Battery compartment positioning method and positioning system

Abstract

The present invention discloses a positioning method and positioning system for a battery compartment. A positioning element is provided on a battery transport device, and a reference object is provided on the battery compartment. The positioning method includes: the battery transport device moves toward the battery compartment at a first speed along the driving direction of the electric vehicle, and when the positioning element detects the reference object, the first standard position data indicating the position of the reference object relative to the positioning element is obtained, and a first signal is sent to the battery transport device, and the battery transport device stops moving upon receiving the first signal; the first instantaneous position data indicating the instantaneous position of the positioning element is obtained; the battery transport device moves in the opposite direction at a second speed to approach the battery compartment according to the first standard position data and the first instantaneous position data, until the distance between the positioning element and the reference object along the driving direction of the electric vehicle is within the allowable error range. The positioning method can realize the positioning of the battery compartment more reliably, which is conducive to improving the reliability of battery replacement.

Description

[0001] This application is a divisional application of the invention patent with application date of September 10, 2018, application number 201811051352.4, and name “Battery compartment positioning method and positioning system”. Technical Field

[0002] The present invention relates to the field of battery replacement of electric vehicles, and in particular to a positioning method and a positioning system for a battery compartment. Background Art

[0003] Electric vehicles use electricity instead of oil, can achieve zero emissions and low noise, and are an important means to solve energy and environmental problems. With the shortage of oil resources and the development of battery technology, electric vehicles have approached or even surpassed traditional fuel vehicles in terms of performance and economy, and have begun to be gradually promoted and applied worldwide. The new generation of energy-saving and environmentally friendly vehicles represented by electric vehicles is an inevitable trend in the development of the automobile industry. As an important prerequisite and foundation for the large-scale promotion and application of electric vehicles, the development of electric vehicle charging and swapping technology and the construction of electric vehicle charging and swapping facilities have attracted widespread attention from all parties.

[0004] For electric vehicles that use battery swapping, the battery needs to be replaced regularly or irregularly. Generally speaking, the battery swapping equipment is fixed at a designated location, and the electric vehicle is controlled to stop near the battery swapping equipment for battery replacement. The steps of battery replacement generally include the following process: the battery swapping equipment removes the old battery from the battery compartment of the electric vehicle and places the old battery on the charging rack; the battery swapping equipment removes the new battery from the charging rack and installs the new battery on the battery compartment. In order to ensure the reliability of battery swapping, the accurate positioning of the battery compartment must be ensured.

[0005] However, in the prior art, when replacing the battery of an electric vehicle, the battery compartment often cannot be accurately positioned, which affects the reliability of the battery replacement. Summary of the invention

[0006] The technical problem to be solved by the present invention is to overcome the defect in the prior art that the battery compartment often cannot be reliably positioned, and to provide a battery compartment positioning method and positioning system.

[0007] The present invention solves the above technical problems through the following technical solutions:

[0008] A battery bin positioning method for positioning between a battery transport device and a battery bin, wherein a positioning element is provided on one end of the battery transport device facing the battery bin, and a reference object is provided on one end of the battery bin facing the battery transport device;

[0009] The positioning method comprises the following steps:

[0010] S1, the battery transport device moves toward the battery compartment at a first speed along the driving direction of the electric vehicle, the positioning element acquires first standard position data indicating the position of the reference object relative to the positioning element when detecting the reference object, and sends a first signal to the battery transport device, and the battery transport device stops moving when receiving the first signal;

[0011] S2, acquiring first instantaneous position data representing the instantaneous position of the positioning element;

[0012] S3, the battery transport device moves in the opposite direction at a second speed to approach the battery compartment according to the first standard position data and the first instantaneous position data, until the distance between the positioning element and the reference object along the driving direction of the electric vehicle is within an allowable error range;

[0013] Wherein, the first speed is greater than the second speed.

