Battery swapping station

Abstract

This application provides a battery swapping station. It includes: an object sensing platform for detecting the presence of a vehicle in a preset area, and sending a collection signal to a non-repetitive scanning LiDAR when a vehicle is confirmed to be present; the non-repetitive scanning LiDAR for performing point cloud acquisition upon receiving the collection signal to collect point cloud data of the vehicle's battery box and transmitting it to an attitude positioning device; and an attitude positioning device for determining the spatial position and attitude information of the battery box based on the point cloud data. This invention achieves precise positioning of the battery box across its entire attitude by fixing a single non-repetitive scanning LiDAR to the battery swapping station. It features a simple structure, convenient installation, fast positioning speed, and easy maintenance, reducing the cost of the battery swapping station while improving its stability.

Description

Technical Field

[0001] This application relates to the field of vehicle battery swapping station technology, specifically to a battery swapping station. Background Technology

[0002] With the development of electric vehicle technology, such as concrete mixer trucks in concrete mixing plants, new energy technologies have begun to be adopted, enabling battery-powered operation. In order to achieve continuous operation of the mixer trucks, most concrete mixing plants no longer use charging technology, but instead use battery swapping technology. The battery swapping solution for mixer trucks uses a robotic arm to retrieve the battery box. Before the robotic arm retrieves the battery box, the position of the mixer truck's battery box needs to be accurately located to determine whether the mixer truck is parked in a reasonable position.

[0003] One existing battery box positioning scheme is to position the battery box by mounting a point laser sensor on the moving mechanism. Specifically, the battery swapping process of the mixer truck battery box mainly includes two steps: (1) the battery box positioning system realizes the positioning of the battery box; (2) the coordinate information after positioning is converted into the coordinate system of the robotic arm, and the battery swapping system controls the robotic arm to grab the battery box and perform the battery swapping operation. However, this existing battery box positioning system can only collect a line on the side wall of the mixer truck battery box. Through this line, it can only calculate the position information of the battery box in the x and y directions and the rotation angle around the z axis. However, the battery box has a total of 6 degrees of freedom. In addition to the above 3 degrees of freedom, there are 3 remaining degrees of freedom, namely the position information along the Z axis, the rotation angle along the x axis, and the rotation angle along the y axis. The remaining 3 degrees of freedom can also lead to battery swapping accidents when the tire axle height of the vehicle is inconsistent. At the same time, due to the use of redundant moving mechanisms and multiple laser radars, the entire moving mechanism will experience different degrees of wear and jamming as the usage time increases, which greatly increases the maintenance cost and failure rate of the entire system. A malfunction in any single LiDAR unit can cause the entire system to malfunction, increasing system instability. Another approach involves installing on-site LiDAR and cameras at the battery swapping station. The on-site LiDAR constructs a high-precision 3D model of the station environment to generate a background depth map. This map is used to pinpoint the vehicle's precise location and orientation, enabling accurate vehicle positioning. The camera then extracts the vehicle's license plate, binding the license plate to the located vehicle, establishing a physical association between "vehicle → identity ID → control command." Both are synchronized via a gimbal, achieving hardware-level collaboration. Perception algorithms fuse data to control and guide the vehicle through the battery swapping process. However, LiDAR + gimbal + high-definition camera significantly increases hardware costs. The radar and camera require strict spatiotemporal synchronization. If a camera malfunction causes license plate recognition failure, the vehicle and control commands cannot be linked. If a radar malfunction causes interruption of environmental modeling / vehicle positioning, parking control will be paralyzed. If the gimbal malfunctions, the radar and / or camera may become completely inoperable. Utility Model Content

[0004] The purpose of this application is to provide a battery swapping station to address the technical deficiency in the prior art that cannot achieve precise positioning of the battery box in all attitudes.

[0005] To achieve the above objectives, the first aspect of this application provides a battery swapping station, comprising:

[0006] The object sensing platform is used to detect whether there is a vehicle in a preset area, and when it is determined that there is a vehicle in the preset area, it sends the acquisition signal to the non-repetitive scanning lidar.

[0007] Non-repetitive scanning lidar is used to perform point cloud acquisition after receiving the acquisition signal, in order to collect point cloud data of the vehicle's battery box and transmit it to the attitude positioning device.

[0008] An attitude positioning device is used to determine the spatial position and attitude information of the battery box based on point cloud data.

