CN-122009095-A - Battery replacement method, device, terminal and readable storage medium for battery replacement station

CN122009095ACN 122009095 ACN122009095 ACN 122009095ACN-122009095-A

Abstract

The invention discloses a battery replacement method, a device, a terminal and a readable storage medium for a battery replacement station, wherein the battery replacement method comprises the following steps of collecting initial point cloud data containing a vehicle parked at an outlet of a parking passage; the method comprises the steps of obtaining target point cloud data corresponding to a vehicle from initial point cloud data, conducting filtering processing on the target point cloud data, generating an axis alignment bounding box corresponding to the target point cloud data, generating corresponding two-dimensional discrete points for all discrete points in the axis alignment bounding box, then extracting a vehicle head edge point set from all the two-dimensional discrete points, conducting processing on the vehicle head edge point set based on a principal component analysis method and fitting a straight line, obtaining a central point and a parking inclined angle of the vehicle based on the straight line, and controlling battery replacement equipment to replace a battery of the vehicle based on the central point and the vehicle inclined angle. Thus, when the user stops the vehicle, the battery can be replaced.

Inventors

LI QIMING
HUANG JIAHU
ZHANG CHAOPEI

Assignees

苏州博众新能源科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260126

Claims (10)

1. A battery replacement method for a battery replacement station provided with a parking passage extending in a straight direction and a ground surface of the parking passage extending in a horizontal direction, wherein a battery replacement device is provided in the parking passage, characterized by comprising the steps of: acquiring initial point cloud data containing a vehicle parked at an outlet of a parking channel, acquiring target point cloud data corresponding to the vehicle from the initial point cloud data, filtering the target point cloud data, and generating an axis alignment bounding box corresponding to the target point cloud data; Generating corresponding two-dimensional discrete points for all discrete points in the shaft alignment bounding box, extracting a vehicle head edge point set from all the two-dimensional discrete points, processing the vehicle head edge point set based on a principal component analysis method and fitting a straight line, and obtaining a center point and a parking tilt angle of the vehicle based on the straight line; And controlling the battery replacement device to replace the battery of the vehicle based on the center point and the vehicle inclination angle.
2. The method for replacing a battery according to claim 1, wherein, A 3D radar is arranged right above the outlet of the parking passage, and the included angle between the irradiation scanning direction of the 3D radar and the ground of the parking passage is And the vertical distance between the irradiation scanning direction of the 3D radar and the ground of the parking channel is h; The method for acquiring the initial point cloud data of the vehicle at the exit of the parking passage comprises the steps of acquiring the initial point cloud data of the vehicle at the exit of the parking passage through the 3D radar, wherein the irradiation scanning direction of the 3D radar is the Z direction, the X direction is the horizontal direction and is perpendicular to the running direction of the vehicle in the initial point cloud data, and rotating the initial point cloud data along the X axis Angle, making Z direction parallel to and opposite to vehicle forward direction, Y direction perpendicular to ground surface, making said initial point cloud data implement translation distance along negative direction of Y axis 。
3. The battery replacement method according to claim 2, wherein the "acquiring target point cloud data corresponding to the vehicle from the initial point cloud data" specifically includes: And generating a preset cuboid area positioned at the outlet of the parking channel from the initial point cloud data, wherein point clouds positioned in the cuboid area form target point cloud data.
4. The battery replacement method according to claim 3, wherein the "filter processing the target point cloud data" specifically includes: and filtering the target point cloud data by using a radius outlier filtering algorithm.
5. The method for replacing a battery according to claim 4, wherein, The generating the axis alignment bounding box corresponding to the target point cloud data specifically includes: Minimum value of X coordinate values of all discrete points in the target point cloud data And maximum value Minimum value of Y coordinate values of all discrete points in the target point cloud data And maximum value Minimum value of Z coordinate values of all discrete points in the target point cloud data And maximum value ; Generating an axis alignment bounding box corresponding to the target point cloud data, wherein eight vertexes of the axis alignment bounding box are , , , , , , , 。
6. The battery replacement method according to claim 5, wherein the extracting a vehicle head edge point set from all two-dimensional discrete points, processing the vehicle head edge point set based on a principal component analysis method and fitting a straight line, and obtaining a center point and a parking tilt angle of the vehicle based on the straight line specifically comprises: Extracting a vehicle head edge point set from all two-dimensional discrete points, acquiring a license plate position point set from the vehicle head edge point set, carrying out principal component analysis on the license plate position point set, obtaining a covariance matrix C of the license plate position point set, obtaining a characteristic value and a characteristic vector of the covariance matrix C, wherein a characteristic vector v_max corresponding to the maximum characteristic value is a direction vector, acquiring a center point mu of the vehicle head edge point set, generating a straight line passing through the center point mu and the direction vector v_max, wherein the center point mu of the vehicle is the parking angle, and the included angle between the straight line and a Y axis is the included angle.
7. A battery replacing device for a battery replacing station is provided with a parking passage, wherein the parking passage extends along a straight line direction, the ground of the parking passage extends along a horizontal direction, and battery replacing equipment is arranged in the parking passage, and the battery replacing device is characterized by comprising the following modules: the system comprises a point cloud generation module, a target point cloud data acquisition module, a target point cloud processing module and a target point cloud processing module, wherein the point cloud generation module is used for acquiring initial point cloud data containing a vehicle parked at an outlet of a parking channel; The processing module is used for generating corresponding two-dimensional discrete points for all the discrete points in the shaft alignment bounding box, extracting a vehicle head edge point set from all the two-dimensional discrete points, processing the vehicle head edge point set based on a principal component analysis method and fitting a straight line, and obtaining a center point and a parking tilt angle of the vehicle based on the straight line; and the battery replacement module is used for controlling the battery replacement equipment to replace the battery of the vehicle based on the central point and the vehicle inclination angle.
8. The battery replacing device according to claim 7, wherein, A 3D radar is arranged right above the outlet of the parking passage, and the included angle between the irradiation scanning direction of the 3D radar and the ground of the parking passage is And the vertical distance between the irradiation scanning direction of the 3D radar and the ground of the parking channel is h; The point cloud generation module is further used for acquiring initial point cloud data containing a vehicle parked at an outlet of a parking passage through the 3D radar, wherein in the initial point cloud data, the irradiation scanning direction of the 3D radar is a Z direction, the X direction is a horizontal direction and is perpendicular to the running direction of the vehicle, and the initial point cloud data is rotated along the X axis Angle, making Z direction parallel to and opposite to vehicle forward direction, Y direction perpendicular to ground surface, making said initial point cloud data implement translation distance along negative direction of Y axis 。
9. A terminal, comprising: A memory for storing a computer program; A processor for implementing the steps of the battery replacement method according to any one of claims 1 to 6 when executing the computer program.
10. A readable storage medium, characterized in that the readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the battery replacement method according to any of claims 1 to 6.

