CN113147495B - Positioning battery replacement method, device and system for new energy vehicle and storage medium - Google Patents
Positioning battery replacement method, device and system for new energy vehicle and storage medium Download PDFInfo
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- CN113147495B CN113147495B CN202110368209.3A CN202110368209A CN113147495B CN 113147495 B CN113147495 B CN 113147495B CN 202110368209 A CN202110368209 A CN 202110368209A CN 113147495 B CN113147495 B CN 113147495B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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Abstract
The invention relates to the technical field of vehicle battery replacement, and provides a positioning battery replacement method, device and system for a new energy vehicle and a storage medium. According to the positioning battery replacement method for the new energy vehicle, the battery pack of the vehicle entering a to-be-replaced area of a battery replacement station is positioned in a laser positioning mode, so that the coordinate of the battery pack is obtained, the battery replacement of the vehicle is realized, and the positioning battery replacement method has the advantages of being high in positioning accuracy and high in battery replacement efficiency.
Description
Technical Field
The invention relates to the technical field of vehicle battery replacement, in particular to a positioning battery replacement method, device and system for a new energy vehicle and a storage medium.
Background
The charging speed of the electric automobile is limited by the battery quick charging technology and the popularization of the charging pile, the current common power battery has short endurance, the charging speed of the quick charging battery is at least more than 1 hour, the cost is high, and the popularization degree of the charging pile does not reach the degree of charging the electric automobile at any time and any place. Therefore, the power battery and the vehicle body can be quickly disassembled and replaced by the replacement power station.
The purpose of trading the power station lies in solving above all kinds of problems, can be so that electric automobile like the petrol car go to filling station refuel quick convenient change full charge battery, need not wait for the time of charging, convenient saving time.
However, in the prior art, the battery replacing station only relates to the operation of replacing the battery pack of the vehicle by the battery replacing device, and in practical application, when the prior battery replacing station is positioned, the prior battery replacing station is only roughly positioned by mechanical hard limiting or simple identification, the positioning accuracy is very poor (generally about 10-50 mm), great tolerance compensation needs to be added to the battery replacing equipment, the structure of the battery replacing equipment is enlarged, and the efficiency is lower, so that the popularization and the application of the battery replacing station are influenced.
Disclosure of Invention
The invention aims to solve the technical problems of poor positioning accuracy and low battery replacement efficiency in the battery replacement of the electric automobile in the prior art.
In order to solve the technical problem, the application discloses, on one hand, a positioning battery replacement method for a new energy vehicle, which includes the following steps:
acquiring laser emitted to a preset scanning area by a laser through a camera to obtain a light spot image, wherein a vehicle to be replaced is stopped in the preset scanning area;
acquiring the position information of the camera and the position information of the laser;
determining the coordinates of a target point according to the position information of the camera, the position information of the laser and the light spot image, wherein the target point is positioned on a battery pack of the vehicle to be changed;
and performing battery replacement operation on the vehicle to be replaced based on the coordinates of the target point.
Optionally, the acquiring, by a camera, laser emitted from a laser to a preset scanning area to obtain a light spot image includes:
and acquiring laser emitted to a first reflector and a second reflector by a laser by using a camera to obtain a spot image, wherein the first reflector is arranged at a reference point of the preset scanning area, the second reflector is positioned at the target point, and the spot image comprises spots respectively corresponding to the reference point and the target point.
Optionally, the determining coordinates of the target point according to the position information of the camera, the position information of the laser, and the spot image includes:
determining relative position information between the reference point and the target point according to the position information of the camera, the position information of the laser and the light spot image;
and determining the coordinates of the target point according to the relative position information between the reference point and the target point and the coordinates of the reference point.
Optionally, before acquiring laser emitted to the preset scanning area by the laser through the camera to obtain the spot image, the method further includes:
projecting a laser spot to the bottom surface of the preset scanning area by using a laser;
and if the distance between a preset component of the vehicle to be changed and the laser point is less than or equal to the preset distance after the vehicle to be changed stops, starting the camera.
Optionally, after the laser spot is projected onto the bottom surface of the preset scanning area by using a laser, the method further includes:
and if the distance between a preset component of the vehicle to be changed and the laser point is greater than the preset distance after the vehicle to be changed stops, the camera is not started.
