Method and device for adjusting posture of vehicle in battery swap station, battery swap station and vehicle

Abstract

The invention discloses a method and device for adjusting the posture of a vehicle in a battery swap station, the battery swap station and the vehicle, and belongs to the technical field of battery charging and swap. The method comprises the following steps: controlling a passing platform of the battery swap station to rise to a first preset height, so that a plurality of probes arranged on the passing platform are in contact with a plurality of probe detection surfaces at the bottom of a vehicle; and adjusting the posture of the vehicle according to the measured value measured by each probe and a pre-calibrated calibration value. According to the embodiment of the invention, the plurality of probes are matched with the plurality of probe detection surfaces at the bottom of the vehicle, so that the measurement data of the plurality of contact points between the probes and the probe detection surfaces are sensed, the levelness deviation of the vehicle can be accurately identified by comparing the measurement values measured by the probes with the pre-calibrated calibration values, and the attitude of the vehicle is adjusted according to the levelness deviation. Therefore, the vehicle attitude levelness is improved, and the battery replacement success rate is improved.

Description

Technical Field

[0001] The present application belongs to the technical field of charging and battery swapping, and in particular, relates to a method and device for adjusting the posture of a vehicle in a battery swapping station, a battery swapping station, and a vehicle. Background Art

[0002] As a way to replenish energy for new energy vehicles, battery swapping technology has developed rapidly in recent years with the advancement of technology and market demand. During the battery swapping process, the vehicle needs to be lifted to a certain height so that the automated equipment can replace the battery pack from the bottom of the vehicle.

[0003] In order to meet the battery replacement needs of vehicles with larger loads, such as light trucks and heavy trucks, the vehicle lifting method was changed from gantry lifting to four-wheel lifting. However, due to different vehicle load conditions, it is difficult to ensure the levelness of the lifted vehicle, resulting in a low battery replacement success rate. Summary of the invention

[0004] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a vehicle posture adjustment method, device, battery swap station and vehicle in a battery swap station to improve the horizontality of the vehicle posture and improve the success rate of battery swapping.

[0005] In a first aspect, the present application provides a method for adjusting vehicle posture in a battery swap station, comprising:

[0006] Controlling the passage platform of the battery swap station to rise to a first preset height so that a plurality of probes arranged on the passage platform contact a plurality of probe detection surfaces at the bottom of the vehicle;

[0007] The vehicle posture is adjusted according to the measurement values ​​measured by each probe and the pre-calibrated calibration values.

[0008] According to the vehicle posture adjustment method in the battery swap station of the present application, the access platform of the battery swap station is controlled to rise to a first preset height so that multiple probes arranged on the access platform contact multiple probe detection surfaces at the bottom of the vehicle; the vehicle posture is adjusted according to the measurement values ​​measured by each probe and the pre-calibrated calibration values. The embodiment of the present application utilizes the cooperation of multiple probes with multiple probe detection surfaces at the bottom of the vehicle to sense the measurement data of multiple contact points between the probes and the probe detection surfaces. By comparing the measurement values ​​measured by each probe with the pre-calibrated calibration values, the horizontal deviation of the vehicle can be accurately identified, and the vehicle posture can be adjusted accordingly, thereby improving the horizontality of the vehicle posture and improving the success rate of battery swapping.

[0009] According to one embodiment of the present application, controlling the passage platform of the battery swap station to rise to a first preset height includes:

[0010] When the lifting mechanism of the battery swap station lifts the vehicle to a second preset height, controlling the plurality of probes to rise to a maximum gear position;

[0011] When the plurality of probes are raised to the maximum gear position, the passage platform is controlled to rise to a first preset height so that the plurality of probes contact the plurality of probe detection surfaces at the bottom of the vehicle.

[0012] In this embodiment, the lifting mechanism is controlled to lift the vehicle to a second preset height so that the bottom of the vehicle is aligned with the probe detection surface, the probe is controlled to rise to the maximum gear position, and then the passage platform is raised to the first preset height, so that the probe can accurately contact the probe detection surface at the bottom of the vehicle.

[0013] According to an embodiment of the present application, the number of the probes is the same as the number of the probe detection surfaces, and there is a one-to-one correspondence between the probes and the probe detection surfaces.

[0014] In this embodiment, by matching the number of probes with the number of probe detection surfaces at the bottom of the vehicle, a one-to-one correspondence is established between the probes and the probe detection surfaces at the bottom of the vehicle, thereby sensing changes in corresponding positions at the bottom of the vehicle from multiple different angles, reducing the possibility of errors and confusion, and being able to more accurately detect the levelness and posture of the vehicle.

[0015] According to one embodiment of the present application, the plane where the multiple probe detection surfaces at the bottom of the vehicle are located is parallel to the battery pack of the vehicle.

[0016] In this embodiment, the plane where the multiple probe detection surfaces are located is parallel to the battery pack of the vehicle, so that the horizontality of the plane where the multiple probe detection surfaces are located can represent the horizontality of the battery pack, thereby being able to more accurately sense the position and posture of the battery pack during the battery replacement process.

[0017] According to one embodiment of the present application, adjusting the vehicle posture according to the measurement values ​​measured by each probe and the pre-calibrated calibration value includes:

[0018] Calculating the absolute value of the difference between the measurement value measured by each probe and the calibration value respectively;

[0019] When the absolute value of the difference between the measurement value measured by at least one probe and the calibration value is greater than a preset threshold, determining the target probe corresponding to the maximum measurement value among the measurement values ​​measured by the respective probes;

[0020] The lifting mechanism is controlled to adjust the height of the vehicle corresponding to the direction of the target probe.

