WO2023028876A1 - 换电方法、模块、设备及介质 - Google Patents

换电方法、模块、设备及介质 Download PDF

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Publication number
WO2023028876A1
WO2023028876A1 PCT/CN2021/115793 CN2021115793W WO2023028876A1 WO 2023028876 A1 WO2023028876 A1 WO 2023028876A1 CN 2021115793 W CN2021115793 W CN 2021115793W WO 2023028876 A1 WO2023028876 A1 WO 2023028876A1
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WIPO (PCT)
Prior art keywords
vehicle
battery
module
battery replacement
target
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PCT/CN2021/115793
Other languages
English (en)
French (fr)
Inventor
李占良
但志敏
张苗苗
颜昱
黄振慧
Original Assignee
宁德时代新能源科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 宁德时代新能源科技股份有限公司 filed Critical 宁德时代新能源科技股份有限公司
Priority to PCT/CN2021/115793 priority Critical patent/WO2023028876A1/zh
Priority to JP2021560118A priority patent/JP7460655B2/ja
Priority to EP21865334.3A priority patent/EP4169765B1/en
Priority to KR1020217034727A priority patent/KR102644900B1/ko
Priority to CN202180081972.6A priority patent/CN116615362A/zh
Priority to US17/706,648 priority patent/US20230064434A1/en
Publication of WO2023028876A1 publication Critical patent/WO2023028876A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
    • B60S5/06—Supplying batteries to, or removing batteries from, vehicles
    • 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
    • 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
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/37—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B15/00—Systems controlled by a computer
    • G05B15/02—Systems controlled by a computer electric
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • 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
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • 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

Definitions

  • the present application belongs to the technical field of battery swapping, and in particular relates to a battery swapping method, module, device and medium.
  • the vehicle is often stopped at a fixed position through a vehicle limiting slot at a certain fixed position in the battery swapping station. Then control the power exchange equipment to drive to a certain fixed position point within the fixed position to perform related operations of battery replacement.
  • the embodiments of the present application provide a method, module, device, and medium for battery replacement.
  • the user can park the vehicle at will in the battery replacement area to complete the battery replacement, which improves the convenience of the battery replacement process.
  • the embodiment of the present application provides a battery replacement method, which is applied to the control module, and the method includes:
  • the target position of the battery in the battery replacement area is determined, so as to control the battery replacement device to move to the target position for battery replacement.
  • the position of the vehicle in the battery replacement area can be determined according to the first image captured by the vehicle; and then according to the relative position of the battery on the vehicle And the position of the vehicle in the battery replacement area determines the position of the battery in the battery replacement area. Therefore, the user can park the vehicle at will in the battery swap area, and can also determine the position of the battery of the vehicle in the battery swap area, and move the battery swap module to the position for battery swap, which improves the convenience of the battery swap process.
  • a signal transmitting module is provided on the vehicle at a position corresponding to the battery, and a signal receiving module is provided on the power exchange device; the method also includes:
  • the signal receiving module acquires the signal strength values of multiple third positions in the target area; the signal is sent by the signal transmitting module, and the target area includes the target position;
  • the third position corresponding to the maximum value among the signal intensity values of the plurality of third positions is updated as a new target position.
  • the position error of the battery can be reduced and the positioning accuracy can be improved.
  • the first position is determined by the processing module from a pre-stored correspondence based on the model information of the vehicle and sent to the control module.
  • the correspondence is the relative position between the model information of the vehicle and the battery on the vehicle corresponding relationship.
  • the relative position of the battery on the vehicle can be accurately obtained through the corresponding relationship with the storage, thereby improving the calculation accuracy.
  • the method further includes:
  • the model information is sent to the processing module for the processing module to determine the first position based on the corresponding relationship.
  • the model information of the vehicle can be determined according to the first image, and then the first position can be determined, so that the first position can be accurately calculated only by setting the first image acquisition device, and the following second position, saving cost of equipment.
  • the number of first images is multiple;
  • determine the second position of the vehicle in the battery replacement area including:
  • the method further includes:
  • the method further includes:
  • the target biological object is included in the first image, it is determined that the battery replacement process for the vehicle is abnormal.
  • the embodiment of the present application provides a battery replacement module, including:
  • An image acquisition unit configured to acquire a first image captured for the vehicle in the battery replacement area, and acquire the first position of the battery on the vehicle;
  • a first position determining unit configured to determine a second position of the vehicle in the battery swap area according to the first image
  • the second position determination unit is used to determine the target position of the battery in the battery replacement area according to the first position and the second position;
  • the power swap control unit is used to control the power swap equipment to move to the target position for power swap.
  • the battery swap module of the embodiment of the present application can determine the position of the vehicle in the battery swap area according to the first image captured by the vehicle for a vehicle randomly parked in the battery swap area; then according to the relative position of the battery on the vehicle And the position of the vehicle in the battery replacement area determines the position of the battery in the battery replacement area. Therefore, the user can park the vehicle at will in the battery swap area, and can also determine the position of the battery of the vehicle in the battery swap area, and move the battery swap module to the position for battery swap, which improves the convenience of the battery swap process.
  • a signal transmitting module is provided on the vehicle at a position corresponding to the battery
  • a signal receiving module is provided on the power exchange device
  • the control module further includes:
  • the signal acquisition unit is used to acquire, through the signal receiving module, the signal intensity values of multiple third positions in the target area including the target position during the process of the power exchange device moving in the target area; the signal is sent by the signal transmitting module , the target area includes the target location;
  • the position updating unit is configured to update the third position corresponding to the maximum value among the signal strength values of the plurality of third positions as a new target position.
  • the first position is determined by the processing module from a pre-stored correspondence based on the model information of the vehicle and sent to the control module.
  • the correspondence is the relative position between the model information of the vehicle and the battery on the vehicle corresponding relationship.
  • the module also includes:
  • an information determining unit configured to determine the model information of the vehicle based on the first image
  • the information sending unit is used to send the model information to the processing module, so that the processing module can determine the first position based on the corresponding relationship.
  • the number of first images is multiple;
  • a first location determination unit for:
  • Modules also include:
  • the vehicle rolling detection unit is configured to determine that the vehicle rolls away when the distance between at least two second positions among the plurality of second positions is greater than a preset threshold.
  • the module also includes:
  • the fault determination unit is configured to determine that the battery replacement process for the vehicle is abnormal if the target biological object is included in the first image.
  • a power exchange device including:
  • the processor reads and executes the computer program instructions, so as to realize the battery replacement method provided by the first aspect or any optional implementation manner of the first aspect.
  • the position of the vehicle in the battery replacement area can be determined according to the first image captured by the vehicle; and then according to the relative position of the battery on the vehicle And the position of the vehicle in the battery replacement area determines the position of the battery in the battery replacement area. Therefore, the user can park the vehicle at will in the battery swap area, and can also determine the position of the battery of the vehicle in the battery swap area, and move the battery swap module to the position for battery swap, which improves the convenience of the battery swap process.
  • a computer storage medium is provided.
  • Computer program instructions are stored on the computer storage medium.
  • the power replacement method provided in the first aspect or any optional implementation manner of the first aspect is implemented. .
  • the position of the vehicle in the battery replacement area can be determined according to the first image taken by the vehicle; then according to the relative position of the battery on the vehicle And the position of the vehicle in the battery replacement area determines the position of the battery in the battery replacement area. Therefore, the user can park the vehicle at will in the battery swap area, and can also determine the position of the battery of the vehicle in the battery swap area, and move the battery swap module to the position for battery swap, which improves the convenience of the battery swap process.
  • FIG. 1 is a schematic diagram of an exemplary battery replacement scenario provided by an embodiment of the present application
  • Fig. 2 is a schematic flow chart of a battery replacement method provided in an embodiment of the present application
  • FIG. 3 is a schematic diagram of an exemplary calculation target position provided by an embodiment of the present application.
  • Fig. 4 is a schematic flow chart of another battery replacement method provided by the embodiment of the present application.
  • Fig. 5 is a schematic flow chart of another battery replacement method provided by the embodiment of the present application.
  • Fig. 6 is a schematic flow chart of another battery replacement method provided by the embodiment of the present application.
  • Fig. 7 is a schematic structural diagram of a power exchange module provided in an embodiment of the present application.
  • Fig. 8 shows a schematic diagram of a hardware structure of a power exchange device provided by an embodiment of the present invention.
  • the battery swap technology adopts the method of "separation of vehicle and battery", which can provide battery replacement services for vehicles through the swap station.
  • the vehicle is often stopped at a fixed position through a vehicle limiting slot at a fixed position in the battery replacement station. Then control the power exchange equipment to drive to a certain fixed position point within the fixed position to perform related operations of battery replacement.
  • a front movable plate and a rear movable plate can be set in the power exchange station.
  • the front movable plate and the rear movable plate are controlled to move to a parking position suitable for the vehicle and wait for the vehicle to drive on.
  • the embodiments of the present application provide a battery replacement method, device, device, and medium, which can be applied to the application scenario of battery replacement for vehicles. Compared with the above-mentioned related technologies, the user can park the vehicle at will in the battery exchange area to complete the battery exchange, which improves the convenience of the battery exchange process.