Optionally, before acquiring laser emitted to the preset scanning area by the laser through the camera to obtain the spot image, the method further includes:
the vehicle to be changed is limited in the preset scanning area through a coarse positioning device, and the coarse positioning device comprises a speed bump or a baffle.
Optionally, the performing a battery replacement operation on the vehicle to be replaced based on the coordinate of the target point includes:
acquiring position information of a battery swapping device;
determining the running track of the battery swapping device based on the coordinate of the target point and the position information of the battery swapping device;
and controlling the battery replacing device to perform battery replacing operation on the vehicle to be replaced according to the running track of the battery replacing device.
This application still discloses on the other hand location of new forms of energy vehicle trades electric installation, and it includes:
the acquisition module is used for acquiring laser emitted to a preset scanning area by a laser through a camera to obtain a light spot image, and a vehicle to be replaced is stopped in the preset scanning area;
the acquisition module is used for acquiring the position information of the camera and the position information of the laser;
the determining module is used for determining the coordinates of a target point according to the position information of the camera, the position information of the laser and the light spot image, wherein the target point is positioned on a battery pack of the vehicle to be changed;
and the battery replacement module is used for performing battery replacement operation on the vehicle to be replaced based on the coordinate of the target point.
The application further discloses a positioning battery replacing system of the new energy vehicle, which comprises a control unit, a battery replacing station, a laser and a camera;
the control unit is connected with the laser, the camera and the battery replacement device;
the laser and the camera are arranged on the battery replacement station, the laser is used for emitting laser to a preset scanning area, a vehicle to be replaced stops in the preset scanning area, and the camera is used for collecting the laser emitted by the laser to the preset area, obtaining a light spot image and sending the light spot image to the control unit;
the control unit is used for receiving the light spot image sent by the camera, acquiring the position information of the camera and the position information of the laser, determining the coordinates of a target point according to the position information of the camera, the position information of the laser and the light spot image, positioning the target point on a battery pack of the electric vehicle to be switched, and performing the electricity switching operation on the electric vehicle to be switched based on the coordinates of the target point.
The application also discloses a computer storage medium, which is characterized in that at least one instruction or at least one program is stored in the computer storage medium, and the at least one instruction or the at least one program is loaded and executed by a processor to realize the above method for positioning and battery replacement of the new energy vehicle.
By adopting the technical scheme, the positioning battery replacement method for the new energy vehicle has the following beneficial effects:
the application discloses a positioning battery replacement method for a new energy vehicle, which comprises the following steps: acquiring laser emitted to a preset scanning area by a laser through a camera to obtain a light spot image, wherein a vehicle to be replaced is stopped in the preset scanning area; acquiring the position information of the camera and the position information of the laser; determining the coordinates of a target point according to the position information of the camera, the position information of the laser and the light spot image, wherein the target point is positioned on a battery pack of the vehicle to be changed; and performing battery replacement operation on the vehicle to be replaced based on the coordinates of the target point. Under such a situation, the battery pack of a vehicle entering a to-be-charged area of the charging station can be positioned in a laser positioning mode, so that the coordinate of the battery pack is obtained, the charging of the vehicle is realized, and the advantages of high positioning accuracy and high efficiency are achieved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is an application scenario diagram provided in the present application;
fig. 2 is a flowchart of a positioning battery replacement method for an optional new energy vehicle according to the present application;
fig. 3 is a schematic view of a local structure of a positioning battery replacement system of the new energy vehicle;
fig. 4 is a flowchart of another alternative power positioning and replacing method for a new energy vehicle according to the present application;
fig. 5 is a schematic structural diagram of a positioning battery replacement device of an optional new energy vehicle according to the present application;
fig. 6 is a hardware structure block diagram of a server of a power swapping positioning method for a new energy vehicle according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the accompanying drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
As shown in fig. 1, fig. 1 is an application scenario diagram provided by the present application. The scene comprises a positioning power switching system of a new energy vehicle and a vehicle to be switched, wherein the positioning power switching system of the new energy vehicle comprises a control unit 101, a power switching station 104, a laser 103 and a camera 102; the control unit 101 is connected with the laser 103, the camera 102 and the battery replacement device; the laser 103 and the camera 102 are arranged on the battery replacement station 104, the laser 103 is used for emitting laser to a preset scanning area, a vehicle to be replaced stops in the preset scanning area, and the camera 102 is used for collecting the laser emitted by the laser 103 to the preset area, obtaining a light spot image and sending the light spot image to the control unit 101; the control unit 101 is configured to receive the light spot image sent by the camera 102, acquire position information of the camera and position information of the laser, determine coordinates of a target point according to the position information of the camera, the position information of the laser, and the light spot image, where the target point is located on a battery pack of the electric vehicle to be replaced, and finally perform a battery replacement operation on the electric vehicle to be replaced based on the coordinates of the target point, so that the positioning accuracy is improved, manual positioning is not required, and the positioning efficiency is improved.