[0009] In the embodiments of this application, the spatial position of the battery box includes the position of the battery box in the preset X-axis direction, the position in the preset Y-axis direction, and the height in the preset Z-axis direction of the coordinate system. The attitude information of the battery box includes the rotation angle of the battery box around the preset X-axis, the rotation angle around the preset Y-axis, and the rotation angle around the preset Z-axis in the coordinate system. The coordinate system is constructed with the non-repeating scanning LiDAR as the center. The preset X-axis is the direction in which the preset vehicle parking direction is located. The preset Y-axis is the direction in which the preset vehicle parking direction is located in the horizontal and vertical directions. The preset Z-axis is the direction in which the preset vehicle parking direction is located in the vertical direction.

[0010] In embodiments of this application, the battery swapping station further includes: a battery swapping cabinet, which is equipped with one or more charging devices. A charging controller is installed at the bottom of the charging device. The charging device is used to charge the backup battery box, and the charging controller is used to read the power information of the backup battery box built into the charging device.

[0011] In the embodiments of this application, the battery swapping station further includes: a bracket; a battery swapping robotic arm guide rail, which is fixed to the bracket with the horizontal and vertical directions of the preset vehicle parking direction as the installation direction; and a battery swapping robotic arm, which is installed on the battery swapping robotic arm guide rail and slides according to the installation direction of the battery swapping robotic arm guide rail to grasp the battery box according to the spatial position and posture information of the battery box.

[0012] In the embodiments of this application, the battery swapping station further includes: a battery swapping triggering device, used to trigger a battery swapping signal based on the spatial position and attitude information of the battery box and the power information of the backup battery box, and send the battery swapping signal to the battery swapping robotic arm.

[0013] In the embodiments of this application, the battery swapping robotic arm is also used to: perform a battery swapping operation after receiving a battery swapping signal, to slide along the guide rail of the battery swapping robotic arm to grab the battery box on the vehicle to an idle charging device in the battery swapping cabinet for charging, and to grab the fully charged battery in the battery swapping cabinet to the vehicle.

[0014] In an embodiment of this application, the bracket includes: a first bracket, one end of which is fixed to a horizontal ground; and a second bracket, both ends of which are fixed to the other end of the first bracket and placed on top of the battery swapping cabinet.

[0015] In the embodiments of this application, the non-repetitive scanning lidar is fixed at a preset position on the bracket, wherein the preset position is any position on the first bracket or the second bracket, and any position satisfies a preset condition. The preset condition defines that when the non-repetitive scanning lidar is in any position, the end face of the vehicle's battery box is within the field of view of the non-repetitive scanning lidar.

[0016] In the embodiments of this application, the non-repetitive scanning lidar is fixed to a preset position on the bracket by a fixing device.

[0017] In the embodiments of this application, the attitude positioning device includes: a filtering processing device for preprocessing the acquired point cloud data, the preprocessing including noise reduction processing and filtering processing; a point cloud segmentation device for segmenting the preprocessed point cloud data to extract the box plane data of the battery box; and a plane registration device for performing plane registration on the extracted box plane data of the battery box to determine the full attitude information of the battery box.

[0018] The above technical solution provides a battery swapping station comprising: an object sensing platform for detecting the presence of a vehicle in a preset area, and, upon confirming the presence of a vehicle, sending a collection signal to a non-repetitive scanning lidar; a non-repetitive scanning lidar for performing point cloud acquisition upon receiving the collection signal to collect point cloud data of the vehicle's battery box and transmitting it to an attitude positioning device; and an attitude positioning device for determining the spatial position and attitude information of the battery box based on the point cloud data. This invention achieves precise positioning of the battery box across its entire attitude by fixing a single non-repetitive scanning lidar to the battery swapping station. It features a simple structure, convenient installation, fast positioning speed, and easy maintenance, reducing the cost of the battery swapping station while improving its stability.

[0019] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0020] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0021] Figure 1 The schematic diagram illustrates a structural schematic of a battery swapping station according to an embodiment of this application;

[0022] Figure 2 A schematic top view of a battery swapping station according to an embodiment of this application is shown;

[0023] Figure 3 A schematic diagram of the structure of another battery swapping station according to an embodiment of this application is shown.

