WO2023168665A1

WO2023168665A1 - Vehicle state detection method and apparatus, control device and battery swap station

Info

Publication number: WO2023168665A1
Application number: PCT/CN2022/080211
Authority: WO
Inventors: 王清明
Original assignee: 时代电服科技有限公司
Priority date: 2022-03-10
Filing date: 2022-03-10
Publication date: 2023-09-14
Also published as: CN117377599A

Abstract

Provided in the present application are a vehicle state detection method and apparatus, a control device and a battery swap station. The vehicle state detection method comprises: acquiring vehicle state data of a target vehicle; according to the vehicle state data, determining whether the target vehicle meets a set state; controlling a vehicle position adjusting device to execute a position adjusting operation, so as to adjust the parking position of the target vehicle; acquiring position adjusting data of the vehicle position adjusting device; and according to the position adjusting data, determining whether the vehicle position adjusting device completes the position adjusting operation, wherein after the target vehicle reaches the set state, and the vehicle position adjusting device completes the position adjusting operation, it is indicated that the state of the target vehicle meets the placement condition. The method of the present application may improve the accuracy of the parking position of a vehicle.

Description

车辆状态检测方法、装置、控制设备和换电站Vehicle status detection method, device, control equipment and battery swap station

技术领域Technical field

本申请涉及换电站控制技术领域，具体而言，涉及一种车辆状态检测方法、装置、控制设备和换电站This application relates to the technical field of battery swap station control. Specifically, it relates to a vehicle status detection method, device, control equipment and battery swap station.

背景技术Background technique

车辆成为生活中较为普遍的交通工具，伴随车牌的普及也越来越多与车辆相关的服务也产生了，例如，车辆检修、车辆电池更换、车辆充电等。为了更好地为车辆提供服务，一般需要车辆能够准确地停靠在需要的位置。但是不可避免，不同的驾驶员驾驶技术不同，因此很难仅仅依靠驾驶员将车辆停靠在需要的位置。Vehicles have become a more common means of transportation in life. With the popularity of license plates, more and more vehicle-related services have emerged, such as vehicle maintenance, vehicle battery replacement, vehicle charging, etc. In order to better provide services to vehicles, it is generally necessary for vehicles to be able to park accurately at the required location. But inevitably, different drivers have different driving skills, so it is difficult to rely solely on the driver to park the vehicle where it is needed.

发明内容Contents of the invention

有鉴于此，本申请实施例的目的在于提供一种车辆状态检测方法、装置、控制设备和换电站，以改善车辆停靠位置不准确的问题。In view of this, the purpose of embodiments of the present application is to provide a vehicle status detection method, device, control equipment and battery swap station to improve the problem of inaccurate vehicle parking positions.

第一方面，本申请实施例提供了一种车辆状态检测方法，包括：获取目标车辆的车辆状态数据；根据所述车辆状态数据，确定所述目标车辆是否满足设定状态；控制车辆调位设备执行调位操作，以调整所述目标车辆的停靠位置；获取所述车辆调位设备的调位数据；根据所述调位数据，确定所述车辆调位设备是否完成调位操作；其中，所述目标车辆达到设定状态，且所述车辆调位设备完成调位操作后，表示所述目标车辆的状态满足放置条件。In a first aspect, embodiments of the present application provide a vehicle status detection method, which includes: obtaining vehicle status data of a target vehicle; determining whether the target vehicle satisfies a set status based on the vehicle status data; and controlling vehicle positioning equipment. Perform a position adjustment operation to adjust the parking position of the target vehicle; obtain the position adjustment data of the vehicle position adjustment device; determine whether the vehicle position adjustment device completes the position adjustment operation according to the position adjustment data; wherein, After the target vehicle reaches the set state and the vehicle positioning device completes the positioning operation, it means that the state of the target vehicle meets the placement conditions.

可选地，所述根据所述调位数据，确定所述车辆调位设备是否完成调位操作，包括：Optionally, determining whether the vehicle positioning device has completed the positioning operation according to the positioning data includes:

将所述调位数据中的第一移动距离与所述目标车辆对应的第二移动距离进行对比；以及Compare the first movement distance in the position adjustment data with the second movement distance corresponding to the target vehicle; and

根据所述调位数据中所述车辆调位设备的当前位置，判断所述车辆调位设备是否回到指定位置；Determine whether the vehicle positioning device returns to a designated position according to the current position of the vehicle positioning device in the positioning data;

若所述第一移动距离与所述第二移动距离相等，且所述车辆调位设备回到指定位置，则表征所述车辆调位设备已完成调位操作。If the first moving distance is equal to the second moving distance and the vehicle positioning device returns to the designated position, it means that the vehicle positioning device has completed the positioning operation.

可选地，所述判断所述车辆调位设备是否回到指定位置，包括：Optionally, determining whether the vehicle positioning device returns to a designated position includes:

通过所述车辆调位设备移动数据，确定出所述移动数据是否表征所述车辆调位设备回到指定位置；以及Determine whether the movement data represents the return of the vehicle positioning device to a designated position through the vehicle positioning device movement data; and

判断所述车辆调位设备上的触发元件是否触发所述指定位置的传感器；Determine whether the trigger element on the vehicle positioning device triggers the sensor at the designated position;

若所述移动数据表征所述车辆调位设备回到指定位置，且所述触发元件触发所述指定位置的传感器，则表征所述车辆调位设备回到指定位置。If the movement data represents that the vehicle positioning device returns to the designated position, and the triggering element triggers the sensor at the designated position, it represents that the vehicle positioning device returns to the designated position.

可选地，所述方法还包括：Optionally, the method also includes:

获取所述目标车辆的车辆信息；Obtain vehicle information of the target vehicle;

根据所述车辆信息，确定出所述目标车辆对应的第二移动距离。According to the vehicle information, a second moving distance corresponding to the target vehicle is determined.

可选地，所述根据所述车辆信息，确定出所述目标车辆对应的第二移动距离，包括：Optionally, determining the second moving distance corresponding to the target vehicle based on the vehicle information includes:

根据所述车辆信息，确定出尺寸数据；Determine size data based on the vehicle information;

根据所述尺寸数据，计算出所述目标车辆对应的第二移动距离。According to the size data, the second movement distance corresponding to the target vehicle is calculated.

可选地，所述方法还包括：Optionally, the method also includes:

在获取目标车辆的车辆状态数据之前，输出第一提示消息；或者，Before obtaining the vehicle status data of the target vehicle, output the first prompt message; or,

在指定时间内未接收到所述目标车辆传输的车辆状态数据，输出第二提示消息；或者，If the vehicle status data transmitted by the target vehicle is not received within the specified time, a second prompt message is output; or,

在所述目标车辆的车轮进入指定位置时，输出第三提示消息，所述第一提示消息、所述第二提示消息和所述第三提示消息均包括所述目标车辆的用户所需执行的一项或多项操作提示内容。When the wheels of the target vehicle enter the designated position, a third prompt message is output, and the first prompt message, the second prompt message, and the third prompt message all include what the user of the target vehicle needs to perform. One or more operation prompts.

可选地，所述方法还包括：Optionally, the method also includes:

通过所述车轮放置位的检测器，检测所述目标车辆的车轮是否置放在所述车轮放置位中；Detect whether the wheels of the target vehicle are placed in the wheel placement position through the detector of the wheel placement position;

所述控制车辆调位设备执行调位操作，以调整所述目标车辆的停靠位置，包括：The control vehicle positioning equipment performs a positioning operation to adjust the parking position of the target vehicle, including:

在所述目标车辆的车轮置放在所述车轮放置位后，控制车辆调位设备执行调位操作，以调整所述目标车辆的停靠位置。After the wheels of the target vehicle are placed in the wheel placement position, the vehicle positioning device is controlled to perform a positioning operation to adjust the parking position of the target vehicle.

第二方面，本申请实施例提供了一种车辆状态检测装置，包括：In a second aspect, embodiments of the present application provide a vehicle status detection device, including:

第一获取模块，用于获取目标车辆的车辆状态数据；The first acquisition module is used to acquire vehicle status data of the target vehicle;

第一确定模块，用于根据所述车辆状态数据，确定所述目标车辆是否满足设定状态；A first determination module, configured to determine whether the target vehicle satisfies the set state according to the vehicle status data;

控制模块，用于控制车辆调位设备执行调位操作，以调整所述目标车辆的停靠位置；A control module for controlling the vehicle positioning equipment to perform a positioning operation to adjust the parking position of the target vehicle;

第二获取模块，用于获取车辆调位设备的调位数据，所述调位数据为所述车辆调位设备调整目标车辆所产生的；The second acquisition module is used to acquire the positioning data of the vehicle positioning device, where the positioning data is generated by the vehicle positioning device adjusting the target vehicle;

第二确定模块，用于根据所述调位数据，确定所述车辆调位设备是否完成调位操作，其中，所述目标车辆达到设定状态，且所述车辆调位设备完成调位操作后，表示所述目标车辆的状态满足放置条件。The second determination module is used to determine whether the vehicle positioning equipment has completed the positioning operation according to the positioning data, wherein the target vehicle reaches the set state and the vehicle positioning device completes the positioning operation. , indicating that the state of the target vehicle meets the placement conditions.

第三方面，本申请实施例提供了一种控制设备，包括：处理器、存储器，所述存储器存储有所述处理器可执行的机器可读指令，当控制设备运行时，所述机器可读指令被所述处理器执行时执行上述的方法的步骤。In a third aspect, embodiments of the present application provide a control device, including: a processor and a memory. The memory stores machine-readable instructions executable by the processor. When the control device is running, the machine-readable instructions are stored in the memory. The instructions, when executed by the processor, perform the steps of the above method.

