Battery bin positioning system and battery bin positioning method

Abstract

The present invention discloses a battery slot positioning system and a battery slot positioning method. The battery slot positioning system is used to realize the positioning between a battery swapping device and a battery slot. The battery slot includes a plurality of battery slots arranged in an array. The battery swapping device is configured to move along a first direction and a second direction relative to the battery slot. The battery slot positioning system includes a first positioning unit and a second positioning unit, which are respectively used to position the battery swapping device in a first direction and a second direction, so that the battery swapping device and the target battery slot are positioned. The present invention uses the first positioning unit and the second positioning unit to enable the battery swapping device to be in a precise position before taking and placing the battery pack between any battery slot, thereby solving the error caused by the initial movement, ensuring the smooth placement and removal of the battery pack, avoiding damage to the battery pack due to position deviation, and improving the efficiency of taking and placing the battery pack.

Description

Technical Field

[0001] The invention relates to a battery bin positioning system and a battery bin positioning method. Background Art

[0002] When replacing batteries in existing electric vehicles, it is usually necessary to remove the depleted batteries from the electric vehicle and transport them to the charging rack, and remove the fully charged batteries from the battery compartment of the charging rack and transport them to the electric vehicle. The charging rack usually stores batteries in a stacked form, so when the battery replacement equipment removes or places batteries, it is necessary not only for the battery replacement actuator to move horizontally, but also for the battery replacement actuator to move vertically.

[0003] During the horizontal and vertical movement of the battery swap actuator, although it moves according to the preset value, various situations such as mechanical errors generated during the actual movement will cause the battery swap actuator of the battery swap equipment to fail to reach the accurate position. As a result, the battery swap actuator cannot be aligned with the battery compartment, which makes it impossible to normally take and place the battery pack, and may even cause damage to the battery swap actuator and the structure in the charging compartment. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the defects in the prior art that the battery replacement actuator cannot reach the accurate position, resulting in the battery pack cannot be normally taken out and placed, and the battery replacement actuator and the charging bin are damaged, and a battery bin positioning system and a battery bin positioning method are provided.

[0005] The present invention solves the above technical problems through the following technical solutions:

[0006] A battery compartment positioning system is used to realize the positioning between a battery swap device and a battery compartment, wherein the battery compartment includes a plurality of battery compartments arranged in an array, and the battery swap device is configured to move relative to the battery compartment along a first direction and a second direction. The system is characterized in that:

[0007] The battery bin positioning system comprises:

[0008] The first positioning unit and the second positioning unit are used to position the battery exchange device in a first direction and a second direction respectively, so that the battery exchange device and the target battery compartment are positioned.

[0009] The first direction and the second direction are two different directions. By obtaining coordinates by positioning in the two directions, the coordinates of the battery compartment can be obtained. In this solution, the first direction can be a horizontal direction, and the second direction can be a vertical direction.

[0010] The present invention accurately positions the battery compartment through the first positioning unit and the second positioning unit, so that the battery swap actuator is in a precisely aligned position before taking and placing the battery pack, thereby solving the error caused by the initial movement and ensuring the smooth taking out or placing of the battery pack. In this way, the situation where the battery pack cannot be taken and placed is avoided, and the situation where the battery swap actuator and the charging compartment are damaged is greatly reduced.

[0011] Preferably, the battery swapping device includes: a battery swapping actuator for taking and placing a battery pack, a control mechanism, a first moving mechanism and a second moving mechanism for driving the battery swapping actuator to move in a first direction and in a second direction. The movement of the first moving mechanism and the second moving mechanism can ensure that the battery swapping actuator can be moved to any desired position.

[0012] The control mechanism controls the first positioning unit and the second positioning unit to respectively position the moving positions of the first mobile mechanism and the second mobile mechanism according to the position information of the target battery position. According to the position information of the target battery position, the first mobile mechanism and the second mobile mechanism first perform preliminary rough positioning, and move the battery replacement actuator in the first direction and the second direction according to the preset value to achieve precise positioning.

[0013] Preferably, the first positioning unit includes a first magnetic member and a first sensor, the first magnetic member is arranged at a predetermined position in the first direction of each of the battery compartments, the first sensor is arranged on the battery replacement actuator and is used to sense the first magnetic member corresponding to the target battery compartment during movement along the first direction, thereby performing positioning in the first direction.

[0014] When the battery replacement actuator moves roughly to the target battery compartment according to the preset value of the target battery compartment, the first magnetic part of the target battery compartment is sensed by the first sensor, which is used as a basis for further adjustment. The first magnetic parts of other battery compartments passed within the predetermined range before roughly moving to the target battery compartment can be ignored.

