the parking process: 1-2-1 First, lane-level guidance is achieved by relying on high-precision maps and GNSS.

[0036] 1-2-2 After entering the station area, switch to "station perception" mode: use vehicle-mounted lidar and camera to identify ground markings and UWB signals emitted from the station to achieve decimeter-level parking guidance.

[0037] 1-2-3 Finally, the vehicle stops at the exchange station, where a high-precision laser scanner scans the vehicle's outline and chassis reflectors. Fine-tuning commands are then sent to the vehicle via wireless communication until the parking accuracy reaches the required ±50mm. The vehicle control system communicates in real-time with the station's guidance system, forming a closed loop of "perception-decision-fine-tuning."

[0038] Step 1-2: Multi-objective dynamic scheduling Scheduling Algorithm: After receiving multiple requests, the platform runs a scheduling algorithm. Optimization objectives typically include: 1) Minimize the total waiting time.

[0039] 2) Maximize battery utilization and health.

[0040] 3) Ensure the availability of vehicles for high-priority tasks.

[0041] 4) Balance the load of each station.

[0042] Allocation decision: The algorithm outputs the following decision for each vehicle: {allocate to battery swapping station A, reservation time window T, and expected allocation of battery pack B}.

[0043] Steps 1-3: Appointment Confirmation and Route Distribution The cloud sends a "reservation voucher" to the vehicle and the designated battery swapping station, which includes the reservation ID, time window, assigned station workstation number, and the expected battery pack ID to be replaced. At the same time, it plans and issues the optimal driving route from the vehicle's current location to the entrance of the battery swapping station.

[0044] Phase Two: Collaborative Guidance for Entering the Station Step 1: Lane-level navigation to the station entrance Based on routes provided by the cloud, combined with high-precision maps, GNSS, and IMU, the vehicle performs lane-level autonomous driving until it reaches the entrance area of ​​the battery swapping station. As the vehicle approaches, it establishes a connection with the station via dedicated short-range communication and reports "approaching" information.

[0045] Step 2: Station Entrance Identity Authentication and Turnstile Control 1) The communication unit at the station entrance reads the reservation voucher sent by the vehicle and verifies it with the reservation list sent from the cloud.

[0046] 2) After verification, the station control system automatically opens the entrance gate and assigns an entry channel to it.

[0047] 3) At the same time, the "entry guidance instruction" is issued to the vehicle, which is usually a preset vector path within the station from the entrance to its assigned work station buffer zone. Phase Two: Precise Positioning and Battery Unlocking (Preparation and Docking Phase) 3. Identity Authentication and Battery Swapping Preparation: After the vehicle comes to a complete stop, the station control system reads the vehicle's VIN code and battery pack ID via wireless communication and verifies them against the reservation list. Once verification is successful, a "prepare for battery swapping" command is sent to the onboard battery management system.

[0048] The vehicle's BMS performs a safety self-test, then automatically unlocks the electronic locking mechanism of the battery pack's mechanical lock and opens the high-voltage interface protective cover.

[0049] 4. High-precision positioning and multi-stage alignment of robots: Coarse positioning: Based on the vehicle model information, the battery swapping robot moves to the preset theoretical position below the battery pack of that vehicle model.

[0050] Visual precision positioning: As the robot rises, its end effector vision system identifies the positioning latch features on the bottom of the vehicle and calculates the deviation (X, Y, Z, Rx, Ry).

[0051] Calculate the deviation using the following steps: Calculate the pose deviation between the battery swapping robot's gripping platform and the vehicle's battery pack installation interface using the following formula: (i.e., the position deviation calculation formula)

[0052] In the formula : The pixel coordinates of the target in the camera image; : The pixel coordinates of the camera's optical center in the image coordinate system; : Camera focal length parameter; , , The three-dimensional coordinates of the target in the camera coordinate system; In this embodiment, This refers to the vertical distance from the robot's gripping platform to the battery pack mounting surface under the vehicle.

[0053] Measured depth specifically refers to the vertical distance between the end vision sensor of the battery swapping robot and the mounting interface of the vehicle battery pack. In this embodiment, Measured_Depth is mainly obtained through the following two methods: Laser rangefinder: Installed at the end of the robot, it directly emits a laser to measure the vertical distance to the battery pack mounting surface with an accuracy of ±1mm.

[0054] Structured light depth camera: It obtains depth information by projecting light into a specific pattern and calculating the deformation of the pattern, and is suitable for measuring complex surfaces.

[0055] In this embodiment, Measured_Depth needs to satisfy: Measurement range: typically between 300mm and 1000mm, covering the chassis height of different vehicle models.

[0056] Measurement accuracy: within ±2mm, ensuring the accuracy of subsequent pose calculations.

[0057] Response speed: ≥10Hz, meeting the requirements of real-time motion control for robots.

[0058] In this embodiment, the conversion logic is as follows: Step 1: Pixel coordinate normalization and This step involves shifting the origin of the pixel coordinate system from the top left corner of the image to the camera's optical center, eliminating the effect of image center offset. This solves the problem of "the image center not coinciding with the camera's optical center".