  • the vehicle the vehicle in the embodiment of the present application may be detachably connected to the battery.
  • the vehicle may be a battery-powered vehicle such as a car or a truck.
  • Vehicles in embodiments of the present application may be equipped with one or more batteries.
  • the batteries in the embodiments of the present application may be lithium-ion batteries, lithium metal batteries, lead-acid batteries, nickel-batteries, nickel-metal hydride batteries, lithium-sulfur batteries, lithium-air batteries, or sodium-ion batteries, etc., which are not limited herein.
  • the battery can be a battery cell, or a battery module or battery pack, which is not limited here.
  • batteries can be used in electric vehicles to supply power to the motors of electric vehicles as the power source of electric vehicles.
  • the battery can also supply power to other electrical devices in the electric vehicle, such as the air conditioner in the car, the car player, etc.
  • the swapping station may refer to a place that provides battery swapping services for vehicles.
  • it may be a fixed place, or a mobile place such as a mobile car exchange vehicle, which is not limited in this embodiment of the present application.
  • FIG. 1 is a schematic diagram of an exemplary battery replacement scenario provided by an embodiment of the present application.
  • the power exchange station 20 may include a power exchange cabinet 21 .
  • the power exchange cabinet 21 may include a plurality of charging bins 22 .
  • the battery exchange station 20 removes the battery P1 from the bottom of the vehicle 10 through the battery exchange module, and takes out the battery P2 from the charging compartment 22, and then replaces the battery P2 After being installed on the vehicle 10 , the vehicle 10 installed with the battery P2 can leave the switching station 20 .
  • the removed battery P1 can be put into an idle charging compartment 22 for charging, so that the battery swapping station 20 can continue to provide battery swapping services for other vehicles.
  • Fig. 2 is a schematic flow chart of a battery replacement method provided in an embodiment of the present application.
  • the battery replacement method includes S210 to S230.
  • the execution subject of each step in the battery swapping method may be a control module with computing and data processing capabilities, for example, it may be a cloud server or a control module on a server of a swapping station, which is not specifically limited.
  • S220 determine the second position of the vehicle in the battery replacement area.
  • S230 determine the target position of the battery in the battery replacement area, so as to control the battery replacement device to move to the target position for battery replacement.
  • the battery replacement area may be an area for vehicles to perform battery replacement. That is to say, after the vehicle is parked in this area, the vehicle can be replaced.
  • the battery swap area may be an area capable of accommodating a vehicle and having a certain length and width. That is to say, the width of the battery exchange area is greater than the width of the vehicle, and the length of the battery exchange area is greater than the length of the vehicle.
  • the first image may include an image of the entire battery swap area or a partial image of the battery swap area. Wherein, after the vehicle enters the battery replacement area, the first image may also include at least a partial image of the vehicle.
  • the first image may be collected by a charge coupled device (Charge coupled Device, CCD) or other camera or camera with a camera or video function.
  • CCD Charge coupled Device
  • the first image shooting device can be set on a fixed bracket above or obliquely above the battery exchange area, or on an inner wall of the battery exchange area. It should be noted that the shooting device for the first image can also be set at other positions where the entire battery replacement area can be captured, and the embodiment of the present application does not specifically limit its setting position.
  • FIG. 3 is a schematic diagram of an exemplary calculation target location provided in an embodiment of the present application.
  • the first location may be location information of one or more reference locations Q of the battery relative to one reference location P on the vehicle.
  • the reference position Q of the battery may be a midpoint of the battery, or a corner of the battery, etc., which is not specifically limited.
  • the reference position P on the vehicle may be the center or a corner of the vehicle, and is not specifically limited to this.
  • the location information of the first location may include: the coordinates of the reference location Q in the first coordinate system APB with the location point P as the origin.
  • the horizontal axis of the first coordinate system APB may be the width direction of the vehicle
  • the vertical axis may be the longitudinal direction of the vehicle.
  • W1, L1 can be expressed as the distance from the reference position Q to the reference position P in the width direction of the vehicle
  • L1 can be expressed as the distance from the reference position Q to the reference position P in the longitudinal direction of the vehicle.
  • the relative coordinates between a certain reference position Q on the battery and a certain reference position Q of the vehicle can be used to determine the corresponding position of each battery. first position.
  • the first position may be calculated by the processing module according to the model information of the vehicle and sent to the execution subject of S210, or it may be calculated by the execution subject of S210 according to the model information of the vehicle.
  • the example does not specifically limit this.
  • battery replacement equipment can be a device or structure that can enter the bottom of the vehicle and replace the battery, for example, it can be a battery replacement robot, an automatic guided vehicle (Automated Guided Vehicle, AGV)), etc., which is not specifically limited.
  • AGV Automatic Guided Vehicle
  • For the second position it may be the relative position information of the vehicle in the battery replacement area.
  • a certain location point O in the battery replacement area may be used as a reference, and the position information of the reference position P of the vehicle relative to the location point O may be used as the second location.
  • the second position may be the coordinates of the reference position P of the vehicle in the second coordinate system with the position point O as the origin.
  • the coordinate axis of the second coordinate system may be parallel to the coordinate axis of the first coordinate axis or have a certain included angle, which is not specifically limited in this embodiment of the present application.
  • the second position may include: the coordinates of the reference position P in the second coordinate system XOY with the position point O as the origin.
  • the horizontal axis of the second coordinate system XOY may be the width direction of the vehicle
  • the vertical axis may be the length direction of the vehicle.
  • the second position can be expressed as (X1, Y1).
  • X1 can be expressed as the distance from the reference position P to the reference position O in the width direction of the vehicle
  • Y1 can be expressed as the distance from the reference position P to the reference position O in the longitudinal direction of the vehicle.
  • the second position can also be expressed in other forms.
  • the second position of the reference position P can be determined according to the conversion relationship between the first image and the actual position.
  • the second position the embodiment of the present application does not specifically limit the specific calculation method of the second position.
  • a positioning mark in order to accurately determine the reference position P from the first image, can be pasted on the reference position P on the vehicle so that the positioning can be quickly and accurately identified from the first image logo.
  • the positioning mark can be set on the vehicle lamp, the exhaust pipe or on the roof shell of the vehicle, and its specific setting position is not limited.
  • an edge algorithm in order to accurately determine the reference position P from the first image, can be used to determine the contour of the vehicle from the first image, and the angle of rotation on the contour can be determined by calculating gradients and other methods and used as the reference position p.
  • the number of reference positions P may be one or more.
  • the tilt angle of the vehicle can be determined, so that the target of the battery can be calculated according to the tilt angle of the vehicle in the subsequent process position, improving the calculation accuracy.
  • the inclination angle of the vehicle may refer to the angle between the long side of the vehicle and the long side of the battery replacement area.
  • the real physical location information of the battery can be calculated according to the real physical location information of the vehicle and the relative location of the battery on the vehicle.
  • the target position is the position coordinates of the battery in the XOY coordinate system.
  • the preset tilt angle threshold may be set according to actual scenarios and specific requirements, and is not specifically limited. For example, if the battery exchange area in the battery exchange station, such as the battery exchange parking space is narrow, the inclination angle of the vehicle parking in the battery exchange parking space will not be too large. At this time, it can be directly calculated according to the calculation method in this embodiment The target location of the battery within the swap area.
  • the target position can be calculated based on the first position, the second position and the tilt angle ⁇ , wherein the specific calculation formula can be set according to the actual situation, It is not limited here.
  • the position of the vehicle in the battery replacement area can be determined according to the first image captured by the vehicle;
  • the relative position on the vehicle and the position of the vehicle within the swap area determines the location of the battery within the swap area. Therefore, the user can park the vehicle at will in the battery swap area, and can also determine the position of the battery of the vehicle in the battery swap area, and move the battery swap module to the position for battery swap, which improves the convenience of the battery swap process.
  • a signal transmitting module is provided on the vehicle corresponding to the position of the battery, and a signal sensing module is correspondingly provided on the battery replacement device.
  • FIG. 4 is a schematic flowchart of another battery replacement method provided in the embodiment of the present application.
  • the battery replacement method further includes S240 and S250.
  • the signal receiving module acquires the signal strength values of multiple third positions in the target area, wherein the signal is sent by the signal transmitting module, and the target area includes target location.
  • the signal transmitting module can transmit magnetic signals, electrical signals, optical signals and other signals whose signal strength gradually weakens with distance, and correspondingly, the signal receiving module is a device that can receive the signals emitted by the signal transmitting module.
  • the signal transmitting module may be a magnetic element, such as a magnet
  • the signal receiving module may be a magnetic induction module, such as a Hall sensor.
  • the signal transmitting module may be a wireless communication signal transmitter
  • the signal receiving module may be a wireless communication signal sensing module.
  • the wireless communication signal may be, for example, a WIFI signal, a Bluetooth signal, or the like.
  • the signal transmitting device may be a transmitter of an optical signal emitted in a straight line, such as an infrared signal or a laser signal, and correspondingly, the signal receiving module may be an optical signal sensing device.