[0015] Preferably, the first sensor performs positioning in the first direction according to the sensed edge position of the first magnetic member and a preset alignment position.

[0016] In the first direction, the alignment movement amount between the preset alignment position and the edge position of the first magnetic part has a fixed distance. The target position corresponding to the battery swap actuator moves on the first magnetic part according to the first preset value in the first direction. In the first direction, the distance between the target position and the edge position of the first magnetic part is the actual movement amount. Therefore, the error of the battery swap actuator in the first direction can be judged and adjusted by the alignment movement amount and the actual movement amount in the first direction.

[0017] Preferably, the second positioning unit includes a second magnetic member and a second sensor, the second magnetic member is arranged at a predetermined position in the second direction of each of the battery compartments, the second sensor is arranged on the battery replacement actuator and is used to sense the second magnetic member corresponding to the target battery compartment during movement along the second direction, thereby performing positioning in the second direction.

[0018] When the battery replacement actuator moves roughly to the target battery compartment according to the preset value of the target battery compartment, the second magnetic part of the target battery compartment is sensed by the second sensor, which is used as a basis for further adjustment. The second magnetic parts of other battery compartments passed within the predetermined range before roughly moving to the target battery compartment can be ignored.

[0019] Preferably, the second sensor performs positioning in the second direction according to the sensed edge position of the second magnetic member and a preset alignment position.

[0020] In the second direction, the alignment movement amount between the preset alignment position and the edge position of the second magnetic part has a fixed distance. The target position corresponding to the battery swap actuator on the second magnetic part after moving in the second direction according to the first preset value. In the second direction, the distance between the target position and the edge position of the second magnetic part is the actual movement amount. Therefore, the error of the battery swap actuator in the second direction can be judged and adjusted by the alignment movement amount and the actual movement amount in the second direction.

[0021] Preferably, the battery exchange device also includes a fixed frame, wherein the fixed frame has a longitudinal beam arranged corresponding to the lifting direction of the battery exchange actuator, the second positioning unit includes a second magnetic member and a second sensor, and the second magnetic member is arranged at a predetermined position corresponding to each battery position in the vertical direction of the longitudinal beam, and the second sensor is arranged on the battery exchange actuator and is used to sense the second magnetic member at the predetermined position corresponding to each battery position during movement along the second direction, thereby performing positioning in the second direction.

[0022] The longitudinal beam of the battery swap actuator also has a certain height in the height direction. Therefore, setting the second magnetic part on the longitudinal beam can quickly realize the positioning in the second direction, and the battery swap equipment as a whole can be realized before it approaches the battery compartment, and the positioning efficiency is higher. Moreover, when the second direction is the height direction, in the second direction, the alignment movement amount between the preset alignment position on the longitudinal beam and the edge position of the second magnetic part also has a fixed distance. The target position corresponding to the battery swap actuator on the second magnetic part after moving in the second direction according to the first preset value. In the second direction, the distance between the target position and the edge position of the second magnetic part is the actual movement amount. Therefore, the error of the battery swap actuator in the second direction can be judged and adjusted by the alignment movement amount and the actual movement amount in the second direction.

[0023] A battery compartment positioning method, characterized in that the battery compartment positioning method comprises:

[0024] Driving the battery replacement actuator to move according to a first preset value corresponding to the target battery position;

[0025] Determine whether the battery swap actuator has moved to the positioning area of ​​the target battery compartment;

[0026] If so, the corresponding positioning and alignment operation is performed.

[0027] In the implementation of this method, the first preset value is first used. The first preset value can be obtained in advance according to the position of the target battery compartment. During the movement of the battery replacement actuator according to the first preset value, the positioning area is judged, and once entering the positioning area, an alignment operation is performed to improve the efficiency of positioning and alignment.

[0028] Preferably, the positioning area includes a first positioning area corresponding to the first direction and / or a second positioning area corresponding to the second direction, wherein the step of performing the corresponding positioning alignment operation includes:

[0029] Complete positioning alignment in a first direction; and / or

[0030] The positioning alignment in the second direction is completed.

[0031] The first preset value specifically includes a movement preset value in the first direction and a movement preset value in the second direction. After roughly running to the positioning area of ​​the target battery compartment, precise alignment is started.