[0059] Step 2: Inverse Projection Calculation / and / Using the principle of similar triangles, 2D pixel coordinates are converted into 3D camera coordinates. Core principle: / = / (Corresponding sides of similar triangles are proportional).

[0060] Step 3: Coordinate System 1 The final Xc and Yc are the three-dimensional coordinates in the camera coordinate system.

[0061] The system will then need to be transformed into the robot's base coordinate system via coordinate transformation (rotation matrix + translation vector).

[0062] In this embodiment: Image acquisition: The robot's end-effector camera captures images of the positioning target at the battery pack mounting interface under the vehicle.

[0063] Feature recognition: Obtain the pixel coordinates (u, v) of the target through image recognition algorithms.

[0064] Depth measurement: The vertical distance Z_c to the mounting surface is obtained through a laser sensor.

[0065] Coordinate transformation: The three-dimensional coordinates (Xc, Yc, Zc) of the target in the camera coordinate system are calculated using the formula.

[0066] Pose calculation: The six-degree-of-freedom deviation between the robot and the mounting interface is calculated by the coordinate differences of multiple targets.

[0067] Motion compensation: Based on the calculation results, the robot is controlled to adjust its posture to achieve precise docking.

[0068] The final X_c and Y_c are the three-dimensional coordinates in the camera coordinate system. The system will then need to be transformed to the robot's base coordinate system using coordinate transformation (rotation matrix + translation vector). Calculate the attitude deviation using the following formula: Rx=arctan((Z2−Z1) / (Y2−Y1)) Ry=arctan((Z1−Z2) / (X1−X2)) In the formula: X1, Y1, Z1: The three-dimensional coordinates of the first target in the robot's base coordinate system; X2, Y2, Z2: The three-dimensional coordinates of the second target in the robot's base coordinate system; Rx is the rotational deviation about the X-axis; Ry is the rotational deviation about the Y-axis.

[0069] In fact, the six-degree-of-freedom deviation describes the pose error of a robot's end effector in three-dimensional space, including three positional degrees of freedom (X, Y, and Z axis translation) and three orientational degrees of freedom (Rx, Ry, and Rz axis rotation). In the application scenario of battery swapping robots, this formula is mainly used to calculate the pose deviation between the battery swapping robot's gripping platform and the on-board battery pack installation interface, providing data support for subsequent motion compensation.

[0070] The core principle of the above positional deviation calculation formula is based on the inverse projection algorithm of the pinhole camera model, which transforms the pixel coordinates in the image coordinate system into three-dimensional coordinates in the camera coordinate system. The application logic includes: First, the vertical distance Z_c is obtained using a depth sensor; Then, by combining the camera intrinsic parameters, the position of the target in the image is converted into three-dimensional coordinates in the camera coordinate system; Finally, the coordinates are transformed (rotation matrix + translation vector) to the robot's base coordinate system to obtain the translational deviations in the X and Y directions.

[0071] The core principle of the above posture deviation calculation formula is to calculate the tilt angle deviation of the robot's end effector relative to the mounting surface by identifying the three-dimensional coordinate differences between at least two positioning targets (or feature points). The application logic includes: Calculate the ratio of the height difference between the two targets in the YZ plane to the horizontal distance to obtain the rotational deviation Rx (roll angle) around the X-axis. Calculate the ratio of the height difference between the two targets in the XZ plane to the horizontal distance to obtain the rotational deviation Ry (pitch angle) around the Y-axis. The rotational deviation Rz (yaw angle) around the Z-axis can be calculated by the positional relationship between the two targets in the XY plane: Rz=arctan((Y2-Y1) / (X2-X1)).

[0072] In this embodiment, the basic formula is optimized as follows for practical application of the battery swapping robot: Multi-target fusion computation: By identifying three or more targets, the least squares method is used to fit the pose parameters, thereby improving the stability and anti-interference ability of the computation results.

[0073] Temperature compensation: The camera's intrinsic parameters cx, cy, fx, and fy will drift slightly with temperature changes, so a temperature compensation model needs to be introduced for calibration.

[0074] Distortion correction: Before inverse projection calculation, radial and tangential distortion corrections need to be performed on the image to improve the accuracy of pixel coordinates.

[0075] Through this six-degree-of-freedom deviation calculation formula, the battery swapping robot can achieve millimeter-level precise docking with the on-board battery pack installation interface, providing key technical support for fully automated battery swapping of autonomous trucks.

[0076] Compliant docking: Based on deviation data, the robot controls multi-axis motion to bring the guide pin on the gripping platform into contact with the guide sleeve on the vehicle bottom, entering the "force-controlled guidance" stage. Through force sensors, the robot pushes with constant force, adaptively completing the final millimeter-level alignment to ensure that all interfaces are physically aligned.

[0077] Collaboration: Every movement of the robot is accompanied by real-time feedback from sensors, forming a servo closed loop.

[0078] Phase 3: Battery Replacement and Installation (Execution Phase) 5. Battery pack unlocking and removal: After complete docking, the locking actuator on the robot's gripping platform actively engages with the vehicle's locking mechanism and sends a "perform physical unlock" command to the vehicle's control system. Upon receiving confirmation from the vehicle, it applies unlocking force to disconnect the mechanical connection. After confirming that all locking points are disconnected, the robot smoothly descends and removes the depleted battery pack. Both the vehicle's sensors and the robot's sensors verify that the "locked state" has changed to the "unlocked state."