[0021] In this embodiment, by calculating the absolute value of the difference between the measurement value measured by each probe and the calibration value, the degree of horizontal deviation of the vehicle posture in multiple different directions can be identified. When the absolute value of the difference between the measurement value and the calibration value of at least one probe exceeds the preset threshold, the target probe corresponding to the maximum measurement value will be determined. The horizontal deviation of the vehicle in the direction of the target probe is large, so the height of the vehicle corresponding to the direction of the target probe can be adjusted in a targeted manner, thereby improving the horizontality of the vehicle posture, so that the locking and unlocking locating pins in the battery swap station can be effectively aligned with the battery pack locating holes, thereby improving the success rate of battery swapping.

[0022] According to one embodiment of the present application, the controlling the lifting mechanism to adjust the height of the vehicle corresponding to the direction of the target probe includes:

[0023] When the measurement value measured by the target probe is greater than the calibration value, controlling the lifting mechanism to raise the height of the vehicle corresponding to the direction of the target probe;

[0024] When the measurement value measured by the target probe is less than the calibration value, the lifting mechanism is controlled to lower the height of the vehicle corresponding to the direction of the target probe.

[0025] In this embodiment, by comparing the measurement value measured by the target probe with the calibration value, it can be determined whether the direction of the vehicle relative to the target probe is too high or too low. When the measurement value measured by the target probe is greater than the calibration value, it means that the vehicle is too low in this direction, and the lifting mechanism will raise the vehicle in this direction. When the measurement value measured by the target probe is less than the calibration value, it means that the vehicle is too high in this direction, and the lifting mechanism will lower the vehicle, thereby achieving targeted posture adjustment of the vehicle and improving the horizontality of the vehicle posture.

[0026] According to one embodiment of the present application, the controlling the lifting mechanism to adjust the height of the vehicle corresponding to the direction of the target probe includes:

[0027] Matching the target adjustment distance from a preset adjustment ratio relationship according to the target absolute value of the difference between the measurement value of the target probe and the calibration value; wherein the adjustment ratio relationship includes a corresponding relationship between the absolute value of the difference and the adjustment distance;

[0028] The lifting mechanism is controlled according to the target adjustment distance to adjust the height of the vehicle corresponding to the direction of the target probe.

[0029] In this embodiment, by pre-establishing a preset proportional relationship between the absolute value of the difference and the adjustment distance, the target adjustment distance can be matched from the preset adjustment proportional relationship according to the absolute value of the difference between the measured value and the calibration value of the target probe, and then the lifting mechanism can be accurately controlled to adjust the height of the vehicle corresponding to the direction of the target probe, thereby realizing targeted posture adjustment of the vehicle and improving the horizontality of the vehicle posture.

[0030] In a second aspect, the present application provides a vehicle posture adjustment device in a battery swap station, comprising:

[0031] A control module, used for controlling a passage platform of the battery swap station to rise to a first preset height so that a plurality of probes arranged on the passage platform contact a plurality of probe detection surfaces at the bottom of the vehicle;

[0032] The adjustment module is used to adjust the vehicle posture according to the measurement values ​​measured by each probe and the pre-calibrated calibration values.

[0033] According to the vehicle posture adjustment device in the battery swap station of the present application, the access platform of the battery swap station is controlled to rise to a first preset height so that multiple probes arranged on the access platform contact multiple probe detection surfaces at the bottom of the vehicle; the vehicle posture is adjusted according to the measurement values ​​measured by each probe and the pre-calibrated calibration values. The embodiment of the present application utilizes the cooperation of multiple probes with multiple probe detection surfaces at the bottom of the vehicle to sense the data of multiple contact points between the probes and the probe detection surfaces. By comparing the measurement values ​​measured by each probe with the pre-calibrated calibration values, the horizontal deviation of the vehicle can be accurately identified, and the vehicle posture can be adjusted accordingly, thereby improving the horizontality of the vehicle posture and improving the success rate of battery swapping.

[0034] In a third aspect, the present application provides a battery swap station, including: a lifting mechanism for lifting a vehicle, a passage platform provided with a plurality of probes, and a controller;

[0035] The controller is used to execute the vehicle posture adjustment method in the battery swap station as described in the first aspect above.

[0036] In a fourth aspect, the present application provides a vehicle, comprising: a plurality of probe detection surfaces arranged at the bottom of the vehicle, the planes where the plurality of probe detection surfaces are located being parallel to the battery pack of the vehicle; the plurality of probe detection surfaces being used to adjust the posture of the vehicle in cooperation with the battery swap station as described in the third aspect above.

[0037] In a fifth aspect, the present application provides an electronic device, comprising a processor, wherein the processor is connected to a memory, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the computer program, the method for adjusting the vehicle posture in a battery swap station as described in the first aspect above is implemented.

[0038] In a sixth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the method for adjusting the vehicle posture in a battery swap station as described in the first aspect above is implemented.

[0039] In a seventh aspect, the present application provides a chip, comprising a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run a program or instruction to implement the vehicle posture adjustment method in a battery swap station as described in the first aspect above.

[0040] In an eighth aspect, the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the method for adjusting the vehicle posture in a battery swap station as described in the first aspect above.

[0041] The above one or more technical solutions in the embodiments of the present application have at least one of the following technical effects:

[0042] According to the vehicle posture adjustment method in the battery swap station of the present application, the access platform of the battery swap station is controlled to rise to a first preset height so that multiple probes arranged on the access platform contact multiple probe detection surfaces at the bottom of the vehicle; the vehicle posture is adjusted according to the measurement values ​​measured by each probe and the pre-calibrated calibration values. The embodiment of the present application utilizes the cooperation of multiple probes with multiple probe detection surfaces at the bottom of the vehicle to sense the data of multiple contact points between the probes and the probe detection surfaces. By comparing the measurement values ​​measured by each probe with the pre-calibrated calibration values, the horizontal deviation of the vehicle can be accurately identified, and the vehicle posture can be adjusted accordingly, thereby improving the horizontality of the vehicle posture and improving the success rate of battery swapping.

[0043] Furthermore, in some embodiments, the lifting mechanism is controlled to lift the vehicle to a second preset height so that the bottom of the vehicle is aligned with the probe detection surface, the probe is controlled to rise to the maximum gear position, and then the passage platform is raised to the first preset height, so that the probe can accurately contact the probe detection surface at the bottom of the vehicle.