[0032] Preferably, the step of completing the positioning alignment in the first direction includes:

[0033] Obtain edge position information of the first positioning area, target position information corresponding to the first positioning area after the battery swap actuator moves according to the first preset value, and alignment position information of the preset first positioning area;

[0034] Obtaining an actual movement amount in the first direction according to the target position information and the edge position information in the first direction, and obtaining an alignment movement amount in the first direction according to the alignment position information and the edge position information in the first direction;

[0035] The actual movement amount and the alignment movement amount in the first direction are judged and processed, and the battery replacement actuator is controlled to move to perform positioning and alignment in the first direction based on the judgment result.

[0036] Preferably, the step of controlling the battery swap actuator to move and perform positioning and alignment in the first direction according to the judgment result includes:

[0037] If the actual movement amount in the first direction is greater than the alignment movement amount, the battery replacement actuator is controlled to move in the opposite direction along the first direction to achieve positioning alignment;

[0038] If the actual movement in the first direction is less than the alignment movement, the battery replacement actuator is controlled to continue moving forward along the first direction to achieve positioning alignment.

[0039] Preferably, the step of completing the positioning alignment in the second direction comprises:

[0040] Obtain edge position information of the second positioning area, target position information corresponding to the second positioning area after the battery swap actuator moves according to the first preset value, and alignment position information of the preset second positioning area;

[0041] Obtaining an actual movement amount in the second direction according to the target position information and the edge position information in the second direction, and obtaining an alignment movement amount in the second direction according to the alignment position information and the edge position information in the second direction;

[0042] The actual movement amount and the alignment movement amount in the second direction are judged and processed, and the battery replacement actuator is controlled to move to perform positioning and alignment in the second direction based on the judgment result.

[0043] Preferably, the step of controlling the battery swap actuator to move and perform positioning alignment in the second direction according to the judgment result includes:

[0044] If the actual movement amount in the second direction is greater than the alignment movement amount, the battery replacement actuator is controlled to move in the opposite direction along the second direction to achieve positioning alignment;

[0045] If the actual movement in the second direction is less than the alignment movement, the battery replacement actuator is controlled to continue moving forward in the second direction to achieve positioning alignment.

[0046] Preferably, the battery compartment positioning method further includes: when it is determined that the battery swap actuator has not moved to the positioning area of ​​the target battery compartment, the battery swap actuator is driven to move further according to a second preset value. When the error of the initial movement of the battery swap actuator is too large, it will result in the inability to obtain the edge position information of the first positioning area or the second positioning area, and positioning alignment will not be possible. Therefore, the battery swap actuator needs to move further until the edge position information of the first positioning area or the second positioning area can be read.

[0047] Preferably, the battery compartment positioning method further includes: when it is determined that the battery swap actuator has not moved to the positioning area of ​​the target battery compartment, controlling the visual positioning unit to position the target battery compartment. When the error of the initial movement of the battery swap actuator is too large, it will result in the inability to obtain the edge position information of the first positioning area or the second positioning area, and positioning and alignment will not be possible. At this time, a visual positioning unit is required to further obtain the relative position relationship in order to facilitate further positioning and alignment.

[0048] Preferably, the step of controlling the visual positioning unit to position the target battery compartment comprises:

[0049] Acquire a first image and a second image of a first position and a second position of the target battery compartment;

[0050] Obtaining a position adjustment amount according to the first image, the second image, and a corresponding reference image;

[0051] The battery replacement actuator is driven to move to align with the target battery compartment position according to the position adjustment amount.

[0052] Preferably, the position adjustment amount includes a movement amount in a first direction,

[0053] The step of obtaining a position adjustment amount according to the first image, the second image and a corresponding reference image comprises:

[0054] The first direction movement amount is obtained according to the first image and a first reference image corresponding to the first position or the second image and a second reference image corresponding to the second position.

[0055] Preferably, the position adjustment amount includes two second direction movement amounts, and the step of obtaining the position adjustment amount according to the first image, the second image and the corresponding reference image includes:

[0056] The two second-direction movement amounts are obtained respectively according to the first image and a first reference image corresponding to the first position, and the second image and a second reference image corresponding to the second position.

[0057] The positive progressive effect of the present invention is that: through the first positioning unit and the second positioning unit, the present invention enables the battery exchange equipment to be in a precise position before taking and placing the battery pack between any battery compartment, thereby solving the error caused by the initial movement, ensuring the smooth placement and removal of the battery pack, avoiding damage to the battery pack due to position deviation, and improving the efficiency of taking and placing the battery pack. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 This is a schematic diagram of the three-dimensional structure of the battery exchange device according to embodiment 1 of the present invention.

[0059] Figure 2 This is a schematic diagram of the main structure of the battery exchange device of Example 1 of the present invention.

[0060] Figure 3 This is a schematic diagram of the main structure of the battery compartment of Example 1 of the present invention.