  • the optical signal emitted by the signal emitting device can be vertically downward, and when the power exchange equipment carrying the signal sensing module moves to the right below the signal emitting device, the optical signal will be collected.
  • a target location it refers to an area including the target location.
  • the target area may be an area centered on the target location, wherein the size and/or shape of the area may be preset. It should be noted that the target area may also be an area not centered on the target position, and its specific setting method is not limited.
  • the calculated target positions may have a certain accuracy error, such as ( ⁇ a cm).
  • a cm can be used as the radius
  • the target position determined by S230 can be used as the center to determine a target area, and then control the battery exchange equipment to move within the target area to achieve multiple third-party locations in the target area. Collect signal strength values at locations.
  • the radius of the target area can be greater than a cm.
  • the radius of the target area may be smaller than a cm.
  • the embodiment of the present application does not specifically limit the radius and shape of the target area.
  • the position error of the battery can be reduced through S240 and S250, for example, it can be reduced to the range of (-5mm, +5mm), which improves the positioning accuracy.
  • the installation position of the battery on the vehicle is fixed, and the position of the battery on different vehicles may be different, for example, the battery of some models of vehicles is installed on the head of the vehicle, and the battery of some models The vehicle's battery is mounted in the middle of the vehicle.
  • the first position may be determined by the processing module from the pre-stored correspondence based on the vehicle model information, wherein the correspondence is the correspondence between the vehicle model information and the relative position of the battery on the vehicle.
  • the model information of the vehicle may be an identifier that can uniquely represent the model of the vehicle, such as identification information of the vehicle, and different vehicle models correspond to different model information.
  • the corresponding relationship may include the corresponding relationship between a plurality of model information and a plurality of related positions. Exemplarily, the corresponding relationship includes: the corresponding relationship between the relative position of the A model and the battery on the A model, the relative position of the B model and the battery on the B model location correspondence.
  • the processing module may be a server of a power station or a cloud server, which is not limited.
  • the processing module and the control module may be different functional modules or units in the same device.
  • the processing module and the control module may be different devices, for example, one of the processing module and the control module is a power station server, and the other of the processing module and the control module is a cloud server, which is not specifically limited .
  • the relative position of the battery on the vehicle can be accurately obtained through the corresponding relationship with the storage, thereby improving the calculation accuracy.
  • the model information of the vehicle is determined according to the license plate information of the vehicle obtained by photographing and the preset license plate information and vehicle model information.
  • the corresponding relationship between the license plate information and the vehicle may be pre-stored in the server of the battery swap station or the cloud server, which is not specifically limited.
  • the model information of the vehicle is obtained according to scheduled battery replacement information sent by the terminal device, wherein the scheduled battery replacement information is used to request battery replacement for the vehicle.
  • the preset battery exchange information may include model information of the vehicle, or include identification information of the vehicle, and the processing module may determine the model information of the vehicle according to the identification information of the vehicle.
  • the model information of the vehicle may be determined according to the first image.
  • the steps of determining signal information according to the first image and further determining the first position may include step A1 and step A2.
  • Step A1 based on the first image, determine the model information of the vehicle.
  • the model information of the vehicle may be determined according to the matching of the vehicle area in the first image with preset templates of various models. For example, if the vehicle area in the first image matches the vehicle type A. Then the model information of the vehicle indicates that the vehicle is a model A.
  • the first image may be input into a pre-trained vehicle model recognition model to determine the model information of the vehicle in the first image.
  • the embodiment of the present application does not limit the specific manner of determining the model information of the vehicle.
  • Step A2 sending the model information to the processing module, so that the processing module can determine the first position based on the corresponding relationship between the model information and the preset relative position of the battery on the vehicle model.
  • the model information of the vehicle can be determined according to the first image, and then the first position can be determined, so that the first position can be calculated using the first image, and the following second position can be calculated only by setting the shooting device of the first image , saving equipment cost.
  • model information and the first position of the vehicle may also be determined according to other images taken of the vehicle, and the specific implementation manner thereof is similar to that described above, and will not be repeated here.
  • safety during the battery replacement process may also be ensured through multiple first images.
  • FIG. 5 is a schematic flowchart of another battery swapping method provided in the embodiment of the present application.
  • S220 may be specifically implemented as S221, and after S230, the battery replacement method 200 may further include S260.
  • the preset threshold may be set according to actual scenarios and specific requirements, which is not specifically limited.
  • the distance between every two second positions may be the Euclidean distance between the two positions.
  • the distance between the two second positions can be expressed as the following formula (1):
  • S270 can be executed before S220, or S220 and S270 can be executed synchronously, or S270 can be executed after S220.
  • the execution order of the steps is not limited.
  • the user can be notified to brake in time, or control the battery replacement process to suspend, or move the blocking device to the rear of the vehicle to prevent the vehicle from continuing to slip.
  • Fig. 6 is a schematic flow chart of another battery replacement method provided in the embodiments of the present application.
  • the difference between FIG. 6 and FIG. 2 is that, after obtaining S210, the battery replacement method 200 further includes S270.
  • the target biological object may be a human, an animal, or the like.
  • the identification method of the target biological object may be template matching, model identification, etc., which is not specifically limited.
  • a difference operation is performed on the images. For an area where the operation result is 0, it means that the target in this area is a stationary target; for an area where the operation result is 1, The area can be identified as a target biological object.
  • S270 can be executed before S220, or S220 and S270 can be executed synchronously, or S270 can be executed after S220.
  • the execution order of the steps is not limited.
  • the power changing process may be suspended until the target organism is not included in the first image.
  • the broadcasting equipment in the power exchange station can be used to notify the target organism to move to a safe area.
  • the embodiment of the present application provides not only a battery replacement method, but also a corresponding battery replacement module.
  • Fig. 7 is a schematic structural diagram of a battery exchange module provided by an embodiment of the present application. As shown in FIG. 7, the power exchange module 700 includes:
  • An image acquisition unit 710 configured to acquire a first image captured for the vehicle in the battery replacement area, and acquire a first position of the battery on the vehicle;
  • the first position determination unit 720 is used to determine the second position of the vehicle in the battery replacement area according to the first image
  • the second position determination unit 730 is configured to determine the target position of the battery in the battery replacement area according to the first position and the second position, so as to control the battery replacement device to move to the target position for battery replacement.
  • a signal transmitting module is provided on the vehicle at a position corresponding to the battery, and a signal receiving module is provided on the battery swapping device.
  • the power exchange module 700 also includes:
  • the signal acquisition unit is configured to acquire the signal intensity values of multiple third positions in the target area through the signal receiving module during the movement of the power exchange device in the target area, wherein the signals are transmitted by the signal transmitting module issued, the target area includes the target location;
  • the position updating module is configured to update the third position corresponding to the maximum value among the signal strength values of the plurality of third positions as a new target position.
  • the first position is determined and sent by the processing module from a pre-stored correspondence based on the model information of the vehicle, and the correspondence is the relative position of the preset vehicle model and the battery on the vehicle of the model corresponding relationship.
  • the power exchange module 700 also includes:
  • an information determining unit configured to determine the model information of the vehicle based on the first image
  • the information sending unit is used to send the model information to the processing module, so that the processing module can determine the first position based on the corresponding relationship between the model information and the preset relative position of the battery on the model vehicle.
  • the number of first images is multiple;
  • the first position determining unit 720 is used for:
  • the power exchange module 700 also includes:
  • the vehicle rolling detection unit is configured to determine that the vehicle rolls when the difference between at least two second positions among the plurality of second positions is greater than a preset threshold.
  • the power exchange module 700 also includes:
  • the fault determination unit is configured to determine that the battery replacement process for the vehicle is abnormal if the target biological object is included in the first image.
  • the battery replacement module of the embodiment of the present application for a vehicle randomly parked in the battery replacement area, can determine the position of the vehicle in the battery replacement area according to the first image captured by the vehicle; then according to the relative position of the battery on the vehicle And the position of the vehicle in the battery replacement area determines the position of the battery in the battery replacement area. Therefore, the user can park the vehicle at will in the battery swap area, and can also determine the position of the battery of the vehicle in the battery swap area, and move the battery swap module to the position for battery swap, which improves the convenience of the battery swap process.
  • Fig. 8 shows a schematic diagram of a hardware structure of a power exchange device provided by an embodiment of the present invention.
  • the power exchange device may include a processor 801 and a memory 802 storing computer program instructions.
  • the above-mentioned processor 801 may include a central processing unit (Central Processing Unit, CPU), or a specific integrated circuit (Application Specific Integrated Circuit, ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present invention .
  • CPU Central Processing Unit
  • ASIC Application Specific Integrated Circuit
  • Memory 802 may include mass storage for data or instructions.
  • memory 802 may include a hard disk drive (Hard Disk Drive, HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a Universal Serial Bus (Universal Serial Bus, USB) drive or two or more Combinations of multiple of the above.
  • memory 802 may include removable or non-removable (or fixed) media, or memory 802 may be a non-volatile solid-state memory.
  • the memory 802 may be internal or external to the battery swapping device.
