WO2023082572A1 - 车辆换电控制方法、系统、装置及计算机可读存储介质 - Google Patents

车辆换电控制方法、系统、装置及计算机可读存储介质 Download PDF

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Publication number
WO2023082572A1
WO2023082572A1 PCT/CN2022/091974 CN2022091974W WO2023082572A1 WO 2023082572 A1 WO2023082572 A1 WO 2023082572A1 CN 2022091974 W CN2022091974 W CN 2022091974W WO 2023082572 A1 WO2023082572 A1 WO 2023082572A1
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WO
WIPO (PCT)
Prior art keywords
battery
vehicle
station
target
battery pack
Prior art date
Application number
PCT/CN2022/091974
Other languages
English (en)
French (fr)
Inventor
邱鹏
黄祖朋
邵杰
张菲
戴永强
Original Assignee
上汽通用五菱汽车股份有限公司
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.)
Filing date
Publication date
Application filed by 上汽通用五菱汽车股份有限公司 filed Critical 上汽通用五菱汽车股份有限公司
Publication of WO2023082572A1 publication Critical patent/WO2023082572A1/zh

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Classifications

    • 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
    • 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 relates to the technical field of vehicle battery swap stations, and in particular to a vehicle battery swap control method, system, device, and computer-readable storage medium.
  • the daily operation mode of the swap station put into operation in the market is that after the vehicle enters the swap station, the customer or the operator of the swap station will move the vehicle to a specific position on the swap platform, determine the position of the vehicle through laser radar or other sensors, and The electric platform adjusts its attitude, and then lifts the vehicle or determines the position and feature points of the battery pack from the space reserved under the vehicle, and then triggers the battery locking mechanism at the end of the car through the manipulator to complete the disassembly and charging of the old battery pack.
  • the installation of the new battery pack is fixed.
  • the battery exchange platform can only exchange batteries for one electric vehicle at a time, and cannot serve multiple electric vehicles at the same time.
  • the vehicle arrives at the exchange station it takes a long time to exchange batteries, which has the problem of low efficiency.
  • many links need human assistance to complete, such as the identification of the battery pack model matched with the vehicle, etc., and many information during the battery swap process needs to be verified and confirmed one by one, resulting in a long time-consuming battery swap process , work efficiency is greatly reduced, seriously affecting the user experience of electric vehicles.
  • the main purpose of the present application is to provide a vehicle battery replacement control method, system, device and computer-readable storage medium, aiming at improving the efficiency of vehicle battery replacement.
  • the present application provides a vehicle battery replacement control method, including the following steps:
  • Determining that the vehicle is detected to drive into the battery exchange area of the target exchange station Determining that the vehicle is detected to drive into the battery exchange area of the target exchange station, acquiring the vehicle identity information of the vehicle, and determining the battery model that matches the vehicle identity information;
  • Acquire battery pack information in the target swapping station and determine whether there is an available battery pack corresponding to the battery model in the target swapping station according to the battery pack information in the target swapping station, wherein the available battery pack is the battery model The corresponding battery pack, and it is a battery pack whose battery capacity meets the requirements for battery replacement;
  • the idle AGV power exchange equipment Determine the existence of the available battery pack, and control the idle AGV power exchange equipment to extract the available battery pack from the battery cabinet of the target power exchange station, wherein the idle AGV power exchange equipment is an AGV power exchange equipment in an idle state;
  • before the step of controlling the idle AGV power exchange equipment to extract the available battery pack from the battery cabinet of the target power exchange station includes:
  • the working AGV power exchange equipment In response to the fact that there is no idle AGV power exchange equipment in the target power exchange station, obtain the remaining working time information of the working AGV power changing equipment, determine the waiting time information of the vehicle based on the remaining working time information, and send the waiting time information to To the vehicle, wherein the working AGV power exchange equipment is an AGV power exchange equipment in a working state;
  • before the step of controlling the idle AGV power exchange equipment to extract the available battery pack from the battery cabinet of the target power exchange station includes:
  • Control the idle AGV power exchange equipment to identify the positioning feature points corresponding to the battery locking mechanism on the vehicle, and based on the positioning feature points, control the idle AGV power exchange equipment to move to the lower position of the battery locking mechanism;
  • the step of performing battery replacement operation on the vehicle includes:
  • Control the idle AGV power exchange equipment to identify the positioning feature points corresponding to the battery locking mechanism on the vehicle, and based on the positioning feature points, control the idle AGV power exchange equipment to move to the lower position of the battery locking mechanism;
  • the vehicle battery replacement control method further includes:
  • the target power exchange station is controlled to reserve the idle AGV power exchange equipment for the vehicle.
  • the determined target switching station receives the vehicle identity information and estimated time of arrival of the vehicle, and controls the target switching station to reserve a battery for the vehicle based on the battery model matched with the vehicle identity information.
  • the steps include:
  • the step of determining the nearest battery replacement station with the available battery pack based on the vehicle location information and the battery model includes:
  • the nearest swapping station with the available battery pack is determined.
  • the present application also provides a vehicle battery replacement control system, including:
  • the detection module is configured to detect whether the vehicle enters the battery replacement area of the target battery replacement station
  • the analysis module is configured to determine that the vehicle is detected to drive into the battery replacement area of the target battery replacement station, obtain the vehicle identity information of the vehicle, and determine the battery model that the vehicle identity information matches;
  • the analysis module is further configured to acquire battery pack information in the target swapping station, and determine whether there is an available battery pack corresponding to the battery model in the target swapping station according to the battery pack information in the target swapping station, wherein the The available battery pack is the battery pack corresponding to the battery model, and the battery pack has reached the battery replacement requirement;
  • the control module is configured to control the idle AGV power exchange equipment to extract the available battery pack from the battery cabinet of the target power exchange station when it is determined that the available battery pack exists, wherein the idle AGV power exchange equipment is idle state AGV power exchange equipment;
  • the control module is further configured to control the idle AGV battery replacement device to identify the battery replacement location corresponding to the vehicle, and carry the available battery pack to the battery replacement location, and perform battery replacement operations for the vehicle .
  • the present application also provides a vehicle battery replacement control device
  • the vehicle battery replacement control device includes a memory, a processor, and a vehicle battery replacement control program stored in the memory and operable on the processor.
  • the electric control program is executed by the processor, the steps of the above-mentioned vehicle electric replacement control method are realized.
  • the present application also provides a computer-readable storage medium, on which a vehicle battery replacement control program is stored, and when the vehicle battery replacement control program is executed by a processor, the above-mentioned vehicle battery replacement is realized. The steps of the control method.
  • the present application detects whether the vehicle has entered the power exchange area of the target exchange station; determines that the vehicle has entered the battery exchange area of the target exchange station, obtains the vehicle identity information of the vehicle, and determines that the vehicle identity information matches The battery model, the step of obtaining the battery pack information in the target swapping station, and determining whether there is an available battery pack corresponding to the battery model in the target swapping station according to the battery pack information in the target swapping station, so that the vehicle can be swapped
  • the process without the participation of the staff, by automatically obtaining vehicle-related information of the vehicle, the battery model matching the vehicle can be automatically determined, and whether the battery model exists in the target swap station, which improves the automation of vehicle battery swapping and greatly improves Improve the working efficiency of the power station.
  • Fig. 1 is a schematic diagram of the terminal/device structure of the hardware operating environment involved in the solution of the embodiment of the present application;
  • Fig. 2 is a schematic flow chart of the first embodiment of the vehicle battery replacement control method of the present application
  • FIG. 3 is a schematic flow chart of the second embodiment of the vehicle battery replacement control method of the present application.