As shown in fig. 2 and 3, fig. 2 is a flowchart of an optional positioning battery replacement method for a new energy vehicle according to the present application; fig. 3 is a schematic view of a local structure of a positioning battery replacement system of the new energy vehicle. The application discloses on one hand, a positioning battery replacement method for a new energy vehicle, which comprises the following steps:
s201: the method comprises the steps of collecting laser emitted to a preset scanning area by a laser through a camera to obtain a light spot image, wherein a vehicle to be replaced is stopped in the preset scanning area.
Optionally, the preset scanning area 301 is an area for parking a vehicle to be replaced and for placing a following reflector (including the first reflector and the second reflector), and preferably, the length of the preset scanning area 301 is greater than the length of the vehicle to be replaced, so that the vehicle to be replaced can be parked conveniently.
Optionally, the light spot image is a light spot image of the laser reflected by the reflector received by the camera, so that the light spot image can reflect the relative position information between the reflectors, and subsequently, the actual coordinate of another reflector can be calculated by obtaining the actual distance between the reflectors, the azimuth information between the reflectors and the actual coordinate of one of the reflectors.
In an alternative embodiment, step S201 includes: and acquiring laser emitted to a first reflector and a second reflector by a laser by using a camera to obtain a spot image, wherein the first reflector is arranged at a reference point of the preset scanning area, the second reflector is positioned at the target point, and the spot image comprises spots respectively corresponding to the reference point and the target point.
Optionally, the reference point of the preset scanning area 301 may be a fixed position, or a plurality of reference points may be set in the preset scanning area 301 according to different vehicle types, when in actual positioning, the reference point determined to be used is selected according to the identified model of the vehicle, so as to be matched with a target point on the vehicle, and improve the positioning accuracy.
Optionally, the target point of the vehicle to be powered may be predetermined, or may be determined according to a target point determined by historical positioning data of the vehicle type after the vehicle to be powered enters the power conversion station, and for a new vehicle without the historical positioning data, the target point of the vehicle may be determined according to a preset rule, optionally, the preset rule may be a position where the center or the side of the battery pack is used as the target point, and of course, other positions on the battery pack or the battery pack support may be used as needed and as convenience, which is not limited herein.
In an optional implementation manner, before step S201, the method further includes: projecting a laser spot to the bottom surface of the preset scanning area by using a laser; if the distance between a preset component of the vehicle to be changed and the laser point is smaller than or equal to the preset distance after the vehicle to be changed stops, starting the camera; and if the distance between a preset component of the vehicle to be changed and the laser point is greater than the preset distance after the vehicle to be changed stops, the camera is not started.
Optionally, a reflector is disposed on the power exchanging station, which is helpful for a driver to observe the laser spot 302. The projected laser points are beneficial to guiding the vehicle to stop, so that the compatibility of different vehicle types at different front wheel stop points is improved, the control unit can determine whether the vehicle is parked in a preset range or not through the judging mode, and only when the vehicle is parked in the preset range, the camera is started to perform laser positioning, so that the positioning accuracy is improved.
In another alternative embodiment, the laser may be only required to project the laser spot 302 into the preset scanning area 301, and when the driver drives the vehicle to the preset position, the camera may be turned on through manual confirmation, so as to perform laser positioning.
In another optional embodiment, before step S201, the method further includes: the vehicle to be changed is limited in the preset scanning area through a coarse positioning device, and the coarse positioning device comprises a speed bump or a baffle.