Description

Battery replacement method, device, terminal and readable storage medium for battery replacement station Technical Field The present invention relates to the field of vehicle power conversion technologies, and in particular, to a battery replacement method, device, terminal, and readable storage medium for a power conversion station. Background With the rapid development of new energy automobile industry, the power battery is used as a core power source of the new energy automobile, and the cruising ability and the energy supplementing efficiency become key factors influencing the use experience of users. Compared with the traditional charging energy supplementing mode, the power exchanging mode has the advantages of high energy supplementing speed and no need of long-time waiting of users, and gradually becomes an important component in the new energy automobile energy supplementing system, and the related technology of the power exchanging station is also widely researched, developed and applied. In the layout design of the existing power exchange station, a parking passage is usually specially arranged for orderly entering, parking and power exchange operation of the vehicle. The parking passage provides a stable and regular basic environment for the operation of parking the vehicle and subsequent battery replacement equipment. Correspondingly, the battery replacement device is correspondingly arranged in a specific area of the parking passage, and when the vehicle is parked at a designated position, the battery replacement device can be started and complete the replacement operation of the power battery of the vehicle. However, in an actual power-change operation scenario, it is often difficult for the parked state of the vehicle to fully meet the ideal requirements for the power-change operation. Specifically, after a user drives a vehicle into a parking passage, the actual advancing direction of the vehicle cannot be kept parallel to the straight extending direction of the parking passage due to various factors such as driving technical differences, limitation of parking vision, insufficient guiding marks in the passage, and the like, and meanwhile, the parking position of the vehicle is difficult to accurately align with the center line of the parking passage, namely, the situation that the vehicle is "parked askew" occurs. On the one hand, if the advancing direction of the vehicle is not parallel to the extending direction of the channel, the operation standard of the battery replacement device and the installation standard of the vehicle power battery are offset, so that the device cannot accurately align the disassembly and the installation interface of the power battery, and on the other hand, the vehicle deviates from the parking state of the central line of the channel, which may cause the device to interfere with the vehicle body in the operation process, not only damage the vehicle or the device, but also affect the safety and the stability of the power replacement operation, and even cause the power replacement operation to be unable to be normally carried out in serious cases. Therefore, before the power exchanging operation is performed, first, the inclination angle of the vehicle with respect to the parking lot (i.e., the angle between the vehicle advancing direction and the lane extending direction) and whether the vehicle is parked on the center line of the parking lot (i.e., the offset amount of the vehicle with respect to the lane center line) are acquired, and if the angle α >0 of the vehicle advancing direction and the lane extending direction and the offset amount of the vehicle with respect to the lane center line are >0, it is necessary to control the battery exchanging apparatus to also rotate the angle α and to move horizontally until the battery (the battery is mounted to a fixed position of the vehicle, which is known) parked in the vehicle is directly above. Disclosure of Invention In view of the above, a primary object of the present invention is to provide a battery replacement method, apparatus, terminal and readable storage medium for a power exchange station. The battery replacement method for the power exchange station comprises the following steps of collecting initial point cloud data containing a vehicle parked at an outlet of the power exchange station, obtaining target point cloud data corresponding to the vehicle from the initial point cloud data, conducting filtering processing on the target point cloud data, generating an axis alignment bounding box corresponding to the target point cloud data, generating corresponding two-dimensional discrete points for all discrete points in the axis alignment bounding box, extracting a vehicle head edge point set from all the two-dimensional discrete points, processing the vehicle head edge point set based on a principal component analysis method and outputting a straight line, obtaining a center point and a parking tilt ang