第四方面，本申请实施例提供了一种计算机可读存储介质，该计算机可读存储介质上存储有计算机程序，该计算机程序被处理器运行时执行上述的方法的步骤。In a fourth aspect, embodiments of the present application provide a computer-readable storage medium. A computer program is stored on the computer-readable storage medium, and the computer program executes the steps of the above method when run by a processor.

第五方面，本申请实施例提供了一种换电站，包括：输送***、车辆调位设备、电池仓和上述的控制设备。In the fifth aspect, embodiments of the present application provide a battery swap station, including: a transportation system, a vehicle positioning device, a battery compartment, and the above-mentioned control device.

本申请实施例提供的车辆状态检测方法、装置、控制设备和换电站，采用车辆调位设备对目标车辆进行调整，以使车辆停靠位置能够更好地满足换电池的需求。进一步地，在调整之后还可以对车辆调位设备的调位数据进行识别，还可以对车辆调位设备产生的调位数据进行识别，可以更好地保证该目标车辆的位置满足换电池的位置需求。The vehicle status detection method, device, control equipment and battery swap station provided by the embodiments of this application use vehicle positioning equipment to adjust the target vehicle so that the vehicle parking position can better meet the needs of battery swapping. Furthermore, after adjustment, the positioning data of the vehicle positioning device can also be identified, and the positioning data generated by the vehicle positioning device can also be identified, which can better ensure that the position of the target vehicle meets the position of the battery replacement. need.

为使本申请的上述目的、特征和优点能更明显易懂，下文特举实施例，并配合所附附图，作详细说明如下。In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, embodiments are given below and described in detail with reference to the attached drawings.

附图说明Description of the drawings

为了更清楚地说明本申请实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本申请的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application and therefore do not It should be regarded as a limitation of the scope. For those of ordinary skill in the art, other relevant drawings can be obtained based on these drawings without exerting creative efforts.

图1为本申请实施例提供的车辆状态检测方法的运行环境示意图；Figure 1 is a schematic diagram of the operating environment of the vehicle status detection method provided by the embodiment of the present application;

图2为本申请实施例提供的换电站的结构示意图；Figure 2 is a schematic structural diagram of a power swap station provided by an embodiment of the present application;

图3为本申请实施例提供的车辆状态检测方法的流程图；Figure 3 is a flow chart of a vehicle status detection method provided by an embodiment of the present application;

图4为本申请实施例提供的车辆状态检测方法的步骤350的详细流程图；Figure 4 is a detailed flow chart of step 350 of the vehicle status detection method provided by the embodiment of the present application;

图5为本申请实施例提供的车辆状态检测方法的步骤352的详细流程图；Figure 5 is a detailed flow chart of step 352 of the vehicle status detection method provided by the embodiment of the present application;

图6为本申请实施例提供的车辆状态检测方法的部分流程图；Figure 6 is a partial flow chart of the vehicle status detection method provided by the embodiment of the present application;

图7为本申请实施例提供的车辆状态检测方法的步骤370的详细流程图Figure 7 is a detailed flow chart of step 370 of the vehicle status detection method provided by the embodiment of the present application.

图8为本申请实施例提供的车辆状态检测装置的功能模块示意图。Figure 8 is a schematic diagram of the functional modules of the vehicle status detection device provided by the embodiment of the present application.

具体实施方式Detailed ways

需要下面将结合本申请实施例中附图，对本申请实施例中的技术方案进行描述。It is necessary to describe the technical solutions in the embodiments of the present application below with reference to the accompanying drawings in the embodiments of the present application.

应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。同时，在本申请的描述中，术语“第一”、“第二”等仅用于区分描述，而不能理解为指示或暗示相对重要性。It should be noted that similar reference numerals and letters represent similar items in the following figures, therefore, once an item is defined in one figure, it does not need further definition and explanation in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", etc. are only used to differentiate the description and cannot be understood as indicating or implying relative importance.

随着对环境保护的重视，更加环保的新能源电动车辆也得到了较为快速的发展。然而电动车充电速度较慢，如果在用车过程中，电动车电量不足，驾驶员需要等待较长时间，这无疑会影响驾驶员的使用体验。With the emphasis on environmental protection, more environmentally friendly new energy electric vehicles have also developed relatively rapidly. However, the charging speed of electric vehicles is slow. If the electric vehicle has insufficient power during use, the driver will have to wait for a long time, which will undoubtedly affect the driver's experience.

基于此现状，现出现了一种新的技术，可以直接将电动车上的电池更换为满电电池，或者电量大于一定数值的电池，而更换电池所需时间远小于为电池充满电所需时间。Based on this current situation, a new technology has emerged that can directly replace the battery on an electric vehicle with a fully charged battery, or a battery with a power greater than a certain value. The time required to replace the battery is much less than the time required to fully charge the battery. .

经发明人研究了解到，不同的车型的电动车辆尺寸不一样、所需的电池不一样、容纳电池的位置也不一样，因此，不同的车型换电池的动作存在不同。为了使电池的更换能够更加准确，在换电池之前，将车辆停靠在换电站的停车位处，等待换电站中的其他设备为电动车辆换电池。The inventor learned from research that electric vehicles of different models have different sizes, require different batteries, and have different positions to accommodate the batteries. Therefore, the battery replacement actions of different models are different. In order to make the battery replacement more accurate, before replacing the battery, park the vehicle in the parking space of the battery swap station and wait for other equipment in the battery swap station to replace the battery of the electric vehicle.

本申请发明人进一步深入研究了解到，不同驾驶员的驾驶技术不同，停靠车辆的位置不能够完全满足换电站更换电池的位置需求，因此，需求通过一些调整机构调整车辆的位置。The inventor of the present application further conducted in-depth research and learned that different drivers have different driving skills, and the location of the parked vehicle cannot fully meet the location requirements of the battery replacement station. Therefore, it is necessary to adjust the location of the vehicle through some adjustment mechanisms.

基于此，本申请提供的一种车辆状态检测方法，可以对调整的状态进行检测，以提高车辆停靠位置的可靠性。下面通过几个实施例来描述本申请提供的车辆状态检测方法。Based on this, this application provides a vehicle status detection method that can detect the adjusted status to improve the reliability of the vehicle parking position. The vehicle status detection method provided by this application is described below through several embodiments.

本实施例中的车辆状态检测方法不仅仅可以用在上述的换电站中，还可以应用于任何需要为车辆提供服务的区域。例如，该车辆状态检测方法也可以用在为车辆提供充电的充电站。再例如，该车辆状态检测方法还可以用在为车辆提供维修服务的维修站。The vehicle status detection method in this embodiment can not only be used in the above-mentioned battery swap station, but can also be applied to any area that needs to provide services for vehicles. For example, the vehicle status detection method can also be used at a charging station that provides charging for vehicles. For another example, the vehicle status detection method can also be used in a repair station that provides maintenance services for vehicles.

为便于对本实施例进行理解，首先对执行本申请实施例所公开的一种车辆状态检测方法的运行环境进行介绍。In order to facilitate understanding of this embodiment, the operating environment for executing a vehicle status detection method disclosed in the embodiment of this application is first introduced.

如图1所示，是本申请实施例提供的车辆状态检测方法的运行环境示意图。该车辆状态检测方法的运行环境中可以包括服务器200和换电站100。该服务器200通过网络与一个或多个换电站100进行通信连接，以进行数据通信或交互。该服务器200可以是网络服务器、数据库服务器等。As shown in Figure 1, it is a schematic diagram of the operating environment of the vehicle status detection method provided by the embodiment of the present application. The running environment of the vehicle status detection method may include a server 200 and a power swap station 100 . The server 200 communicates with one or more power swap stations 100 through the network for data communication or interaction. The server 200 may be a network server, a database server, etc.

该换电站100用于为电动车辆更换电池。The battery swap station 100 is used to replace batteries for electric vehicles.

如图2所示，该换电站100中可以包括：输送***110、电池仓120、车辆调位设备130、控制设备140和停车位150等。基于不同需求，该换电站100还可以包括更多的设备，例如，该电池仓120还可以包括充电。其中，图2所示的示意图为换电站100的俯视示意图，换电站100的视角不同呈现的状态也可能不同。可以理解的是，图2仅仅是换电站100的示意图，实际使用中，可以根据需要，换电站还可以包括更多的组件，例如，该换电站100的电池仓120中还可以包括多层货架，该车辆调位设备130还可以包括图示角度看不到的一些组件等。As shown in FIG. 2 , the battery swap station 100 may include: a transportation system 110 , a battery compartment 120 , a vehicle positioning device 130 , a control device 140 , a parking space 150 , etc. Based on different needs, the power swap station 100 may also include more equipment. For example, the battery compartment 120 may also include charging. The schematic diagram shown in FIG. 2 is a top view of the power swap station 100. The status of the power swap station 100 may be different depending on the viewing angle. It can be understood that FIG. 2 is only a schematic diagram of the power swap station 100. In actual use, the power swap station may also include more components as needed. For example, the battery compartment 120 of the power swap station 100 may also include multi-layer shelves. , the vehicle positioning device 130 may also include some components that cannot be seen from the angle shown in the figure.

该输送***110用于运输从电动车辆换下来的电池，也可以用于运输从电池仓120中拿取的电池。The transportation system 110 is used to transport batteries replaced from electric vehicles, and can also be used to transport batteries taken from the battery compartment 120 .

示例性地，该输送***110可以包括：输送工具、输送轨道和可编程逻辑控制器(Programmable Logic Controller，简称：PLC)。输送工具可以在该输送轨道上行驶，以移动需要处理的电池。For example, the conveying system 110 may include: conveying tools, conveying tracks, and programmable logic controllers (Programmable Logic Controller, referred to as: PLC). Conveyors can travel on this conveyor track to move the cells that require processing.