[0044] Furthermore, in some embodiments, by matching the number of probes with the number of probe detection surfaces at the bottom of the vehicle, a one-to-one correspondence is established between the probes and the probe detection surfaces at the bottom of the vehicle, thereby sensing changes in corresponding positions at the bottom of the vehicle from multiple different angles, reducing the possibility of errors and confusion, and being able to more accurately detect the levelness and posture of the vehicle.

[0045] Furthermore, in some embodiments, the plane where the multiple probe detection surfaces are located is parallel to the battery pack of the vehicle, so that the horizontality of the plane where the multiple probe detection surfaces are located can represent the horizontality of the battery pack, thereby being able to more accurately sense the position and posture of the battery pack during the battery replacement process.

[0046] Furthermore, in some embodiments, by calculating the absolute value of the difference between the measurement value measured by each probe and the calibration value, the degree of horizontal deviation of the vehicle posture in multiple different directions can be identified. When the absolute value of the difference between the measurement value and the calibration value of at least one probe exceeds a preset threshold, the target probe corresponding to the maximum measurement value will be determined. The horizontal deviation of the vehicle in the direction of the target probe is large, so the height of the vehicle corresponding to the target probe direction can be adjusted in a targeted manner, thereby improving the horizontality of the vehicle posture, so that the locking and unlocking locating pins in the battery swap station can effectively align with the battery pack locating holes, thereby improving the success rate of battery swapping.

[0047] Furthermore, in some embodiments, by comparing the measurement value measured by the target probe with the calibration value, it can be determined whether the direction of the vehicle relative to the target probe is too high or too low. When the measurement value measured by the target probe is greater than the calibration value, it means that the vehicle is too low in this direction, and the lifting mechanism will raise the vehicle in this direction. When the measurement value measured by the target probe is less than the calibration value, it means that the vehicle is too high in this direction, and the lifting mechanism will lower the vehicle, thereby achieving targeted posture adjustment of the vehicle and improving the horizontality of the vehicle's posture.

[0048] Furthermore, in some embodiments, by pre-establishing a preset proportional relationship between the absolute value of the difference and the adjustment distance, the target adjustment distance can be matched from the preset adjustment proportional relationship according to the absolute value of the difference between the measured value and the calibration value of the target probe, and then the lifting mechanism can be accurately controlled to adjust the height of the vehicle corresponding to the direction of the target probe, thereby achieving targeted posture adjustment of the vehicle and improving the horizontality of the vehicle posture.

[0049] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0051] Figure 1 It is a structural schematic diagram of a battery swap station provided in an embodiment of the present application;

[0052] Figure 2 is a schematic structural diagram of the bottom of a vehicle provided in an embodiment of the present application;

[0053] Figure 3is a schematic diagram of a scenario example provided in an embodiment of the present application;

[0054] Figure 4 A schematic diagram of a flow chart of a method for adjusting vehicle posture in a battery swap station provided in an embodiment of the present application;

[0055] Figure 5 It is a structural schematic diagram of a vehicle posture adjustment device in a battery swap station provided by an embodiment of the present application;

[0056] Figure 6 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0057] Reference numerals:

[0058] 101. Probe; 102. Passage platform; 103. Rear wheel lifting mechanism; 104. Front wheel lifting mechanism; 201. Probe detection surface; 202. Battery pack positioning hole. DETAILED DESCRIPTION

[0059] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0060] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0061] With the development of battery swapping technology, battery swapping stations are compatible with more and more vehicle models. Currently, most of the battery swapping stations on the market are passenger car stations. The principle is generally that after the vehicle enters the battery swapping station, the mechanical structure inside the station first uses the four-wheel alignment system to adjust the vehicle position, and then uses the lifting mechanism to lift the vehicle to be swapped slightly to ensure that the vehicle posture is level. After completing the above operations, the position of the locating hole on the battery pack can be determined, and the locating pin on the locking and unlocking platform can be inserted into the battery locating hole to align the unlocking mechanism on the locking and unlocking platform with the lock body that fixes the battery, thereby completing the battery removal.

[0062] Lifting mechanism is a mechanical device used to lift a vehicle to a certain height for repair, maintenance or battery replacement. Lifting mechanism is mainly divided into single-column, double-column, four-column, hydraulic platform lift and trench lift. Different types of lifting mechanism can be suitable for different vehicles and application scenarios.

[0063] Gantry lift, also known as two-post lift, is a common lifting equipment. It supports the vehicle through two columns and a crossbeam on the top. It is suitable for battery replacement of small cars such as sedans. The advantage of gantry lift is that it can save a lot of ground space and facilitate ground operations. Four-wheel lift, also known as four-post lift, is a special mechanical lifting equipment commonly used by large-tonnage car or truck repair and maintenance units, especially suitable for four-wheel alignment.

[0064] As battery swapping technology becomes more mature and the prospects for battery swapping become more broad, more and more vehicle models have developed battery swapping models. In order to meet the battery swapping needs of vehicles with larger loads, such as light trucks and heavy trucks, the vehicle lifting method has been changed from gantry lifting to four-wheel lifting. However, due to different vehicle load conditions, it is difficult to ensure the levelness of the lifted vehicle, resulting in a low success rate of battery swapping.

[0065] In order to solve at least one of the above technical problems, the embodiments of the present application provide a method, device, a battery swap station and a vehicle for adjusting the posture of a vehicle in a battery swap station. The following is a detailed description of the method, device, system and battery swap station for adjusting the posture of a vehicle in a battery swap station provided by the embodiments of the present application through specific embodiments and their application scenarios in conjunction with the accompanying drawings.

[0066] First, the battery swap station provided by the embodiment of the present application is introduced. Figure 1 As shown, the battery swap station may include a lifting mechanism for lifting vehicles, a traffic platform 102 provided with a plurality of probes 101, a locking and unlocking platform (not shown in the figure), and the like.