  • Fig. 4 is a schematic flow chart of the third embodiment of the vehicle battery replacement control method of the present application.
  • FIG. 5 is a schematic flow chart of a fourth embodiment of the vehicle battery replacement control method of the present application.
  • FIG. 6 is a schematic diagram of the system modules of the vehicle battery replacement control system of the present application.
  • FIG. 1 is a schematic diagram of a terminal structure of a hardware operating environment involved in the solution of the embodiment of the present application.
  • the terminal in the embodiment of the present application is a vehicle battery replacement control device.
  • the terminal may include: a processor 1001 , such as a CPU, a network interface 1004 , a user interface 1003 , a memory 1005 , and a communication bus 1002 .
  • the communication bus 1002 is configured to realize connection and communication between these components.
  • the user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface.
  • the network interface 1004 may include a standard wired interface and a wireless interface (such as a WI-FI interface).
  • the memory 1005 may be a high-speed RAM memory, or a stable memory (non-volatile memory), such as a disk memory.
  • the memory 1005 may also be a storage device independent of the aforementioned processor 1001 .
  • the terminal may also include a camera, RF (Radio Frequency, radio frequency) circuits, sensors, audio circuits, WiFi modules, etc.
  • sensors such as light sensors, motion sensors and other sensors.
  • the light sensor may include an ambient light sensor and a proximity sensor, wherein the ambient light sensor may adjust the brightness of the display screen according to the brightness of the ambient light, and the proximity sensor may turn off the display screen and/or backlight.
  • the terminal device may also be configured with other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, and an infrared sensor, which will not be repeated here.
  • terminal structure shown in FIG. 1 does not constitute a limitation on the terminal, and may include more or less components than those shown in the figure, or combine some components, or arrange different components.
  • the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a vehicle battery replacement control program.
  • the network interface 1004 is mainly configured to connect to the background server and perform data communication with the background server;
  • the user interface 1003 is mainly configured to connect to the client (client) and perform data communication with the client;
  • the processor 1001 may be configured to call the vehicle battery replacement control program stored in the memory 1005, and perform the following operations:
  • Determining that the vehicle is detected to drive into the battery exchange area of the target exchange station Determining that the vehicle is detected to drive into the battery exchange area of the target exchange station, acquiring the vehicle identity information of the vehicle, and determining the battery model that matches the vehicle identity information;
  • Acquire battery pack information in the target swapping station and determine whether there is an available battery pack corresponding to the battery model in the target swapping station according to the battery pack information in the target swapping station, wherein the available battery pack is the battery model The corresponding battery pack, and it is a battery pack whose battery capacity meets the requirements for battery replacement;
  • the idle AGV power exchange equipment Determine the existence of the available battery pack, and control the idle AGV power exchange equipment to extract the available battery pack from the battery cabinet of the target power exchange station, wherein the idle AGV power exchange equipment is an AGV power exchange equipment in an idle state;
  • the present application provides a vehicle battery swap control method.
  • the vehicle battery swap control method includes the following steps:
  • Step S100 detecting whether the vehicle enters the battery replacement area of the target battery replacement station
  • the camera or infrared detector can be used to detect whether the vehicle has entered the battery replacement area of the target battery replacement station.
  • Step S200 determining that the vehicle is detected to enter the battery replacement area of the target battery replacement station, obtaining the vehicle identity information of the vehicle, and determining the battery model that matches the vehicle identity information;
  • the vehicle identity information of the vehicle can be obtained based on radio frequency identification technology.
  • the vehicle owner when the car owner pre-books the battery exchange at the target battery exchange station, the vehicle owner actively enters the vehicle identity information and sends it to the target battery exchange station.
  • the vehicle identity information may include a license plate number and/or a vehicle identification code and the like.
  • vehicle brand and vehicle model can be determined according to the vehicle identity information, and then the battery model matching the vehicle model can be determined according to the vehicle brand and vehicle model.
  • Step S300 acquiring battery pack information in the target swapping station, and determining whether there is an available battery pack corresponding to the battery model in the target swapping station according to the battery pack information in the target swapping station;
  • the available battery pack is a battery pack corresponding to the battery model, and is a battery pack whose battery power meets the requirement for battery replacement. It should be noted that the battery pack information includes the battery model and battery power of the battery pack.
  • step S400 controlling the idle AGV power exchange equipment to extract the available battery pack from the battery cabinet of the target exchange station;
  • the idle AGV (Automated Guided Vehicle, automatic guided transport vehicle) power exchange equipment is AGV power exchange equipment in an idle state. It should be noted that the AGV power exchange equipment integrates laser radar, GPS (Global Positioning System, Global Positioning System) positioning and feature point recognition technologies.
  • Step S500 controlling the idle AGV battery swapping device to identify the battery swapping location corresponding to the vehicle, and carrying the available battery pack to the battery swapping location, and performing a battery swapping operation for the vehicle.
  • the vehicle by detecting whether the vehicle has entered the power exchange area of the target exchange station; determining that the vehicle has entered the battery exchange area of the target exchange station, obtaining the vehicle identity information of the vehicle, and determining that the vehicle identity information matches battery model, obtain the battery pack information in the target swapping station, and determine whether there is an available battery pack corresponding to the battery model in the target swapping station according to the battery pack information in the target swapping station, so that the vehicle can be replaced
  • the battery model that matches the vehicle can be automatically determined, and whether the battery model exists in the target battery replacement station, which improves the automation of vehicle battery replacement, and thus greatly Improve the working efficiency of the power station.
  • AGV power exchange equipment is installed in the power exchange station. Compared with the common exchange stations in the market, the power exchange position is transferred from the fixed exchange station frame to the position of the battery exchange vehicle itself, and the requirements for parking accuracy are greatly reduced. , through the AGV power exchange equipment to move and find vehicles, it has higher flexibility and freedom. Compared with traditional power exchange stations, its power exchange efficiency can be further improved.
  • the present application provides a vehicle battery replacement control method. Based on the first embodiment, the step of controlling the idle AGV battery replacement device to extract the available battery pack from the battery cabinet of the target replacement station includes:
  • Step a controlling the idle AGV power exchange equipment to identify the positioning feature points corresponding to the battery locking mechanism on the vehicle, and based on the positioning feature points, controlling the idle AGV power exchange equipment to move to the lower position of the battery locking mechanism;
  • Step b sending an unlocking control signal to the battery locking mechanism, and controlling the working AGV battery exchange equipment to disassemble the power-deficient battery pack on the vehicle;
  • Step c controlling the idle AGV power exchange equipment to carry the deficient battery pack into the battery cabinet, and controlling the charging device to charge the deficient battery pack, and executing: the control idle AGV power exchange equipment to replace the battery pack from the target The step of extracting the available battery pack from the battery cabinet of the power station.
  • This embodiment is based on the way of identifying the positioning feature points corresponding to the battery lock mechanism, so that the AGV power exchange equipment can move from the vehicle to the lower position of the battery lock mechanism more accurately, and based on sending an unlock control signal to the battery lock mechanism , so as to quickly and conveniently unlock the battery locking mechanism of the vehicle, remove the power-deficient battery pack, and further improve its power replacement efficiency.
  • step of performing battery replacement operation on the vehicle includes:
  • Step d controlling the idle AGV power exchange equipment to identify the positioning feature points corresponding to the battery locking mechanism on the vehicle, and based on the positioning feature points, controlling the idle AGV power exchange equipment to move to the lower position of the battery locking mechanism;
  • Step e controlling the working AGV power exchange equipment to install the available battery pack on the vehicle;
  • Step f sending a locking control signal to the battery locking mechanism.