该输送工具可以由上述的可编程逻辑控制器控制，该输送工具根据该可编程逻辑控制器的控制指令移动。该可编程逻辑控制器可以基于控制设备140提供的数据控制输送工具。The conveying tool can be controlled by the above-mentioned programmable logic controller, and the conveying tool moves according to the control instructions of the programmable logic controller. The programmable logic controller may control the delivery tool based on data provided by the control device 140 .

该车辆调位设备130也可以由可编程逻辑控制器控制。The vehicle positioning device 130 may also be controlled by a programmable logic controller.

示例性地，该车辆调位设备130可以是设置在停车位150的车轮放置位处夹紧器。其中，图2示出了四个夹紧器，分别用于夹持停靠在停车位150的车辆的两个前轮和两个后轮。示例性地，通过推动或夹持车轮，以实现车辆位置的调整。For example, the vehicle alignment device 130 may be a clamp provided at a wheel placement position of the parking space 150 . Among them, FIG. 2 shows four clamps, respectively used to clamp two front wheels and two rear wheels of a vehicle parked in the parking space 150. For example, the vehicle position is adjusted by pushing or clamping the wheels.

在其它示例中，该夹紧器的数量也可以比图2所示的示例更少或更多，例如，该停车位150中可以仅设置两个夹紧器，分别用于推动车辆的左前轮和左后轮；再例如，该停车位150中可以仅设置两个夹紧器，分别用于推动车辆的左前轮和右后轮；再例如，该停车位150中可以仅设置两个夹紧器，分别用于推动车辆的右前轮和左后轮；再例如，该停车位150中可以仅设置两个夹紧器，分别用于推动车辆的右前轮和右后轮；再例如，该停车位150中可以仅设置三个夹紧器，分别用于推动车辆的左前轮、右前轮和右后轮。In other examples, the number of clamps may be less or more than the example shown in FIG. 2 . For example, only two clamps may be provided in the parking space 150 , one for pushing the left front of the vehicle. wheel and the left rear wheel; for another example, only two clamps can be provided in the parking space 150, which are used to push the left front wheel and the right rear wheel of the vehicle respectively; for another example, only two clamps can be provided in the parking space 150 The clamps are used to push the right front wheel and the left rear wheel of the vehicle respectively; for another example, only two clamps can be provided in the parking space 150, and are used to push the right front wheel and the right rear wheel of the vehicle respectively; and then For example, only three clamps may be provided in the parking space 150, which are respectively used to push the left front wheel, right front wheel and right rear wheel of the vehicle.

示例性地，该夹紧器可以用于与车轮外侧接触，通过推动或夹持车轮外侧，以实现车辆位置的调整。该夹紧器也可以用于与车轮内侧接触，通过推动或夹持车轮内侧，以实现车辆位置的调整。For example, the clamp can be used to contact the outside of the wheel to adjust the vehicle position by pushing or clamping the outside of the wheel. The clamp can also be used to make contact with the inside of the wheel to adjust the vehicle position by pushing or clamping the inside of the wheel.

示例性地，停车位150中一个停靠车轮的位置处可以设置一组夹紧器，车轮放入停车位的停靠车轮的位置处时，两个夹紧器位于停靠车轮的位置的车轮两侧，需要调整车辆位置时，两个夹紧器向车轮靠近，通过推动或夹持车轮两侧，以实现车辆位置的调整。示例性地，可以需求在停车位中设置一组或多组夹紧器，以在需要调整车辆位置时，通过调整一个车轮或多个车轮，以实现车辆位置的调整。For example, a set of clamps can be provided at a wheel parking position in the parking space 150. When the wheel is put into the wheel parking position of the parking space, two clamps are located on both sides of the wheel at the wheel parking position. When the vehicle position needs to be adjusted, the two clamps approach the wheels and push or clamp both sides of the wheels to adjust the vehicle position. For example, it may be required to install one or more sets of clamps in a parking space, so that when the vehicle position needs to be adjusted, the vehicle position can be adjusted by adjusting one wheel or multiple wheels.

该换电站100可以通过控制设备140与服务器实现通信。该控制设备140还可以与待换电池的电动车辆建立通信连接，以获取该待换电池的电动车辆传输的数据。The power swap station 100 can communicate with the server through the control device 140 . The control device 140 can also establish a communication connection with the electric vehicle whose battery is to be replaced, so as to obtain data transmitted by the electric vehicle whose battery is to be replaced.

本实施例中，该控制设备140可以包括存储器和处理器。In this embodiment, the control device 140 may include a memory and a processor.

上述的存储器和处理器各元件相互之间直接或间接地电性连接，以实现数据的传输或交互。例如，这些元件相互之间可通过一条或多条通讯总线或信号线实现电性连接。上述的处理器用于执行存储器中存储的可执行模块。The above-mentioned memory and processor components are directly or indirectly electrically connected to each other to realize data transmission or interaction. For example, these components may be electrically connected to each other through one or more communication buses or signal lines. The above-mentioned processor is used to execute executable modules stored in the memory.

其中，存储器可以是，但不限于，随机存取存储器(Random Access Memory，简称RAM)，只读存储器(Read Only Memory，简称ROM)，可编程只读存储器(Programmable Read-Only Memory，简称PROM)，可擦除只读存储器(Erasable Programmable Read-Only Memory，简称EPROM)，电可擦除只读存储器(Electric Erasable Programmable Read-Only Memory，简称EEPROM)等。其中，存储器用于存储计算机程序，该处理器在接收到执行指令后，执行所述程序，本申请实施例任一实施例揭示的过程定义的控制设备140所执行的方法可以应用于处理器中，或者由处理器实现。Among them, the memory can be, but is not limited to, random access memory (Random Access Memory, referred to as RAM), read-only memory (Read Only Memory, referred to as ROM), programmable read-only memory (Programmable Read-Only Memory, referred to as PROM) , Erasable Programmable Read-Only Memory (EPROM for short), Electrically Erasable Programmable Read-Only Memory (EEPROM for short), etc. The memory is used to store the computer program. After receiving the execution instruction, the processor executes the program. The method executed by the process-defined control device 140 disclosed in any embodiment of the present application can be applied to the processor. , or implemented by the processor.

上述的处理器可能是一种集成电路芯片，具有信号的处理能力。上述的处理器可以是通用处理器，包括中央处理器(Central Processing Unit，简称CPU)、网络处理器(Network Processor，简称NP)等；还可以是数字信号处理器(digital signal processor，简称DSP)、专用集成电路(Application Specific Integrated Circuit，简称ASIC)、现场可编程门阵列(Field Programmable Gate Array，简称FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。可以实现或者执行本申请实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。The above-mentioned processor may be an integrated circuit chip with signal processing capabilities. The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP) , Application Specific Integrated Circuit (ASIC for short), Field Programmable Gate Array (FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components. Each method, step and logical block diagram disclosed in the embodiment of this application can be implemented or executed. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

本领域普通技术人员可以理解，本申请实施例上述对控制设备所包含的组件的举例不应该对该控制设备140的结构造成限定。例如，控制设备140还可包括更多或者更少的组件，或者不同的配置。Persons of ordinary skill in the art can understand that the above-mentioned examples of components included in the control device in the embodiments of the present application should not limit the structure of the control device 140 . For example, the control device 140 may also include more or fewer components, or be configured differently.

例如，该控制设备140还可以包括显示单元，该显示单元在控制设备140与用户之间提供一个交互界面(例如用户操作界面)或用于显示图像数据给用户参考。在本实施例中，该显示单元可以是液晶显示器或触控显示器。若为触控显示器，其可为支持单点和多点触控操作的电容式触控屏或电阻式触控屏等。支持单点和多点触控操作是指触控显示器能感应到来自该触控显示器上一个或多个位置处同时产生的触控操作，并将该感应到的触控操作交由处理器进行计算和处理。For example, the control device 140 may further include a display unit, which provides an interactive interface (such as a user operation interface) between the control device 140 and the user or is used to display image data for the user's reference. In this embodiment, the display unit may be a liquid crystal display or a touch display. If it is a touch display, it can be a capacitive touch screen or a resistive touch screen that supports single-point and multi-touch operations. Supporting single-point and multi-touch operations means that the touch display can sense touch operations that occur simultaneously from one or more locations on the touch display and transfer the sensed touch operations to the processor for processing Calculation and processing.

本实施例中的控制设备140可以用于执行本申请实施例提供的各个方法中的各个步骤。下面通过几个实施例详细描述车辆状态检测方法的实现过程。The control device 140 in this embodiment can be used to execute each step in each method provided by the embodiment of this application. The implementation process of the vehicle status detection method is described in detail below through several embodiments.

请参阅图3，是本申请实施例提供的车辆状态检测方法的流程图。下面将对图3所示的具体流程进行详细阐述。Please refer to Figure 3, which is a flow chart of a vehicle status detection method provided by an embodiment of the present application. The specific process shown in Figure 3 will be elaborated below.

步骤310，获取目标车辆的车辆状态数据。Step 310: Obtain vehicle status data of the target vehicle.

本实施例中的车辆状态检测方法可以应用于换电站的控制设备，该控制设备可以通过与目标车辆建立通信，以获得目标车辆的车辆状态数据。The vehicle status detection method in this embodiment can be applied to the control device of the battery swap station. The control device can obtain the vehicle status data of the target vehicle by establishing communication with the target vehicle.