Optionally, in this embodiment, the deceleration strip may be located in the middle of the battery replacement station, the baffle is disposed at a position of the battery replacement station near the exit port, optionally, the baffle is rod-shaped and has a preset height with the ground, the baffle is in a position of a cross rod by default, and when the battery replacement of the vehicle is completed, the control unit may control the baffle to be in a position of a vertical rod, so that the vehicle travels out of the battery replacement station; optionally, the baffle is located on the bottom surface of the battery replacement station, the baffle can extend out of the bottom surface or fall to a position lower than the bottom surface, when the baffle extends out of the bottom surface, a blocking effect on front wheels of the vehicle can be achieved, and when the baffle falls to a position lower than the bottom surface, the vehicle can be released.
Optionally, as shown in fig. 3, the coarse positioning device further includes a guide identifier 303, where the guide identifier 303 is disposed at a station entering port of the power swapping station, so that the vehicle can conveniently enter the preset scanning area 301 according to the guide identifier 303.
S202: position information of the camera and position information of the laser are acquired.
In this embodiment, the installation position of the camera and the installation position of the laser are fixed, and as can be known from the description in the step S201, the laser is used to emit laser light to the first reflector and the second reflector, and the laser and the first reflector and the second reflector are located on a straight line.
S203: and determining the coordinates of a target point according to the position information of the camera, the position information of the laser and the spot image, wherein the target point is positioned on a battery pack of the vehicle to be changed.
In an optional embodiment, as shown in fig. 4, fig. 4 is a flowchart of a positioning battery replacement method of another optional new energy vehicle according to the present application. Step S203, including:
s2031: and determining the relative position information between the reference point and the target point according to the position information of the camera, the position information of the laser and the spot image.
In an alternative embodiment, step S2031 comprises: determining the distance between the reference point and the target point according to the position information of the camera, the position information of the laser and the light spot image; and determining the relative position information between the reference point and the target point according to the distance between the reference point and the target point and the light spot image.
In an alternative embodiment, it can be known from the above step S201 that since the position coordinates of the camera and the position coordinates of the laser are known, the relative distance between the camera and the laser can be obtained, and the reference point, the angle formed by the laser and the camera and using the laser as the vertex are also known, and the angle of the camera rotation is also known, that is, the angle using the camera as the vertex is also known, so that two angles and one side of a triangle formed by the laser, the reference point and the camera are known, and the distance between the laser and the reference point can be obtained, and similarly, the distance between the laser and the target point can be obtained, and then the distance between the reference point and the target point can be obtained according to the distance between the laser and the reference point and the distance between the laser and the target point.
In another alternative embodiment, in order to further improve the calculation accuracy, a compensation coefficient may be determined from the historical data, and the distance between the reference point and the target point obtained by the above method is multiplied by the compensation coefficient to obtain the final distance between the reference point and the target point.
Optionally, in this embodiment, as can be seen from the step S201, the light spot image can reflect the relative position information between the first reflector and the second reflector, that is, the light spot image can reflect the relative position information between the reference point and the target point, for example, the position between the reference point and the target point, and since the distance between the reference point and the target point is known, the relative position information between the reference point and the target point can be determined.
S2032: and determining the coordinates of the target point according to the relative position information between the reference point and the target point and the coordinates of the reference point.
S204: and performing battery replacement operation on the vehicle to be replaced based on the coordinates of the target point.
Optionally, the battery replacement station includes a battery replacement device, and the battery replacement device is used for performing a battery replacement operation on a battery pack of a vehicle to be replaced. The control unit acquires the position information of the battery replacement device; determining the running track of the battery swapping device based on the coordinates of the target point and the position information of the battery swapping device; and further controlling the battery replacing device to perform battery replacing operation on the vehicle to be replaced according to the running track of the battery replacing device.