  • This embodiment is based on the way of identifying the positioning feature points corresponding to the battery lock mechanism, so that the AGV power exchange equipment can move from the vehicle to the lower position of the battery lock mechanism more accurately, and based on sending the lock control signal to the battery lock mechanism, so as to quickly and conveniently lock the battery locking mechanism of the vehicle, and fix the available battery pack to the battery installation position of the vehicle, thereby improving the efficiency of battery replacement.
  • the AGV power exchange equipment in this embodiment only needs one round trip to realize the removal of the available battery pack, the disassembly of the power-deficient battery pack, the installation of the available battery pack, and the charging connection of the power-deficient battery pack, which greatly improves the power exchange efficiency .
  • the idle AGV power exchange equipment is controlled from the battery cabinet of the target power exchange station.
  • the step of extracting the available battery packs including:
  • Step S600 obtaining the working status information of the AGV power exchange equipment in the target power exchange station
  • Step S700 according to the working state information, it is judged whether there is idle AGV power changing equipment in the target power changing station;
  • step S800 obtain the remaining working time information of the working AGV power changing equipment, determine the waiting time information of the vehicle based on the remaining working time information, and set the Waiting time information is sent to the vehicle;
  • the working AGV power exchange equipment is an AGV power exchange equipment in a working state.
  • step S400 controlling the idle AGV power exchange equipment to extract the available battery pack from the battery cabinet of the target exchange station.
  • the remaining working time information of the working AGV power changing equipment is obtained, and the waiting time information of the vehicle is determined based on the remaining working time information, and the The step of sending the waiting time information to the vehicle, so that the user can know the waiting time in advance, which improves the user experience.
  • the vehicle battery replacement control method further includes:
  • Step S910 monitoring the power information of the battery pack currently installed in the vehicle
  • the power information of the battery pack can be obtained by communicating with the vehicle through the cloud platform, or directly monitor the battery used by the vehicle to obtain the power information of the battery pack.
  • Step S920 based on the power information, determine whether the power of the battery pack currently installed in the vehicle is less than a preset power threshold
  • step S930 is performed: generating prompt information whether to reserve a battery replacement, and sending the prompt information to the vehicle;
  • Step S940 determining that the target battery exchange station has received the vehicle identity information and estimated time of arrival of the vehicle, and controlling the target battery exchange station to reserve the available battery pack for the vehicle based on the battery model matched with the vehicle identity information;
  • Step S950 based on the estimated time of arrival, control the target switching station to reserve the idle AGV switching equipment for the vehicle.
  • the power information it is judged whether the power of the battery pack currently installed in the vehicle is less than the preset power threshold; it is determined that the power of the battery pack currently installed in the vehicle is less than the preset power threshold, and a message is generated whether to reserve a battery replacement prompting information, and sending the prompting information to the vehicle, so that when the battery pack of the vehicle is low in power, the user is reminded in time, which improves the driving reliability of the vehicle.
  • controlling the target switching station to reserve the available battery pack for the vehicle based on The estimated arrival time is the step of controlling the target power exchange station to reserve the idle AGV power exchange equipment for the vehicle, so as to avoid the situation that there is no battery available for power exchange when the vehicle arrives at the target power exchange station, and Make an appointment at the power station to prepare for power replacement, which can avoid wasting time due to waiting.
  • a fourth embodiment of the vehicle power exchange control method of the present application is proposed.
  • it is determined that the target power exchange station has received the vehicle identity information of the vehicle and the estimated time of arrival, based on the battery model matched with the vehicle identity information, before the step of controlling the target switching station to reserve the available battery pack for the vehicle includes:
  • Step S961 determining that the reservation request instruction input based on the prompt information is received, and obtaining the vehicle identity information and vehicle location information of the vehicle;
  • Step S962 determining the battery model matched with the vehicle identity information
  • Step S963 based on the vehicle location information and the battery model, determine the nearest battery swap station with the available battery pack, and use the nearest battery swap station as the target swap station;
  • the step of determining the nearest battery exchange station with the available battery pack based on the vehicle location information and the battery model includes:
  • Step g based on the location information of the vehicle, determine each battery swapping station near the vehicle, and obtain battery pack information of each switching station;
  • Step h based on the battery model and the battery pack information of each swap station, determine the nearest swap station with the available battery pack.
  • each battery swap station near the vehicle is determined, and the battery pack information of each swap station is obtained; based on the battery model and the battery pack information of each swap station, it is determined that there are The step of the nearest replacement station with available battery packs, thereby finding a closer replacement station with available battery packs for the user when the user needs to replace the vehicle, saving the user's time and improving the efficiency of battery replacement.
  • step S964 is executed to send the location information of the target battery swap station and the payment link to the vehicle;
  • Step S965 determine that the payment success information returned based on the payment link and the estimated time of arrival returned based on the position information of the power exchange station are received, and send the vehicle identity information and estimated time of arrival of the vehicle to the target power exchange station .
  • the location information of the target switching station and the payment link are sent to the vehicle. If the vehicle receives the payment success information returned based on the payment link, and the information returned based on the location information of the switching station Estimated arrival time, the step of sending the vehicle identity information and estimated arrival time of the vehicle to the target battery exchange station, thereby providing an online interactive method for reserving battery replacement, and preventing the target battery exchange station from reserving available battery packs for users and idle AGV battery exchange equipment, but the user does not drive the vehicle to the target exchange station for battery exchange, thus effectively maintaining the rights and interests of the target exchange station, and at the same time providing the user with the location information of the nearest vehicle exchange station with available battery packs, It enables users to find the replacement station more quickly to replace the battery pack, further improving the efficiency of battery replacement.
  • the embodiment of the present application also provides a vehicle battery replacement control system, including:
  • the detection module A10 is configured to detect whether the vehicle enters the battery replacement area of the target battery replacement station
  • the analysis module A20 is configured to determine that the vehicle is detected to enter the battery replacement area of the target battery replacement station, obtain the vehicle identity information of the vehicle, and determine the battery model that the vehicle identity information matches;
  • the analysis module A20 is also configured to acquire battery pack information in the target swapping station, and determine whether there is an available battery pack corresponding to the battery model in the target swapping station according to the battery pack information in the target swapping station, wherein the The available battery pack is the battery pack corresponding to the battery model, and the battery pack has the battery power that meets the battery replacement requirements;
  • the control module A30 is configured to determine that there is the available battery pack, and control the idle AGV power exchange equipment to extract the available battery pack from the battery cabinet of the target power exchange station, wherein the idle AGV power exchange equipment is in an idle state AGV power exchange equipment;
  • the control module A30 is further configured to control the idle AGV battery replacement equipment to identify the battery replacement location corresponding to the vehicle, and carry the available battery pack to the battery replacement location to perform battery replacement operations for the vehicle.
  • the analysis module A20 is configured to:
  • the working AGV power exchange equipment In response to the fact that there is no idle AGV power exchange equipment in the target power exchange station, obtain the remaining working time information of the working AGV power changing equipment, determine the waiting time information of the vehicle based on the remaining working time information, and send the waiting time information to To the vehicle, wherein the working AGV power exchange equipment is an AGV power exchange equipment in a working state;
  • control module A30 is configured to:
  • Control the idle AGV power exchange equipment to identify the positioning feature points corresponding to the battery locking mechanism on the vehicle, and based on the positioning feature points, control the idle AGV power exchange equipment to move to the lower position of the battery locking mechanism;
  • control module A30 is configured such that: the step of performing battery replacement operation on the vehicle includes:
  • Control the idle AGV power exchange equipment to identify the positioning feature points corresponding to the battery locking mechanism on the vehicle, and based on the positioning feature points, control the idle AGV power exchange equipment to move to the lower position of the battery locking mechanism;
  • the detection module A10 is configured to:
  • the target power exchange station is controlled to reserve the idle AGV power exchange equipment for the vehicle.