  • the memory 802 may be a read-only memory (Read Only Memory, ROM).
  • ROM Read Only Memory
  • the ROM can be mask programmed ROM, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), electrically rewritable ROM (EAROM), or flash memory or both. A combination of one or more of the above.
  • Memory 802 may include read only memory (ROM), random access memory (RAM), magnetic disk storage media devices, optical storage media devices, flash memory devices, electrical, optical, or other physical/tangible memory storage devices.
  • ROM read only memory
  • RAM random access memory
  • magnetic disk storage media devices magnetic disk storage media devices
  • optical storage media devices flash memory devices
  • electrical, optical, or other physical/tangible memory storage devices include one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software comprising computer-executable instructions, and when the software is executed (e.g., by one or multiple processors) operable to perform the operations described with reference to the method according to an aspect of the present disclosure.
  • the processor 801 reads and executes the computer program instructions stored in the memory 802 to implement the methods/steps in the embodiment shown in Figures 2-6, and achieve the method/steps achieved by the example shown in Figure- Figure 6 Corresponding technical effects are not described here for brevity.
  • the power exchange device may further include a communication interface 803 and a bus 810 .
  • a processor 801 a memory 802 , and a communication interface 803 are connected through a bus 810 to complete mutual communication.
  • the communication interface 803 is mainly used to implement communication between various modules, devices, units and/or devices in the embodiments of the present invention.
  • the bus 810 includes hardware, software or both, and couples the components of the online data traffic charging device to each other.
  • a bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Super Transmission (Hyper Transport, HT) interconnect, Industry Standard Architecture (Industry Standard Architecture, ISA) bus, InfiniBand interconnect, Low Pin Count (LPC) bus, memory bus, Micro Channel Architecture (MCA) bus, peripheral component interconnect PCI bus, PCI-Express (PCI-X) bus, Serial Advanced Technology Attachment (SATA) bus, Video Electronics Standards Association Local (VLB) bus, or other suitable bus or a combination of two or more of these combination.
  • Bus 810 may comprise one or more buses, where appropriate. Although embodiments of the invention describe and illustrate a particular bus, the invention contemplates any suitable bus or interconnect.
  • the battery swapping device can execute the battery swapping method in the embodiment of the present invention, so as to implement the battery swapping method and modules described in conjunction with FIG. 2 to FIG. 7 .
  • embodiments of the present invention may provide a computer storage medium for implementation.
  • Computer program instructions are stored on the computer storage medium; when the computer program instructions are executed by a processor, any one of the battery swapping methods in the foregoing embodiments is implemented.
  • the functional blocks shown in the structural block diagrams described above may be implemented as hardware, software, firmware, or a combination thereof.
  • hardware When implemented in hardware, it may be, for example, an electronic circuit, an Application Specific Integrated Circuit (ASIC), appropriate firmware, a plug-in, a function card, and the like.
  • ASIC Application Specific Integrated Circuit
  • the elements of the invention are the programs or code segments employed to perform the required tasks. Programs or code segments can be stored in machine-readable media, or transmitted over transmission media or communication links by data signals carried in carrier waves. "Machine-readable medium” may include any medium that can store or transmit information.
  • machine-readable media examples include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, Radio Frequency (RF) links, etc. wait.
  • Code segments may be downloaded via a computer network such as the Internet, an Intranet, or the like.
  • the exemplary embodiments mentioned in the present invention describe some methods or systems based on a series of steps or devices.