可选地，控制设备可以与该目标车辆近距离通信连接，例如，该近距离通信连接可以是蓝牙连接、Wi-Fi连接、近场通信(Near Field Communication，简称NFC)等。Optionally, the control device can be connected to the target vehicle through near-field communication. For example, the near-field communication connection can be a Bluetooth connection, a Wi-Fi connection, Near Field Communication (NFC), etc.

示例性地，该车辆状态数据可以包括：驻车制动状态数据、变速杆状态数据、车门状态数据、车辆是否熄火的状态数据等。该车辆状态数据也可以仅包括：驻车制动状态数据、变速杆状态数据、车辆是否熄火的状态数据。For example, the vehicle status data may include: parking brake status data, gear lever status data, door status data, status data of whether the vehicle is stalled, etc. The vehicle status data may also only include: parking brake status data, gear lever status data, and status data of whether the vehicle is stalled.

步骤320，根据该车辆状态数据，确定该目标车辆是否满足设定状态。Step 320: Determine whether the target vehicle satisfies the set status based on the vehicle status data.

可选地，该设定状态可以包括目标车辆处于无动力的状态。Optionally, the set state may include the target vehicle being in a powerless state.

可以通过车辆状态数据中的各项状态数据确定，目标车辆是否处于无动力状态。Whether the target vehicle is in a powerless state can be determined through various status data in the vehicle status data.

示例性地，可以通过驻车制动状态数据、变速杆状态数据、车辆是否熄火的状态数据，确定出目标车辆是否处于无动力状态。其中，若驻车制动状态数据表征该驻车制动为解除制动状态，且变速杆状态数据表征该变速杆为空挡状态，且车辆是否熄火的状态数据表征目标车辆处于熄火状态时，可以确定出目标车辆处于无动力状态。For example, it can be determined whether the target vehicle is in a powerless state through the parking brake status data, the gear lever status data, and the status data of whether the vehicle is stalled. Among them, if the parking brake status data represents that the parking brake is in a released state, and the gear lever status data represents that the gear lever is in a neutral state, and the status data of whether the vehicle is stalled represents that the target vehicle is in a stalled state, you can It is determined that the target vehicle is in a powerless state.

可选地，该设定状态可以包括目标车辆的车门处于关闭状态。Optionally, the set state may include that the door of the target vehicle is in a closed state.

示例性地，可以通过车门状态数据，确定目标车辆的车门是否处于关闭状态。For example, it can be determined whether the door of the target vehicle is in a closed state through the door status data.

步骤330，控制车辆调位设备执行调位操作，以调整该目标车辆的停靠位置。Step 330: Control the vehicle positioning equipment to perform a positioning operation to adjust the parking position of the target vehicle.

可选地，在执行调位操作之前，可以先确定出车辆调位设备需要调整的距离。Optionally, before performing the positioning operation, the distance that needs to be adjusted for the vehicle positioning device may be determined first.

该车辆调位设备可以推动目标车辆，以使目标车辆的停靠位置在合适换电池的位置。示例性地，该车辆调位设备可以通过推动目标车辆车轮，以调整目标车辆的停靠位置。The vehicle positioning device can push the target vehicle so that the parking position of the target vehicle is at a suitable position for battery replacement. For example, the vehicle positioning device can adjust the parking position of the target vehicle by pushing the wheels of the target vehicle.

示例性地，如图2所示，可以停车位中的车辆调位设备对目标车辆的车轮进行调整，以实现对目标车辆的停靠位置的调整。图2仅示出的车辆调位设备为四个夹紧器，通过四个夹紧器对目标车辆的车轮的推动作用，实现对目标车辆的停靠位置的调整。For example, as shown in FIG. 2 , the wheels of the target vehicle can be adjusted using a vehicle positioning device in a parking space to adjust the parking position of the target vehicle. Only the vehicle positioning equipment shown in FIG. 2 is four clamps, and the adjustment of the parking position of the target vehicle is achieved through the pushing action of the four clamps on the wheels of the target vehicle.

随着车辆调位设备的不同，根据车辆调位设备调整目标车辆的停靠位置的方式也不同。例如，当车辆调位设备仅包括两个夹紧器时，则可以通过夹紧器推动目标车辆的车轮，以实现目标车辆的停靠位置的调整。As the vehicle positioning equipment is different, the parking position of the target vehicle is adjusted in different ways according to the vehicle positioning equipment. For example, when the vehicle positioning device only includes two clamps, the wheels of the target vehicle can be pushed by the clamps to adjust the parking position of the target vehicle.

可选地，在步骤330之前，还可以获取该车辆调位设备在调整目标车车辆的位置时，所需的位置参数。Optionally, before step 330, the position parameters required by the vehicle positioning device when adjusting the position of the target vehicle may also be obtained.

示例性地，该位置参数可以包括：调整目标车辆的第一目标位置。For example, the position parameter may include: adjusting the first target position of the target vehicle.

在一个实例中，需要调整位置后的目标车辆的中心线在换电池时输送工具的行驶轨迹上。以调整车辆的车轮为例，则该第一目标位置与该目标车辆的中心线的距离可以等于车轮的外边缘与车辆的中心线的距离。In one example, the center line of the target vehicle whose position needs to be adjusted is on the traveling trajectory of the conveyor tool when replacing the battery. Taking the wheel adjustment of a vehicle as an example, the distance between the first target position and the center line of the target vehicle may be equal to the distance between the outer edge of the wheel and the center line of the vehicle.

在另一个实例中，需要调整位置后的目标车辆上的电池存放位的中心线在换电池时输送工具的行驶轨迹上。以调整车辆的车轮为例，则该第一目标位置与该电池存放位的中心线的距离可以等于车轮的外边缘与车辆的中心线的距离。In another example, the center line of the battery storage position on the target vehicle that needs to be adjusted is on the travel trajectory of the transportation tool when changing the battery. Taking the wheel adjustment of a vehicle as an example, the distance between the first target position and the center line of the battery storage position may be equal to the distance between the outer edge of the wheel and the center line of the vehicle.

可选地，该位置参数还可以包括执行对目标车的调位操作后，车辆调位设备的第二目标位置。示例性地，执行调位操作后的第二目标位置可以是预先为车辆调位设备设置的原点位置。示例性地，该执行调位操作后的第二目标位置也可以是实时确定的一个位置，例如，该执行调位操作后的第二目标位置与目标车辆的距离大于指定值。该指定值可以按需设置，本申请实施例并不以该指定值为限。可以理解为，在车辆调位设备在执行完调位操作后移动至该第二目标位置，可以与目标车辆有一定距离，可以避免目标车辆在被移动过程中碰到该车辆调位设备，以提高目标车辆的安全性。Optionally, the position parameter may also include the second target position of the vehicle positioning device after performing the positioning operation on the target vehicle. For example, the second target position after performing the positioning operation may be an origin position set in advance for the vehicle positioning device. For example, the second target position after the position adjustment operation is performed may also be a position determined in real time. For example, the distance between the second target position after the position adjustment operation is performed and the target vehicle is greater than a specified value. The specified value can be set as required, and the embodiments of the present application are not limited to the specified value. It can be understood that when the vehicle positioning equipment moves to the second target position after performing the positioning operation, it can be at a certain distance from the target vehicle, so as to prevent the target vehicle from hitting the vehicle positioning equipment during the movement. Improve the safety of target vehicles.

示例性地，该步骤330可以包括，控制该车辆调位设备移动至目标车辆的第一目标位置，以推动给目标车辆移动至该目标车辆的第一目标位置；然后，控制该车辆调位设备从该目标车辆的第一目标位置移动至车辆调位设备的第二目标位置。Exemplarily, step 330 may include controlling the vehicle positioning device to move to the first target position of the target vehicle to push the target vehicle to move to the first target position of the target vehicle; and then, controlling the vehicle positioning device. Move from the first target position of the target vehicle to the second target position of the vehicle positioning device.

步骤340，获取该车辆调位设备的调位数据。Step 340: Obtain the positioning data of the vehicle positioning device.

该调位数据可以包括车辆调位设备所产生的移动距离、移动方向、实时位置等。该车辆调位设备的实时位置可以包括：车辆调位设备在执行调位操作之前的位置、车辆调位设备在执行调位操作之后的位置。The positioning data may include the moving distance, moving direction, real-time position, etc. generated by the vehicle positioning equipment. The real-time position of the vehicle positioning device may include: the position of the vehicle positioning device before performing the positioning operation, and the position of the vehicle positioning device after performing the positioning operation.

示例性地，该调位数据可以通过与控制车辆调位设备的可编程逻辑控制器通信，从该可编程逻辑控制器中获得。For example, the alignment data may be obtained from the programmable logic controller by communicating with the programmable logic controller that controls the vehicle alignment device.

步骤350，根据该调位数据，确定该车辆调位设备是否完成调位操作。Step 350: Determine whether the vehicle positioning equipment has completed the positioning operation based on the positioning data.

其中，该目标车辆达到设定状态，且该车辆调位设备完成调位操作后，表示该目标车辆的状态满足放置条件。Wherein, after the target vehicle reaches the set state and the vehicle positioning device completes the positioning operation, it means that the state of the target vehicle meets the placement conditions.

示例性地，可以通过车辆调位设备的移动距离，确定出车辆调位设备是否对目标车辆进行了位置调整。For example, whether the vehicle positioning device has adjusted the position of the target vehicle can be determined based on the movement distance of the vehicle positioning device.

示例性地，可以通过该车辆调位设备的实时位置，确定出车辆调位设备是否在对目标车辆进行位置调整后，移动至与目标车辆存在距离的第二目标位置。该第二目标位置可以是车辆调位设备在执行调位操作之前的初始位置。For example, whether the vehicle positioning device moves to a second target position that is distanced from the target vehicle after adjusting the position of the target vehicle can be determined based on the real-time position of the vehicle positioning device. The second target position may be an initial position of the vehicle alignment device before performing the alignment operation.