[0024] Figure 4 The illustration shows an installation diagram of a non-repetitive scanning lidar according to an embodiment of this application;

[0025] Figure 5B This illustration schematically shows a point cloud data diagram of a repetitive scanning lidar according to an embodiment of this application;

[0026] Figure 5C This illustration schematically shows a point cloud data diagram of a non-repetitive scanning lidar according to an embodiment of this application;

[0027] Figure 6 The illustration shows an installation diagram of yet another non-repetitive scanning lidar according to an embodiment of this application.

[0028] Explanation of reference numerals in the attached figures

[0029] Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0031] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0032] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0033] Figure 1 A schematic diagram illustrating the structure of a battery swapping station according to an embodiment of this application is shown. Figure 1 As shown in the figure, this application embodiment provides a battery swapping station, which may include:

[0034] The object sensing platform 110 is used to detect whether there is a vehicle in a preset area, and when it is determined that there is a vehicle in the preset area, it sends a collection signal to the non-repetitive scanning lidar.

[0035] The non-repetitive scanning lidar 120 is used to perform point cloud acquisition after receiving the acquisition signal, so as to acquire point cloud data of the vehicle's battery box and transmit it to the attitude positioning device.

[0036] The attitude positioning device 130 is used to determine the spatial position and attitude information of the battery box based on point cloud data.

[0037] In this embodiment, it should be noted that a preset area can be set on the object sensing platform. Vehicles can drive to the preset area and park in a specific parking direction. The object sensing platform can detect whether a vehicle exists in the preset area. If the vehicle has finished parking, the object sensing platform can sense the presence of a vehicle in the preset area. At this time, it will trigger the object sensing platform to generate a collection signal and send the collection signal to the non-repetitive scanning lidar. The vehicle may include, but is not limited to, new energy vehicles such as cement mixers equipped with battery packs for electric propulsion.

[0038] It should be noted that non-repetitive scanning lidar refers to a lidar technology that employs a dynamic scanning mode. Its core characteristic is that the scanning path is neither fixed nor repetitive, allowing for flexible adjustment of the beam's direction and coverage area, thus acquiring more comprehensive environmental information per unit time. Traditional lidar, such as mechanical rotating lidar, repeatedly scans a fixed area through periodic rotation. Non-repetitive scanning, on the other hand, uses programmable optical components such as MEMS micromirrors, optical phased arrays, or galvanometer systems to adjust the laser beam's emission direction in real time, forming an irregular or adaptive scanning path. Non-repetitive scanning lidar avoids repeatedly covering the same area through continuously changing scanning modes, expanding the field of view (FOV) or increasing the point cloud density in local areas within a shorter time. In this technical solution, only one non-repetitive scanning lidar needs to be installed at the battery swapping station, eliminating the need for additional sensors. Upon receiving the acquisition signal, it can perform point cloud acquisition, completing the acquisition of point cloud data for the battery boxes of vehicles parked in the preset area within a very short time, such as 2 seconds. This not only simplifies the structure and facilitates installation but also effectively reduces hardware costs.

[0039] It should be noted that after acquiring point cloud data, the non-repeating scanning LiDAR will further transmit the acquired point cloud data to the attitude positioning device for further analysis. Specifically, the attitude positioning device can calculate the spatial position and attitude information of the battery box based on the received point cloud data.

[0040] In this embodiment, the spatial position of the battery box includes the position of the battery box in the preset X-axis direction, the position in the preset Y-axis direction, and the height in the preset Z-axis direction of the coordinate system. The attitude information of the battery box includes the rotation angle of the battery box around the preset X-axis, the rotation angle around the preset Y-axis, and the rotation angle around the preset Z-axis in the coordinate system. The coordinate system is constructed with the non-repeating scanning LiDAR as the center. The preset X-axis is the direction of the preset vehicle parking direction, the preset Y-axis is the direction of the horizontal and vertical directions of the preset vehicle parking direction, and the preset Z-axis is the direction of the vertical direction of the preset vehicle parking direction.

[0041] In this embodiment, it should be noted that the attitude positioning device can calculate the spatial position and attitude information of the battery box based on the received point cloud data. In this technical solution, a spatial coordinate system can be constructed with the non-repeating scanning LiDAR as the center, the direction of the preset vehicle parking direction as the preset X-axis, the direction of the horizontal vertical direction of the preset vehicle parking direction as the preset Y-axis, and the direction of the vertical vertical direction of the preset vehicle parking direction as the preset Z-axis. Therefore, the spatial position of the battery box can refer to its position in the preset X-axis direction, its position in the preset Y-axis direction, and its height in the preset Z-axis direction of the coordinate system. The attitude information of the battery box can refer to the rotation angle of the battery box around the preset X-axis, the rotation angle around the preset Y-axis, and the rotation angle around the preset Z-axis in the coordinate system.