[0067] The lifting mechanism may be a four-wheel lifting mechanism, which includes two rear wheel lifting mechanisms 103 and two front wheel lifting mechanisms 104. When the front wheels of the vehicle are located at the two front wheel lifting mechanisms 104 and the rear wheels are located at the two rear wheel lifting mechanisms 103, the four-wheel lifting mechanism can lift the vehicle by lifting the four wheels of the vehicle to facilitate the battery replacement operation.

[0068] The access platform 102 of the battery swap station refers to the area inside the battery swap station for vehicle entry, parking, and battery replacement operations. Through the access platform 102, the vehicle can correctly enter the position where the lifting mechanism is located. The access platform 102 can have a lifting function to adapt to the bottom height of different vehicle models.

[0069] The unlocking and unlocking platform can be a key component used in a battery swap station to achieve the vehicle battery pack replacement and unlocking and unlocking functions. The unlocking and unlocking platform can be a component of a mechanical arm, a robot or other structure. The unlocking and unlocking platform can be provided with a positioning pin, and the battery pack is provided with a positioning hole. Inserting the positioning pin on the unlocking and unlocking platform into the battery positioning hole can align the unlocking mechanism on the unlocking and unlocking platform with the lock body that fixes the battery, thereby completing the removal and installation of the battery.

[0070] The passage platform may be provided with probes 101, for example, four probes 101 may be provided, and the bottom of the vehicle may also be provided with four probe detection surfaces, such as support blocks. The four probe detection surfaces at the bottom of the vehicle may be located at the four corners of the bottom of the vehicle, and the planes where these probe detection surfaces are located are parallel to the plane where the battery pack of the vehicle is located, such as Figure 2 The positions of the probes on the communication platform are adapted to the four probe detection surfaces 201 at the bottom of the vehicle, so that each probe 101 can correspond to the probe detection surface 201 one by one.

[0071] The following uses a scenario example to introduce the implementation process of the vehicle adjustment method in the battery swap station. Figure 3 As shown, this scenario example includes the following steps:

[0072] Four-wheel alignment of the vehicle in place: First, the vehicle needs to be parked accurately at the designated location of the battery swap station and four-wheel alignment is performed so that the four wheels of the vehicle are in the correct position, for example, the front wheels of the vehicle are on two front wheel lifting mechanisms, and the rear wheels are on two rear wheel lifting mechanisms.

[0073] The four-wheel lift mechanism is raised to the preset theoretical vehicle horizontal position: the four-wheel lift mechanism is used to lift the vehicle to a preset theoretical horizontal position, which is the basis for subsequent adjustments of the vehicle.

[0074] The probe is set to the upward torque mode and extended upward to the dead gear position: Set the probe to the upward torque mode and extend it upward until it reaches the dead gear position. This is to enable the probe to accurately contact the probe detection surface at the bottom of the vehicle.

[0075] The access platform rises to a fixed safety height so that all probes can contact the probe detection surface: the access platform rises to a fixed safety height so that each probe can contact the probe detection surface at the bottom of the vehicle.

[0076] Calculate the maximum absolute value b of the difference between the probe servo calibration value a and the current position: After the probe contacts the detection position, calculate the absolute value of the difference between the servo calibration value a and the measurement value measured by each probe, and find the maximum value b of these absolute values ​​of the difference.

[0077] Determine the value of b: Determine whether the vehicle posture needs further adjustment based on the calculated maximum absolute value of the difference b. If b is less than or equal to 0.75, it is considered that the vehicle posture has been adjusted and the next step can be performed. If b is greater than 0.75, it is considered that the levelness of the vehicle is not enough and further adjustment is required. Select the lift servo at the position of the probe corresponding to the maximum absolute value of the difference, and adjust it according to the preset ratio and direction. Specifically, if the measurement value measured by the probe is greater than the calibration value, the lift servo is controlled to adjust the height of the vehicle upward corresponding to the direction of the probe. If the measurement value measured by the probe is less than the calibration value, the lift servo is controlled to adjust the height of the vehicle downward corresponding to the direction of the probe.

[0078] The adjustment ratio is shown in the following table:

[0079] b≥20 Adjust 2mm 15≤b<20 Adjust 1.5mm 10≤b<15 Adjust 0.8mm 5≤b<10 Adjust 0.4mm 0.75≤b<5 Adjust 0.2mm

[0080] It should be noted that the origins of the four probes are on the same horizontal plane and have the same calibration values. When the attitude is adjusted, the probe servo is in the upward torque mode, and the probes are in contact with the probe detection surface at the bottom of the vehicle. When the four-wheel lifting mechanism drives the vehicle attitude to change, thereby driving the position of the probe detection surface at the bottom of the vehicle to change, the probes follow the change position. Therefore, when the four probes are at the calibration value, it indicates that the tops of the four probes are on the same horizontal plane, which in turn indicates that the battery at the bottom of the vehicle is level.

[0081] The following describes a method for adjusting the posture of a vehicle in a battery swap station according to an embodiment of the present application. The method for adjusting the posture of a vehicle in a battery swap station can be applied to a terminal, and can be specifically executed by hardware or software in the terminal.

[0082] Optionally, the terminal includes, but is not limited to, a portable communication device such as a mobile phone or tablet computer having a touch-sensitive surface (e.g., a touch screen display and / or a touch pad). It should also be understood that, in some embodiments, the terminal may not be a portable communication device, but a desktop computer having a touch-sensitive surface (e.g., a touch screen display and / or a touch pad). In some embodiments, the terminal may also be an optical receiver, an optical fiber switch, etc. having a processor.

[0083] However, it should be understood that the terminal may include one or more other physical user interface devices such as a physical keyboard, mouse and joystick.