[0061] Figure 4 This is a schematic diagram of the structure of the first positioning unit and the second positioning unit in Example 1 of the present invention.

[0062] Figure 5 This is a positioning and alignment diagram of the first direction of Example 1 of the present invention.

[0063] Figure 6 This is a positioning and alignment diagram for the second direction of Example 1 of the present invention.

[0064] Figure 7 Schematic diagram of obtaining the position information of the target device 4 by the visual positioning unit according to Embodiment 1 of the present invention.

[0065] Figure 8 Schematic diagram of a first reference image of a visual positioning unit in Example 1 of the present invention.

[0066] Fig. 9 Schematic diagram of a first image of a visual positioning unit according to Embodiment 1 of the present invention.

[0067] Fig.10 This is a flow chart of the battery compartment positioning method according to Example 1 of the present invention.

[0068] Fig.11 This is a flow chart of controlling the visual positioning unit to position the target battery compartment according to Example 1 of the present invention. DETAILED DESCRIPTION

[0069] The present invention is further described below by way of examples, but the present invention is not limited to the scope of the examples.

[0070] like Figure 1-Figure 9As shown, the present invention discloses a battery position positioning system for realizing the positioning between a battery swap device 1 and a battery compartment 2, wherein the battery compartment 2 includes a plurality of battery positions 21 arranged in an array, and the battery swap device 1 is configured to move along a first direction and a second direction relative to the battery compartment 2. Among them, the first direction in this embodiment may be a horizontal direction, and the second direction may be a vertical direction. In the present invention, the specific orientations of the first direction and the second direction are not limited, as long as the first direction and the second direction are non-parallel, that is, there is an intersection between the first direction and the second direction, positioning can be realized.

[0071] like Figure 1 and Figure 2 As shown, the battery exchange device 1 of this embodiment includes a battery exchange actuator 12 for performing the removal and placement of the battery pack, a control mechanism, a first moving mechanism 13 and a second moving mechanism 14 for driving the battery exchange actuator 12 to move along the first direction and along the second direction. The movement of the first moving mechanism 13 and the second moving mechanism 14 can ensure that the battery exchange actuator 12 can be moved to any desired position. The battery exchange device 1 also includes a fixed frame 11, wherein the fixed frame 11 has a longitudinal beam 111 arranged corresponding to the lifting direction of the battery exchange actuator 12.

[0072] like Figure 1 and Figure 2 As shown, the first moving mechanism 13 of this embodiment is a roller running on a track, which can drive the entire fixed frame 11 and the battery swap actuator 12 to move horizontally. The second moving mechanism 14 mainly includes a driving part 141, a chain 142, and a sprocket 143. Among them, the driving part 141 is fixed on the fixed frame 11, and the sprocket 143 is fixed on the battery swap actuator 12. The driving part drives the chain 142 to rise and fall, thereby driving the battery swap actuator 12 to rise and fall vertically.

[0073] The battery compartment positioning system of this embodiment includes a first positioning unit and a second positioning unit, which are respectively used to position the battery swap device 1 in a first direction and a second direction, so as to complete the positioning of the battery swap device 1 and the target battery compartment 21. Since the first direction and the second direction are two different directions, the coordinates of the battery compartment 21 can be obtained by obtaining coordinates by positioning in the two directions.

[0074] The control mechanism controls the first positioning unit and the second positioning unit to respectively position the moving positions of the first mobile mechanism 13 and the second mobile mechanism 14 according to the position information of the target battery position 21. According to the position information of the target battery position 21, the first mobile mechanism 13 and the second mobile mechanism 14 first perform preliminary rough positioning, and move the battery replacement actuator 12 in the first direction and the second direction according to the preset value to achieve precise positioning.

[0075] like Figure 3and Figure 4 As shown, the first positioning unit of the present embodiment specifically includes a first magnetic member 201 and a first sensor 31. The first magnetic member 201 is arranged at a predetermined position in the first direction of each battery compartment 21. The first sensor 31 is arranged on the battery replacement actuator 12 and is used to sense the first magnetic member 201 corresponding to the target battery compartment 21 during movement along the first direction, thereby performing positioning in the first direction.

[0076] In the process of the battery replacement actuator 12 of this embodiment moving roughly to the target battery compartment 21 according to the preset value of the target battery compartment, the first magnetic member 201 of the target battery compartment 21 is sensed by the first sensor 31, which is used as a basis for further adjustment. The first magnetic members 201 of other battery compartments 21 passed within the predetermined range before roughly moving to the target battery compartment 21 can be ignored.