[0042] The above technical solution provides a battery swapping station comprising: an object sensing platform for detecting the presence of a vehicle in a preset area, and, upon confirming the presence of a vehicle, sending a collection signal to a non-repetitive scanning lidar; a non-repetitive scanning lidar for performing point cloud acquisition upon receiving the collection signal to collect point cloud data of the vehicle's battery box and transmitting it to an attitude positioning device; and an attitude positioning device for determining the spatial position and attitude information of the battery box based on the point cloud data. This invention achieves precise positioning of the battery box across its entire attitude by fixing a single non-repetitive scanning lidar to the battery swapping station. It features a simple structure, convenient installation, fast positioning speed, and easy maintenance, reducing the cost of the battery swapping station while improving its stability.

[0043] In this embodiment of the application, the battery swapping station further includes: a battery swapping cabinet, which is equipped with one or more charging devices. A charging controller is installed at the bottom of the charging device. The charging device is used to charge the backup battery box, and the charging controller is used to read the power information of the backup battery box built into the charging device.

[0044] In this embodiment, it should be noted that, as Figure 2 The image shows a top view of a battery swapping station. Figure 2 As shown, the battery swapping station also includes a battery swapping cabinet 140, which is equipped with one or more charging devices (not shown in the figure). Each charging device has a charging controller (not shown in the figure) installed at its bottom. Each charging device can be used to charge the backup battery box 150, and the charging controller can be used to read the power information of the backup battery box built into the charging device.

[0045] In this embodiment, the battery swapping station further includes: a bracket; a battery swapping robotic arm guide rail, fixed to the bracket with the horizontal and vertical directions of the preset vehicle parking direction as the installation direction; and a battery swapping robotic arm, installed on the battery swapping robotic arm guide rail, sliding according to the installation direction of the battery swapping robotic arm guide rail, so as to grasp the battery box according to the spatial position and posture information of the battery box.

[0046] In this embodiment, it should be noted that, as Figure 2 As shown, the battery swapping station also includes a bracket 160, a battery swapping robotic arm guide rail 170, and a battery swapping robotic arm (not shown in the figure). The battery swapping robotic arm guide rail is fixed to the bracket with the horizontal and vertical directions of the preset vehicle parking direction as the installation direction. The battery swapping robotic arm is installed on the battery swapping robotic arm guide rail and can slide according to the installation direction of the battery swapping robotic arm guide rail. It can accurately grab the battery box on the vehicle according to the spatial position and posture information of the battery box.

[0047] In this embodiment of the application, the battery swapping station further includes: a battery swapping triggering device, used to trigger a battery swapping signal based on the spatial position and attitude information of the battery box and the power information of the backup battery box, and send the battery swapping signal to the battery swapping robotic arm.

[0048] In this embodiment, it should be noted that the battery swapping station also includes a battery swapping triggering device. The battery swapping triggering device can be used to trigger a battery swapping signal based on the spatial position and attitude information of the battery box determined by the attitude positioning device and the power information of the backup battery box, and send the triggered battery swapping signal to the battery swapping robotic arm.

[0049] In this embodiment of the application, the battery swapping robotic arm is also used to: perform a battery swapping operation after receiving a battery swapping signal, thereby sliding along the guide rail of the battery swapping robotic arm to grab the battery box on the vehicle to an idle charging device in the battery swapping cabinet for charging, and grab the fully charged battery in the battery swapping cabinet to the vehicle.

[0050] In this embodiment, it should be noted that the battery swapping robotic arm is mounted on the electric robotic arm guide rail and can slide according to the installation direction of the battery swapping robotic arm guide rail. After receiving the battery swapping signal issued by the battery swapping trigger device, the battery swapping robotic arm responds to the battery swapping signal and performs the battery swapping operation. Specifically, the battery swapping robotic arm slides along the battery swapping robotic arm guide rail to grab the battery box on the vehicle and place it into an idle charging device in the battery swapping cabinet for charging, and then grabs the fully charged battery in the battery swapping cabinet and places it into the vehicle.

[0051] In this embodiment of the application, the bracket includes: a first bracket, one end of which is fixed to a horizontal ground; and a second bracket, both ends of which are fixed to the other end of the first bracket and placed on top of the battery swapping cabinet.