[0079] 6. Synchronize and parallelize the storage of old packages and the placement of new packages: Thread A (Old Packet Processing): The robot places the depleted battery pack on the transfer platform, and the warehouse AGV immediately picks it up and sends it to the charging rack.

[0080] Thread B (New Packet Preparation): Meanwhile, the warehouse system, based on instructions from the cloud, retrieves a fully charged battery pack in optimal health from the fully charged shelf and sends it to the loading position next to the robot by another AGV.

[0081] 7. New battery pack installation, locking, and connection: The robot picks up the fully charged battery pack, repeats the alignment process from step 4, and lifts it into the chassis battery compartment. Then, a reverse locking operation is performed: a "perform physical locking" command is sent, driving the locking mechanism to rigidly connect the battery pack to the chassis. After confirming the mechanical locking, the high-voltage connector is finally engaged and connected to the cooling pipes.

[0082] Each step is verified by position and pressure sensors. After the high-voltage connection is established, the vehicle-mounted BMS performs initial power-on communication with the battery pack to confirm its identity and basic status are normal.

[0083] Phase Four: Final Verification and Vehicle Restoration (Completion Phase) 8. Final system verification and release: The station control system aggregates all signals: robot "installed in place", vehicle "all locking signals valid", BMS "battery pack communication normal". After all green lights are activated, a "battery swap complete, vehicle ready" signal is sent to the vehicle. The vehicle performs a final self-check to confirm it is ready to drive. The vehicle locking mechanism re-enters driving protection mode.

[0084] 9. Vehicle departure and battery backend management: The vehicle automatically starts, drives away from its workstation, and resumes its autonomous driving mission. Simultaneously, the station begins charging the recently removed battery pack and uploads all data from this battery swap to the cloud-based battery management platform for optimizing the next scheduling and battery maintenance. The cloud platform updates the vehicle and battery status, forming a complete data loop.

[0085] like Figure 1 As shown: This embodiment of truck battery swapping includes the following steps: S1 Cloud-based Collaborative Planning and Vehicle Guidance The multi-level closed-loop control process of "cloud-based global planning + station collaborative execution" follows the main line of "planning -> allocation -> guidance -> verification -> fine-tuning".

[0086] S1-1: Cloud-based Intelligent Planning and Reservation (Strategic Level) Step 1-1-1: Demand Triggering and Forecasting Proactive reporting: The vehicle's BMS periodically reports its status to the cloud-based operation and management platform when the battery level is below a threshold.

[0087] Cloud-based prediction: The platform combines historical data, traffic conditions, and task plans to predict the future battery consumption of vehicles and can push battery swapping suggestions to vehicles that have not yet applied for it.

[0088] Step 1-1-2: Multi-objective dynamic scheduling Scheduling Algorithm: After receiving multiple requests, the platform runs a scheduling algorithm. Optimization objectives typically include: 1) Minimize the total waiting time.

[0089] 2) Maximize battery utilization and health.

[0090] 3) Ensure the availability of vehicles for high-priority tasks.

[0091] 4) Balance the load of each station.

[0092] Allocation decision: The algorithm outputs the following decision for each vehicle: {allocate to battery swapping station A, reservation time window T, and expected allocation of battery pack B}.

[0093] Step 1-1-3: Appointment Confirmation and Route Distribution The cloud sends a "reservation voucher" to the vehicle and the designated battery swapping station, which includes the reservation ID, time window, assigned station workstation number, and the expected battery pack ID to be replaced. At the same time, it plans and issues the optimal driving route from the vehicle's current location to the entrance of the battery swapping station.

[0094] S1-2: Coordinated Guidance for Entering the Station (Tactical Level) Step 1-2-1: Lane-level navigation to the station entrance Based on routes provided by the cloud, combined with high-precision maps, GNSS, and IMU, the vehicle performs lane-level autonomous driving until it reaches the entrance area of ​​the battery swapping station. As the vehicle approaches, it establishes a connection with the station via dedicated short-range communication and reports "approaching" information.

[0095] Step 1-2-2: Station Entrance Identity Authentication and Turnstile Control 1) The communication unit at the station entrance reads the reservation voucher sent by the vehicle and verifies it with the reservation list sent from the cloud.

[0096] 2) After verification, the station control system automatically opens the entrance gate and assigns an entry channel to it.

[0097] 3) At the same time, the “entry guidance instruction” is issued to the vehicle, which is usually a preset in-station vector path from the entrance to its assigned work station buffer zone.

[0098] S1-3: Precise docking and positioning confirmation (execution level) Step 1-3-1: Coarse guidance by changing the potential The vehicle travels along the assigned route within the station to the buffer zone in front of the target battery swapping station.

[0099] Guidance methods: ground-based QR codes and global positioning based on in-station LiDAR. Vehicles use their own sensors to identify these beacons, improving their positioning accuracy from decimeter-level to centimeter-level.

[0100] Objective: To initially position the vehicle in the forward alignment area of ​​the battery swapping station, with its posture basically upright.