[0077] like Figure 5 As shown, during use, the first sensor 31 performs positioning in the first direction according to the sensed edge position 203 of the first magnetic part 201 and the preset alignment position 204. In the first direction, the alignment movement M1 between the preset alignment position 204 and the edge position 203 of the first magnetic part 201 has a fixed distance. The battery swap actuator 12 moves to the corresponding target position 205 on the first magnetic part 201 according to the first preset value in the first direction. In the first direction, the distance between the target position and the edge position of the first magnetic part 201 is the actual movement M2. Therefore, the error of the battery swap actuator 12 in the first direction can be judged and adjusted by the alignment movement M1 and the actual movement M2 in the first direction.

[0078] like Figure 3 and Figure 4 As shown, the second positioning unit of this embodiment specifically includes a second magnetic member 202 and a second sensor 32. The second magnetic member 202 is arranged at a predetermined position in the second direction of each battery compartment 21. The second sensor 32 is arranged on the battery replacement actuator 12 and is used to sense the second magnetic member 202 corresponding to the target battery compartment 21 during movement along the second direction, thereby performing positioning in the second direction.

[0079] In the process of the battery replacement actuator 12 of this embodiment moving roughly to the target battery compartment 21 according to the preset value of the target battery compartment, the second magnetic member 202 of the target battery compartment 21 is sensed by the second sensor 32, which is used as a basis for further adjustment. The second magnetic members 202 of other battery compartments 21 passed within the predetermined range before roughly moving to the target battery compartment 21 can be ignored.

[0080] like Figure 6As shown, during use, the second sensor 32 performs positioning in the second direction according to the sensed edge position 206 of the second magnetic part 202 and the preset alignment position 207. In the second direction, the alignment movement N1 between the preset alignment position 207 and the edge position 206 of the second magnetic part 202 has a fixed distance. The battery swap actuator 12 corresponds to a target position 208 on the second magnetic part 202 after moving in the second direction according to the first preset value. In the second direction, the distance between the target position 208 and the edge position 206 of the second magnetic part 202 is the actual movement N2. Therefore, the error of the battery swap actuator 12 in the second direction can be judged and adjusted by the alignment movement N1 and the actual movement N2 in the second direction.

[0081] This embodiment also discloses a battery compartment positioning method, which includes:

[0082] S1, driving the battery replacement actuator 12 to move according to the first preset value corresponding to the target battery position 21;

[0083] S2, determining whether the battery replacement actuator 12 has moved to the positioning area of ​​the target battery compartment 21;

[0084] If yes, then enter S3 and perform corresponding positioning and alignment operations.

[0085] In the implementation of this method, the first preset value is first run. The first preset value can be obtained in advance according to the position of the target battery compartment 21. During the movement of the battery replacement actuator according to the first preset value, the positioning area is judged, and once entering the positioning area, the alignment operation is performed to improve the efficiency of positioning and alignment.

[0086] The positioning area of ​​this embodiment includes a first positioning area corresponding to the first direction and / or a second positioning area corresponding to the second direction. The first positioning area is the sensing area of ​​the first magnetic member 201, and the second positioning area is the sensing area of ​​the second magnetic member 202. Among them, the steps of performing the corresponding positioning alignment operation include: completing the positioning alignment in the first direction; and completing the positioning alignment in the second direction. Among them, the first preset value specifically includes the movement preset value in the first direction and the movement preset value in the second direction. After roughly running to the positioning area of ​​the target battery compartment, precise alignment begins.

[0087] like Figure 5 and Fig.10 As shown, the steps of completing the positioning alignment in the first direction include:

[0088] Obtain information about the edge position of the first positioning area, information about the target position of the battery swapping actuator corresponding to the first positioning area after the battery swapping actuator moves according to the first preset value, and information about the alignment position of the preset first positioning area;

[0089] Obtaining an actual movement amount M2 in the first direction according to the target position information and the edge position information in the first direction, and obtaining an alignment movement amount M1 in the first direction according to the alignment position information and the edge position information in the first direction;

[0090] The actual movement amount and the alignment movement amount in the first direction are judged and processed, and the battery replacement actuator 12 is controlled to move to perform positioning and alignment in the first direction according to the judgment result.

[0091] The step of controlling the battery replacement actuator 12 to move and perform positioning and alignment in the first direction according to the judgment result includes:

[0092] If the actual movement amount M2 in the first direction is greater than the alignment movement amount M1, the battery replacement actuator 12 is controlled to move in the opposite direction along the first direction to achieve positioning alignment;

[0093] If the actual movement amount M2 in the first direction is smaller than the alignment movement amount M1, the battery replacement actuator 12 is controlled to continue to move forward along the first direction to achieve positioning alignment.