[0052] In this embodiment, it should be noted that, as Figure 3 As shown, a structural schematic diagram of another battery swapping station is provided. Figure 3 As shown, the bracket 160 may include a first bracket 162 and a second bracket 164, wherein one end of the first bracket is fixed to the horizontal ground for installation perpendicular to the horizontal ground, and both ends of the second bracket are fixed to the other end of the first bracket and placed on the top of the battery swapping cabinet for installation parallel to the horizontal ground.

[0053] In this embodiment of the application, the non-repetitive scanning lidar is fixed at a preset position on the bracket. The preset position is any position on the first bracket or the second bracket. Any position satisfies a preset condition. The preset condition defines that when the non-repetitive scanning lidar is in any position, the end face of the vehicle's battery box is within the field of view of the non-repetitive scanning lidar.

[0054] In this embodiment, it should be noted that the non-repetitive scanning LiDAR can be fixed at a preset position on the bracket. The preset position can be any position on the first or second bracket, as long as the end face of the vehicle's battery box is within the field of view of the non-repetitive scanning LiDAR when it is in any position. Specifically, as shown... Figure 4 The diagram shows an installation schematic of a non-repetitive scanning lidar. Figure 4 As shown, the non-repetitive scanning lidar can be installed at any position on the second bracket, as long as the end face of the vehicle's battery box is within the field of view (FOV) of the non-repetitive scanning lidar.

[0055] It should be noted that, as Figure 5B , Figure 5C As shown, a point cloud data comparison diagram is provided. Because the LiDAR used in this technical solution is a non-repetitive scanning LiDAR, this LiDAR can continuously accumulate and acquire point cloud data of the side wall of the battery box over time in a stationary state, unlike traditional repetitive scanning LiDAR, which acquires the same data in each cycle. Therefore, the number of point clouds on the side wall of the battery box will not increase over time. Figure 5B The image shows point cloud data from a repetitive scanning lidar. Figure 5C The figure shows point cloud data of a non-repeating scanning LiDAR. As can be seen from the figure, with the accumulation of time, the non-repeating scanning LiDAR can acquire dense point cloud data, while the repeating scanning LiDAR can only acquire sparse point cloud data.

[0056] In this embodiment of the application, the non-repetitive scanning lidar is fixed to a preset position on the bracket by a fixing device.

[0057] In this embodiment, it should be noted that the fixing device may include, but is not limited to, a nut. Specifically, as shown... Figure 6 As shown, an installation diagram of another non-repetitive scanning lidar is provided, such as... Figure 6 As shown, the non-repetitive scanning lidar can be fixed to any position on the second bracket by four nuts. When the non-repetitive scanning lidar is in this arbitrary position, the end face of the vehicle's battery box is within the field of view (FOV) of the non-repetitive scanning lidar.

[0058] In this embodiment, the attitude positioning device includes: a filtering processing device for preprocessing the acquired point cloud data, the preprocessing including noise reduction and filtering; a point cloud segmentation device for segmenting the preprocessed point cloud data to extract the battery box's body plane data; and a plane registration device for performing plane registration on the extracted battery box's body plane data to determine the battery box's full attitude information.

[0059] In this embodiment, it should be noted that the attitude localization device may include a filtering device, a point cloud segmentation device, and a plane registration device. Specifically, the filtering device can perform denoising and filtering on the acquired point cloud data. Denoising aims to eliminate noise (such as sensor noise and random interference) in the point cloud data and retain useful information. Denoising may involve enhancing or suppressing certain components in the signal through specific rules (such as frequency domain selection and spatial smoothing). The point cloud segmentation device can further segment the preprocessed point cloud data to extract the plane data of the battery box. Point cloud segmentation can refer to the Ransac plane segmentation algorithm based on a plane model. The Ransac plane segmentation algorithm is a robust parameter estimation method widely used to extract planar structures from noisy point cloud data. The steps of the Ransac plane segmentation algorithm are roughly as follows: randomly sample three points, calculate the plane model, count the number of interior points, repeat this process multiple times to find the optimal model, optimize the model parameters, remove the interior points, and continue processing the remaining points. A planar registration device can perform planar registration on the battery box's body planes extracted by a point cloud segmentation device to obtain the battery box's full pose information. Planar registration can refer to a planar registration algorithm based on planar errors. This algorithm aims to minimize the alignment error between planes by matching planar features in different coordinate systems and estimating the spatial transformation between them, such as the rotation matrix R and translation vector t. Its core is to establish an error model using planar parameters (normal vector, distance) and solve for the optimal transformation through optimization, such as the most common ICP (Iterative Closest Point) algorithm.