通过将执行完调位操作的车辆调位设备移动至与目标车辆存在距离的第二目标位置，可以提高车辆的安全性；也可以降低该车辆调整设备与目标车辆发生碰撞，导致目标车辆被磨损的情况。By moving the vehicle positioning device that has completed the positioning operation to a second target position that is distanced from the target vehicle, the safety of the vehicle can be improved; it can also reduce the risk of the vehicle adjusting device colliding with the target vehicle, causing the target vehicle to be worn. Case.

通过上述几个步骤，可以在目标车辆进入换电站后，可以给目标车辆调整位置，以使车辆停靠位置能够更好地满足换电池的需求。进一步地，在车辆调位设备在执行完调位操作后，还可以对车辆调位设备产生的调位数据进行识别，可以更好地保证该目标车辆的位置满足换电池的位置需求。进一步地，本申请实施例中在目标车辆满足设定状态的情况下，再进行调位操作，可以降低目标车辆在调位操作后，由于目标车辆本身的动力作用而导致车辆的位置改变，从而可以提高车辆调位的准确性。Through the above steps, after the target vehicle enters the battery swap station, the position of the target vehicle can be adjusted so that the vehicle parking position can better meet the needs of battery swap. Furthermore, after the vehicle positioning device performs the positioning operation, the positioning data generated by the vehicle positioning device can also be identified, which can better ensure that the position of the target vehicle meets the location requirements for battery replacement. Furthermore, in the embodiment of the present application, when the target vehicle satisfies the set state, and then performs the position adjustment operation, it can reduce the position change of the target vehicle due to the dynamic effect of the target vehicle itself after the position adjustment operation, thereby reducing the risk of the vehicle's position changing. It can improve the accuracy of vehicle positioning.

在一可选的实施方式中，如图4所示，步骤350可以包括：步骤351和步骤352。In an optional implementation, as shown in Figure 4, step 350 may include: step 351 and step 352.

步骤351，将该调位数据中的第一移动距离与该目标车辆对应的第二移动距离进行对比。Step 351: Compare the first movement distance in the position adjustment data with the second movement distance corresponding to the target vehicle.

示例性地，该目标车辆对应的第二移动距离可以预先存储在控制设备中，在需要比对时，从该控制设备中获取目标车辆对应的第二移动距离。For example, the second moving distance corresponding to the target vehicle can be stored in the control device in advance, and when comparison is required, the second moving distance corresponding to the target vehicle is obtained from the control device.

可选地，服务器中可以预先存储各种类型的车辆所需的移动距离，该控制设备可以与服务器进行通信，以获得该目标车辆对应的第二移动距离。Optionally, the moving distances required for various types of vehicles may be pre-stored in the server, and the control device may communicate with the server to obtain the second moving distance corresponding to the target vehicle.

可选地，也可以在步骤330之前，获取目标车辆对应的第二移动距离。以通过该目标车辆对应的第二移动距离，控制该车辆调位设备，对目标车辆的位置进行调整。Optionally, before step 330, the second moving distance corresponding to the target vehicle may also be obtained. The vehicle positioning device is controlled to adjust the position of the target vehicle by passing the second movement distance corresponding to the target vehicle.

示例性地，若该车辆调位设备是由驱动设备驱动，则可以根据电动机的转动数据，确定出该调位数据。该驱动设备可以是电动机。For example, if the vehicle positioning device is driven by a driving device, the positioning data can be determined based on the rotation data of the motor. The drive device may be an electric motor.

其中，该第二移动距离可以是调整目标车辆的位置，该车辆调整设备所需的移动距离。The second movement distance may be a movement distance required by the vehicle adjustment device to adjust the position of the target vehicle.

步骤352，根据该调位数据中该车辆调位设备的当前位置，判断该车辆调位设备是否回到指定位置。Step 352: Based on the current position of the vehicle positioning device in the positioning data, determine whether the vehicle positioning device returns to the designated position.

该指定位置可以是预先设定的位置。例如，该指定位置可以是预设的原点位置，该原点位置可以是车辆调位设备可移动的边缘位置。再例如，该指定位置可以是与目标车辆的距离大于或等于指定值的位置。The designated location may be a preset location. For example, the designated position may be a preset origin position, and the origin position may be a movable edge position of the vehicle positioning device. For another example, the specified location may be a location whose distance from the target vehicle is greater than or equal to a specified value.

可选地，该车辆调位设备上可以有定位设备，可以通过该定位设备的定位数据，确定出车辆调位设备在执行调位操作之前的位置，以及执行调位操作之后的位置。Optionally, the vehicle positioning device may be equipped with a positioning device, and the position of the vehicle positioning device before the positioning operation is performed and the position after the positioning operation is performed can be determined through the positioning data of the positioning device.

其中，若该车辆调位设备在对该目标车辆进行调位操作后未执行二次调位操作，则步骤352中的车辆调位设备的当前位置可以为车辆调位设备执行调位操作之后的位置。If the vehicle positioning device does not perform a second positioning operation after performing the positioning operation on the target vehicle, the current position of the vehicle positioning device in step 352 may be the position after the vehicle positioning device performs the positioning operation. Location.

可选地，也可以根据该车辆调位设备上驱动设备在执行调位操作过程中对车辆调位设备的驱动，确定出车辆调位设备的当前位置。Optionally, the current position of the vehicle positioning device may also be determined based on the driving of the vehicle positioning device by the driving device on the vehicle positioning device during the positioning operation.

若该第一移动距离与该第二移动距离相等，且该车辆调位设备回到指定位置，则表征该车辆调位设备已完成调位操作。If the first moving distance is equal to the second moving distance and the vehicle positioning device returns to the designated position, it means that the vehicle positioning device has completed the positioning operation.

通过上述步骤351和步骤352，可以从两个维度判断车辆调位设备是否执行完成调位操作，可以更准确地确定车辆调位设备的执行情况，在能够准确确定车辆调位设备的执行情况的基础上，也就能够更好地实现对目标车辆的位置调整。Through the above steps 351 and 352, it can be judged from two dimensions whether the vehicle positioning equipment has completed the positioning operation, and the execution status of the vehicle positioning equipment can be determined more accurately. When the execution status of the vehicle positioning equipment can be accurately determined, On this basis, the position adjustment of the target vehicle can be better realized.

在一可选的实现方式中，如图5所示，步骤352可以包括：步骤3521和步骤3522。In an optional implementation, as shown in Figure 5 , step 352 may include: step 3521 and step 3522.

步骤3521，通过该车辆调位设备移动数据，确定出该移动数据是否表征该车辆调位设备回到指定位置。Step 3521: Based on the movement data of the vehicle positioning equipment, determine whether the movement data indicates that the vehicle positioning equipment returns to the designated position.

步骤3522，判断该车辆调位设备上的触发元件是否触发指定位置的传感器。Step 3522: Determine whether the trigger element on the vehicle positioning device triggers the sensor at the specified position.

示例性地，该触发元件可以是接触片，该车辆调位设备如果回到指定位置，该接触片可以与设置在指定位置的传感器接触。则该接触片与设置在指定位置的传感器接触，则可以表示触发元件触发了该指定位置的传感器。For example, the triggering element may be a contact piece. If the vehicle positioning device returns to a designated position, the contact piece may contact a sensor disposed at a designated position. Then the contact piece comes into contact with the sensor arranged at the specified position, which can mean that the triggering element triggers the sensor at the specified position.

示例性地，该触发元件也可以是发射传感器或接收传感器，该指定位置的传感器可以是接收传感器或发射传感器。例如，该触发元件可以是发射传感器，指定位置的传感器可以是接收传感器，则在车辆调位设备回到指定位置后，该发射传感器发射的信号可以被接收传感器接收到，则可以表示触发元件触发了该指定位置的传感器。再例如，该触发元件可以是接收传感器，指定位置的传感器可以是发射传感器，则在车辆调位设备回到指定位置后，该发射传感器发射的信号可以被接收传感器接收到，则可以表示触发元件触发了该指定位置的传感器。For example, the trigger element may also be a transmitting sensor or a receiving sensor, and the sensor at the designated position may be a receiving sensor or a transmitting sensor. For example, the trigger element can be a transmitting sensor, and the sensor at the designated position can be a receiving sensor. After the vehicle positioning device returns to the designated position, the signal transmitted by the transmitting sensor can be received by the receiving sensor, which means that the trigger element is triggered. sensor at the specified location. For another example, the trigger element can be a receiving sensor, and the sensor at the specified position can be a transmitting sensor. Then after the vehicle positioning device returns to the designated position, the signal transmitted by the transmitting sensor can be received by the receiving sensor, which can mean that the trigger element The sensor at the specified location was triggered.

若该移动数据表征该车辆调位设备回到指定位置，且该触发元件触发该指定位置的传感器，则表征该车辆调位设备回到指定位置。If the movement data represents that the vehicle positioning device returns to the designated position, and the triggering element triggers the sensor at the designated position, it represents that the vehicle positioning device returns to the designated position.

针对车辆调位设备是否回到指定位置也可以从两个维度判断，可以从车辆调位设备的移动情况，以及是否触发指定位置的传感器两个维度判断，可以提高对车辆调位设备是否回到原点的判断结果的准确性。从而也可以使目标车辆调整的位置也更加的准确。Whether the vehicle positioning equipment returns to the designated position can also be judged from two dimensions: the movement of the vehicle positioning equipment and whether the sensor at the designated position is triggered, which can improve the judgment of whether the vehicle positioning equipment returns to the designated position. The accuracy of the origin judgment result. This can also make the target vehicle's adjusted position more accurate.