[0094] like Figure 6 and Fig.10 As shown, the steps of completing the positioning alignment in the second direction include:

[0095] Obtain edge position information of the second positioning area, target position information corresponding to the second positioning area after the battery swapping execution mechanism 12 moves according to the first preset value, and alignment position information of the preset second positioning area;

[0096] Obtaining an actual movement amount N2 in the second direction according to the target position information and the edge position information in the second direction, and obtaining an alignment movement amount N1 in the second direction according to the alignment position information and the edge position information in the second direction;

[0097] The actual movement amount N2 and the alignment movement amount N1 in the second direction are judged and processed, and the battery replacement actuator 12 is controlled to move to perform positioning and alignment in the second direction according to the judgment result.

[0098] The step of controlling the battery replacement actuator 12 to move and perform positioning and alignment in the second direction according to the judgment result includes:

[0099] If the actual movement amount N2 in the second direction is greater than the alignment movement amount N1, the battery replacement actuator 12 is controlled to move in the opposite direction along the second direction to achieve positioning alignment;

[0100] If the actual movement amount N2 in the second direction is smaller than the alignment movement amount N1, the battery replacement actuator 12 is controlled to continue to move forward along the second direction to achieve positioning alignment.

[0101] like Fig.10As shown, the battery compartment positioning method also includes: when it is determined that the battery swap actuator 12 has not moved to the positioning area of ​​the target battery compartment 21, the battery swap actuator 12 is driven to move further according to the second preset value. When the error of the initial movement of the battery swap actuator 12 is too large, it will result in the inability to obtain the edge position information of the first positioning area or the second positioning area, and positioning alignment will not be possible. Therefore, the battery swap actuator 12 needs to be further moved until the edge position information of the first positioning area or the second positioning area can be read.

[0102] like Fig.10 As shown, the battery compartment positioning method also includes: when it is determined that the battery swap actuator 12 has not moved to the positioning area of ​​the target battery compartment 21, the visual positioning unit is controlled to position the target battery compartment 21. When the error of the initial movement of the battery swap actuator 12 is too large, it will result in the inability to obtain the edge position information of the first positioning area or the second positioning area, and positioning and alignment will not be possible. At this time, a visual positioning unit is required to further obtain the relative position relationship for further positioning and alignment.

[0103] like Figure 7 As shown, the visual positioning system includes a first visual sensor 501 and a second visual sensor 502. The first visual sensor 501 is used to obtain a first image of a first position of the target device 4; the second visual sensor 502 is used to obtain a second image of a second position of the target device 4. The position acquisition unit 503 is used to obtain the position information of the target device 4 according to the first image and the second image. Here, the target device 4 refers to the battery bracket in the battery compartment, and of course the target device 4 can also be other structural parts in the battery compartment.

[0104] When implementing it, refer to Figure 7 , the first visual sensor 501 acquires a first image of the target device 4 along the direction indicated by the arrow, and the first image includes a first position A on the target device 4; the second visual sensor 502 acquires a second image of the target device 4 along the direction indicated by the arrow, and the second image includes a second position B on the target device 4. After receiving the first image and the second image, the position acquisition unit performs image processing to obtain the position information of the target device 4.

[0105] Therefore, the step of controlling the visual positioning unit to position the target battery compartment 21 includes:

[0106] S51, collecting a first image and a second image of a first position A and a second position B of a target battery compartment 21;

[0107] S52, obtaining a position adjustment amount according to the first image, the second image and the corresponding reference image;

[0108] S53, driving the battery replacement actuator 12 to move to align with the target battery compartment position 21 according to the position adjustment amount.

[0109] like Figure 8 and Fig. 9 As shown, by analyzing the first reference image G1, the position acquisition unit obtains the position of the pixel corresponding to the first position A on the target device 4 in the first reference image G1 in the first reference image G1, which is used as a reference for positioning and is referred to as the "target position" for the convenience of explanation. By analyzing the first image G11, the position acquisition unit obtains the position of the pixel corresponding to the first position A on the target device 4 in the first image G11 in the first image G11, which is referred to as the "real-time position" for the convenience of explanation. According to the image processing algorithm, the position acquisition unit obtains the first direction movement amount and the second direction movement amount of the first visual sensor 501 according to the target position and the real-time position. By moving the first visual sensor 501 by the first horizontal displacement amount and the second direction movement amount, the first visual sensor 501 can capture an image consistent with the first reference image G1.