  • the detection module A10 is configured to:
  • the detection module A10 is configured to:
  • the nearest swapping station with the available battery pack is determined.
  • each functional module of the vehicle battery replacement control system can refer to the various embodiments of the vehicle battery replacement control method of the present application, and will not be repeated here.
  • the present application also provides a vehicle battery replacement control device, which includes: a memory, a processor, and a vehicle battery replacement control program stored in the memory; the processor is configured to execute the The vehicle battery replacement control program is described to realize the steps of the embodiments of the above vehicle battery replacement control method.
  • the present application also provides a computer-readable storage medium, the computer-readable storage medium stores one or more programs, and the one or more programs can also be executed by one or more processors to implement Steps in the embodiments of the above-mentioned vehicle battery replacement control method.
  • the methods of the above embodiments can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware, but in many cases the former is better implementation.
  • the technical solution of the present application can be embodied in the form of a software product in essence or the part that contributes to the prior art, and the computer software product is stored in a storage medium (such as ROM/RAM) as described above. , magnetic disk, optical disk), including several instructions to make a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) execute the methods described in various embodiments of the present application.

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Abstract

一种车辆换电控制方法、系统、装置及计算机可读存储介质，该车辆换电控制方法包括：检测车辆是否驶入目标换电站的换电区域；确定检测到车辆驶入目标换电站的换电区域，确定车辆身份信息匹配的电池型号；获取目标换电站中的电池包信息，并根据目标换电站中的电池包信息，确定目标换电站中是否存在电池型号对应的可用电池包；确定存在可用电池包，控制空闲AGV换电设备从目标换电站的电池柜中提取可用电池包；将可用电池包运载至换电位置，给车辆进行换电操作。通过AGV换电设备移动寻找车辆，具有更高的灵活性和自由度，进一步提高其换电效率。

Description

车辆换电控制方法、系统、装置及计算机可读存储介质
本申请要求于2021年11月12号申请的、申请号为202111337460.X的中国专利申请的优先权，其全部内容通过引用结合于此。
技术领域
本申请涉及车辆换电站技术领域，尤其涉及一种车辆换电控制方法、系统、装置及计算机可读存储介质。
 背景技术
受限于当前电池技术的发展瓶颈，汽车电池充电花费时间较长，无法实现如汽油车加油一样在短时间内实现电池的快速补能。在此基础上，为电动汽车进行电池更换成为了当下能够为电动汽车进行快速补能的主要方式。
目前市场上投入运营的换电站日常运行模式为，车辆进入换电站后，顾客或换电站操作人员将车辆移动到换电平台的特定位置，通过激光雷达或其他传感器确定车辆的位置，并通过换电平台对其进行姿态调整，再将车辆举升或从车辆下方预留的空间确定电池包的位置和特征点，随后通过机械手触发车端的电池锁止机构，进而完成旧电池包的拆卸充电和新电池包的安装固定。
通过以上描述的充换电站进行换电所存在的技术缺陷为：
换电平台一次只能对一辆电动汽车进行换电，无法同时服务多辆电动汽车换电，当车辆抵达换电站时，需要花费较长时间进行换电，存在效率低下的问题。并且现有换电过程中，很多环节都需要人为协助才能完成，比如车辆所匹配的电池包型号的认定等，换电期间的很多信息都需要一一核实确认，导致换电过程耗时过久，工作效率大打折扣，严重影响电动汽车的用户体验。
 技术问题
本申请的主要目的在于提供一种车辆换电控制方法、系统、装置及计算机可读存储介质，旨在提高车辆的换电效率。
 技术解决方案
为实现上述目的，本申请提供一种车辆换电控制方法，包括以下步骤：
检测车辆是否驶入目标换电站的换电区域；
确定检测到所述车辆驶入目标换电站的换电区域，获取所述车辆的车辆身份信息，并确定所述车辆身份信息匹配的电池型号；
获取目标换电站中的电池包信息，并根据目标换电站中的电池包信息，确定目标换电站中是否存在所述电池型号对应的可用电池包，其中，所述可用电池包为所述电池型号对应的电池包，且为电池电量达到换电要求的电池包；
确定存在所述可用电池包，控制空闲AGV换电设备从目标换电站的电池柜中提取所述可用电池包，其中，所述空闲AGV换电设备为处于空闲状态的AGV换电设备；
控制所述空闲AGV换电设备识别所述车辆对应的换电位置，并将所述可用电池包运载至所述换电位置，给所述车辆进行换电操作。
在一实施方式中，所述控制空闲AGV换电设备从目标换电站的电池柜中提取所述可用电池包的步骤之前包括：
获取目标换电站中AGV换电设备的工作状态信息；
根据所述工作状态信息，判断目标换电站中是否存在空闲AGV换电设备；
响应于目标换电站中不存在空闲AGV换电设备，获取工作AGV换电设备的剩余工作时长信息，基于所述剩余工作时长信息确定所述车辆的等待时长信息，并将所述等待时长信息发送至所述车辆，其中，所述工作AGV换电设备为处于工作状态的AGV换电设备；