考虑不同的车型的大小不一样，因此在对车辆的位置的调整时，车辆调位设备移动的数据也可能不一样。基于此，可以调整目标车辆的位置之前，可以先基于该目标车辆的车辆信息确定出目标车辆对应的第二移动距离。因此，如图6所示，车辆状态检测方法还可以包括：步骤360，获取目标车辆的车辆信息。Considering that different car models have different sizes, when adjusting the position of the vehicle, the data moved by the vehicle positioning equipment may also be different. Based on this, before adjusting the position of the target vehicle, the second movement distance corresponding to the target vehicle may be determined based on the vehicle information of the target vehicle. Therefore, as shown in Figure 6, the vehicle status detection method may also include: step 360, obtaining vehicle information of the target vehicle.

可选地，可以通过提供一操作界面，该操作界面中可以包括接收用户输入的车辆信息的窗口。Optionally, an operation interface may be provided, and the operation interface may include a window for receiving vehicle information input by the user.

可选地，可以通过与目标车辆建立通信连接，以获取该目标车辆传输的车辆信息。Optionally, the vehicle information transmitted by the target vehicle can be obtained by establishing a communication connection with the target vehicle.

可选地，也可以通过对目标车辆的验证信息进行验证，验证通过后，基于该验证信息确定出目标车辆的车辆信息。该验证信息可以为：车牌号、用户手机号、车辆唯一识别码等信息中的一种或多种信息。Optionally, the verification information of the target vehicle can also be verified. After the verification is passed, the vehicle information of the target vehicle is determined based on the verification information. The verification information can be: one or more types of information such as license plate number, user mobile phone number, vehicle unique identification code, etc.

例如，可以根据该验证信息在控制设备中预先存储的车辆数据集中查询出目标车辆的车辆信息。再例如，可以根据该验证信息从与该控制设备通信连接的服务器中获取该目标车辆的车辆信息。For example, the vehicle information of the target vehicle can be queried from the vehicle data set pre-stored in the control device based on the verification information. For another example, the vehicle information of the target vehicle can be obtained from a server that is communicatively connected to the control device according to the verification information.

示例性地，该车辆信息可以包括：车辆尺寸、车辆信号、车牌品牌、车辆使用年限、车辆图像等。For example, the vehicle information may include: vehicle size, vehicle signal, license plate brand, vehicle age, vehicle image, etc.

步骤370，根据该车辆信息，确定出该目标车辆对应的第二移动距离。Step 370: Determine the second moving distance corresponding to the target vehicle based on the vehicle information.

可选地，该控制设备中可以存储有各种类型的车辆所需的移动数据集。可以以该车辆信息为筛选条件，从移动数据集中查找出该目标车辆对应的第二移动距离。Optionally, the control device may store movement data sets required for various types of vehicles. The vehicle information can be used as a filtering condition to find the second movement distance corresponding to the target vehicle from the movement data set.

可选地，服务器中可以存储有各种类型的车辆所需的移动数据集。控制设备可以向服务器发送包含该车辆信息的数据请求，服务器以该车辆信息为筛选条件，从移动数据集中查找出该目标车辆对应的第二移动距离。Optionally, mobility data sets required for various types of vehicles can be stored in the server. The control device may send a data request containing the vehicle information to the server, and the server uses the vehicle information as a filtering condition to find the second movement distance corresponding to the target vehicle from the movement data set.

通过基于车辆信息筛选出目标车辆对应的第二移动距离，可以适应更多车型的需求，提高换电站的适用性。By filtering out the second moving distance corresponding to the target vehicle based on vehicle information, it can adapt to the needs of more models and improve the applicability of the battery swap station.

在一可选的实施方式中，如图7所示，步骤370可以包括：步骤371和步骤372。In an optional implementation, as shown in Figure 7, step 370 may include: step 371 and step 372.

步骤371，根据车辆信息，确定出尺寸数据。Step 371: Determine the size data based on the vehicle information.

可选地，可以预先存储不同型号的车辆的尺寸数据。可以通过该车辆信息中的车辆的型号，查询出该目标车辆的尺寸数据。示例性地，该预先存储的不同型号的车辆的尺寸数据可以存储在控制设备中，也可以存储在与控制设备通信连接的服务器中。Optionally, dimensional data of different models of vehicles may be stored in advance. The size data of the target vehicle can be queried through the vehicle model in the vehicle information. For example, the pre-stored dimensional data of different models of vehicles may be stored in the control device or in a server that is communicatively connected to the control device.

可选地，也可以对车辆信息中的车辆图像进行识别，以确定出目标车辆的尺寸数据。Optionally, the vehicle image in the vehicle information may also be identified to determine the size data of the target vehicle.

步骤372，根据该尺寸数据，计算出该目标车辆对应的第二移动距离。Step 372: Calculate the second movement distance corresponding to the target vehicle based on the size data.

示例性地，可以该尺寸数据可以包括目标车辆的宽度、车辆上用于放电池的电池存放位的位置和尺寸、该电池存放位与车辆各个边缘的距离等。For example, the size data may include the width of the target vehicle, the position and size of the battery storage position on the vehicle for storing the battery, the distance between the battery storage position and each edge of the vehicle, etc.

可选地，需要调整位置后的目标车辆的中心线在换电池时输送工具的行驶轨迹上。可以根据目标车辆的宽度可以确定出目标车辆在中心线在换电池时输送工具的行驶轨迹上时，目标车辆的边缘位置；根据该边缘位置可以确定出调整该目标车辆的车辆调位设备所需的第二移动距离。Optionally, the center line of the target vehicle after position adjustment needs to be on the traveling trajectory of the conveyor tool when replacing the battery. According to the width of the target vehicle, the edge position of the target vehicle can be determined when the center line of the target vehicle is on the driving track of the transportation tool when replacing the battery; based on the edge position, the vehicle positioning equipment required to adjust the target vehicle can be determined. the second moving distance.

以调整车辆的车轮为例，可以根据目标车辆在中心线在换电池时输送工具的行驶轨迹重合时，车轮的边缘所在位置，以及车辆调位设备的位置，确定出调整该目标车辆的车辆调位设备所需的第二移动距离。Taking the wheel adjustment of a vehicle as an example, the vehicle adjustment method for adjusting the target vehicle can be determined based on the position of the edge of the wheel when the center line of the target vehicle coincides with the driving trajectory of the transportation tool when replacing the battery, as well as the position of the vehicle positioning equipment. The second moving distance required by the device.

可选地，需要调整位置后的目标车辆上的电池存放位的中心线在换电池时输送工具的行驶轨迹上。可以先根据尺寸数据中的电池存放位与车辆各个边缘的距离，确定出电池存放位的中心线与在换电池时输送工具的行驶轨迹重合时，目标车辆的边缘位置；根据该边缘位置可以确定出调整该目标车辆的车辆调位设备所需的第二移动距离。Optionally, the center line of the battery storage position on the target vehicle that needs to be adjusted is on the travel trajectory of the transport tool when replacing the battery. You can first determine the edge position of the target vehicle when the center line of the battery storage position coincides with the driving trajectory of the transportation tool when replacing the battery based on the distance between the battery storage position and each edge of the vehicle in the size data; based on this edge position, you can determine The second movement distance required to adjust the vehicle positioning equipment of the target vehicle is obtained.

在上述步骤371和步骤372，不用预先存储各类型的车辆对应的车辆调位设备所需的第二移动距离，可以基于车辆信息计算出该第二移动距离。提高换电站的适应性，降低换电站对数据的需求。In the

above steps

371 and 372, there is no need to pre-store the second movement distance required by the vehicle positioning equipment corresponding to each type of vehicle. The second movement distance can be calculated based on the vehicle information. Improve the adaptability of the battery swap station and reduce the data demand of the battery swap station.

为了使目标车辆的状态能够达到需要的状态，可以通过提示消息提示用户进行相应的操作。因此，在步骤310之前，车辆状态检测方法还可以包括：输出提示消息。In order to make the status of the target vehicle reach the required status, the user can be prompted to perform corresponding operations through prompt messages. Therefore, before step 310, the vehicle status detection method may further include: outputting a prompt message.

示例性地，提示消息可以包括目标车辆的用户所需执行的一项或多项操作提示内容。例如，该提示消息的内容可以包括：松手刹、挂空挡、关闭车门熄火等。For example, the prompt message may include one or more operation prompts that the user of the target vehicle needs to perform. For example, the content of the prompt message may include: releasing the handbrake, engaging neutral gear, closing the door and turning off the engine, etc.

可选地，该提示消息可以是语音提示消息，则该语音提示消息输出方式可以是通过扬声器播放。例如，该语音提示消息可以为：“请执行松手刹、挂空挡、关闭车门熄火”。Optionally, the prompt message may be a voice prompt message, and the voice prompt message may be output through a speaker. For example, the voice prompt message may be: "Please release the handbrake, shift to neutral, close the door and turn off the engine."

可选地，该提示消息可以是视频提示消息，则该视频提示消息输出方式可以是通过显示屏播放。Optionally, the prompt message may be a video prompt message, and the output mode of the video prompt message may be played through a display screen.

在一可选的实施方式，该提示消息可以包括第一提示消息。可以在获取目标车辆的车辆状态数据之前，输出该第一提示消息。In an optional implementation, the prompt message may include a first prompt message. The first prompt message may be output before acquiring the vehicle status data of the target vehicle.

在另一可选的实施方式，在指定时间内未接收到该目标车辆传输的车辆状态数据，输出第二提示消息。In another optional implementation, if the vehicle status data transmitted by the target vehicle is not received within a specified time, a second prompt message is output.