[0110] Similarly, the position acquisition unit 503 acquires the second horizontal displacement and the second vertical displacement according to the second image and the pre-stored second reference image. By moving the second visual sensor 502 by the second horizontal displacement and the second vertical displacement, the second visual sensor 502 can capture an image consistent with the second reference image.

[0111] Therefore, the position adjustment amount in S52 includes the movement amount in the first direction, and the step of obtaining the position adjustment amount according to the first image, the second image and the corresponding reference image includes:

[0112] The first direction movement amount is obtained according to the first image G11 and the first reference image G1 corresponding to the first position A or the second image and the second reference image corresponding to the second position.

[0113] The position adjustment amount includes two second direction movement amounts, and the step of obtaining the position adjustment amount according to the first image G11, the second image and the corresponding reference image includes:

[0114] Two second direction movement amounts are obtained respectively according to the first image G11 and the first reference image G11 corresponding to the first position A, and the second image and the second reference image corresponding to the second position.

[0115] Example 2

[0116] The difference between this embodiment and embodiment 1 is that the second magnetic member 202 of this embodiment is not arranged on the battery compartment 2. Instead, the second magnetic member 202 is arranged at a predetermined position corresponding to each battery compartment 21 in the vertical direction of the longitudinal beam 111 of the battery swapping device, and the second sensor 32 is arranged on the battery swapping actuator 12 and is used to sense the second magnetic member 202 at the predetermined position corresponding to each battery compartment 21 during the movement along the second direction, so as to perform positioning in the second direction.

[0117] The longitudinal beam 111 of the battery swap actuator 12 also has a certain height in the height direction. Therefore, setting the second magnetic part 202 on the longitudinal beam 111 can quickly realize the positioning in the second direction, and the battery swap equipment as a whole can be realized before it approaches the battery compartment 2, and the positioning efficiency is higher. Moreover, when the second direction is the height direction, in the second direction, the alignment movement amount between the preset alignment position on the longitudinal beam 111 and the edge position of the second magnetic part 202 also has a fixed distance. The target position corresponding to the battery swap actuator 12 on the second magnetic part 202 after moving in the second direction according to the first preset value. In the second direction, the distance between the target position and the edge position of the second magnetic part 202 is the actual movement amount. Therefore, the error of the battery swap actuator 12 in the second direction can be judged and adjusted by the alignment movement amount and the actual movement amount in the second direction.

[0118] The present invention accurately positions the battery compartment through the first positioning unit and the second positioning unit, so that the battery replacement actuator can be accurately adjusted before taking and placing the battery pack to solve the error caused by the initial movement. In this way, the situation where the battery pack cannot be taken and placed is avoided, and the situation of damage to the battery replacement actuator and the charging compartment is greatly reduced.

[0119] Although the specific embodiments of the present invention are described above, it should be understood by those skilled in the art that this is only for illustration and the protection scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. A battery compartment positioning system for positioning a battery swap device and a battery compartment, wherein the battery compartment comprises a plurality of battery compartments arranged in an array, and the battery swap device is configured to move relative to the battery compartment in a first direction and a second direction, characterized in that: The battery bin positioning system comprises: The first positioning unit and the second positioning unit are used to position the battery swapping device in a first direction and a second direction respectively, so that the battery swapping device and the target battery compartment are positioned; The battery replacement device includes: a battery replacement execution mechanism for taking and placing a battery pack, a control mechanism, a first moving mechanism and a second moving mechanism for driving the battery replacement execution mechanism to move in a first direction and in a second direction, The control mechanism controls the first positioning unit and the second positioning unit to respectively position the moving positions of the first moving mechanism and the second moving mechanism according to the position information of the target battery position; The first positioning unit includes a first magnetic member and a first sensor, the first magnetic member is arranged at a predetermined position in the first direction of each battery compartment, the first sensor is arranged on the battery replacement actuator and is used to sense the first magnetic member corresponding to the target battery compartment during movement along the first direction, thereby performing positioning in the first direction; The first sensor performs positioning in a first direction according to the sensed edge position of the first magnetic member and a preset alignment position; The battery swapping device further comprises a fixed frame, wherein the fixed frame has a longitudinal beam arranged corresponding to the lifting direction of the battery swapping actuator, the second positioning unit comprises a second magnetic member and a second sensor, the second magnetic member is arranged at a predetermined position corresponding to each of the battery positions in the vertical direction of the longitudinal beam, the second sensor is arranged on the battery swapping actuator and is used to sense the second magnetic member at the predetermined position corresponding to each of the battery positions during movement along the second direction, thereby performing positioning in the second direction; The second sensor performs positioning in the second direction according to the sensed edge position of the second magnetic member and a preset alignment position.