[0101] Step 1-3-2: High-precision final berthing guidance A closed-loop fine-tuning guidance system integrating "vehicle-side perception" and "station-side perception" is adopted.

[0102] 1) Station-side active scanning: The battery swapping robot system or the high-precision laser scanner next to the workstation is activated to perform 3D scanning of the vehicle chassis outline and the preset positioning target in the parking area.

[0103] 2) Calculate pose deviation: The scanned point cloud is matched with the ideal parking model of the vehicle to calculate the deviation (ΔX, ΔY, Δθ yaw angle) between the current actual position of the vehicle and the theoretical perfect position.

[0104] Yaw angle deviation Δθ=θt−θr Longitudinal deviation ΔX (direction of vehicle front) ΔX=(Xt−Xr)⋅cosΔθ+(Yt−Yr)⋅sinΔθ Longitudinal deviation ΔX (direction of vehicle front) ΔY=−(Xt−Xr)⋅sinΔθ+(Yt−Yr)⋅cosΔθ 3) Issuing fine-tuning instructions: The station control system sends fine-tuning instructions to the vehicle's automatic driving controller in real time through low-latency wireless communication.

[0105] 4) Vehicle closed-loop execution: The vehicle controller executes these minute longitudinal and lateral movement commands and continuously reports its own status during movement.

[0106] 5) Iterative verification: The station-side scanner continues to measure until the vehicle's pose deviation reaches the predetermined tolerance range.

[0107] Step 1-3-3: Confirming berthing and transferring authority After confirming that the vehicle has stopped correctly, the station control system sends a "parking successful, maintain parking" command to the vehicle. Simultaneously, it transfers control of the vehicle from the "driving guidance module" to the "battery swapping execution control module." This module then establishes direct communication with the onboard BMS to initiate the next stage of identity verification and battery swapping preparation.

[0108] S2 Precise Positioning and Battery Unlocking The process involves "three-level positioning, dual verification, and collaborative unlocking." It follows the steps of "communication preparation → visual coarse guidance → mechanical fine guidance → compliant bonding → collaborative unlocking and separation," ensuring that each step has sensor feedback and logical interlocks.

[0109] S2-1-1 Phase Zero: In-place Confirmation and Communication Preparation (Prerequisites) S2-1-2: Vehicle positioning and transfer of authority After the previous step (vehicle guidance) confirms that the vehicle's parking accuracy meets the standards, the vehicle is put into parking gear, and the electronic parking brake may be activated. The station control system then transfers control authority from the "guidance module" to the "battery swapping execution module".

[0110] S2-1-3: Establishment of Secure Communication Link and Identity Verification The station control system establishes a secure session with the vehicle battery management system via a direct connection to a reliable industrial Ethernet link. Both parties then exchange and verify the vehicle VIN, battery pack ID, and reservation information.

[0111] S2-1-4: Preparation for Pre-Unlocking Vehicle System After successful verification, the station control system sends a "Enter Battery Swapping Mode" command. The onboard BMS executes: Confirm that the high-voltage system is powered off. Unlock the main control solenoid valve of the battery pack electronic locking mechanism to automatically open the protective covers of the high-voltage interface and cooling interface.

[0112] S2-1-5: Robot Initial Localization and Visual Guidance Coarse positioning: Based on the vehicle model information, the battery swapping robot moves to the theoretical coordinate position of the battery pack under the chassis for that vehicle model.

[0113] Visual precision positioning: The robot's 3D vision camera scans the chassis upwards. By identifying a pre-designed high-precision visual target, the six degrees of freedom deviation (ΔX, ΔY, ΔZ, ΔRx, ΔRy, ΔRz) between the robot's grasping platform and the chassis battery compartment interface is calculated.

[0114] T=0R00ΔXΔYΔZ1 Rx(ΔRx)=1000cosΔRxsinΔRx0−sinΔRxcosΔRx Ry(ΔRy)=cosΔRy0−sinΔRy010sinΔRy0cosΔRy Rz(ΔRz)=cosΔRzsinΔRz0−sinΔRzcosΔRz0001 Rotation sequence: Z→Y→X Rx: Rotation about the X-axis Ry: Rotation about the Y-axis Rz: Rotation around the Z-axis S1-4-1-5: Multi-axis motion compensation and mechanical guidance Based on visual deviation data, the robot controller drives its X, Y, and Z lifting axes and Rx and Ry swing axes to move, so that the guide pin on the platform approaches the guide sleeve under the vehicle.

[0115] S1-2-6: Force-controlled compliant connection Once the guide pin contacts the guide sleeve, the system switches to "force-position hybrid control" mode. The robot's end effector is equipped with a six-dimensional torque sensor.

[0116] The robot propels itself along the guide sleeve with a constant, minute force, and sensors provide real-time feedback on the contact force. If a lateral torque is detected, the control system adjusts the end effector's posture (Rx, Ry) in real time to eliminate jamming and achieve a "smooth entry".

[0117] S1-2-7: Coordination of locking mechanism engagement and unlocking commands Engagement: The unlocking actuator on the robot's gripping platform precisely engages with the locking mechanism of the vehicle's battery pack. The station control system sends a "permit and execute mechanical unlocking" command to the vehicle controller. This is a critical safety coordination point—the unlocking power source is provided by the robot, but the unlocking permission is granted by the vehicle.