  • the present invention is not limited to the order of the above steps, that is, the steps may be performed in the order mentioned in the embodiment, or may be different from the order in the embodiment, or several steps may be performed simultaneously.
  • processors may be, but are not limited to, general purpose processors, special purpose processors, application specific processors, or field programmable logic circuits. It can also be understood that each block in the block diagrams and/or flowcharts and combinations of blocks in the block diagrams and/or flowcharts can also be realized by dedicated hardware for performing specified functions or actions, or can be implemented by dedicated hardware and Combination of computer instructions to achieve.

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Abstract

一种换电方法、模块、设备及介质。换电方法包括：S210、获取针对换电区域内的车辆拍摄得到的第一图像，以及获取电池在车辆上的第一位置；S220、根据第一图像，确定车辆在换电区域内的第二位置；S230、根据第一位置和第二位置，确定电池在换电区域内的目标位置，以控制换电设备移动至目标位置进行换电。用户在换电区域内随意停放车辆即可完成换电，提高了换电过程的便捷性。

Description

换电方法、模块、设备及介质 技术领域
本申请属于换电技术领域，尤其涉及换电方法、模块、设备及介质。
背景技术
随着电动车辆的发展，车辆的换电技术成为了电池技术的发展方式之一。在换电技术中，如何确定电池的位置是亟待解决的问题。
现有技术中，往往通过换电站内的某个固定位置处的车辆限位卡槽，将车辆停止在固定位置。然后控制换电设备行驶到该固定位置内的某个固定位置点执行更换电池的相关作业。
然后，这种技术中需要用户将车辆停止到准确位置处进行换电，整个换电过程较为繁琐。
发明内容
本申请实施例提供一种换电方法、模块、设备及介质，用户在换电区域内随意停放车辆即可完成换电，提高了换电过程的便捷性。
第一方面，本申请实施例提供一种换电方法，应用于控制模块，该方法包括：
获取针对换电区域内的车辆拍摄得到的第一图像，以及获取电池在车辆上的第一位置；
根据第一图像，确定车辆在换电区域内的第二位置；
根据第一位置和第二位置，确定电池在换电区域内的目标位置，以控制换电设备移动至目标位置进行换电。
本申请实施例的换电方法，对于随意停放在换电区域内的车辆，可以根据该车辆拍摄得到的第一图像确定车辆在换电区域内的位置；然后根 据电池在该车辆上的相对位置以及车辆在换电区域内的位置确定电池在换电区域内的位置。从而，用户在换电区域内随意停放车辆，也可以确定车辆的电池在换电区域内的位置，并换电模块移动至该位置处进行换电，提高了换电过程的便捷性。
在一种可选的实施方式中，车辆上对应于电池的位置处设置有信号发射模块，换电设备上设置有信号接收模块；方法还包括：
在换电设备在目标区域内移动的过程中，通过信号接收模块获取目标区域内的多个第三位置的信号的强度值；信号由信号发射模块发出的，目标区域包括目标位置；
将多个第三位置的信号的强度值中最大值对应的第三位置，更新为新的目标位置。
通过本实施例，可以降低电池的位置误差提高了定位精度。
在一种可选的实施方式中，第一位置是处理模块基于车辆的型号信息从预存储的对应关系中确定并发送至控制模块的，对应关系为车辆的型号信息与电池在车辆上相对位置的对应关系。
通过本实施例，可以通过与存储的对应关系中，准确获取电池在车辆上的相对位置，提高了计算准确度。
在一种可选的实施方式中，获取针对换电区域内的车辆拍摄得到的第一图像之后，获取第一位置之前，方法还包括：
基于第一图像，确定车辆的型号信息；
将型号信息发送至处理模块，以供处理模块基于对应关系，确定第一位置。
通过本实施例，可以根据第一图像确定车辆的型号信息，进而确定第一位置，从而可以仅设置第一图像的采集装置即可准确的计算出第一位置，以及下述第二位置，节省了设备成本。
在一种可选的实施方式中，第一图像的数量为多张；
根据第一图像，确定车辆在换电区域内的第二位置，包括：
确定与多张第一图像一一对应的多个第二位置；
根据第一图像，确定车辆在换电区域内的第二位置之后，方法还包 括：
在多个第二位置中至少两个第二位置的距离大于预设阈值，确定车辆发生溜车。
通过本实施例，可以在换电过程中对车辆是否发生溜车进行监控，当车辆溜车时可以及时告警，提高了换电安全性。
在一种可选的实施方式中，获取针对换电区域内的车辆拍摄得到的第一图像之后，方法还包括：
在第一图像中包括目标生物对象的情况下，确定针对车辆的换电过程异常。
通过本实施例，由于为了保证换电安全性，需要禁止用户生物下车，因此当在第一图像中识别到目标生物对象时，即表示有用户或者动物等生命体干扰到了换电流程，确定换电过程异常，可以确保换电过程的安全性。
第二方面，本申请实施例提供了一种换电模块，包括：
图像获取单元，用于获取针对换电区域内的车辆拍摄得到的第一图像，以及获取电池在车辆上的第一位置；
第一位置确定单元，用于根据第一图像，确定车辆在换电区域内的第二位置；
第二位置确定单元，用于根据第一位置和第二位置，确定电池在换电区域内的目标位置；
换电控制单元，用于控制换电设备移动至目标位置进行换电。
本申请实施例的换电模块，对于随意停放在换电区域内的车辆，可以根据该车辆拍摄得到的第一图像确定车辆在换电区域内的位置；然后根据电池在该车辆上的相对位置以及车辆在换电区域内的位置确定电池在换电区域内的位置。从而，用户在换电区域内随意停放车辆，也可以确定车辆的电池在换电区域内的位置，并换电模块移动至该位置处进行换电，提高了换电过程的便捷性。
在一种可选的实施方式中，车辆上对应于电池的位置处设置有信号发射模块，换电设备上设置有信号接收模块，控制模块还包括：
信号采集单元，用于在换电设备在目标区域内移动的过程中，通过信号接收模块获取包括目标位置的目标区域内的多个第三位置的信号的强度值；信号由信号发射模块发出的，目标区域包括目标位置；
位置更新单元，用于将多个第三位置的信号的强度值中最大值对应的第三位置，更新为新的目标位置。
在一种可选的实施方式中，第一位置是处理模块基于车辆的型号信息从预存储的对应关系中确定并发送至控制模块的，对应关系为车辆的型号信息与电池在车辆上相对位置的对应关系。
在一种可选的实施方式中，模块还包括：
信息确定单元，用于基于第一图像，确定车辆的型号信息；
信息发送单元，用于将型号信息发送至处理模块，以供处理模块基于对应关系，确定第一位置。
在一种可选的实施方式中，第一图像的数量为多张；
第一位置确定单元，用于：
确定与多张第一图像一一对应的多个第二位置；
模块还包括：
溜车检测单元，用于在多个第二位置中至少两个第二位置的距离大于预设阈值，确定车辆发生溜车。
在一种可选的实施方式中，模块还包括：
故障确定单元，用于在第一图像中包括目标生物对象的情况下，确定针对车辆的换电过程异常。
第三方面，提供一种换电设备，包括：
处理器以及存储有计算机程序指令的存储器；
处理器读取并执行计算机程序指令，以实现第一方面或第一方面的任一可选的实施方式提供的换电方法。
本申请实施例的换电设备，对于随意停放在换电区域内的车辆，可以根据该车辆拍摄得到的第一图像确定车辆在换电区域内的位置；然后根据电池在该车辆上的相对位置以及车辆在换电区域内的位置确定电池在换电区域内的位置。从而，用户在换电区域内随意停放车辆，也可以确定车 辆的电池在换电区域内的位置，并换电模块移动至该位置处进行换电，提高了换电过程的便捷性。
第四方面，提供一种计算机存储介质，计算机存储介质上存储有计算机程序指令，计算机程序指令被处理器执行时实现第一方面或第一方面的任一可选的实施方式提供的换电方法。
本申请实施例的计算机存储介质，对于随意停放在换电区域内的车辆，可以根据该车辆拍摄得到的第一图像确定车辆在换电区域内的位置；然后根据电池在该车辆上的相对位置以及车辆在换电区域内的位置确定电池在换电区域内的位置。从而，用户在换电区域内随意停放车辆，也可以确定车辆的电池在换电区域内的位置，并换电模块移动至该位置处进行换电，提高了换电过程的便捷性。
附图说明
为了更清楚地说明本申请实施例的技术方案，下面将对本申请实施例中所需要使用的附图作简单地介绍，显而易见地，下面所描述的附图仅仅是本申请的一些实施例，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，还可以根据附图获得其他的附图。
图1是本申请实施例提供的一种示例性的换电场景的场景示意图；
图2是本申请实施例提供的一种换电方法的流程示意图；
图3是本申请实施例提供的一种示例性的计算目标位置的示意图；
图4是本申请实施例提供的另一种换电方法的流程示意图；
图5是本申请实施例提供的又一种换电方法的流程示意图；
图6是本申请实施例提供的再一种换电方法的流程示意图；
图7是本申请实施例提供的一种换电模块的结构示意图；
图8示出了本发明实施例提供的换电设备的硬件结构示意图。
具体实施方式
下面将详细描述本申请的各个方面的特征和示例性实施例，为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及具体实施 例，对本申请进行进一步详细描述。应理解，此处所描述的具体实施例仅意在解释本申请，而不是限定本申请。对于本领域技术人员来说，本申请可以在不需要这些具体细节中的一些细节的情况下实施。下面对实施例的描述仅仅是为了通过示出本申请的示例来提供对本申请更好的理解。
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。