响应于目标换电站中存在空闲AGV换电设备，执行：所述控制空闲AGV换电设备从目标换电站的电池柜中提取所述可用电池包的步骤。
在一实施方式中，所述控制空闲AGV换电设备从目标换电站的电池柜中提取所述可用电池包的步骤之前包括：
控制空闲AGV换电设备识别所述车辆上电池锁止机构对应的定位特征点，基于所述定位特征点，控制空闲AGV换电设备移动至电池锁止机构的下方位置；
发送解锁控制信号至所述电池锁止机构，并控制所述工作AGV换电设备拆卸出所述车辆上的亏电电池包；
控制空闲AGV换电设备将所述亏电电池包运载至电池柜中，并控制充电设备对所述亏电电池包进行充电，并执行：所述控制空闲AGV换电设备从目标换电站的电池柜中提取所述可用电池包的步骤。
在一实施方式中，所述给所述车辆进行换电操作的步骤包括：
控制空闲AGV换电设备识别所述车辆上电池锁止机构对应的定位特征点，基于所述定位特征点，控制空闲AGV换电设备移动至电池锁止机构的下方位置；
控制所述工作AGV换电设备将所述可用电池包安装至所述车辆上；
发送上锁控制信号至所述电池锁止机构。
在一实施方式中，所述车辆换电控制方法还包括：
监测所述车辆当前安装的电池包的电量信息；
基于所述电量信息，判断所述车辆当前安装的电池包的电量是否小于预设电量阈值；
确定所述车辆当前安装的电池包的电量小于预设电量阈值，生成是否预约换电的提示信息，并将所述提示信息发送至所述车辆；
确定目标换电站接收到所述车辆的车辆身份信息和预计到达时间，基于所述车辆身份信息匹配的电池型号，控制所述目标换电站为所述车辆预留所述可用电池包；
基于所述预计到达时间，控制所述目标换电站为所述车辆预留所述空闲AGV换电设备。
在一实施方式中，所述确定目标换电站接收到所述车辆的车辆身份信息和预计到达时间，基于所述车辆身份信息匹配的电池型号，控制所述目标换电站为所述车辆预留所述可用电池包的步骤之前包括：
确定接收到基于所述提示信息而输入的预约请求指令，获取所述车辆的车辆身份信息和车辆位置信息；
确定所述车辆身份信息匹配的电池型号；
基于所述车辆位置信息和所述电池型号，确定出存在所述可用电池包的最近的换电站，并将所述最近的换电站作为目标换电站；
将所述目标换电站的换电站位置信息，以及支付链接发送至所述车辆；
确定接收到基于所述支付链接而返回的支付成功信息，以及基于所述换电站位置信息而返回的预计到达时间，将所述车辆的车辆身份信息和预计到达时间发送至目标换电站。
在一实施方式中，所述基于所述车辆位置信息和所述电池型号，确定出存在所述可用电池包的最近的换电站的步骤包括：
基于所述车辆位置信息确定所述车辆附近的各换电站，获取所述各换电站的电池包信息；
基于所述电池型号和所述各换电站的电池包信息，确定出存在所述可用电池包的最近的换电站。
此外，为实现上述目的，本申请还提供一种车辆换电控制系统，包括：
检测模块，被配置为检测车辆是否驶入目标换电站的换电区域；
分析模块，被配置为确定检测到所述车辆驶入目标换电站的换电区域，获取所述车辆的车辆身份信息，并确定所述车辆身份信息匹配的电池型号；
所述分析模块，还被配置为获取目标换电站中的电池包信息，并根据目标换电站中的电池包信息，确定目标换电站中是否存在所述电池型号对应的可用电池包，其中，所述可用电池包为所述电池型号对应的电池包，且为电池电量达到换电要求的电池包；
控制模块，被配置为确定存在所述可用电池包的情况下，控制空闲AGV换电设备从目标换电站的电池柜中提取所述可用电池包，其中，所述空闲AGV换电设备为处于空闲状态的AGV换电设备；
所述控制模块，还被配置为控制所述空闲AGV换电设备识别所述车辆对应的换电位置，并将所述可用电池包运载至所述换电位置，给所述车辆进行换电操作。
此外，为实现上述目的，本申请还提供一种车辆换电控制装置，车辆换电控制装置包括存储器、处理器及存储在存储器上并可在处理器上运行的车辆换电控制程序，车辆换电控制程序被处理器执行时实现如上述的车辆换电控制方法的步骤。
此外，为实现上述目的，本申请还提供一种计算机可读存储介质，计算机可读存储介质上存储有车辆换电控制程序，车辆换电控制程序被处理器执行时实现如上述的车辆换电控制方法的步骤。
 有益效果
本申请通过检测车辆是否驶入目标换电站的换电区域；确定检测到所述车辆驶入目标换电站的换电区域，获取所述车辆的车辆身份信息，并确定所述车辆身份信息匹配的电池型号，获取目标换电站中的电池包信息，并根据目标换电站中的电池包信息，确定目标换电站中是否存在所述电池型号对应的可用电池包的步骤，从而使得对车辆进行换电过程中，无需工作人员的参与，通过自动获取车辆的车辆相关信息，实现自动确定车辆匹配的电池型号，并判断目标换电站是否存在该电池型号，提高了车辆换电的自动化程度，进而大大提高了换电站的工作效率。再通过确定存在所述可用电池包，控制空闲AGV换电设备从目标换电站的电池柜中提取所述可用电池包；控制所述空闲AGV换电设备识别所述车辆对应的换电位置，并将所述可用电池包运载至所述换电位置，给所述车辆进行换电操作的步骤，从而实现可用电池包的灵活调度，进而实现对可用电池包的合理配置，有效提高了换电站的整体运行效率。本申请通过在换电站中设置AGV换电设备，与市场上常见的换电站相比，将换电位置从固定的换电台架转移到换电车辆本身的位置，对停车精度的要求大大降低，通过AGV换电设备移动寻找车辆，具有更高的灵活性和自由度，相比于传统换电站，可以进一步提高其换电效率。
 附图说明
图1是本申请实施例方案涉及的硬件运行环境的终端\装置结构示意图；
图2为本申请车辆换电控制方法第一实施例的流程示意图；
图3为本申请车辆换电控制方法第二实施例的流程示意图；
图4为本申请车辆换电控制方法第三实施例的流程示意图；
图5为本申请车辆换电控制方法第四实施例的流程示意图；
图6为本申请车辆换电控制系统的系统模块示意图；
本申请目的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
 本发明的实施方式
应当理解，此处所描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。
如图1所示，图1是本申请实施例方案涉及的硬件运行环境的终端结构示意图。
本申请实施例终端为车辆换电控制装置。
如图1所示，该终端可以包括：处理器1001，例如CPU，网络接口1004，用户接口1003，存储器1005，通信总线1002。其中，通信总线1002被配置为实现这些组件之间的连接通信。用户接口1003可以包括显示屏（Display）、输入单元比如键盘（Keyboard），可选用户接口1003还可以包括标准的有线接口、无线接口。网络接口1004可选的可以包括标准的有线接口、无线接口（如WI-FI接口）。存储器1005可以是高速RAM存储器，也可以是稳定的存储器（non-volatile memory），例如磁盘存储器。存储器1005可选的还可以是独立于前述处理器1001的存储装置。
在一实施方式中，终端还可以包括摄像头、RF（Radio Frequency，射频）电路，传感器、音频电路、WiFi模块等等。其中，传感器比如光传感器、运动传感器以及其他传感器。具体地，光传感器可包括环境光传感器及接近传感器，其中，环境光传感器可根据环境光线的明暗来调节显示屏的亮度，接近传感器可在终端设备移动到耳边时，关闭显示屏和/或背光。当然，终端设备还可配置陀螺仪、气压计、湿度计、温度计、红外线传感器等其他传感器，在此不再赘述。
本领域技术人员可以理解，图1中示出的终端结构并不构成对终端的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置。