It should be noted that the vehicle to be switched in the vehicle positioning and switching method provided by the present application may be a small vehicle, such as a car and a pickup truck, or a large vehicle, such as a bus and a heavy truck. When the vehicle is a heavy truck, the tonnage and the size of the heavy truck are far beyond those of the traditional electric vehicle, the technical difficulty of battery replacement is correspondingly increased, mainly because the heavy truck has overlarge dead weight, a high-power driving mechanism is needed in a mode of adjusting the wheel posture positioning through a mechanical structure, the cost is extremely high, the mechanical mechanism is easy to deform and lose efficacy, the reliability is insufficient, the heavy truck is roughly positioned through some mechanical hard limit or simple marks, the positioning precision is extremely low (generally about 50 mm), great tolerance compensation is needed to be added to battery replacement equipment, the structure of the battery replacement equipment is enlarged, the efficiency is lower, namely the wheel positioning precision of the heavy truck is low, and the positioning over-tolerance is easy to occur; in addition, when the vehicle is positioned in a large deviation manner by adopting the mechanical positioning in the form of the positioning pin, the tolerance amount of the positioning mode is not enough to finish precise positioning, the positioning is often finished by manual assistance, and the pin type structure is easy to have mechanical clamping stagnation, so that the positioning failure is caused, and the customer experience is influenced.
The mode that this kind of thick positioner and laser location that this application provided combined together can use thick positioner earlier, even carry out thick location to the vehicle with mechanical type positioning device, make the vehicle can drive into in trading the electric passageway in certain tolerance range, reuse the mode of laser projection, throw out the front wheel stop point that corresponds the motorcycle type at the passageway front end, thereby make different motorcycle types stop at different front wheel stop points and improve compatibility, also the vehicle that has stopped in presetting the scanning range, reuse above-mentioned laser location mode to scan presetting the scanning range, obtain the coordinate position of battery package in trading the power station, thereby make the control unit can control based on the coordinate of this battery package and trade the electric device and trade the electricity, it can be seen that the location method of trading of this application has following advantage: 1) the requirement on the parking position of the vehicle is low, the accuracy and the reliability are realized, and the vehicle compatibility is better; 2) the mechanical structure of the power station is simplified, and the cost is reduced; 3) the positioning speed is high, and the efficiency is high; 4) the automation degree is high, and manual assistance is not needed.
The application further discloses a positioning battery replacing device for the new energy vehicle, as shown in fig. 5, fig. 5 is a schematic structural diagram of the positioning battery replacing device for the optional new energy vehicle.
Should fix a position and trade electric device includes:
the acquisition module 501 is configured to acquire, by a camera, laser emitted by a laser to a preset scanning area to obtain a light spot image, where a vehicle to be replaced stops in the preset scanning area;
an obtaining module 502, configured to obtain position information of the camera and position information of the laser;
a determining module 503, configured to determine coordinates of a target point according to the position information of the camera, the position information of the laser, and the spot image, where the target point is located on a battery pack of the vehicle to be powered;
and the battery swapping module 504 is configured to perform a battery swapping operation on the vehicle to be swapped based on the coordinate of the target point.
In an optional implementation manner, the collecting module is further configured to collect, by using a camera, laser beams emitted by the laser to the first reflector and the second reflector to obtain a spot image, where the first reflector is located at a reference point of the preset scanning area, and the second reflector is located at the target point, and the spot image includes spots respectively corresponding to the reference point and the target point.
In an optional embodiment, the determining module is further configured to determine relative position information between the reference point and the target point according to the position information of the camera, the position information of the laser, and the spot image; and determining the coordinates of the target point according to the relative position information between the reference point and the target point and the coordinates of the reference point.
In an alternative embodiment, the apparatus further comprises:
a laser module for projecting a laser spot onto a bottom surface of the preset scanning area by using a laser;
and the starting module is used for starting the camera if the distance between a preset component of the vehicle to be changed and the laser point is less than or equal to a preset distance after the vehicle to be changed stops.
In an optional embodiment, the starting module is further configured to not start the camera if a distance between a preset component of the vehicle to be powered and the laser point is greater than a preset distance after the vehicle to be powered stops.
In an alternative embodiment, the apparatus further comprises:
and the limiting module is used for limiting the vehicle to be changed in the preset scanning area through a coarse positioning device, and the coarse positioning device comprises a speed bump or a baffle.
In an optional implementation manner, the battery swapping module is further configured to acquire position information of the battery swapping device; determining the running track of the battery swapping device based on the coordinate of the target point and the position information of the battery swapping device; and controlling the battery replacing device to perform battery replacing operation on the vehicle to be replaced according to the running track of the battery replacing device.