在另一可选的实施方式，在该目标车辆的车轮进入指定位置时，输出第三提示消息。In another optional implementation, when the wheels of the target vehicle enter the designated position, a third prompt message is output.

通过在多个时机均输出提示消息，可以方便用户了解当前需要做的事儿，也可以为车辆位置调整做好准备，也就能够使目标车辆调整的位置更准确。By outputting prompt messages at multiple opportunities, the user can conveniently understand what needs to be done currently, and can also prepare for vehicle position adjustment, which can make the target vehicle's position adjustment more accurate.

为了降低车辆调位设备的空操作，可以在确定车辆进入了限定区域后，再进行调位操作。车辆状态检测方法还可以包括：通过该车轮放置位的检测器，检测该目标车辆的车轮是否置放在该车轮放置位中。In order to reduce idle operations of the vehicle positioning equipment, the positioning operation can be performed after it is determined that the vehicle has entered a limited area. The vehicle status detection method may further include: detecting whether the wheels of the target vehicle are placed in the wheel placement position through the detector of the wheel placement position.

示例性地，该检测器可以包括发射传感器和接收传感器。该发射传感器和接收传感器安装在车轮放置位中。例如，该发射传感器和接收传感器安装在车轮放置位的两侧，车轮放置位中落入车轮后，该接收传感器不能够接收到发射传感器发射的信号。因此，可以通过接收传感器是否能够接收到发射传感器发射的信号，以此确定车轮是否置放在该车轮放置位中。Illustratively, the detector may include a transmit sensor and a receive sensor. The transmitting and receiving sensors are mounted in the wheel resting position. For example, the transmitting sensor and the receiving sensor are installed on both sides of the wheel placement position. If the wheel placement position falls behind the wheel, the receiving sensor cannot receive the signal transmitted by the transmitting sensor. Therefore, it can be determined whether the wheel is placed in the wheel placement position by whether the receiving sensor can receive the signal transmitted by the transmitting sensor.

可选地，上述步骤330可以包括：在该目标车辆的车轮置放在该车轮放置位后，控制车辆调位设备执行调位操作，以为调整该目标车辆的停靠位置。Optionally, the above step 330 may include: after the wheels of the target vehicle are placed at the wheel placement position, controlling the vehicle positioning device to perform a positioning operation to adjust the parking position of the target vehicle.

通过在确定车轮放进了车轮放置位后，再控制车辆调整设备对目标车辆的位置进行调整，避免车辆调位设备执行无效操作，提高对目标车辆的调位操作的有效性，也能够提高车辆调位的效率。By controlling the vehicle adjustment equipment to adjust the position of the target vehicle after determining that the wheel is placed in the wheel placement position, the vehicle positioning equipment is prevented from performing invalid operations, the effectiveness of the positioning operation of the target vehicle is improved, and the vehicle can also be improved. Positioning efficiency.

基于同一申请构思，本申请实施例中还提供了与车辆状态检测方法对应的车辆状态检测装置，由于本申请实施例中的装置解决问题的原理与前述的车辆状态检测方法实施例相似，因此本实施例中的装置的实施可以参见上述方法的实施例中的描述，重复之处不再赘述。Based on the same application concept, the embodiment of the present application also provides a vehicle state detection device corresponding to the vehicle state detection method. Since the principle of solving the problem of the device in the embodiment of the present application is similar to the aforementioned vehicle state detection method embodiment, the present application For the implementation of the device in the embodiment, please refer to the description in the embodiment of the above method, and repeated details will not be repeated.

请参阅图8，是本申请实施例提供的车辆状态检测装置的功能模块示意图。本实施例中的车辆状态检测装置中的各个模块用于执行上述方法实施例中的各个步骤。车辆状态检测装置包括：第一获取模块410、第一确定模块420、控制模块430、第二获取模块440以及第二确定模块450；其中各模块的内容如下所示。Please refer to FIG. 8 , which is a schematic diagram of the functional modules of the vehicle status detection device provided by the embodiment of the present application. Each module in the vehicle status detection device in this embodiment is used to perform each step in the above method embodiment. The vehicle status detection device includes: a first acquisition module 410, a first determination module 420, a control module 430, a second acquisition module 440 and a second determination module 450; the contents of each module are as follows.

第一获取模块410，用于获取目标车辆的车辆状态数据；The first acquisition module 410 is used to acquire vehicle status data of the target vehicle;

第一确定模块420，用于根据该车辆状态数据，确定该目标车辆是否满足设定状态；The first determination module 420 is used to determine whether the target vehicle satisfies the set status according to the vehicle status data;

控制模块430，用于控制车辆调位设备执行调位操作，以调整该目标车辆的停靠位置；The control module 430 is used to control the vehicle positioning equipment to perform a positioning operation to adjust the parking position of the target vehicle;

第二获取模块440，用于获取车辆调位设备的调位数据，该调位数据为该车辆调位设备调整目标车辆所产生的；The second acquisition module 440 is used to acquire the positioning data of the vehicle positioning device, the positioning data being generated by the vehicle positioning device adjusting the target vehicle;

第二确定模块450，用于根据该调位数据，确定该车辆调位设备是否完成调位操作，其中，该目标车辆达到设定状态，且该车辆调位设备完成调位操作后，表示该目标车辆的状态满足放置条件。The second determination module 450 is used to determine whether the vehicle positioning equipment has completed the positioning operation according to the positioning data, wherein the target vehicle reaches the set state and the vehicle positioning device completes the positioning operation, indicating that the The status of the target vehicle satisfies the placement conditions.

一种可能的实施方式中，第二确定模块450，包括：对比单元和判断单元。In a possible implementation, the second determination module 450 includes: a comparison unit and a judgment unit.

对比单元，用于将该调位数据中的第一移动距离与该目标车辆对应的第二移动距离进行对比；A comparison unit configured to compare the first movement distance in the position adjustment data with the second movement distance corresponding to the target vehicle;

判断单元，用于根据该调位数据中该车辆调位设备的当前位置，判断该车辆调位设备是否回到指定位置；A judgment unit configured to judge whether the vehicle positioning equipment returns to a designated position based on the current position of the vehicle positioning device in the positioning data;

一种可能的实施方式中，判断单元，用于：In a possible implementation, the judgment unit is used for:

通过该车辆调位设备移动数据，确定出该移动数据是否表征该车辆调位设备回到指定位置；Determine whether the movement data represents the return of the vehicle positioning equipment to a designated position through the movement data of the vehicle positioning equipment;

判断该车辆调位设备上的触发元件是否触发指定位置的传感器；Determine whether the trigger element on the vehicle positioning equipment triggers the sensor at the specified position;

一种可能的实施方式中，车辆状态检测装置还可以包括：In a possible implementation, the vehicle status detection device may also include:

第三获取模块，用于获取该目标车辆的车辆信息；The third acquisition module is used to acquire vehicle information of the target vehicle;

第三确定模块，用于根据该车辆信息，确定出该目标车辆对应的第二移动距离。The third determination module is used to determine the second movement distance corresponding to the target vehicle based on the vehicle information.

一种可能的实施方式中，第三确定模块，用于：In a possible implementation, the third determination module is used for:

根据该车辆信息，确定出尺寸数据；Based on the vehicle information, determine the size data;

根据该尺寸数据，计算出该目标车辆对应的第二移动距离。According to the size data, the second moving distance corresponding to the target vehicle is calculated.

一种可能的实施方式中，车辆状态检测装置还可以包括：输出模块，用于：In a possible implementation, the vehicle status detection device may also include: an output module, used for:

在指定时间内未接收到该目标车辆传输的车辆状态数据，输出第二提示消息；或者，If the vehicle status data transmitted by the target vehicle is not received within the specified time, a second prompt message is output; or,

在该目标车辆的车轮进入指定位置时，输出第三提示消息，该第一提示消息、该第二提示消息和该第三提示消息均包括该目标车辆的用户所需执行的一项或多项操作提示内容。When the wheels of the target vehicle enter the designated position, a third prompt message is output. The first prompt message, the second prompt message, and the third prompt message all include one or more items that the user of the target vehicle needs to perform. Operation prompt content.

检测模块，用于通过该车轮放置位的检测器，检测该目标车辆的车轮是否置放在该车轮放置位中；A detection module, used to detect whether the wheels of the target vehicle are placed in the wheel placement position through the detector of the wheel placement position;

控制模块430，用于在该目标车辆的车轮置放在该车轮放置位后，控制车辆调位设备执行调位操作，以调整该目标车辆的停靠位置。The control module 430 is used to control the vehicle positioning device to perform a positioning operation to adjust the parking position of the target vehicle after the wheels of the target vehicle are placed at the wheel placement position.

此外，本申请实施例还提供一种计算机可读存储介质，该计算机可读存储介质上存储有计算机程序，该计算机程序被处理器运行时执行上述方法实施例中所述的车辆状态检测方法的步骤。In addition, embodiments of the present application also provide a computer-readable storage medium. The computer-readable storage medium stores a computer program. When the computer program is run by a processor, it executes the vehicle status detection method described in the above method embodiment. step.

本申请实施例所提供的车辆状态检测方法的计算机程序产品，包括存储了程序代码的计算机可读存储介质，所述程序代码包括的指令可用于执行上述方法实施例中所述的车辆状态检测方法的步骤，具体可参见上述方法实施例，在此不再赘述。The computer program product of the vehicle status detection method provided by the embodiment of the present application includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the vehicle status detection method described in the above method embodiment. For details of the steps, please refer to the above method embodiments and will not be described again here.