[0118] S1-2-8: Perform unlocking and dual-state verification Upon receiving confirmation from the vehicle, the robot drives the unlocking actuator to rotate or move in a straight line, releasing the mechanical locking tongue.

[0119] Double check: Robot-side verification: Confirm that the actuator has completed the unlocking stroke using displacement or pressure sensors.

[0120] Vehicle-side verification: The microswitches on each latch in the vehicle provide feedback that the latch has moved from the "locked" position to the "released" position.

[0121] Logical AND: The station control system must receive "unlocked" signals from both the robot side and the vehicle side for all lock points to determine that unlocking was successful.

[0122] S1-2-9: Battery Pack Removal and Safe Separation After confirming successful unlocking, the robot slowly descends its Z-axis by approximately 20-50mm, "detaching" the battery pack from the mounting bracket. Subsequently, the robot, carrying the battery pack, moves horizontally along the X / Y axes out of the vehicle's undercarriage area and reaches the transfer position.

[0123] S3 Battery Replacement and Installation The process employs "parallel processing, precise positioning, collaborative locking, and multiple verifications" to achieve high efficiency. It follows a workflow of "parallel processing of old packages and preparation of new packages → new package grabbing and positioning → installation and compliant fitting → collaborative locking and connection → final system self-test," minimizing the overall battery swapping time.

[0124] S3-1 Stage Zero: Parallel Battery Processing (Key to Efficiency Optimization) This stage begins almost simultaneously with the "battery unloading" step, using the time it takes for the robot to remove the old package to prepare the new package.

[0125] Thread A: Depleted battery pack is added to the database. After the robot places the depleted battery packs on the transfer platform, a warehouse AGV immediately picks them up and delivers them to the designated storage location in the charging area. The charging system then begins assessing the battery packs' condition and charging them.

[0126] Thread B: Fully charged battery pack shipped out. The cloud-based battery management system selects a fully charged battery pack based on strategies such as first-in-first-out (FIFO) and optimal health. The AGV (Automated Guided Vehicle) in the warehouse system retrieves the battery pack from the fully charged shelf and transports it to the loading position within the working range of the battery swapping robot.

[0127] Phase 1 of S3-2: Fully charged battery pack capture and secondary positioning Step 1: The robot grabs the fully charged battery pack The robot moves to the loading position. Its gripping platform descends and aligns with the mating surface of the top of the fully charged battery pack. The battery pack is physically gripped and locked in place by the clamping device, and sensors confirm a secure grip.

[0128] Step 2: Move to the initial installation position under the vehicle. The robot, carrying a fully charged battery pack, moves to the mounting position under the vehicle chassis. This position is slightly lower than the mounting surface to allow space for subsequent lifting and alignment.

[0129] Step 3: Visually Guided Secondary Precision Positioning Even though the vehicle hasn't moved, the robot's vision system rescans the positioning target under the vehicle to ensure absolute accuracy. This is because the load and posture of the robot's end effector may have slight changes after grasping the new pack. The system recalculates the installation deviation and makes fine-tuning compensations to ensure that the new battery pack's guide mechanism is perfectly aligned with the interface under the vehicle.

[0130] Phase S3-3, Part Two: Installation, Co-locking, and Electrical Connection Step 4: Force-controlled compliant installation and fitting The robot slowly lifts the battery pack along the Z-axis. Entering the "force-controlled compliance" stage, force sensors ensure that the battery pack is fitted to the vehicle chassis mounting surface with constant and safe pressure, eliminating any gaps and preventing damage to the interface due to overload.

[0131] Step 5: Collaborative Locking and Dual Verification Engagement: The robot locking actuator engages with the vehicle-mounted locking mechanism.

[0132] Coordination command: The station control system sends a "permit and execute mechanical locking" command to the on-board controller.

[0133] Locking: After receiving confirmation from the vehicle, the robot drives the actuator head to apply a preset torque and push the locking tongue to the locking position.

[0134] Double check: On the robot side: the torque sensor and displacement encoder confirm that the locking action has been completed according to the preset parameters.

[0135] On the vehicle side: Each latch has a microswitch that provides feedback on the "locked" status signal.

[0136] Logic and Confirmation: The station control system must receive confirmation signals from both sides of all locking points simultaneously to determine that "mechanical locking is successful".

[0137] Step 6: High-pressure and cooling connection After mechanical locking is confirmed, the final connection is executed. The actuator on the robot drives the high-voltage connector to complete the final insertion and self-locking. The auxiliary contacts and microswitches built into the connector provide feedback of a "connection in place" signal. For liquid-cooled battery packs, the quick-connect fittings of the cooling lines are simultaneously pushed closed, completing the sealing, self-locking, and line connection.

[0138] Phase 3 of S3-4: Final Verification and System Reset S3-4-1 Robot Reset Once all connections are confirmed, the robot releases its grip on the battery pack, then descends and moves horizontally out from under the vehicle, returning to a safe standby position.