如图1所示，作为一种计算机存储介质的存储器1005中可以包括操作系统、网络通信模块、用户接口模块以及车辆换电控制程序。
在图1所示的终端中，网络接口1004主要被配置为连接后台服务器，与后台服务器进行数据通信；用户接口1003主要被配置为连接客户端（用户端），与客户端进行数据通信；而处理器1001可以被配置为调用存储器1005中存储的车辆换电控制程序，并执行以下操作：
检测车辆是否驶入目标换电站的换电区域；
确定检测到所述车辆驶入目标换电站的换电区域，获取所述车辆的车辆身份信息，并确定所述车辆身份信息匹配的电池型号；
获取目标换电站中的电池包信息，并根据目标换电站中的电池包信息，确定目标换电站中是否存在所述电池型号对应的可用电池包，其中，所述可用电池包为所述电池型号对应的电池包，且为电池电量达到换电要求的电池包；
确定存在所述可用电池包，控制空闲AGV换电设备从目标换电站的电池柜中提取所述可用电池包，其中，所述空闲AGV换电设备为处于空闲状态的AGV换电设备；
控制所述空闲AGV换电设备识别所述车辆对应的换电位置，并将所述可用电池包运载至所述换电位置，给所述车辆进行换电操作。
参照图2，本申请提供一种车辆换电控制方法，在车辆换电控制方法的第一实施例中，车辆换电控制方法包括以下步骤：
步骤S100，检测车辆是否驶入目标换电站的换电区域；
其中，可通过摄像头或红外探测器检测车辆是否驶入目标换电站的换电区域。
步骤S200，确定检测到所述车辆驶入目标换电站的换电区域，获取所述车辆的车辆身份信息，并确定所述车辆身份信息匹配的电池型号；
在一实施例中，可基于射频识别技术获取车辆的车辆身份信息。在另一实施例中，可通过车主对目标换电站进行提前预约换电时，车主主动输入车辆身份信息，并发送至目标换电站。
可以理解的是，该车辆身份信息可包括车牌号和/或车辆识别码等。本领域技术人员可知的是，可根据车辆身份信息确定车辆品牌和车辆型号，进而根据车辆品牌和车辆型号，确定该车辆型号匹配的电池型号。
步骤S300，获取目标换电站中的电池包信息，并根据目标换电站中的电池包信息，确定目标换电站中是否存在所述电池型号对应的可用电池包；
其中，所述可用电池包为所述电池型号对应的电池包，且为电池电量达到换电要求的电池包。需要说明的是，电池包信息包括电池包的电池型号和电池电量。
确定存在所述可用电池包，执行步骤S400：控制空闲AGV换电设备从目标换电站的电池柜中提取所述可用电池包；
其中，所述空闲AGV（Automated Guided Vehicle，自动导引运输车）换电设备为处于空闲状态的AGV换电设备。需要说明的是，该AGV换电设备融合了激光雷达、GPS(Global Positioning System，全球定位系统)定位和特征点识别技术。
步骤S500，控制所述空闲AGV换电设备识别所述车辆对应的换电位置，并将所述可用电池包运载至所述换电位置，给所述车辆进行换电操作。
本实施例通过检测车辆是否驶入目标换电站的换电区域；确定检测到所述车辆驶入目标换电站的换电区域，获取所述车辆的车辆身份信息，并确定所述车辆身份信息匹配的电池型号，获取目标换电站中的电池包信息，并根据目标换电站中的电池包信息，确定目标换电站中是否存在所述电池型号对应的可用电池包的步骤，从而使得对车辆进行换电过程中，无需工作人员的参与，通过自动获取车辆的车辆相关信息，实现自动确定车辆匹配的电池型号，并判断目标换电站是否存在该电池型号，提高了车辆换电的自动化程度，进而大大提高了换电站的工作效率。再通过确定存在所述可用电池包，控制空闲AGV换电设备从目标换电站的电池柜中提取所述可用电池包；控制所述空闲AGV换电设备识别所述车辆对应的换电位置，并将所述可用电池包运载至所述换电位置，给所述车辆进行换电操作的步骤，从而实现可用电池包的灵活调度，进而实现对可用电池包的合理配置，有效提高了换电站的整体运行效率。本实施例通过在换电站中设置AGV换电设备，与市场上常见的换电站相比，将换电位置从固定的换电台架转移到换电车辆本身的位置，对停车精度的要求大大降低，通过AGV换电设备移动寻找车辆，具有更高的灵活性和自由度，相比于传统换电站，可以进一步提高其换电效率。
进一步地，本申请提供一种车辆换电控制方法，基于第一实施例，所述控制空闲AGV换电设备从目标换电站的电池柜中提取所述可用电池包的步骤之前包括：
步骤a，控制空闲AGV换电设备识别所述车辆上电池锁止机构对应的定位特征点，基于所述定位特征点，控制空闲AGV换电设备移动至电池锁止机构的下方位置；
步骤b，发送解锁控制信号至所述电池锁止机构，并控制所述工作AGV换电设备拆卸出所述车辆上的亏电电池包；
步骤c，控制空闲AGV换电设备将所述亏电电池包运载至电池柜中，并控制充电设备对所述亏电电池包进行充电，并执行：所述控制空闲AGV换电设备从目标换电站的电池柜中提取所述可用电池包的步骤。
本实施例基于识别电池锁止机构对应的定位特征点的方式，从而使得AGV换电设备从车辆上更准确的移动至电池锁止机构的下方位置，并基于发送解锁控制信号至电池锁止机构，从而快捷方便地解锁车辆的电池锁止机构，拆卸出亏电电池包，进一步提高其换电效率。
再进一步地，所述给所述车辆进行换电操作的步骤包括：
步骤d，控制空闲AGV换电设备识别所述车辆上电池锁止机构对应的定位特征点，基于所述定位特征点，控制空闲AGV换电设备移动至电池锁止机构的下方位置；
步骤e，控制所述工作AGV换电设备将所述可用电池包安装至所述车辆上；
步骤f，发送上锁控制信号至所述电池锁止机构。
本实施例基于识别电池锁止机构对应的定位特征点的方式，从而使得AGV换电设备从车辆上更准确的移动至电池锁止机构的下方位置，并基于发送上锁控制信号至电池锁止机构，从而快捷方便地将车辆的电池锁止机构上锁，将可用电池包固定安装至车辆的电池安装位置，提高了换电效率。并且本实施例的AGV换电设备只需要一次往返就能实现对可用电池包的取出、亏电电池包的拆卸、可用电池包的安装和亏电电池包的充电连接，大大提升了换电效率。
进一步地，参照图3，基于上述本申请的第一实施例，提出本申请车辆换电控制方法的第二实施例，在本实施例中，控制空闲AGV换电设备从目标换电站的电池柜中提取所述可用电池包的步骤之前，包括：
步骤S600，获取目标换电站中AGV换电设备的工作状态信息；
步骤S700，根据所述工作状态信息，判断目标换电站中是否存在空闲AGV换电设备；
响应于目标换电站中不存在空闲AGV换电设备，执行步骤S800：获取工作AGV换电设备的剩余工作时长信息，基于所述剩余工作时长信息确定所述车辆的等待时长信息，并将所述等待时长信息发送至所述车辆；
其中，所述工作AGV换电设备为处于工作状态的AGV换电设备。
响应于目标换电站中存在空闲AGV换电设备，执行步骤S400：控制空闲AGV换电设备从目标换电站的电池柜中提取所述可用电池包。
本实施例通过响应于目标换电站中不存在空闲AGV换电设备，获取工作AGV换电设备的剩余工作时长信息，基于所述剩余工作时长信息确定所述车辆的等待时长信息，并将所述等待时长信息发送至所述车辆的步骤，从而使得用户提前得知需要等待的时长，提高了用户体验。
进一步地，参照图4，基于上述本申请的第一实施例，提出本申请车辆换电控制方法的第三实施例，在本实施例中，车辆换电控制方法还包括：
步骤S910，监测所述车辆当前安装的电池包的电量信息；
可以通过云端平台与车辆通信获取电池包的电量信息，也可以直接对车辆使用的电池进行监控，获取电池包的电量信息。
步骤S920，基于所述电量信息，判断所述车辆当前安装的电池包的电量是否小于预设电量阈值；
确定所述车辆当前安装的电池包的电量小于预设电量阈值，执行步骤S930：生成是否预约换电的提示信息，并将所述提示信息发送至所述车辆；
步骤S940，确定目标换电站接收到所述车辆的车辆身份信息和预计到达时间，基于所述车辆身份信息匹配的电池型号，控制所述目标换电站为所述车辆预留所述可用电池包；