随着新能源技术的快速发展，为新能源服务的各项技术也得到了极大的提高。基于充电困难、充电速率慢、电池续航能力有限等方面考虑，针对新能源汽车的换电技术应运而生。
换电技术采用“车电分离”的方式，可以通过换电站为车辆提供电池更换服务。在现有的换电技术中，往往通过换电站内的某个固定位置处的车辆限位卡槽，将车辆停止在固定位置。然后控制换电设备行驶到该固定位置内的某个固定位置点执行更换电池的相关作业。比如，可以在换电站内设置前移动板和后移动板，当需要对车辆换电时，控制前移动板和后移动板移动到适用于该车辆的停车的位置，等待车辆驶上。
然而，这种技术中需要用户将车辆停止到准确位置处进行换电，花费较多时间和精力停车，使得整个换电过程较为繁琐。
因此需要一种能够提高换电过程的便捷性的技术方案。
基于此，本申请实施例提供了换电方法、装置、设备和介质，可以应用到对车辆换电的应用场景中。与上述相关技术相比，用户在换电区域内随意停放车辆即可完成换电，提高了换电过程的便捷性。
为了更好的理解本申请，在介绍本申请实施例提供的换电方案之 前，本申请实施例先依次对本申请涉及的车辆、电池、换电站等概念作具体解释说明。
车辆，本申请实施例的车辆可以与电池可拆卸连接。在一些实施例中，车辆可以是小汽车、货车等以电池为动力源的车辆。在本申请实施例中的车辆可以安装一个或多个电池。
电池，本申请实施例中的电池可以为锂离子电池、锂金属电池、铅酸电池、镍隔电池、镍氢电池、锂硫电池、锂空气电池或者钠离子电池等，在此不作限定。从规模而言，电池可以为电池单体，也可以是电池模组或电池包，在此不作限定。从应用而言，电池可以应用于电动汽车内，为电动汽车的电机供电，作为电动汽车的动力源。电池还可为电动汽车中的其他用电器件供电，比如为车内空调、车载播放器等供电。
换电站，在本申请实施例中，换电站可以指为车辆提供换电服务的场所。比如，可以是固定的场所，或者是诸如移动换车车辆等移动场所，本申请实施例对此不作限定。
在介绍完上述概念之后，为了便于理解，在对本申请实施例提供的动力电池的充电方案进行具体说明之前，本申请实施例的下述部分将先对一种示例性地换电场景展开具体说明。
图1是本申请实施例提供的一种示例性的换电场景的场景示意图。如图1所示，换电站20可以包括换电柜21。其中，换电柜21可以包括多个充电仓22。
当安装有电池P1的车辆驶入换电站20的换电区域之后，换电站20通过换电模块将电池P1从车辆10的底部取下，并从充电仓22中取出电池P2，然后将电池P2安装到车辆10上之后，安装有电池P2的车辆10可以驶离换电站20。
另外，对于取下的电池P1，可以将其放入空闲的充电仓22内进行充电，以便于换电站20继续为其他车辆提供换电服务。
在介绍完换电场景之后，接下来，为了更好的理解本申请，下面将结合附图，详细描述根据本申请实施例的换电方法、装置、设备和介质，应注意，这些实施例并不用来限制本申请公开的范围。
图2是本申请实施例提供的一种换电方法的流程示意图。如图2所示，换电方法包括S210至S230。其中，换电方法中各步骤的执行主体可以是具有计算以及数据处理能力的控制模块，比如，可以是云端服务器或者是换电站的服务器上的控制模块，对此不作具体限定。
S210，获取针对换电区域内的车辆拍摄得到的第一图像，以及获取电池在车辆上的第一位置。
S220，根据第一图像，确定车辆在换电区域内的第二位置。
S230，根据第一位置和第二位置，确定电池在换电区域内的目标位置，以控制换电设备移动至目标位置进行换电。
在初步介绍了换电方法200的具体步骤S210至S230之后，接下来对S210至S230涉及的技术术语展开具体说明。
对于换电区域。换电区域可以为供车辆进行换电的区域。也就是说，当车辆停于该区域之后，可以对车辆进行换电。具体地，换电区域可以是能够容纳一个车辆、具有一定长度和宽度的区域。也就是说，换电区域的宽度大于车辆的宽度，以及换电区域的长度大于车辆的长度。
对于第一图像。为了保证计算的准确度，第一图像内可以包括整个换电区域的影像或者部分换电区域的影像。其中，当车辆驶入换电区域之后，第一图像还可以包括车辆的至少部分影像。
在一些实施例中，第一图像可以是通过电荷耦合元件(Charge coupled Device，CCD)或者其他具有拍照功能或者摄像功能的照相机或者摄像头采集得到的。在设置位置上，第一图像的拍摄装置可以设置于换电区域上方或者斜上方的固定支架上，或者设置于换电区域的内墙体上。需要说明的是，第一图像的拍摄装置还可以设置于其他能够拍摄得到整个换电区域的位置上，本申请实施例对其设置位置不作具体限定。
对于第一位置。其可以指电池在车辆上的相对位置。在一些实施例中，图3是本申请实施例提供的一种示例性的计算目标位置的示意图。如图3所示，第一位置可以是电池的一个或多个基准位置Q相对于车辆上的一个基准位置P的位置信息。其中，电池的基准位置Q可以是电池的中点，或者电池的某个边角等，对此不作具体限定。车辆上的基准位置P可 以是车辆的中心或者边角等，对此不作具体限定。
示例性地，继续参见图3，第一位置的位置信息可以包括：基准位置Q在以位置点P为原点的第一坐标系APB中的坐标。其中，第一坐标系APB的横轴可以是车辆的宽度方向，纵轴可以是车辆的长度方向。相应地，若第一位置可以表示为(W1，L1)。其中，W1可以表示为基准位置Q在车辆的宽度方向上距离基准位置P的距离，以及L1可以表示为基准位置Q在车辆的长度方向上距离基准位置P的距离。
在一些实施例中，若车辆上安装有多个电池，则可以需要获取每一电池在车辆上的第一位置。在另一个实施例中，若多个电池的长度和宽度是已知的，则可以根据电池上的某一基准位置Q与车辆的某一基准位置Q之间的相对坐标，确定各电池对应的第一位置。
在一些实施例中，第一位置可以是处理模块根据车辆的型号信息计算得到、并发送至S210的执行主体，又或者，可以是S210的执行主体根据车辆的型号信息计算得到的，本申请实施例对此不作具体限定。
其次，对于换电设备，其可以是能够进入车辆底部、更换电池的设备或者结构，比如可以是换电机器人、自动导航小车(Automated Guided Vehicle，AGV))等，对此不作具体限定。
对于第二位置，其可以是车辆在换电区域内的相对位置信息。
在一些实施例中，可以以换电区域的某一位置点O为基准，将车辆的基准位置P相对于位置点O的位置信息作为第二位置。比如，第二位置可以是车辆的基准位置P在以位置点O为原点的第二坐标系中的坐标。其中，第二坐标系的坐标轴可以与第一坐标轴的坐标轴平行或者存在一定的夹角，本申请实施例对此不作具体限定。
示例性地，继续参见图3，第二位置可以包括：基准位置P在以位置点O为原点的第二坐标系XOY中的坐标。其中，第二坐标系XOY的横轴可以是车辆的宽度方向，纵轴可以是是车辆的长度方向。相应地，若第二位置可以表示为(X1，Y1)。其中，X1可以表示为基准位置P在车辆的宽度方向上距离基准位置O的距离，以及Y1可以表示为基准位置P在车辆的长度方向上距离基准位置O的距离。
需要说明的是，第二位置还可以以其他形式表示，比如在第一图像上确定基准位置P的坐标之后，即可根据第一图像与实际位置之间的换算关系，确定基准位置P的第二位置，本申请实施例对第二位置的具体计算方式不作具体限定。
在一个实施例中，为了能够从第一图像中准确的确定基准位置P，可以在车辆上的基准位置P处贴设定位标识，以便于从第一图像中快速、准确地识别出该定位标识。其中，该定位标识可以设置于车灯、尾气管或者是在车辆顶部外壳上，对其具体设置位置不作限定。
在另一个实施例中，为了能够从第一图像中准确的确定基准位置P，则可以利用边缘算法从第一图像中确定车辆的轮廓，通过计算梯度等方式确定轮廓上的转角并作为基准位置P。
在一些实施例中，基准位置P的数量可以是一个或者多个。
由于在实际停车换电过程中，用户可能会将车辆停歪，当基准位置P的数量为多个时，可以确定车辆的倾斜角度，从而后续过程中可以根据车辆的倾斜角度来计算电池的目标位置，提高了计算准确度。其中，车辆的倾斜角度可以是指车辆的长边与换电区域的长边之间的夹角。
对于S230，可以根据车辆真实的物理位置信息以及电池在车辆上的相对位置，计算得到电池的真实物理位置信息。示例性地，继续参见图3，目标位置即电池在XOY坐标系中的位置坐标。
对于目标位置的计算方式。
在一些实施例中，在车辆倾斜程度较小，比如车辆的倾斜角度小于预设倾斜角度阈值或者因换电区域的设置可以忽略车辆倾斜程度的情况下，若第一位置为(W1，L1)，第二位置为(X1，Y1)，则电池在换电区域内的目标位置为(W1+X1，L1+Y1)。其中，预设倾斜角度阈值可以根据实际场景和具体需求设置，对此不作具体限定。示例性地，若换电站内的换电区域，比如换电停车位较窄，车辆停入换电停车位的倾斜角度不会太大，此时，可以直接按照该实施例中的计算方法计算电池在换电区域内的目标位置。
在一些实施例中，若根据多个第二位置计算得到车辆的倾斜角度 α，则可以根据第一位置、第二位置以及倾斜角度α计算得到目标位置，其中具体计算公式可以根据实际情况设置，在此不作限定。
通过步骤S210至步骤S230示出的换电方法200，对于随意停放在换电区域内的车辆，可以根据该车辆拍摄得到的第一图像确定车辆在换电区域内的位置；然后根据电池在该车辆上的相对位置以及车辆在换电区域内的位置确定电池在换电区域内的位置。从而，用户在换电区域内随意停放车辆，也可以确定车辆的电池在换电区域内的位置，并换电模块移动至该位置处进行换电，提高了换电过程的便捷性。
根据本申请的一些实施例，可选地，为了进一步提高目标位置的计算精度，车辆上对应于电池的位置处设置有信号发射模块，换电设备上对应设置有信号感应模块。
相应地，图4是本申请实施例提供的另一种换电方法的流程示意图。图4与图2的不同之处在于，换电方法还包括S240和S250。
S240，在换电设备在目标区域内移动的过程中，通过信号接收模块获取目标区域内的多个第三位置的信号的强度值，其中，该信号是由信号发射模块发出的，目标区域包括目标位置。
S250，将多个第三位置的信号的强度值中最大值对应的第三位置，更新为新的目标位置。
，对于信号发射模块，其可以发射出磁信号、电信号、光信号等随着距离信号强度逐渐减弱的信号，相应地，信号接收模块为可以接收信号发射模块发射出的信号的设备。在一个示例中，信号发射模块可以为磁性元件，比如磁铁等，信号接收模块为磁感应模块，比如霍尔传感器。在另一个示例中，信号发射模块可以为无线通信信号发射器，信号接收模块为无线通信信号感应模块。其中，无线通信信号可以是比如WIFI信号、蓝牙信号等。在又一个示例中，信号发射装置可以是诸如红外信号或者激光信号等直线出射的光信号的发射器，相应地，信号接收模块可以为光信号感应装置。其中，信号发射装置发射出的光信号可以垂直向下，当载有信号感应模块的换电设备移动至信号发射装置的正下方时，会采集到光信号。