[0139] S3-4-2: Vehicle system power-on self-test The vehicle-mounted BMS establishes full communication with the new battery pack, reading all parameters such as the battery pack serial number, voltage, temperature, charge level, and health status. It also performs safety checks including high-voltage insulation testing and contactor self-testing.

[0140] Key verification: Verify that the installed battery pack ID matches the ID allocated by the cloud plan to prevent incorrect installation.

[0141] S3-4-3: Battery swap completion confirmation and authority transfer The vehicle summarizes the BMS self-check results and locking status signals, and sends a "vehicle ready, battery swap successful" signal to the station control system. The station control system summarizes the robot reset status and the warehouse system status, confirming the completion of the entire closed-loop process. The station control system sends the final instruction "battery swap complete, ready to depart" to the vehicle and synchronizes the vehicle status to the cloud dispatch platform. The vehicle's autonomous driving system takes over control and prepares to depart.

[0142] S4 final verification and vehicle restoration The final verification process is "from the inside out, with multi-party mutual recognition and a safe closed loop." It follows a rigorous logic of "deep self-inspection of the vehicle → vehicle-station status synchronization and mutual recognition → cloud data archiving and resource release → safe departure guidance" to ensure absolute safety.

[0143] S4-1: Vehicle deep power-on self-test S4-1-1: Battery Pack Deep Communication and Identity Binding The vehicle-mounted BMS establishes full-parameter communication with the newly installed battery pack, not only reading voltage, temperature, and charge, but more importantly, verifying: 1) Uniqueness of identity: The battery pack ID is consistent with the cloud scheduling instructions and the on-site operation records. This triple binding prevents incorrect installation.

[0144] 2) Health status: Whether the battery pack status, historical data, and fault codes are within the allowable range.

[0145] 3) Parameter compatibility: Whether the battery pack specifications match the vehicle model.

[0146] 4) Key point: Any failure of a verification will trigger the highest level alarm and abort the process.

[0147] S4-1-2: Safety Inspection of High Voltage Systems Before closing the main contactor, the vehicle must perform the following: 1) Insulation test: Measure the insulation resistance between the positive and negative terminals of the high voltage and the vehicle body to ensure there is no risk of leakage.

[0148] 2) Pre-charge test: Pre-charge capacitive loads such as the vehicle motor controller to verify the continuity of the high-voltage circuit and avoid the inrush current at the moment of power-on.

[0149] 3) Contactor sticking detection: Test whether the main positive and main negative contactors disconnect normally by using a small current to prevent arcing under load.

[0150] S4-1-3: Summary of Key Subsystem Status of the Vehicle Vehicle VCU polls and confirms: Steering system: No faults, in a steerable state.

[0151] Braking system: Air and hydraulic pressures are normal, EPB can be released.

[0152] Chassis system: Airbag height is normal, no serious fault codes.

[0153] Battery lock status: Confirm again from the vehicle sensors that all mechanical locks are in the "locked" position.

[0154] Autonomous driving system: The perception, localization, and planning modules are functioning normally; ready to take over.

[0155] S4-2: Final mutual recognition among the train, station, and cloud (decision-making) During this stage, the vehicle self-inspection results are cross-verified with station and cloud records to reach a consensus on release.

[0156] S4-2-1: The vehicle generates a "self-test ready" digital signature. The vehicle's VCU encrypts and signs all self-test pass statuses (a structured data packet containing timestamps, vehicle VIN, battery pack ID, and various test results) and sends it to the station control system. This is equivalent to a "vehicle health declaration".

[0157] S4-2-2: Final Arbitration of Station Control System The station control system acts as the "referee," making the final decision. 1) Compare records: Compare the vehicle's self-inspection report with its own recorded data on the battery swapping process (such as locking signals, connector positioning signals, and robot reset signals) to ensure that the states described by the two are completely consistent.

[0158] 2) Environmental inspection: Confirm that there are no unauthorized personnel or equipment interference around the battery swapping station, or other safety hazards.

[0159] 3) Generate a decision: If all conditions are met, the station control system generates a final decision that “the battery swapping operation is legal and valid and is allowed to proceed”.

[0160] S4-2-3: Cloud Data Synchronization and Resource Release The station control system immediately uploads the final decision and complete battery swapping process log to the cloud management platform. Cloud execution: 1) Update the vehicle status to "Fully charged and ready".

[0161] 2) Update the battery pack binding relationship to "In Vehicle, In Use".

[0162] 3) Release the station resources that were reserved for this vehicle so that they can be used to serve the next vehicle.

[0163] S4-2-4 issues final clearance order The station control system sends an encrypted "final release command" to the vehicle. Only after receiving this command will the vehicle's autonomous driving system actually initiate the departure procedure.

[0164] S4-3: Safe Departure and System Reset S4-3-1: The vehicle performs its final actions before leaving. 1) The vehicle's VCU controls the battery pack locking mechanism to enter "driving protection mode" (i.e., the locking mechanism remains locked, but no longer responds to any external unlocking commands unless the vehicle re-enters battery swapping mode).

[0165] 2) Release the electronic parking brake.

[0166] 3) The low-voltage system is fully powered on, and the autonomous driving domain controller is activated.