[0084] The embodiment of the present application provides a method for adjusting the posture of a vehicle in a battery swap station. The executor of the method for adjusting the posture of a vehicle in a battery swap station may be an electronic device or a functional module or functional entity in an electronic device that can implement the method for adjusting the posture of a vehicle in a battery swap station. The electronic devices mentioned in the embodiment of the present application include but are not limited to mobile phones, tablet computers, computers, cameras, and wearable devices. The method for adjusting the posture of a vehicle in a battery swap station provided in the embodiment of the present application is described below using an electronic device as an example of the executor.

[0085] like Figure 4 As shown, the vehicle posture adjustment method in the battery swap station includes: step 410 and step 420.

[0086] Step 410: Control the passage platform of the battery swap station to rise to a first preset height so that the multiple probes arranged on the passage platform contact the multiple probe detection surfaces at the bottom of the vehicle.

[0087] In the embodiment of the present application, the probe is a device for measuring and sensing, which can accurately detect the position information of the surface of an object. The probe may include a pressure sensor, a distance sensor, a position sensor, etc.

[0088] In some embodiments, the probes can be mounted on a traffic platform, for example, the probes can be fixed to an adjustable bracket, and the bracket can be fixed to the traffic platform. The number of probes can be two or more, and correspondingly, the vehicle is also provided with corresponding probe detection surfaces, the number of probe detection surfaces is the same as the number of probes, and the probes and the probe detection surfaces have a one-to-one correspondence. By matching the number of probes with the number of probe detection surfaces at the bottom of the vehicle, the probes are made to have a one-to-one correspondence with the probe detection surfaces at the bottom of the vehicle, so that changes in corresponding positions at the bottom of the vehicle can be sensed from multiple different angles, reducing the possibility of errors and confusion, and being able to more accurately detect the levelness and posture of the vehicle.

[0089] In some embodiments, the probe detection surface may be a component that matches the probe. For example, a support block may be provided at the bottom of the vehicle, and the surface of the support block facing the bottom of the vehicle is the probe detection surface. The plane where the multiple probe detection surfaces at the bottom of the vehicle are located is parallel to the battery pack of the vehicle. In this embodiment, the plane where the multiple probe detection surfaces are located is parallel to the battery pack of the vehicle, so that the horizontality of the plane where the multiple probe detection surfaces are located can represent the horizontality of the battery pack, thereby being able to more accurately perceive the position and posture of the battery pack during the battery replacement process.

[0090] In some embodiments, the number of probes can be 3, and the 3 probes can be distributed in a triangle, and the corresponding probe detection surface at the bottom of the vehicle can also be distributed in a triangle, for example, one probe detection surface is located at the bottom of the vehicle near the front of the vehicle, and two probe detection surfaces are located at the bottom of the vehicle near the rear of the vehicle; the number of probes can be 4, and the 4 probes can be distributed in a quadrilateral, and the corresponding probe detection surface at the bottom of the vehicle can also be distributed in a quadrilateral, for example, the 4 probe detection surfaces are located at the four corners of the bottom of the vehicle. By controlling the position distribution of the probes, the posture of the vehicle can be detected from multiple different positions or angles, so as to more accurately identify the horizontal deviation of the vehicle. Of course, the number of probes can also be other numbers, and the embodiments of the present application are not limited to this.

[0091] In the embodiment of the present application, after the vehicle enters the battery swap station, it is lifted to a certain height by the lifting mechanism. In order to detect the levelness of the vehicle, the control platform can be raised to a first preset height. At this time, the probe will contact the probe detection surface at the bottom of the vehicle, thereby obtaining the corresponding measurement value of each probe. According to the specific function of the probe, the measurement value can be a pressure value, a compressed length, etc.

[0092] Step 420: Adjust the vehicle posture according to the measurement values ​​measured by each probe and the pre-calibrated calibration values.

[0093] In the embodiment of the present application, the calibration value is a pre-calibrated standard value. For example, after the lifting mechanism is controlled to lift the vehicle, the level of the vehicle is adjusted to the required level, for example, the plane where the battery pack of the vehicle is located is adjusted to be parallel to the horizontal plane, and then the passage platform is controlled to rise to a first preset height, so that multiple probes contact multiple probe detection surfaces at the bottom of the vehicle, and the measurement value of each probe at this time is obtained, and the measurement value is the calibration value.

[0094] When the measured values ​​measured by each probe are the same as the calibration value, or the difference is less than a certain range, it can be considered that the levelness of the vehicle meets the requirements. When at least one of the measured values ​​measured by each probe is different from the calibration value, or the difference is greater than a certain range, it can be considered that the levelness of the vehicle deviates from the required levelness, so the vehicle posture needs to be adjusted. Specifically, the lifting mechanism can be controlled to adjust the vehicle posture according to the difference between the measured value and the calibration value. For example, the greater the difference between the measured value and the calibration value, the greater the deviation of the levelness of the vehicle, and the lifting mechanism can be controlled to adjust the height of the vehicle to a greater extent. The smaller the difference between the measured value and the calibration value, the smaller the deviation of the levelness of the vehicle, and the lifting mechanism can be controlled to adjust the height of the vehicle to a smaller extent. After adjusting the vehicle posture, the measured values ​​measured by each probe can also be continuously obtained until the measured values ​​measured by each probe are the same as the calibration value, or the difference is less than a certain range.

[0095] According to the vehicle posture adjustment method in the battery swap station of the present application, the access platform of the battery swap station is controlled to rise to a first preset height so that multiple probes arranged on the access platform contact multiple probe detection surfaces at the bottom of the vehicle; the vehicle posture is adjusted according to the measurement values ​​measured by each probe and the pre-calibrated calibration values. The embodiment of the present application utilizes the cooperation of multiple probes with multiple probe detection surfaces at the bottom of the vehicle to sense the measurement data of multiple contact points between the probes and the probe detection surfaces. By comparing the measurement values ​​measured by each probe with the pre-calibrated calibration values, the horizontal deviation of the vehicle can be accurately identified, and the vehicle posture can be adjusted accordingly, thereby improving the horizontality of the vehicle posture and improving the success rate of battery swapping.