对于目标位置，其是指包括目标位置的区域。在一些实施例中，目标区域可以是以目标位置为中心的区域，其中区域的大小和/或形状可以是预设的。需要说明的是，目标区域还可以是不以目标位置为中心的区域，对其具体设置方式不作限定。
在一些实施例中，由于S210至S230是通过图像识别算法计算得到的目标位置，计算得到的目标位置会有一定的精度误差，比如(±a cm)。为了兼顾计算精度以及计算效率，可以以a cm为半径，以S230确定的目标位置为圆心，确定一个目标区域，然后控制换电设备在目标区域内移动，以在目标区域内的多个第三位置处采集信号强度值。
需要说明的是，为了提高计算精度，目标区域的半径可以大于a cm。又或者为了提高计算效率，目标区域的半径可以小于a cm，本申请实施例对目标区域的半径、形状等不作具体限定。
通过S240和S250可以降低电池的位置误差，比如可以降低到(-5mm，+5mm)范围内，提高了定位精度。
根据本申请的一些实施例，可选地，由于车辆上电池的安装位置是固定的，且不同车辆上的电池位置可能不同，比如部分型号的车辆的电池安装在车辆的头部，部分型号的车辆的电池安装在车辆的中间位置。
因此，为了提高计算精度，第一位置可以是处理模块基于车辆的型号信息从预存储的对应关系中确定的，其中，对应关系为车辆的型号信息与电池在车辆上相对位置的对应关系。其中，车辆的型号信息可以是车辆的标识信息等能够唯一表示车辆型号的标识，不同车辆型号对应着不同的型号信息。对应关系可以包括多个型号信息与多个相关位置之间的对应关系，示例性地，对应关系包括：A车型与电池在A车型上相对位置的对应关系、B车型与电池在B车型上相对位置的对应关系。
其中，处理模块可以是换电站的服务器或者云端服务器，对此不作限定。在一个示例中，若处理模块和控制模块属于同一设备，比如均属于云端服务器，则处理模块和控制模块可以是同一设备内的不同功能模块或者单元。在另一个示例中，处理模块和控制模块可以是不同的设备，比如处理模块和控制模块中的一者为换电站服务器，处理模块和控制模块的 另一者为云端服务器，对此不作具体限定。
通过本实施例，可以通过与存储的对应关系中，准确获取电池在车辆上的相对位置，提高了计算准确度。
根据本申请的一些实施例，可选地，针对在介绍第一位置的过程中提到的车辆的型号信息。在一个示例中，车辆的型号信息是根据拍摄得到的车辆的车牌信息以及预设的车牌信息与车辆型号信息确定的。其中，车牌信息与车辆的对应关系可以预存于换电站服务器或者云端服务器，对此不作具体限定。在另一个示例中，车辆的型号信息是根据终端设备发送的预约换电信息得到的，其中，预约换电信息用于请求为车辆更换电池。预设换电信息可以包括车辆的型号信息，或者包括车辆的标识信息，处理模块可以根据车辆的标识信息确定车辆的型号信息。
在一个实施例中，车辆的型号信息可以是根据第一图像确定的。相应地，根据第一图像确定信号信息以及进一步确定第一位置的步骤可以包括步骤A1和步骤A2。
步骤A1，基于第一图像，确定车辆的型号信息。
在一个示例中，可以根据第一图像中的车辆区域与预设的各车型的模板进行匹配，来确定车辆的型号信息。示例地，若第一图像中的车辆区域与车型A相匹配。则车辆的型号信息表征车辆为A车型。
在另一个示例中，可以将第一图像输入预先训练的车型识别模型中确定第一图像中的车辆的型号信息。
本申请实施例对车辆的型号信息的具体确定方式不作限定。
步骤A2，将型号信息发送至处理模块，以供处理模块基于型号信息和预设的电池在型号的车辆上的相对位置的对应关系，确定第一位置。
其中，步骤A2的具体内容可参见本申请上述部分的相关描述，在此不再赘述。
通过本实施例，可以根据第一图像确定车辆的型号信息，进而确定第一位置，从而可以仅设置第一图像的拍摄装置即可利用第一图像计算出第一位置，以及下述第二位置，节省了设备成本。
需要说明的是，还可以根据其他针对车辆拍摄的图像来确定车辆的型号信息以及第一位置，其具体实施方式与上述内容相似，在此不再赘述。
根据本申请的一些实施例，可选地，若通过S210获取的第一图像的数量为多张，还可以通过多张第一图像来确保换电过程中的安全性。
相应地，为了提高换电过程中的安全性，图5是本申请实施例提供的又一种换电方法的流程示意图。图5与图2的不同之处在于，S220可以具体实现为S221，以及在S230之后，换电方法200还可以包括S260。
S221，确定与多张第一图像一一对应的多个第二位置。其中，确定第二位置的方法可以参见本申请实施例上述部分的相关内容，在此不再赘述。
S260，在多个第二位置中至少两个第二位置的距离大于预设阈值，确定车辆发生溜车。
其中，预设阈值可以根据实际场景和具体需求设置，对此不作具体限定。
其中，每两个第二位置之间的距离可以为两个位置之间的欧式距离。比如，若两个第二位置分别表示为(X1，Y1)、(X2，Y2)，则两个第二位置之间的距离可以表示为下述公式(1)：
Figure PCTCN2021115793-appb-000001
需要说明的是，本申请实施例对S220以及S270之间的执行次序不作限定，可以在执行S220之前执行S270，或者同步执行S220以及S270，或者在执行S220之后执行S270，本申请实施例对两个步骤之间的执行次序不作限定。
在一个实施例中，在确定车辆溜车之后，可以通知用户及时刹车，或者控制换电过程暂停，或者将阻挡装置移动至车辆的后部来防止继续溜车。
通过本实施例，可以在换电过程中对车辆是否发生溜车进行监控，当车辆溜车时可以及时告警，提高了换电安全性。
根据本申请的一些实施例，可选地，图6是本申请实施例提供的 再一种换电方法的流程示意图。图6与图2的不同之处在于，获S210之后，换电方法200还包括S270。
S270，在第一图像中包括目标生物对象的情况下，确定针对车辆的换电过程异常。
其中，目标生物对象可以是人、动物等。在本申请实施例中，目标生物对象的识别方法可以是模板匹配、模型识别等，对此不作具体限定。又比如，可以检测得到多张图像中的移动目标，并将移动目标作为目标生物对象。示例性地，可以对多张图像分别进行二值化处理之后，对图像进行差值运算，对于运算结果为0的区域，表示该区域内的目标为静止目标，对于运算结果为1的区域，可以将该区域识别为目标生物对象。
需要说明的是，本申请实施例对S220以及S270之间的执行次序不作限定，可以在执行S220之前执行S270，或者同步执行S220以及S270，或者在执行S220之后执行S270，本申请实施例对两个步骤之间的执行次序不作限定。
在一个实施例中，在确定换电过程异常之后，可以暂停换电流程，直到第一图像中不包含目标生物体。又或者，可以利用换电站内的广播设备通知目标生物体移动至安全区域。
通过本实施例，由于为了保证换电安全性，需要禁止用户生物下车，因此当在第一图像中识别到目标生物对象时，即表示有用户或者动物等生命体干扰到了换电流程，确定换电过程异常，可以确保换电过程的安全性。
基于相同的申请构思，本申请实施例除了提供了换电方法之外，还提供了与之对应的换电模块。
下面结合附图，详细介绍根据本申请实施例换电模块。
图7是本申请实施例提供的一种换电模块的结构示意图。如图7所示，换电模块700包括：
图像获取单元710，用于获取针对换电区域内的车辆拍摄得到的第一图像，以及获取电池在车辆上的第一位置；
第一位置确定单元720，用于根据第一图像，确定车辆在换电区 域内的第二位置；
第二位置确定单元730，用于根据第一位置和第二位置，确定电池在换电区域内的目标位置，以控制换电设备移动至目标位置进行换电。
在本申请的一些实施例中，车辆上对应于电池的位置处设置有信号发射模块，换电设备上设置有信号接收模块。
换电模块700还包括：
信号采集单元，用于在所述换电设备在目标区域内移动的过程中，通过所述信号接收模块获取目标区域内的多个第三位置的信号的强度值，其中，信号由信号发射模块发出的，目标区域包括目标位置；
位置更新模块，用于将多个第三位置的信号的强度值中最大值对应的第三位置，更新为新的目标位置。
在本申请的一些实施例中，第一位置是处理模块基于车辆的型号信息从预存储的对应关系中确定并发送的，对应关系为预设的车辆型号与电池在型号的车辆上的相对位置的对应关系。
在本申请的一些实施例中，换电模块700还包括：
信息确定单元，用于基于第一图像，确定车辆的型号信息；
信息发送单元，用于将型号信息发送至处理模块，以供处理模块基于型号信息和预设的电池在型号的车辆上的相对位置的对应关系，确定第一位置。
在本申请的一些实施例中，第一图像的数量为多张；
第一位置确定单元720用于：
确定与多张第一图像一一对应的多个第二位置；
换电模块700还包括：
溜车检测单元，用于在多个第二位置中至少两个第二位置的差值大于预设阈值，确定车辆发生溜车。
在本申请的一些实施例中，换电模块700还包括：
故障确定单元，用于在第一图像中包括目标生物对象的情况下，确定针对车辆的换电过程异常。
本申请实施例的换电模块，对于随意停放在换电区域内的车辆， 可以根据该车辆拍摄得到的第一图像确定车辆在换电区域内的位置；然后根据电池在该车辆上的相对位置以及车辆在换电区域内的位置确定电池在换电区域内的位置。从而，用户在换电区域内随意停放车辆，也可以确定车辆的电池在换电区域内的位置，并换电模块移动至该位置处进行换电，提高了换电过程的便捷性。
根据本申请实施例的换电模块的其他细节，与以上结合图2至图6所示实例描述的换电方法类似，并能达到其相应的技术效果，为简洁描述，在此不再赘述。
图8示出了本发明实施例提供的换电设备的硬件结构示意图。
在换电设备可以包括处理器801以及存储有计算机程序指令的存储器802。
具体地，上述处理器801可以包括中央处理器(Central Processing Unit，CPU)，或者特定集成电路(Application Specific Integrated Circuit，ASIC)，或者可以被配置成实施本发明实施例的一个或多个集成电路。
存储器802可以包括用于数据或指令的大容量存储器。举例来说而非限制，存储器802可包括硬盘驱动器(Hard Disk Drive，HDD)、软盘驱动器、闪存、光盘、磁光盘、磁带或通用串行总线(Universal Serial Bus，USB)驱动器或者两个或更多个以上这些的组合。在一些实例中，存储器802可以包括可移除或不可移除(或固定)的介质，或者存储器802是非易失性固态存储器。在一些实施例中，存储器802可在换电设备的内部或外部。