[0167] S4-3-2: Smooth Departure and Route Guidance The vehicle's autonomous driving system smoothly starts and drives away from the battery swapping station based on the "departure path" issued by the cloud or the station. During this process, the station's sensors continuously monitor the vehicle until it has completely left the work area.

[0168] S4-3-3: Station System Reset After confirming the vehicle has left, all equipment, including the battery swapping robot, positioning system, and safety barriers, resets to its initial standby state. The station control system refreshes its interface, displaying "Idle, awaiting next task" for the workstation. A complete automated battery swapping cycle has officially ended.

[0169] In summary, the application scenario in this embodiment is for pure electric autonomous driving container trucks used in ports, logistics parks, and trunk transportation.

[0170] Core objective: To solve the problem of unmanned and efficient energy replenishment for autonomous trucks, and to promote the green and unmanned operation of smart logistics.

[0171] The pain point to be addressed: Traditional side-mounted or suspended battery swapping solutions have low automation levels, rely on manual assistance, and cannot be adapted to "driverless" autonomous driving scenarios.

[0172] The core technical objective of this embodiment By constructing a collaborative system integrating "vehicle-station-cloud-battery", a safe, efficient and reliable battery swapping process with no human intervention is achieved through high-precision positioning, state machine driving, multi-sensor fusion verification and cloud-based intelligent scheduling.

[0173] The four-stage process of automatic battery swapping in this example includes: 1) Cloud-based collaborative planning and vehicle guidance When the vehicle's battery level drops below a threshold, it initiates a battery swapping request to the cloud, which then coordinates and allocates battery swapping stations and time windows.

[0174] With the help of high-precision maps, GNSS, lidar, UWB signals and other technologies, vehicles are guided to park in the battery swapping station with an accuracy of ±50mm.

[0175] 2) Precise positioning and battery unlocking After the station control system completes the vehicle and battery identity authentication, the on-board BMS performs a self-test and unlocks the battery lock and opens the high-voltage interface protection cover.

[0176] The battery swapping robot achieves millimeter-level precision docking with the battery pack through a multi-level alignment process of "coarse positioning - visual fine positioning - compliant docking".

[0177] 3) Battery replacement and installation The robot unlocks and removes the depleted battery pack, while the warehouse AGV simultaneously returns the old batteries to the warehouse for charging and retrieves and places the new batteries.

[0178] The new battery is installed by repeating the positioning process, completing mechanical locking, high-voltage connection and cooling pipe connection, and the vehicle BMS confirms the battery status.

[0179] 4) Final verification and vehicle restoration The station control system aggregates multi-dimensional signals to confirm that the battery swap is complete, and then sends instructions to the vehicle.

[0180] After self-checking, the vehicle automatically drives away to resume the task, and the battery swapping data is uploaded to the cloud to form a closed-loop management system.

[0181] In this embodiment: vehicle-station-cloud collaboration: to achieve fully automated battery swapping without human intervention.

[0182] Multi-level positioning and compliant docking: Integrating multiple technologies to ensure millimeter-level docking accuracy.

[0183] Dual verification mechanism: Critical operations are verified by both the robot and on-board sensors to enhance safety.

[0184] Parallel operation optimization: Old battery processing and new battery preparation are carried out simultaneously, shortening the battery swapping time.

[0185] Application value of this embodiment Overcoming technical challenges such as fully automated high-precision positioning, heavy-duty battery pack safety locking, and integrated vehicle-station-cloud scheduling, the company provides core energy replenishment solutions for autonomous trucks, supporting the large-scale and commercial operation of smart logistics.

Claims

1. A method for automatically replacing the battery of an autonomous truck, characterized in that: Includes the following steps: Step 1: Cloud-based collaborative planning and vehicle guidance. In this step, the low voltage of the truck's battery triggers the need for battery swapping. The autonomous driving management platform coordinates and allocates battery swapping stations and time windows to guide the truck to park in the battery swapping station. Step 2, Precise Positioning and Battery Unlocking: In this step, the battery swapping robot's grabbing platform aligns with the depleted battery on the truck chassis, and the truck's onboard BMS performs a self-check to unlock the battery lock. Step 3: Battery exchange and installation steps; in this step, the charging of depleted batteries and the retrieval of fully charged batteries are carried out simultaneously. Step 4, Verification and Vehicle Recovery: In this step, the battery swapping station control system confirms that the battery swapping is complete, and the vehicle performs a self-check. After mutual recognition between the truck's automatic driving system, the battery swapping station host, and the automatic driving management platform, the truck leaves to resume the task, and the equipment in the battery swapping station is reset and put into standby mode.

2. The automatic battery replacement method for autonomous trucks according to claim 1, characterized in that: In step 1: the truck autonomous driving management platform monitors the truck battery power in real time, and triggers a battery swapping requirement when the power is below a threshold.

3. The automatic battery replacement method for autonomous trucks according to claim 1, characterized in that: In step 1: the BMS of the container truck monitors the battery power of the container truck in real time. When the power is lower than the threshold, it reports to the container truck autonomous driving management platform and triggers the battery swapping requirement.

4. The automatic battery replacement method for autonomous trucks according to claim 2 or 3, characterized in that: The threshold is 20%.