The method provided by the embodiment of the application can be executed in a computer terminal, a server or a similar operation device. Taking the operation on a server as an example, fig. 6 is a hardware structure block diagram of the server of the new energy vehicle positioning battery replacement method provided in the embodiment of the present application. As shown in fig. 6, the server 600 may have a relatively large difference due to different configurations or performances, and may include one or more Central Processing Units (CPUs) 610 (the processor 610 may include but is not limited to a Processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 630 for storing data, and one or more storage media 620 (e.g., one or more mass storage devices) for storing applications 623 or data 622. Memory 630 and storage medium 620 may be, among other things, transient or persistent storage. The program stored on the storage medium 620 may include one or more modules, each of which may include a series of instruction operations for the server. Still further, the central processor 610 may be configured to communicate with the storage medium 620 to execute a series of instruction operations in the storage medium 620 on the server 600. The server 600 may also include one or more power supplies 660, one or more wired or wireless network interfaces 650, one or more input-output interfaces 640, and/or one or more operating systems 821 such as Windows Server, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, etc.
The input/output interface 640 may be used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the server 600. In one example, i/o Interface 640 includes a Network adapter (NIC) that may be coupled to other Network devices via a base station to communicate with the internet. In one example, the input/output interface 640 may be a Radio Frequency (RF) module, which is used for communicating with the internet in a wireless manner.
It will be understood by those skilled in the art that the structure shown in fig. 6 is only an illustration and is not intended to limit the structure of the electronic device. For example, server 600 may also include more or fewer components than shown in FIG. 6, or have a different configuration than shown in FIG. 6.
Embodiments of the present application also provide an electronic device, which includes a processor and a memory, where at least one instruction, at least one program, a set of codes, or a set of instructions is stored in the memory, and the at least one instruction, the at least one program, the set of codes, or the set of instructions is loaded and executed by the processor to implement the power swapping positioning method as described above.
Embodiments of the present application further provide a storage medium, where the storage medium may be disposed in a server to store at least one instruction, at least one program, a code set, or a set of instructions related to implementing a data transmission method in the method embodiment, and the at least one instruction, the at least one program, the code set, or the set of instructions is loaded and executed by the processor to implement the above-mentioned power swapping method.
Alternatively, in this embodiment, the storage medium may be located in at least one network server of a plurality of network servers of a computer network. Optionally, in this embodiment, the storage medium may include but is not limited to: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
It should be noted that: the sequence of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. And specific embodiments thereof have been described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the storage medium may be a read-only memory, a magnetic disk or an optical disk.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (9)
1. A positioning battery replacement method for a new energy vehicle is characterized by comprising the following steps:
acquiring laser emitted to a preset scanning area by a laser through a camera to obtain a light spot image, wherein a vehicle to be replaced is stopped in the preset scanning area;
acquiring position information of the camera and position information of the laser;
determining coordinates of a target point according to the position information of the camera, the position information of the laser and the light spot image, wherein the target point is positioned on a battery pack of the electric vehicle to be replaced;
carrying out battery replacement operation on the vehicle to be replaced based on the coordinates of the target point;
the laser that gathers laser instrument through the camera and launches to presetting scanning area obtains the facula image, includes:
and acquiring laser emitted to a first reflector and a second reflector by a laser by using a camera to obtain a spot image, wherein the first reflector is arranged at a reference point of the preset scanning area, the second reflector is arranged at the target point, and the spot image comprises spots respectively corresponding to the reference point and the target point.
2. The positioning battery replacement method for the new energy vehicle according to claim 1, wherein the determining coordinates of a target point according to the position information of the camera, the position information of the laser, and the spot image comprises:
determining relative position information between the reference point and the target point according to the position information of the camera, the position information of the laser and the light spot image;
and determining the coordinates of the target point according to the relative position information between the reference point and the target point and the coordinates of the reference point.
3. The positioning battery replacement method for the new energy vehicle according to claim 1, wherein before the acquiring, by the camera, the laser emitted by the laser to the preset scanning area to obtain the spot image, the method further comprises:
projecting a laser spot to the bottom surface of the preset scanning area by using a laser;
and if the distance between a preset component of the vehicle to be replaced and the laser point is smaller than or equal to a preset distance after the vehicle to be replaced stops, starting the camera.