在本申请所提供的几个实施例中，应该理解到，所揭露的装置和方法，也可以通过其它的方式实现。以上所描述的装置实施例仅仅是示意性的，例如，附图中的流程图和框图显示了根据本申请的多个实施例的装置、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段或代码的一部分，所述模块、程序段或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现方式中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个连续的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或动作的专用的基于硬件的***来实现，或者可以用专用硬件与计算机指令的组合来实现。In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are only illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible implementation architecture, functions and functions of the devices, methods and computer program products according to multiple embodiments of the present application. operate. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code that contains one or more components for implementing the specified logical function(s). Executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two consecutive blocks may actually execute substantially in parallel, or they may sometimes execute in the reverse order, depending on the functionality involved. It will also be noted that each block of the block diagram and/or flowchart illustration, and combinations of blocks in the block diagram and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts. , or can be implemented using a combination of specialized hardware and computer instructions.

另外，在本申请各个实施例中的各功能模块可以集成在一起形成一个独立的部分，也可以是各个模块单独存在，也可以两个或两个以上模块集成形成一个独立的部分。In addition, each functional module in each embodiment of the present application can be integrated together to form an independent part, each module can exist alone, or two or more modules can be integrated to form an independent part.

所述功能如果以软件功能模块的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the existing technology or the part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program code. . It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that these entities or operations are mutually exclusive. any such actual relationship or sequence exists between them. Furthermore, the terms "comprises," "comprises," or any other variations thereof are intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus that includes a list of elements includes not only those elements, but also those not expressly listed other elements, or elements inherent to the process, method, article or equipment. Without further limitation, an element defined by the statement "comprising..." does not exclude the presence of additional identical elements in a process, method, article, or device that includes the stated element.

以上所述仅为本申请的优选实施例而已，并不用于限制本申请，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。The above descriptions are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this application shall be included in the protection scope of this application. It should be noted that similar reference numerals and letters represent similar items in the following figures, therefore, once an item is defined in one figure, it does not need further definition and explanation in subsequent figures.

以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以权利要求的保护范围为准。The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application. should be covered by the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

一种车辆状态检测方法，其特征在于，包括：A vehicle status detection method, characterized by including:

获取目标车辆的车辆状态数据；Obtain the vehicle status data of the target vehicle;

根据所述车辆状态数据，确定所述目标车辆是否满足设定状态；Determine whether the target vehicle satisfies the set state according to the vehicle status data;

控制车辆调位设备执行调位操作，以调整所述目标车辆的停靠位置；Control the vehicle positioning equipment to perform a positioning operation to adjust the parking position of the target vehicle;

获取所述车辆调位设备的调位数据；Obtain the positioning data of the vehicle positioning equipment;

根据所述调位数据，确定所述车辆调位设备是否完成调位操作；Determine whether the vehicle positioning equipment has completed the positioning operation according to the positioning data;

其中，所述目标车辆达到设定状态，且所述车辆调位设备完成调位操作后，表示所述目标车辆的状态满足放置条件。Wherein, when the target vehicle reaches the set state and the vehicle positioning device completes the positioning operation, it means that the state of the target vehicle meets the placement conditions.
根据权利要求1所述的方法，其特征在于，所述根据所述调位数据，确定所述车辆调位设备是否完成调位操作，包括：The method according to claim 1, wherein determining whether the vehicle positioning equipment has completed the positioning operation according to the positioning data includes:

将所述调位数据中的第一移动距离与所述目标车辆对应的第二移动距离进行对比；以及Compare the first movement distance in the position adjustment data with the second movement distance corresponding to the target vehicle; and

根据所述调位数据中的所述车辆调位设备的当前位置，判断所述车辆调位设备是否回到指定位置；Determine whether the vehicle positioning device returns to a designated position according to the current position of the vehicle positioning device in the positioning data;

若所述第一移动距离与所述第二移动距离相等，且所述车辆调位设备回到指定位置，则表征所述车辆调位设备已完成调位操作。If the first moving distance is equal to the second moving distance and the vehicle positioning device returns to the designated position, it means that the vehicle positioning device has completed the positioning operation.
根据权利要求2所述的方法，其特征在于，所述判断所述车辆调位设备是否回到指定位置，包括：The method of claim 2, wherein determining whether the vehicle positioning device returns to a designated position includes:

通过所述车辆调位设备移动数据，确定出所述移动数据是否表征所述车辆调位设备回到指定位置；以及Determine whether the movement data represents the return of the vehicle positioning device to a designated position through the vehicle positioning device movement data; and

判断所述车辆调位设备上的触发元件是否触发所述指定位置的传感器；Determine whether the trigger element on the vehicle positioning device triggers the sensor at the designated position;

若所述移动数据表征所述车辆调位设备回到指定位置，且所述触发元件触发所述指定位置的传感器，则表征所述车辆调位设备回到指定位置。If the movement data represents that the vehicle positioning device returns to the designated position, and the triggering element triggers the sensor at the designated position, it represents that the vehicle positioning device returns to the designated position.
根据权利要求2所述的方法，其特征在于，所述方法还包括：The method of claim 2, further comprising:

获取所述目标车辆的车辆信息；Obtain vehicle information of the target vehicle;

根据所述车辆信息，确定出所述目标车辆对应的第二移动距离。According to the vehicle information, a second moving distance corresponding to the target vehicle is determined.
根据权利要求4所述的方法，其特征在于，所述根据所述车辆信息，确定出所述目标车辆对应的第二移动距离，包括：The method of claim 4, wherein determining the second moving distance corresponding to the target vehicle based on the vehicle information includes:

根据所述车辆信息，确定出尺寸数据；Determine size data based on the vehicle information;

根据所述尺寸数据，计算出所述目标车辆对应的第二移动距离。According to the size data, the second movement distance corresponding to the target vehicle is calculated.
根据权利要求1所述的方法，其特征在于，所述方法还包括：The method of claim 1, further comprising:

在获取目标车辆的车辆状态数据之前，输出第一提示消息；或者，Before obtaining the vehicle status data of the target vehicle, output the first prompt message; or,

在指定时间内未接收到所述目标车辆传输的车辆状态数据，输出第二提示消息；或者，If the vehicle status data transmitted by the target vehicle is not received within the specified time, a second prompt message is output; or,

在所述目标车辆的车轮进入指定位置时，输出第三提示消息，所述第一提示消息、所述第二提示消息和所述第三提示消息均包括所述目标车辆的用户所需执行的一项或多项操作提示内容。When the wheels of the target vehicle enter the designated position, a third prompt message is output, and the first prompt message, the second prompt message, and the third prompt message all include what the user of the target vehicle needs to perform. One or more operation prompts.
根据权利要求1-6任意一项所述的方法，其特征在于，所述方法还包括：The method according to any one of claims 1-6, characterized in that the method further includes:

通过车轮放置位中的检测器，检测所述目标车辆的车轮是否置放在所述车轮放置位中；Detect whether the wheels of the target vehicle are placed in the wheel placement position through a detector in the wheel placement position;

所述控制车辆调位设备执行调位操作，以调整所述目标车辆的停靠位置，包括：The control vehicle positioning equipment performs a positioning operation to adjust the parking position of the target vehicle, including:

在所述目标车辆的车轮置放在所述车轮放置位后，控制车辆调位设备执行调位操作，以调整所述目标车辆的停靠位置。After the wheels of the target vehicle are placed in the wheel placement position, the vehicle positioning device is controlled to perform a positioning operation to adjust the parking position of the target vehicle.
一种车辆状态检测装置，其特征在于，包括：A vehicle status detection device, characterized by including:

第一获取模块，用于获取目标车辆的车辆状态数据；The first acquisition module is used to acquire vehicle status data of the target vehicle;

第一确定模块，用于根据所述车辆状态数据，确定所述目标车辆是否满足设定状态；A first determination module, configured to determine whether the target vehicle satisfies the set state according to the vehicle status data;

控制模块，用于控制车辆调位设备执行调位操作，以调整所述目标车辆的停靠位置；A control module for controlling the vehicle positioning equipment to perform a positioning operation to adjust the parking position of the target vehicle;

第二获取模块，用于获取车辆调位设备的调位数据，所述调位数据为所述车辆调位设备调整目标车辆所产生的；The second acquisition module is used to acquire the positioning data of the vehicle positioning device, where the positioning data is generated by the vehicle positioning device adjusting the target vehicle;

第二确定模块，用于根据所述调位数据，确定所述车辆调位设备是否完成调位操作，其中，所述目标车辆达到设定状态，且所述车辆调位设备完成调位操作后，表示所述目标车辆的状态满足放置条件。The second determination module is used to determine whether the vehicle positioning equipment has completed the positioning operation according to the positioning data, wherein the target vehicle reaches the set state and the vehicle positioning device completes the positioning operation. , indicating that the state of the target vehicle meets the placement conditions.
一种控制设备，其特征在于，包括：处理器、存储器，所述存储器存储有所述处理器可执行的机器可读指令，当控制设备运行时，所述机器可读指令被所述处理器执行时执行如权利要求1至7任一所述的方法的步骤。A control device, characterized in that it includes: a processor and a memory. The memory stores machine-readable instructions executable by the processor. When the control device is running, the machine-readable instructions are read by the processor. When executed, the steps of the method according to any one of claims 1 to 7 are performed.
一种计算机可读存储介质，其特征在于，该计算机可读存储介质上存储有计算机程序，该计算机程序被处理器运行时执行如权利要求1至7任一所述的方法的步骤。A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, and the computer program executes the steps of the method according to any one of claims 1 to 7 when run by a processor.
一种换电站，其特征在于，包括：输送***、车辆调位设备、电池仓和权利要求9所述的控制设备。A battery swapping station, characterized in that it includes: a transportation system, a vehicle positioning device, a battery compartment and the control device according to claim 9.