5. The automatic battery replacement method for autonomous trucks according to claim 1, characterized in that: In step 1, vehicle guidance includes the following steps: Step 1-1: Relying on high-precision maps and GNSS, guide trucks into the charging station at the lane level; Steps 1-2: Use the lidar and camera on the truck to identify ground markings and use the UWB signal emitted by the battery swapping station to achieve decimeter-level parking guidance. Steps 1-3: The high-precision laser scanner at the battery swapping station scans the outline of the container truck and the chassis reflector, and sends fine-tuning instructions to the container truck until the parking accuracy of the container truck meets the requirements.

6. The automatic battery replacement method for autonomous trucks according to claim 1, characterized in that: Step 2 includes the following battery swapping robot positioning process; The electric robot positioning process includes: Step 2-1, coarse positioning: The battery swapping robot moves to the preset theoretical position below the battery pack of the autonomous driving truck model based on the truck model information. Step 2-2, Precise Positioning Steps: The battery swapping robot rises, and the end-effector vision system identifies the positioning latch features under the vehicle and calculates the deviation. The deviation is calculated according to the following steps: Calculate the pose deviation between the battery swapping robot's gripping platform and the vehicle-mounted battery pack installation interface using the following formula: In the formula : The pixel coordinates of the target in the camera image; : The pixel coordinates of the camera's optical center in the image coordinate system; : Camera focal length parameter; , , The three-dimensional coordinates of the target in the camera coordinate system; The vertical distance from the robot's gripping platform to the battery pack mounting surface under the vehicle; : Measurement depth refers to the vertical distance between the end vision sensor of the battery swapping robot and the mounting interface of the on-board battery pack; Calculate the attitude deviation using the following formula: Rx=arctan((Z2−Z1) / (Y2−Y1)) Ry=arctan((Z1−Z2) / (X1−X2)) In the formula: X1, Y1, Z1: The three-dimensional coordinates of the first target in the robot's base coordinate system; X2, Y2, Z2: The three-dimensional coordinates of the second target in the robot's base coordinate system; Rx is the rotational deviation about the X-axis; Ry is the rotational deviation about the Y-axis; Steps 2-3, millimeter-level alignment: The robot controls multi-axis motion to make the gripping platform guide pin contact the undercarriage guide sleeve, completing millimeter-level alignment.

7. The automatic battery replacement method for autonomous trucks according to claim 1, characterized in that: Step 3 includes the following sub-steps; Step 3-1: Unlocking the depleted battery on the truck; Step 3-2: The battery swapping robot smoothly lowers and removes the depleted battery pack; Step 3-3: The battery swapping robot places the depleted battery pack on the transfer platform of the battery swapping station; at the same time, the battery swapping station's storage system retrieves a fully charged battery pack from the fully charged shelf and transfers it to the loading position next to the battery swapping robot. Steps 3-4: The battery swapping robot grabs the fully charged battery pack, lifts it, and installs it into the battery compartment of the truck chassis. Steps 3-5: Perform reverse locking operation: Drive the locking mechanism to rigidly connect the fully charged battery pack to the truck chassis, and perform high-voltage connector insertion and cooling pipe connection.

8. The automatic battery replacement method for autonomous trucks according to claim 1, characterized in that: Step 4 includes: Step 4-1: In-depth self-inspection of the container truck itself; Step 4-2: Synchronization and mutual recognition of status between container trucks and battery swapping stations; Step 4-3: Cloud data archiving and resource release for the autonomous driving management platform; Step 4-4: The truck safely departs.

9. The automatic battery replacement method for autonomous trucks according to claim 8, characterized in that: Step 4-1 includes: Step 4-1-1: Establish full-parameter communication between the truck's onboard BMS and the newly installed fully charged battery pack; Step 4-1-2: High-voltage system safety inspection; Step 4-1-3: Summarize the status of key subsystems of the truck, including polling and confirming the vehicle's VCU, ensuring the steering system is fault-free, confirming normal air and hydraulic pressure in the braking system and that the EPB can be released, ensuring normal airbag height in the chassis system and that there are no serious fault codes, confirming that all mechanical locks are in the "locked" position using onboard sensors, and confirming that the autonomous driving system's perception, positioning, and planning modules are functioning normally and ready to take over.

10. An automatic battery swapping system for autonomous trucks, comprising an autonomous driving management platform, a truck system, a battery swapping station, and a battery swapping robot; wherein the autonomous driving management platform, the truck system, the battery swapping station, and the battery swapping robot communicate with each other; characterized in that: The autonomous driving management platform includes a demand triggering and prediction module, a multi-objective dynamic scheduling module, a scheduling algorithm module, and an allocation decision module. Inside the autonomous driving management platform, the demand triggering and prediction module, the multi-objective dynamic scheduling module, the scheduling algorithm module, and the allocation decision module are respectively connected to the central processing unit of the autonomous driving management platform. The truck system includes an automatic parking module and a chassis battery compartment module; within the truck system, the automatic parking module and the chassis battery compartment module are respectively connected to the truck main controller; The battery swapping robot includes a laser scanner and a gripping platform; The battery swapping station includes a battery storage compartment and a charging system.

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