[0060] This technical solution requires only one non-repetitive LiDAR, which can be statically and fixedly installed on the battery swapping station to achieve full-attitude positioning of the entire battery box. This eliminates the need for a moving mechanism, and since only one LiDAR is needed, the number of sensors is reduced, further simplifying the system solution, reducing system cost, reducing system complexity, and improving system stability.

[0061] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0062] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A battery swapping station, characterized in that, include: An object sensing platform is used to detect whether a vehicle exists in a preset area, and when it is determined that the vehicle exists in the preset area, it sends a collection signal to a non-repetitive scanning lidar. The non-repetitive scanning lidar is used to perform point cloud acquisition after receiving the acquisition signal, so as to acquire point cloud data of the vehicle's battery box and transmit it to the attitude positioning device. The attitude positioning device is used to determine the spatial position and attitude information of the battery box based on the point cloud data.

2. The battery swapping station according to claim 1, characterized in that, The spatial position of the battery box includes its position in the preset X-axis direction, its position in the preset Y-axis direction, and its height in the preset Z-axis direction of the coordinate system. The attitude information of the battery box includes its rotation angle around the preset X-axis, its rotation angle around the preset Y-axis, and its rotation angle around the preset Z-axis in the coordinate system. The coordinate system is constructed with the non-repeating scanning lidar as its center. The preset X-axis is the direction in which the preset vehicle parking direction is located. The preset Y-axis is the direction in which the preset vehicle parking direction is located horizontally and vertically. The preset Z-axis is the direction in which the preset vehicle parking direction is located vertically and longitudinally.

3. The battery swapping station according to claim 1, characterized in that, The battery swapping station also includes: The battery swapping cabinet is equipped with one or more charging devices. A charging controller is installed at the bottom of each charging device. The charging device is used to charge the backup battery box, and the charging controller is used to read the power information of the backup battery box built into the charging device.

4. The battery swapping station according to claim 1, characterized in that, The battery swapping station also includes: support; The guide rail for the battery swapping robotic arm is fixed to the bracket with the horizontal and vertical directions of the preset vehicle parking direction as the installation direction. A battery swapping robotic arm is mounted on the guide rail and slides according to the installation direction of the guide rail to grasp the battery box based on the spatial position and attitude information of the battery box.

5. The battery swapping station according to claim 4, characterized in that, The battery swapping station also includes: The battery swapping triggering device is used to trigger a battery swapping signal based on the spatial position and attitude information of the battery box and the power information of the backup battery box, and to send the battery swapping signal to the battery swapping robotic arm.

6. The battery swapping station according to claim 5, characterized in that, The battery swapping robotic arm is also used for: Upon receiving the battery swapping signal, the battery swapping operation is performed by sliding along the guide rail of the battery swapping robotic arm to grab the battery box on the vehicle and place it into an idle charging device in the battery swapping cabinet for charging, and then grab the fully charged battery in the battery swapping cabinet and place it into the vehicle.

7. The battery swapping station according to claim 4, characterized in that, The support includes: A first support, one end of which is fixed to a horizontal ground; The second bracket has its two ends fixed to the other end of the first bracket and is placed on top of the battery swapping cabinet.

8. The battery swapping station according to claim 7, characterized in that, The non-repetitive scanning lidar is fixed at a preset position on the bracket, wherein the preset position is any position on the first bracket or the second bracket, and the arbitrary position satisfies a preset condition, which defines that when the non-repetitive scanning lidar is in the arbitrary position, the end face of the vehicle's battery box is within the field of view of the non-repetitive scanning lidar.

9. The battery swapping station according to claim 8, characterized in that, The non-repetitive scanning lidar is fixed to a preset position on the bracket by a fixing device.

10. The battery swapping station according to claim 1, characterized in that, The attitude positioning device includes: A filtering processing device is used to preprocess the acquired point cloud data, the preprocessing including noise reduction processing and filtering processing; A point cloud segmentation device is used to segment preprocessed point cloud data to extract the box plane data of the battery box. A planar registration device is used to perform planar registration on the extracted battery box's body planes to determine the battery box's full attitude information.

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