步骤S950，基于所述预计到达时间，控制所述目标换电站为所述车辆预留所述空闲AGV换电设备。
本实施例基于所述电量信息，判断所述车辆当前安装的电池包的电量是否小于预设电量阈值；确定所述车辆当前安装的电池包的电量小于预设电量阈值，生成是否预约换电的提示信息，并将所述提示信息发送至所述车辆的步骤，从而在车辆的电池包电量较低时，及时提醒用户，提高了车辆行驶的可靠性。并通过确定目标换电站接收到所述车辆的车辆身份信息和预计到达时间，基于所述车辆身份信息匹配的电池型号，控制所述目标换电站为所述车辆预留所述可用电池包；基于所述预计到达时间，控制所述目标换电站为所述车辆预留所述空闲AGV换电设备的步骤，避免出现车辆到达目标换电站时，却没有可供换电的电池的情况，且提前预约换电站进行换电准备，能够避免因等待而浪费时间。
进一步地，参照图5，基于上述本申请的第三实施例，提出本申请车辆换电控制方法的第四实施例，在本实施例中，确定目标换电站接收到所述车辆的车辆身份信息和预计到达时间，基于所述车辆身份信息匹配的电池型号，控制所述目标换电站为所述车辆预留所述可用电池包的步骤之前包括：
步骤S961，确定接收到基于所述提示信息而输入的预约请求指令，获取所述车辆的车辆身份信息和车辆位置信息；
步骤S962，确定所述车辆身份信息匹配的电池型号；
步骤S963，基于所述车辆位置信息和所述电池型号，确定出存在所述可用电池包的最近的换电站，并将所述最近的换电站作为目标换电站；
进一步地，所述基于所述车辆位置信息和所述电池型号，确定出存在所述可用电池包的最近的换电站的步骤包括：
步骤g，基于所述车辆位置信息确定所述车辆附近的各换电站，获取所述各换电站的电池包信息；
步骤h，基于所述电池型号和所述各换电站的电池包信息，确定出存在所述可用电池包的最近的换电站。
本实施例通过基于所述车辆位置信息确定所述车辆附近的各换电站，获取所述各换电站的电池包信息；基于所述电池型号和所述各换电站的电池包信息，确定出存在所述可用电池包的最近的换电站的步骤，从而在用户需要为车辆进行换电时，为用户找到更近的具有可用电池包的换电站，节省了用户的时间，提高了换电效率。
所述步骤S963之后，执行步骤S964，将所述目标换电站的换电站位置信息，以及支付链接发送至所述车辆；
步骤S965，确定接收到基于所述支付链接而返回的支付成功信息，以及基于所述换电站位置信息而返回的预计到达时间，将所述车辆的车辆身份信息和预计到达时间发送至目标换电站。
本实施例通过将所述目标换电站的换电站位置信息，以及支付链接发送至所述车辆若接收到基于所述支付链接而返回的支付成功信息，以及基于所述换电站位置信息而返回的预计到达时间，则将所述车辆的车辆身份信息和预计到达时间发送至目标换电站的步骤，从而提供一种预约换电的线上交互方式，避免目标换电站为用户预留了可用电池包和空闲AGV换电设备，而用户未将车辆驾驶至目标换电站进行换电，从而有效维护了目标换电站的权益，同时为用户提供了距车辆最近的具有可用电池包的换电站位置信息，使用户可以更快捷的找到换电站对电池包进行换电操作，进一步提升了换电效率。
此外，参照图6，本申请实施例还提供一种车辆换电控制系统，包括：
检测模块A10，被配置为检测车辆是否驶入目标换电站的换电区域；
分析模块A20，被配置为确定检测到所述车辆驶入目标换电站的换电区域，获取所述车辆的车辆身份信息，并确定所述车辆身份信息匹配的电池型号；
分析模块A20，还被配置为获取目标换电站中的电池包信息，并根据目标换电站中的电池包信息，确定目标换电站中是否存在所述电池型号对应的可用电池包，其中，所述可用电池包为所述电池型号对应的电池包，且为电池电量达到换电要求的电池包；
控制模块A30，被配置为确定存在所述可用电池包，控制空闲AGV换电设备从目标换电站的电池柜中提取所述可用电池包，其中，所述空闲AGV换电设备为处于空闲状态的AGV换电设备；
控制模块A30，还被配置为控制所述空闲AGV换电设备识别所述车辆对应的换电位置，并将所述可用电池包运载至所述换电位置，给所述车辆进行换电操作。
在一实施方式中，分析模块A20，被配置为：
获取目标换电站中AGV换电设备的工作状态信息；
根据所述工作状态信息，判断目标换电站中是否存在空闲AGV换电设备；
响应于目标换电站中不存在空闲AGV换电设备，获取工作AGV换电设备的剩余工作时长信息，基于所述剩余工作时长信息确定所述车辆的等待时长信息，并将所述等待时长信息发送至所述车辆，其中，所述工作AGV换电设备为处于工作状态的AGV换电设备；
响应于目标换电站中存在空闲AGV换电设备，执行：所述控制空闲AGV换电设备从目标换电站的电池柜中提取所述可用电池包的步骤。
在一实施方式中，控制模块A30，被配置为：
控制空闲AGV换电设备识别所述车辆上电池锁止机构对应的定位特征点，基于所述定位特征点，控制空闲AGV换电设备移动至电池锁止机构的下方位置；
发送解锁控制信号至所述电池锁止机构，并控制所述工作AGV换电设备拆卸出所述车辆上的亏电电池包；
控制空闲AGV换电设备将所述亏电电池包运载至电池柜中，并控制充电设备对所述亏电电池包进行充电，并执行：所述控制空闲AGV换电设备从目标换电站的电池柜中提取所述可用电池包的步骤。
在一实施方式中，控制模块A30，被配置为：所述给所述车辆进行换电操作的步骤包括：
控制空闲AGV换电设备识别所述车辆上电池锁止机构对应的定位特征点，基于所述定位特征点，控制空闲AGV换电设备移动至电池锁止机构的下方位置；
控制所述工作AGV换电设备将所述可用电池包安装至所述车辆上；
发送上锁控制信号至所述电池锁止机构。
在一实施方式中，检测模块A10，被配置为：
监测所述车辆当前安装的电池包的电量信息；
基于所述电量信息，判断所述车辆当前安装的电池包的电量是否小于预设电量阈值；
确定所述车辆当前安装的电池包的电量小于预设电量阈值，生成是否预约换电的提示信息，并将所述提示信息发送至所述车辆；
确定目标换电站接收到所述车辆的车辆身份信息和预计到达时间，基于所述车辆身份信息匹配的电池型号，控制所述目标换电站为所述车辆预留所述可用电池包；
基于所述预计到达时间，控制所述目标换电站为所述车辆预留所述空闲AGV换电设备。
在一实施方式中，检测模块A10，被配置为：
确定接收到基于所述提示信息而输入的预约请求指令，获取所述车辆的车辆身份信息和车辆位置信息；
确定所述车辆身份信息匹配的电池型号；
基于所述车辆位置信息和所述电池型号，确定出存在所述可用电池包的最近的换电站，并将所述最近的换电站作为目标换电站；
将所述目标换电站的换电站位置信息，以及支付链接发送至所述车辆；
确定接收到基于所述支付链接而返回的支付成功信息，以及基于所述换电站位置信息而返回的预计到达时间，将所述车辆的车辆身份信息和预计到达时间发送至目标换电站。
在一实施方式中，检测模块A10，被配置为：
基于所述车辆位置信息确定所述车辆附近的各换电站，获取所述各换电站的电池包信息；
基于所述电池型号和所述各换电站的电池包信息，确定出存在所述可用电池包的最近的换电站。
其中，车辆换电控制系统的各个功能模块实现的步骤可参照本申请车辆换电控制方法的各个实施例，此处不再赘述。
此外，本申请还提供一种车辆换电控制装置，所述车辆换电控制装置包括：存储器、处理器及存储在所述存储器上的车辆换电控制程序；所述处理器被配置为执行所述车辆换电控制程序，以实现上述车辆换电控制方法各实施例的步骤。
本申请还提供了一种计算机可读存储介质，所述计算机可读存储介质存储有一个或者一个以上程序，所述一个或者一个以上程序还可被一个或者一个以上的处理器执行以用于实现上述车辆换电控制方法各实施例的步骤。
本申请计算机可读存储介质具体实施方式与上述车辆换电控制方法各实施例基本相同，在此不再赘述。