[0096] In some embodiments, controlling the access platform of the battery swap station to rise to a first preset height includes:

[0097] When the lifting mechanism of the battery swap station lifts the vehicle to a second preset height, controlling the plurality of probes to rise to a maximum gear position;

[0098] When the multiple probes are raised to the maximum gear position, the passage platform is controlled to rise to a first preset height so that the multiple probes contact the multiple probe detection surfaces at the bottom of the vehicle.

[0099] In this embodiment, after the vehicle enters the battery swap station, the mechanical structure in the battery swap station will guide the vehicle to a specific parking platform. The parking platform can meet the battery swap operation requirements and can adapt to battery swap models with different wheelbases and track widths. The parking platform has the function of guiding and adjusting the parking position of the vehicle so that the battery swap vehicle can be accurately positioned in the parking space. For example, the position of the vehicle can be adjusted through the four-wheel alignment system so that the vehicle can be parked accurately. When the vehicle is parked, the lifting mechanism will start working and lift the vehicle to a second preset height to facilitate the subsequent battery swap process.

[0100] When the lifting mechanism of the battery swap station lifts the vehicle to a second preset height, multiple probes are controlled to rise to the maximum gear position, so that the probes can subsequently reach the correct position at the bottom of the vehicle and contact the probe detection position at the bottom of the vehicle.

[0101] When the multiple probes are raised to the maximum gear position, the passage platform can be further controlled to rise to a first preset height. The first preset height is accurately calculated and designed in advance so that the probes can accurately contact the probe detection surface at the bottom of the vehicle.

[0102] In this embodiment, the lifting mechanism is controlled to lift the vehicle to a second preset height so that the bottom of the vehicle is aligned with the probe detection surface, the probe is controlled to rise to the maximum gear position, and then the passage platform is raised to the first preset height, so that the probe can accurately contact the probe detection surface at the bottom of the vehicle.

[0103] In some embodiments, adjusting the vehicle posture according to the measurement values ​​measured by each probe and the pre-calibrated calibration values ​​includes:

[0104] Calculate the absolute value of the difference between the measured value and the calibration value of each probe respectively;

[0105] When the absolute value of the difference between the measurement value measured by at least one probe and the calibration value is greater than a preset threshold, determining the target probe corresponding to the maximum measurement value among the measurement values ​​measured by each probe;

[0106] The lifting mechanism is controlled to adjust the height of the vehicle corresponding to the direction of the target probe.

[0107] In this embodiment, in the battery swap station, each probe measures a specific position on the bottom of the vehicle and records these measurements, calculates the difference between the measurement value of each probe and the corresponding calibration value, and takes its absolute value to determine the degree of deviation between the measurement value and the calibration value.

[0108] If the absolute value of the difference between the measured value and the calibrated value of at least one probe exceeds the preset threshold, it indicates that the vehicle posture is deviated and needs to be adjusted. In this case, the target probe with the largest measured value can be identified, and the height of the vehicle corresponding to the direction of the target probe needs to be adjusted. For example, if the measured value is a pressure value, and the pressure value measured by the probe corresponding to the left rear wheel at the bottom of the vehicle is the largest, it can be considered that the height deviation in the direction of the left rear wheel at the bottom of the vehicle is the largest, and the height of the vehicle in this direction can be adjusted to reduce the difference between the pressure value and the standard value.

[0109] In this embodiment, by calculating the absolute value of the difference between the measurement value measured by each probe and the calibration value, the degree of horizontal deviation of the vehicle posture in multiple different directions can be identified. When the absolute value of the difference between the measurement value and the calibration value of at least one probe exceeds the preset threshold, the target probe corresponding to the maximum measurement value will be determined. The horizontal deviation of the vehicle in the direction of the target probe is large, so the height of the vehicle corresponding to the direction of the target probe can be adjusted in a targeted manner, thereby improving the horizontality of the vehicle posture, so that the locking and unlocking locating pins in the battery swap station can be effectively aligned with the battery pack locating holes, thereby improving the success rate of battery swapping.

[0110] In some embodiments, controlling the lifting mechanism to adjust the height of the vehicle corresponding to the direction of the target probe includes:

[0111] When the measured value measured by the target probe is greater than the calibration value, the lifting mechanism is controlled to raise the height of the vehicle corresponding to the direction of the target probe;

[0112] When the measurement value measured by the target probe is less than the calibration value, the lifting mechanism is controlled to lower the height of the vehicle corresponding to the direction of the target probe.

[0113] In this embodiment, the adjustment of the vehicle posture generally involves adjusting the height of the vehicle in different directions. For example, the lifting mechanism may be controlled to move upward to increase the height of the vehicle, or the lifting mechanism may be controlled to move downward to decrease the height of the vehicle.

[0114] In this embodiment, if the measured value measured by the target probe is greater than the calibration value, it means that the height of the vehicle in the direction of the target probe is too low, and the lifting mechanism can be instructed to raise the vehicle to reduce the deviation between the measured value and the calibration value. If the measured value measured by the target probe is less than the calibration value, it means that the height of the vehicle in the direction of the target probe is too high, and the lifting mechanism can be instructed to lower the vehicle so that the vehicle reaches the correct height position. The lifting mechanism can accurately adjust the height of the vehicle in the corresponding direction according to the instruction through an electric component (such as a servo motor) and a screw drive mechanism.

[0115] After the adjustment, the measurement values ​​of each probe can be obtained again. If the absolute value of the difference between the adjusted measurement value and the calibration value is still greater than the preset threshold, fine-tuning can be continued until the vehicle posture reaches a satisfactory accuracy.

[0116] In this embodiment, by comparing the measurement value measured by the target probe with the calibration value, it can be determined whether the direction of the vehicle relative to the target probe is too high or too low. When the measurement value measured by the target probe is greater than the calibration value, it means that the vehicle is too low in this direction, and the lifting mechanism will raise the vehicle in this direction. When the measurement value measured by the target probe is less than the calibration value, it means that the vehicle is too high in this direction, and the lifting mechanism will lower the vehicle, thereby achieving targeted posture adjustment of the vehicle and improving the horizontality of the vehicle posture.