4. The positioning battery replacement method for the new energy vehicle according to claim 3, wherein after the laser spot is projected onto the bottom surface of the preset scanning area by using a laser, the method further comprises:
and if the distance between a preset component of the vehicle to be replaced and the laser point is greater than a preset distance after the vehicle to be replaced stops, the camera is not started.
5. The positioning and battery replacement method for the new energy vehicle according to claim 1, wherein before the acquiring, by the camera, the laser emitted by the laser to the preset scanning area to obtain the spot image, the method further comprises:
the electric vehicle to be replaced is limited in the preset scanning area through a coarse positioning device, and the coarse positioning device comprises a speed bump or a baffle.
6. The positioning battery replacement method for the new energy vehicle as claimed in claim 1, wherein the battery replacement operation of the vehicle to be replaced based on the coordinates of the target point includes:
acquiring position information of a battery swapping device;
determining a running track of the battery swapping device based on the coordinate of the target point and the position information of the battery swapping device;
and controlling the battery replacing device to perform battery replacing operation on the vehicle to be replaced according to the running track of the battery replacing device.
7. The utility model provides a location of new forms of energy vehicle trades electric installation which characterized in that includes:
the acquisition module is used for acquiring laser emitted to a preset scanning area by a laser through a camera to obtain a light spot image, and a vehicle to be replaced is stopped in the preset scanning area;
the acquisition module is used for acquiring the position information of the camera and the position information of the laser;
the determining module is used for determining coordinates of a target point according to the position information of the camera, the position information of the laser and the light spot image, wherein the target point is positioned on a battery pack of the electric vehicle to be replaced;
the battery replacement module is used for performing battery replacement operation on the vehicle to be replaced based on the coordinates of the target point;
the laser that gathers laser instrument through the camera and launches to presetting scanning area obtains the facula image, includes: and acquiring laser emitted by a laser to a first reflector and a second reflector by using a camera to obtain a light spot image, wherein the first reflector is arranged at a reference point of the preset scanning area, the second reflector is arranged at the target point, and the light spot image comprises light spots respectively corresponding to the reference point and the target point.
8. A positioning battery replacing system of a new energy vehicle is characterized by comprising a control unit, a battery replacing station, a laser and a camera;
the control unit is connected with the laser, the camera and the battery replacement device;
the laser and the camera are arranged on the battery replacement station, the laser is used for emitting laser to a preset scanning area, a battery replacement vehicle stops in the preset scanning area, and the camera is used for collecting the laser emitted by the laser to the preset scanning area, obtaining a light spot image and sending the light spot image to the control unit;
the control unit is used for receiving the light spot image sent by the camera, acquiring the position information of the camera and the position information of the laser, determining the coordinates of a target point according to the position information of the camera, the position information of the laser and the light spot image, wherein the target point is positioned on a battery pack of the vehicle to be battery replaced, and performing battery replacement operation on the vehicle to be battery replaced based on the coordinates of the target point;
the laser device is used for emitting laser to a preset scanning area, and comprises: the laser is used for emitting laser to a first reflector and a second reflector, the first reflector is arranged at a reference point of the preset scanning area, the second reflector is arranged at the target point, and the light spot image comprises light spots respectively corresponding to the reference point and the target point.
9. A computer storage medium, wherein at least one instruction or at least one program is stored in the computer storage medium, and the at least one instruction or the at least one program is loaded by a processor and executed to implement the method for positioning and battery replacement of a new energy vehicle according to any one of claims 1 to 6.
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| EP4169765B1 (en) * | 2021-08-31 | 2024-05-01 | Contemporary Amperex Technology Co., Limited | Battery swapping method, module, device, and medium |
| CN115248069B (en) * | 2022-09-22 | 2022-12-20 | 江苏智慧优视电子科技有限公司 | Image measurement technology-based heavy truck battery replacement vehicle positioning method and system |
| CN116691433B (en) * | 2023-08-07 | 2023-12-29 | 北京玖行智研交通科技有限公司 | New energy vehicle power conversion method and system |
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