2. A battery storage location positioning method, characterized in that: The battery bin positioning method is applied to the battery bin positioning system according to claim 1, and the battery bin positioning method comprises: Driving the battery replacement actuator to move according to a first preset value corresponding to the target battery position; Determine whether the battery swap actuator has moved to the positioning area of ​​the target battery compartment; If so, the corresponding positioning and alignment operation is performed.

3. The battery compartment positioning method according to claim 2, characterized in that: The positioning area includes a first positioning area corresponding to the first direction and / or a second positioning area corresponding to the second direction, wherein the steps of performing corresponding positioning alignment operations include: Complete positioning alignment in a first direction; and / or The positioning alignment in the second direction is completed.

4. The battery compartment positioning method according to claim 3, characterized in that: The steps of completing the positioning alignment in the first direction include: Obtain edge position information of the first positioning area, target position information corresponding to the first positioning area after the battery swap actuator moves according to the first preset value, and alignment position information of the preset first positioning area; Obtaining an actual movement amount in the first direction according to the target position information and the edge position information in the first direction, and obtaining an alignment movement amount in the first direction according to the alignment position information and the edge position information in the first direction; The actual movement amount and the alignment movement amount in the first direction are judged and processed, and the battery replacement actuator is controlled to move to perform positioning and alignment in the first direction based on the judgment result.

5. The battery compartment positioning method according to claim 4, characterized in that: The step of controlling the battery swap actuator to move and perform positioning and alignment in the first direction according to the judgment result includes: If the actual movement amount in the first direction is greater than the alignment movement amount, the battery replacement actuator is controlled to move in the opposite direction along the first direction to achieve positioning alignment; If the actual movement in the first direction is less than the alignment movement, the battery replacement actuator is controlled to continue moving forward along the first direction to achieve positioning alignment.

6. The battery compartment positioning method according to claim 3, characterized in that: The steps of completing the positioning alignment in the second direction include: Obtain edge position information of the second positioning area, target position information corresponding to the second positioning area after the battery swap actuator moves according to the first preset value, and alignment position information of the preset second positioning area; Obtaining an actual movement amount in the second direction according to the target position information and the edge position information in the second direction, and obtaining an alignment movement amount in the second direction according to the alignment position information and the edge position information in the second direction; The actual movement amount and the alignment movement amount in the second direction are judged and processed, and the battery replacement actuator is controlled to move to perform positioning and alignment in the second direction based on the judgment result.

7. The battery compartment positioning method according to claim 6, characterized in that: The step of controlling the battery swap actuator to move and perform positioning alignment in the second direction according to the judgment result includes: If the actual movement amount in the second direction is greater than the alignment movement amount, the battery replacement actuator is controlled to move in the opposite direction along the second direction to achieve positioning alignment; If the actual movement in the second direction is less than the alignment movement, the battery replacement actuator is controlled to continue moving forward in the second direction to achieve positioning alignment.

8. The battery compartment positioning method according to claim 2, characterized in that: The battery compartment positioning method also includes: when it is determined that the battery replacement actuator has not moved to the positioning area of ​​the target battery compartment, driving the battery replacement actuator to move further according to a second preset value.

9. The battery compartment positioning method according to claim 2, characterized in that: The battery compartment positioning method also includes: when it is determined that the battery replacement actuator has not moved to the positioning area of ​​the target battery compartment, controlling the visual positioning unit to position the target battery compartment.

10. The battery compartment positioning method according to claim 9, characterized in that: The step of controlling the visual positioning unit to position the target battery compartment comprises: Acquire a first image and a second image of a first position and a second position of the target battery compartment; Obtaining a position adjustment amount according to the first image, the second image, and a corresponding reference image; The battery replacement actuator is driven to move to align with the target battery compartment position according to the position adjustment amount.

11. The battery compartment positioning method according to claim 10, characterized in that: The position adjustment amount includes a first direction movement amount, The step of obtaining a position adjustment amount according to the first image, the second image and a corresponding reference image comprises: The first direction movement amount is obtained according to the first image and a first reference image corresponding to the first position or the second image and a second reference image corresponding to the second position.

12. The battery compartment positioning method according to claim 10, characterized in that: The position adjustment amount includes two second direction movement amounts, and the step of obtaining the position adjustment amount according to the first image, the second image and the corresponding reference image includes: The two second-direction movement amounts are obtained respectively according to the first image and a first reference image corresponding to the first position, and the second image and a second reference image corresponding to the second position.

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