[0117] In some embodiments, controlling the lifting mechanism to adjust the height of the vehicle corresponding to the direction of the target probe includes:

[0118] Matching the target adjustment distance from a preset adjustment ratio relationship according to the target absolute value of the difference between the measurement value and the calibration value of the target probe; wherein the adjustment ratio relationship includes a corresponding relationship between the absolute value of the difference and the adjustment distance;

[0119] The lifting mechanism is controlled to adjust the height of the vehicle corresponding to the direction of the target probe according to the target adjustment distance.

[0120] In this embodiment, the degree of deviation of the vehicle posture can be determined according to the size of the target absolute value of the difference between the measured value of the target probe and the calibration value. If the degree of deviation is higher, the degree of adjustment of the vehicle height is also greater. Therefore, the adjustment ratio relationship can be predetermined, and the adjustment ratio relationship can be a pre-set correspondence table, which lists in detail the correspondence between the absolute value of the difference and the required adjustment distance. For example, multiple absolute value intervals of the difference can be set, and each absolute value interval of the difference corresponds to an adjustment distance. Among them, the larger the absolute value of the difference, the larger the corresponding adjustment distance.

[0121] After obtaining the absolute value of the target difference, the adjustment distance corresponding to the absolute value of the target difference can be determined from the adjustment ratio relationship, and then the lifting mechanism is controlled to adjust the height of the vehicle corresponding to the direction of the target probe according to the adjustment distance.

[0122] In this embodiment, by pre-establishing a preset proportional relationship between the absolute value of the difference and the adjustment distance, the target adjustment distance can be matched from the preset adjustment proportional relationship according to the absolute value of the difference between the measured value and the calibration value of the target probe, and then the lifting mechanism can be accurately controlled to adjust the height of the vehicle corresponding to the direction of the target probe, thereby realizing targeted posture adjustment of the vehicle and improving the horizontality of the vehicle posture.

[0123] The vehicle posture adjustment method in a battery swap station provided in the embodiment of the present application can be executed by a vehicle posture adjustment device in a battery swap station. In the embodiment of the present application, the vehicle posture adjustment device in a battery swap station is used as an example to illustrate the vehicle posture adjustment method in a battery swap station provided in the embodiment of the present application.

[0124] An embodiment of the present application also provides a vehicle posture adjustment device in a battery swap station.

[0125] like Figure 5 As shown, the vehicle posture adjustment device in the battery swap station includes:

[0126] The control module 510 is used to control the passage platform of the battery swap station to rise to a first preset height so that a plurality of probes arranged on the passage platform contact a plurality of probe detection surfaces at the bottom of the vehicle;

[0127] The adjustment module 520 is used to adjust the vehicle posture according to the measurement values ​​measured by each probe and the pre-calibrated calibration values.

[0128] According to the vehicle posture adjustment device in the battery swap station of the present application, the access platform of the battery swap station is controlled to rise to a first preset height so that multiple probes arranged on the access platform contact multiple probe detection surfaces at the bottom of the vehicle; the vehicle posture is adjusted according to the measurement values ​​measured by each probe and the pre-calibrated calibration values. The embodiment of the present application utilizes the cooperation of multiple probes with multiple probe detection surfaces at the bottom of the vehicle to sense the data of multiple contact points between the probes and the probe detection surfaces. By comparing the measurement values ​​measured by each probe with the pre-calibrated calibration values, the horizontal deviation of the vehicle can be accurately identified, and the vehicle posture is adjusted accordingly, thereby improving the horizontality of the vehicle posture and improving the success rate of battery swapping.

[0129] In some embodiments, the control module 510 is further configured to:

[0130] When the lifting mechanism of the battery swap station lifts the vehicle to a second preset height, controlling the plurality of probes to rise to a maximum gear position;

[0131] When the multiple probes are raised to the maximum gear position, the passage platform is controlled to rise to a first preset height so that the multiple probes contact the multiple probe detection surfaces at the bottom of the vehicle.

[0132] In some embodiments, the adjustment module 520 is further configured to:

[0133] Calculate the absolute value of the difference between the measured value and the calibration value of each probe respectively;

[0134] When the absolute value of the difference between the measurement value measured by at least one probe and the calibration value is greater than a preset threshold, determining the target probe corresponding to the maximum measurement value among the measurement values ​​measured by each probe;

[0135] The lifting mechanism is controlled to adjust the height of the vehicle corresponding to the direction of the target probe.

[0136] In some embodiments, the adjustment module 520 is further configured to:

[0137] When the measured value measured by the target probe is greater than the calibration value, the lifting mechanism is controlled to raise the height of the vehicle corresponding to the direction of the target probe;

[0138] When the measurement value measured by the target probe is less than the calibration value, the lifting mechanism is controlled to lower the height of the vehicle corresponding to the direction of the target probe.

[0139] In some embodiments, the adjustment module 520 is further configured to:

[0140] Matching the target adjustment distance from a preset adjustment ratio relationship according to the target absolute value of the difference between the measurement value and the calibration value of the target probe; wherein the adjustment ratio relationship includes a corresponding relationship between the absolute value of the difference and the adjustment distance;

[0141] The lifting mechanism is controlled to adjust the height of the vehicle corresponding to the direction of the target probe according to the target adjustment distance.

[0142] The vehicle posture adjustment device in the battery swap station in the embodiment of the present application can be an electronic device, or a component in the electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal, or it can be other devices other than the terminal. Exemplarily, the electronic device can be a mobile phone, a tablet computer, a laptop computer, a PDA, a vehicle-mounted electronic device, a mobile Internet device (Mobile Internet Device, MID), an augmented reality (augmented reality, AR) / virtual reality (virtual reality, VR) device, a robot, a wearable device, an ultra-mobile personal computer (ultra-mobile personal computer, UMPC), a netbook or a personal digital assistant (personal digital assistant, PDA), etc. It can also be a server, a network attached storage (Network Attached Storage, NAS), a personal computer (personal computer, PC), a television (television, TV), a teller machine or a self-service machine, etc., and the embodiment of the present application is not specifically limited.