需要说明的是，在本文中，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、物品或者系统不仅包括那些要素，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、物品或者系统所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者系统中还存在另外的相同要素。
上述本申请实施例序号仅仅为了描述，不代表实施例的优劣。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。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如上所述的一个存储介质(如ROM/RAM、磁碟、光盘)中，包括若干指令用以使得一台终端设备(可以是手机，计算机，服务器，空调器，或者网络设备等)执行本申请各个实施例所述的方法。
以上仅为本申请的可选实施例，并非因此限制本申请的专利范围，凡是利用本申请说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本申请的专利保护范围内。

Claims (10)

  1. 一种车辆换电控制方法，其中，所述车辆换电控制方法包括以下步骤：
    检测车辆是否驶入目标换电站的换电区域；
    确定检测到所述车辆驶入目标换电站的换电区域，获取所述车辆的车辆身份信息，并确定所述车辆身份信息匹配的电池型号；
    获取目标换电站中的电池包信息，并根据目标换电站中的电池包信息，确定目标换电站中是否存在所述电池型号对应的可用电池包，其中，所述可用电池包为所述电池型号对应的电池包，且为电池电量达到换电要求的电池包；
    确定存在所述可用电池包，控制空闲AGV换电设备从目标换电站的电池柜中提取所述可用电池包，其中，所述空闲AGV换电设备为处于空闲状态的AGV换电设备；
    控制所述空闲AGV换电设备识别所述车辆对应的换电位置，并将所述可用电池包运载至所述换电位置，给所述车辆进行换电操作。
  2. 如权利要求1所述的车辆换电控制方法，其中，所述控制空闲AGV换电设备从目标换电站的电池柜中提取所述可用电池包的步骤之前包括：
    获取目标换电站中AGV换电设备的工作状态信息；
    根据所述工作状态信息，判断目标换电站中是否存在空闲AGV换电设备；
    响应于目标换电站中不存在空闲AGV换电设备，获取工作AGV换电设备的剩余工作时长信息，基于所述剩余工作时长信息确定所述车辆的等待时长信息，并将所述等待时长信息发送至所述车辆，其中，所述工作AGV换电设备为处于工作状态的AGV换电设备；
    响应于目标换电站中存在空闲AGV换电设备，执行：所述控制空闲AGV换电设备从目标换电站的电池柜中提取所述可用电池包的步骤。
  3. 如权利要求2所述的车辆换电控制方法，其中，所述控制空闲AGV换电设备从目标换电站的电池柜中提取所述可用电池包的步骤之前包括：
    控制空闲AGV换电设备识别所述车辆上电池锁止机构对应的定位特征点，基于所述定位特征点，控制空闲AGV换电设备移动至电池锁止机构的下方位置；
    发送解锁控制信号至所述电池锁止机构，并控制所述工作AGV换电设备拆卸出所述车辆上的亏电电池包；
    控制空闲AGV换电设备将所述亏电电池包运载至电池柜中，并控制充电设备对所述亏电电池包进行充电，并执行：所述控制空闲AGV换电设备从目标换电站的电池柜中提取所述可用电池包的步骤。
  4. 如权利要求3所述的车辆换电控制方法，其中，所述给所述车辆进行换电操作的步骤包括：
    控制空闲AGV换电设备识别所述车辆上电池锁止机构对应的定位特征点，基于所述定位特征点，控制空闲AGV换电设备移动至电池锁止机构的下方位置；
    控制所述工作AGV换电设备将所述可用电池包安装至所述车辆上；
    发送上锁控制信号至所述电池锁止机构。
  5. 如权利要求1所述的车辆换电控制方法，其中，所述车辆换电控制方法还包括：
    监测所述车辆当前安装的电池包的电量信息；
    基于所述电量信息，判断所述车辆当前安装的电池包的电量是否小于预设电量阈值；
    确定所述车辆当前安装的电池包的电量小于预设电量阈值，生成是否预约换电的提示信息，并将所述提示信息发送至所述车辆；
    确定目标换电站接收到所述车辆的车辆身份信息和预计到达时间，基于所述车辆身份信息匹配的电池型号，控制所述目标换电站为所述车辆预留所述可用电池包；
    基于所述预计到达时间，控制所述目标换电站为所述车辆预留所述空闲AGV换电设备。
  6. 如权利要求5所述的车辆换电控制方法，其中，所述确定目标换电站接收到所述车辆的车辆身份信息和预计到达时间，基于所述车辆身份信息匹配的电池型号，控制所述目标换电站为所述车辆预留所述可用电池包的步骤之前包括：
    确定接收到基于所述提示信息而输入的预约请求指令，获取所述车辆的车辆身份信息和车辆位置信息；
    确定所述车辆身份信息匹配的电池型号；
    基于所述车辆位置信息和所述电池型号，确定出存在所述可用电池包的最近的换电站，并将所述最近的换电站作为目标换电站；
    将所述目标换电站的换电站位置信息，以及支付链接发送至所述车辆；
    确定接收到基于所述支付链接而返回的支付成功信息，以及基于所述换电站位置信息而返回的预计到达时间，将所述车辆的车辆身份信息和预计到达时间发送至目标换电站。
  7. 如权利要求6所述的车辆换电控制方法，其中，所述基于所述车辆位置信息和所述电池型号，确定出存在所述可用电池包的最近的换电站的步骤包括：
    基于所述车辆位置信息确定所述车辆附近的各换电站，获取所述各换电站的电池包信息；
    基于所述电池型号和所述各换电站的电池包信息，确定出存在所述可用电池包的最近的换电站。
  8. 一种车辆换电控制系统，其中，所述车辆换电控制系统包括：
    检测模块，被配置为检测车辆是否驶入目标换电站的换电区域；
    分析模块，被配置为确定检测到所述车辆驶入目标换电站的换电区域，获取所述车辆的车辆身份信息，并确定所述车辆身份信息匹配的电池型号；
    所述分析模块，还被配置为获取目标换电站中的电池包信息，并根据目标换电站中的电池包信息，确定目标换电站中是否存在所述电池型号对应的可用电池包，其中，所述可用电池包为所述电池型号对应的电池包，且为电池电量达到换电要求的电池包；
    控制模块，被配置为确定存在所述可用电池包，控制空闲AGV换电设备从目标换电站的电池柜中提取所述可用电池包，其中，所述空闲AGV换电设备为处于空闲状态的AGV换电设备；
    所述控制模块，还被配置为控制所述空闲AGV换电设备识别所述车辆对应的换电位置，并将所述可用电池包运载至所述换电位置，给所述车辆进行换电操作。
  9. 一种车辆换电控制装置，其中，所述车辆换电控制装置包括：存储器、处理器及存储在所述存储器上并可在所述处理器上运行的车辆换电控制程序，所述车辆换电控制程序被所述处理器执行时实现如权利要求1至7中任一项所述的车辆换电控制方法的步骤。
  10. 一种计算机可读存储介质，其中，所述计算机可读存储介质上存储有车辆换电控制程序，所述车辆换电控制程序被处理器执行时实现如权利要求1至7中任一项所述的车辆换电控制方法的步骤。
PCT/CN2022/091974 2021-11-12 2022-05-10 车辆换电控制方法、系统、装置及计算机可读存储介质 WO2023082572A1 (zh)

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