在一些实例中，存储器802可以是只读存储器(Read Only Memory，ROM)。在一个实例中，该ROM可以是掩模编程的ROM、可编程ROM(PROM)、可擦除PROM(EPROM)、电可擦除PROM(EEPROM)、电可改写ROM(EAROM)或闪存或者两个或更多个以上这些的组合。
存储器802可以包括只读存储器(ROM)，随机存取存储器(RAM)，磁盘存储介质设备，光存储介质设备，闪存设备，电气、光学或其他物理/有形的存储器存储设备。因此，通常，存储器包括一个或多 个编码有包括计算机可执行指令的软件的有形(非暂态)计算机可读存储介质(例如，存储器设备)，并且当该软件被执行(例如，由一个或多个处理器)时，其可操作来执行参考根据本公开的一方面的方法所描述的操作。
处理器801通过读取并执行存储器802中存储的计算机程序指令，以实现图2-图6所示实施例中的方法/步骤，并达到图-图6所示实例执行其方法/步骤达到的相应技术效果，为简洁描述在此不再赘述。
在一个示例中，换电设备还可包括通信接口803和总线810。其中，如图8所示，处理器801、存储器802、通信接口803通过总线810连接并完成相互间的通信。
通信接口803，主要用于实现本发明实施例中各模块、装置、单元和/或设备之间的通信。
总线810包括硬件、软件或两者，将在线数据流量计费设备的部件彼此耦接在一起。举例来说而非限制，总线可包括加速图形端口(Accelerated Graphics Port，AGP)或其他图形总线、增强工业标准架构(Extended Industry Standard Architecture，EISA)总线、前端总线(Front Side Bus，FSB)、超传输(Hyper Transport，HT)互连、工业标准架构(Industry Standard Architecture，ISA)总线、无限带宽互连、低引脚数(LPC)总线、存储器总线、微信道架构(MCA)总线、外围组件互连(PCI)总线、PCI-Express(PCI-X)总线、串行高级技术附件(SATA)总线、视频电子标准协会局部(VLB)总线或其他合适的总线或者两个或更多个以上这些的组合。在合适的情况下，总线810可包括一个或多个总线。尽管本发明实施例描述和示出了特定的总线，但本发明考虑任何合适的总线或互连。
该换电设备可以执行本发明实施例中的换电方法，从而实现结合图2至图7描述的换电方法和模块。
另外，结合上述实施例中的换电方法，本发明实施例可提供一种计算机存储介质来实现。该计算机存储介质上存储有计算机程序指令；该计算机程序指令被处理器执行时实现上述实施例中的任意一种换电方法。
需要明确的是，本发明并不局限于上文所描述并在图中示出的特定配置和处理。为了简明起见，这里省略了对已知方法的详细描述。在上述实施例中，描述和示出了若干具体的步骤作为示例。但是，本发明的方法过程并不限于所描述和示出的具体步骤，本领域的技术人员可以在领会本发明的精神后，作出各种改变、修改和添加，或者改变步骤之间的顺序。
以上所述的结构框图中所示的功能块可以实现为硬件、软件、固件或者它们的组合。当以硬件方式实现时，其可以例如是电子电路、专用集成电路(Application Specific Integrated Circuit，ASIC)、适当的固件、插件、功能卡等等。当以软件方式实现时，本发明的元素是被用于执行所需任务的程序或者代码段。程序或者代码段可以存储在机器可读介质中，或者通过载波中携带的数据信号在传输介质或者通信链路上传送。“机器可读介质”可以包括能够存储或传输信息的任何介质。机器可读介质的例子包括电子电路、半导体存储器设备、ROM、闪存、可擦除ROM(EROM)、软盘、CD-ROM、光盘、硬盘、光纤介质、射频(Radio Frequency，RF)链路，等等。代码段可以经由诸如因特网、内联网等的计算机网络被下载。
还需要说明的是，本发明中提及的示例性实施例，基于一系列的步骤或者装置描述一些方法或系统。但是，本发明不局限于上述步骤的顺序，也就是说，可以按照实施例中提及的顺序执行步骤，也可以不同于实施例中的顺序，或者若干步骤同时执行。
上面参考根据本公开的实施例的方法、装置、设备及和计算机程序产品的流程图和/或框图描述了本公开的各方面。应当理解，流程图和/或框图中的每个方框以及流程图和/或框图中各方框的组合可以由计算机程序指令实现。这些计算机程序指令可被提供给通用计算机、专用计算机、或其它可编程数据处理装置的处理器，以产生一种机器，使得经由计算机或其它可编程数据处理装置的处理器执行的这些指令使能对流程图和/或框图的一个或多个方框中指定的功能/动作的实现。这种处理器可以是但不限于是通用处理器、专用处理器、特殊应用处理器或者现场可编程逻 辑电路。还可理解，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，也可以由执行指定的功能或动作的专用硬件来实现，或可由专用硬件和计算机指令的组合来实现。
以上所述，仅为本发明的具体实施方式，所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，上述描述的系统、模块和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。应理解，本发明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发明揭露的技术范围内，可轻易想到各种等效的修改或替换，这些修改或替换都应涵盖在本发明的保护范围之内。

Claims (14)

  1. 一种换电方法，应用于控制模块，所述方法包括：
    获取针对换电区域内的车辆拍摄得到的第一图像，以及获取电池在所述车辆上的第一位置；
    根据所述第一图像，确定所述车辆在所述换电区域内的第二位置；
    根据所述第一位置和所述第二位置，确定所述电池在所述换电区域内的目标位置，以控制换电设备移动至所述目标位置进行换电。
  2. 根据权利要求1所述的方法，其中，所述车辆上对应于所述电池的位置处设置有信号发射模块，所述换电设备上设置有信号接收模块；
    所述方法还包括：
    在所述换电设备在目标区域内移动的过程中，通过所述信号接收模块获取所述目标区域内的多个第三位置的信号的强度值；所述信号由所述信号发射模块发出的，所述目标区域包括所述目标位置；
    将所述多个第三位置的信号的强度值中最大值对应的第三位置，更新为新的所述目标位置。
  3. 根据权利要求1或2任一项所述的方法，其中，
    所述第一位置是处理模块基于所述车辆的型号信息从预存储的对应关系中确定并发送至所述控制模块的，所述对应关系为车辆的型号信息与电池在车辆上相对位置的对应关系。
  4. 根据权利要求3所述的方法，其中，
    所述方法还包括：
    基于所述第一图像，确定所述车辆的型号信息；
    将所述型号信息发送至所述处理模块，以供所述处理模块基于所述对应关系，确定所述第一位置。
  5. 根据权利要求1-4任一项所述的方法，其中，所述第一图像的数量为多张；
    所述根据所述第一图像，确定所述车辆在所述换电区域内的第二位置，包括：
    确定与多张所述第一图像一一对应的多个第二位置；
    所述根据所述第一图像，确定所述车辆在所述换电区域内的第二位置之后，所述方法还包括：
    在所述多个第二位置中至少两个第二位置之间的距离大于预设阈值，确定所述车辆发生溜车。
  6. 根据权利要求1-5任一项所述的方法，
    所述方法还包括：
    在所述第一图像中包括目标生物对象的情况下，确定针对所述车辆的换电过程异常。
  7. 一种换电模块控制模块，包括：
    图像获取单元，用于获取针对换电区域内的车辆拍摄得到的第一图像，以及获取电池在所述车辆上的第一位置；
    第一位置确定单元，用于根据所述第一图像，确定所述车辆在所述换电区域内的第二位置；
    第二位置确定单元，用于根据所述第一位置和所述第二位置，确定所述电池在所述换电区域内的目标位置；
    换电控制模块，用于控制换电设备移动至所述目标位置进行换电。
  8. 根据权利要求7所述的模块，所述车辆上对应于所述电池的位置处设置有信号发射模块，所述换电设备上设置有信号接收模块；
    所述模块还包括：
    信号采集单元，用于在所述换电设备在目标区域内移动的过程中，通 过所述信号接收模块获取所述目标区域内的多个第三位置的信号的强度值；所述信号由所述信号发射模块发出的，所述目标区域包括所述目标位置；
    位置更新单元，用于将所述多个第三位置的信号的强度值中最大值对应的第三位置，更新为新的所述目标位置。
  9. 根据权利要求7或8所述的模块，其中，
    所述第一位置是处理模块基于所述车辆的型号信息从预存储的对应关系中确定并发送至所述控制模块的，所述对应关系为车辆的型号信息与电池在车辆上相对位置的对应关系。
  10. 根据权利要求9所述的模块，其中，
    所述模块还包括：
    信息确定单元，用于基于所述第一图像，确定所述车辆的型号信息；
    信息发送单元，用于将所述型号信息发送至处理模块，以供所述处理模块基于所述对应关系，确定所述第一位置。
  11. 根据权利要求7-10任一项所述的模块，所述第一图像的数量为多张；
    所述第一位置确定单元，用于：
    确定与多张所述第一图像一一对应的多个第二位置；
    所述模块还包括：
    溜车检测单元，用于在所述多个第二位置中至少两个第二位置的距离大于预设阈值，确定所述车辆发生溜车。
  12. 根据权利要求1-11任一项所述的模块，还包括：
    故障确定单元，用于在所述第一图像中包括目标生物对象的情况下，确定针对所述车辆的换电过程异常。
  13. 一种换电设备，包括：
    处理器以及存储有计算机程序指令的存储器；
    所述处理器读取并执行所述计算机程序指令，以实现如权利要求1-6任意一项所述的换电方法。
  14. 一种计算机存储介质，所述计算机存储介质上存储有计算机程序指令，所述计算机程序指令被处理器执行时实现如权利要求1-6任意一项所述的换电方法。
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