[0143] The vehicle posture adjustment device in the battery swap station in the embodiment of the present application may be a device having an operating system. The operating system may be a Microsoft (Windows) operating system, an Android (Android) operating system, an IOS operating system, or other possible operating systems, which are not specifically limited in the embodiment of the present application.

[0144] In some embodiments, Figure 6 As shown, an embodiment of the present application also provides an electronic device 600, including a processor 601, the processor 601 is connected to a memory 602, the memory 602 stores a computer program that can be run on the processor 601, and when the program is executed by the processor 601, each process of the embodiment of the vehicle posture adjustment method in the above-mentioned battery swap station is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0145] It should be noted that the electronic devices in the embodiments of the present application include the above-mentioned mobile electronic devices and non-mobile electronic devices.

[0146] The embodiment of the present application also provides a battery swap station, including: a lifting mechanism for lifting a vehicle, a passage platform provided with a plurality of probes, and a controller;

[0147] A controller is used to execute the above-mentioned vehicle posture adjustment method in the battery swap station.

[0148] The controller may be the electronic device mentioned above.

[0149] An embodiment of the present application also provides a vehicle, comprising: a plurality of probe detection surfaces arranged at the bottom of the vehicle, the planes where the plurality of probe detection surfaces are located are parallel to the battery pack of the vehicle; and the plurality of probe detection surfaces are used to cooperate with the above-mentioned battery swap station to adjust the posture of the vehicle.

[0150] An embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the various processes of the above-mentioned vehicle posture adjustment method embodiment in the battery swap station are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0151] The processor is the processor in the electronic device in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk.

[0152] An embodiment of the present application also provides a computer program product, including a computer program, which implements the above-mentioned vehicle posture adjustment method in the battery swap station when executed by a processor.

[0153] The processor is the processor in the electronic device in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk.

[0154] An embodiment of the present application further provides a chip, which includes a processor and a communication interface. The communication interface and the processor are coupled, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned embodiment of the vehicle posture adjustment method in the battery swap station, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0155] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0156] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0157] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, a disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0158] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

[0159] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0160] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A method for adjusting vehicle posture in a battery swap station, characterized in that: include: Controlling the passage platform of the battery swap station to rise to a first preset height so that a plurality of probes arranged on the passage platform contact a plurality of probe detection surfaces at the bottom of the vehicle; The vehicle posture is adjusted according to the measurement values ​​measured by each probe and the pre-calibrated calibration values.

2. According to the method of claim 1, the step of controlling the passage platform of the battery swap station to rise to a first preset height comprises: When the lifting mechanism of the battery swap station lifts the vehicle to a second preset height, controlling the plurality of probes to rise to a maximum gear position; When the plurality of probes are raised to the maximum gear position, the passage platform is controlled to rise to a first preset height so that the plurality of probes contact the plurality of probe detection surfaces at the bottom of the vehicle.

3. The method according to claim 1, characterized in that The number of the probes is the same as the number of the probe detection surfaces, and there is a one-to-one correspondence between the probes and the probe detection surfaces.

4. The method according to claim 1, characterized in that The plane where the multiple probe detection surfaces at the bottom of the vehicle are located is parallel to the battery pack of the vehicle.

5. The method according to claim 1, characterized in that The step of adjusting the vehicle posture according to the measurement values ​​measured by each probe and the pre-calibrated calibration values ​​includes: Calculating the absolute value of the difference between the measurement value measured by each probe and the calibration value respectively; When the absolute value of the difference between the measurement value measured by at least one probe and the calibration value is greater than a preset threshold, determining the target probe corresponding to the maximum measurement value among the measurement values ​​measured by the respective probes; The lifting mechanism is controlled to adjust the height of the vehicle corresponding to the direction of the target probe.

6. The method according to claim 5, characterized in that The controlling lifting mechanism adjusts the height of the vehicle corresponding to the direction of the target probe, including: When the measurement value measured by the target probe is greater than the calibration value, controlling the lifting mechanism to raise the height of the vehicle corresponding to the direction of the target probe; When the measurement value measured by the target probe is less than the calibration value, the lifting mechanism is controlled to lower the height of the vehicle corresponding to the direction of the target probe.

7. The method according to claim 5, characterized in that The controlling lifting mechanism adjusts the height of the vehicle corresponding to the direction of the target probe, including: Matching the target adjustment distance from a preset adjustment ratio relationship according to the target absolute value of the difference between the measurement value of the target probe and the calibration value; wherein the adjustment ratio relationship includes a corresponding relationship between the absolute value of the difference and the adjustment distance; The lifting mechanism is controlled according to the target adjustment distance to adjust the height of the vehicle corresponding to the direction of the target probe.

8. A vehicle posture adjustment device in a battery swap station, characterized in that: include: A control module, used for controlling a passage platform of the battery swap station to rise to a first preset height so that a plurality of probes arranged on the passage platform contact a plurality of probe detection surfaces at the bottom of the vehicle; The adjustment module is used to adjust the vehicle posture according to the measurement values ​​measured by each probe and the pre-calibrated calibration values.

9. A battery swap station, characterized in that: include: A lifting mechanism for lifting the vehicle, a passage platform provided with a plurality of probes, and a controller; The controller is used to execute the method according to any one of claims 1 to 7.

10. A vehicle, characterized in that: include: A plurality of probe detection surfaces are arranged at the bottom of the vehicle, and the planes where the plurality of probe detection surfaces are located are parallel to the battery pack of the vehicle; The multiple probe detection surfaces are used to cooperate with the battery swap station as described in claim 9 to adjust the posture of the vehicle.

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