[0014] In this solution, when positioning, the positioning element on the battery transport device and the reference object on the battery compartment are used. The battery transport device is first driven at a first speed to allow the positioning element to act on the reference object, thereby achieving rough positioning of the battery compartment. Then, the battery transport device is moved in the opposite direction at a second speed to allow the positioning element to gradually approach the reference object, until the distance between the positioning element and the reference object along the driving direction of the electric vehicle is within the allowable error range, thereby achieving precise positioning of the battery compartment. The above method can more reliably achieve positioning of the battery compartment, which is conducive to improving the reliability of battery replacement.

[0015] Preferably, step S3 comprises the steps of:

[0016] S31, the battery transport device moves in the opposite direction according to the first standard position data and the first instantaneous position data to approach the battery compartment, the positioning element acquires second standard position data indicating the position of the reference object relative to the positioning element when detecting the reference object, and sends a second signal to the battery transport device, and the battery transport device stops moving upon receiving the second signal;

[0017] S32, acquiring second instantaneous position data representing the instantaneous position of the positioning element;

[0018] S33. According to the second standard position data and the second instantaneous position data, determine whether the distance between the positioning element and the reference object along the driving direction of the electric vehicle is within an allowable error range; if not, execute step S31.

[0019] In this solution, accurate positioning of the battery compartment is achieved by repeatedly acquiring and comparing the second standard position data and the second instantaneous position data, and the positioning reliability is high, which is conducive to further improving the reliability of battery compartment positioning.

[0020] Preferably, the positioning element is a positioning instrument, and the reference object is a reflective plate;

[0021] The step S31 is: the battery transfer device moves in reverse at a second speed to approach the battery compartment according to the first standard position data and the first instantaneous position data, and when the locator detects the reflector, it obtains the second standard position data representing the position of the reflector relative to the locator, and sends the second signal to the battery transfer device, and the battery transfer device stops moving after receiving the second signal.

[0022] In this solution, the positioning element uses a locator and the reference object uses a reflector, which is convenient for detection and has high detection reliability, which is conducive to improving the positioning reliability of the battery compartment. In the process of the battery transport device moving in the reverse direction to achieve precise positioning, the battery transport device moves in the following manner: the battery transport device approaches the battery compartment at a certain speed (the second speed), and the reference standard for the battery transport device to stop moving is that the locator detects the reflector.

[0023] Preferably, the positioning element is a positioning instrument, the reference object is a reflector, the detection range of the positioning instrument is a circle or a rectangular area, and the diameter of the circle or the size of the long side of the rectangular area is defined as a detection amplitude;

[0024] The step S31 is: the battery transport device moves in the opposite direction at a second speed by a detection amplitude to approach the battery compartment according to the first standard position data and the first instantaneous position data, and detects whether the reflector falls within the detection range of the locator; if not, the battery transport device moves in the opposite direction at the second speed by a detection amplitude; if so, the locator obtains the second standard position data indicating the position of the reflector relative to the locator, and sends the second signal to the battery transport device, and the battery transport device stops moving after receiving the second signal.

[0025] In this solution, the positioning element uses a locator, and the reference object uses a reflector, which is convenient for detection and has high detection reliability, which is conducive to improving the positioning reliability of the battery compartment. In the process of the battery transport equipment moving in the reverse direction to achieve precise positioning, the movement method of the battery transport equipment is: the battery transport equipment moves with a fixed detection amplitude. If the reflector does not fall into the detection range of the locator at this time, the battery transport equipment is moved to the next detection amplitude until the reflector falls into the detection range of the locator.

[0026] Preferably, the positioning element is a camera;

[0027] The step S31 is: the battery transfer device moves in reverse at a second speed to approach the battery compartment according to the first standard position data and the first instantaneous position data, and when the camera captures the reference object, it obtains second standard position data representing the position of the reference object relative to the camera, and sends the second signal to the battery transfer device, and the battery transfer device stops moving after receiving the second signal.

[0028] In this solution, the positioning element uses a camera, which is convenient for detection and has high detection reliability, which is conducive to improving the positioning reliability of the battery compartment. In the process of the battery transport device moving in the opposite direction to achieve precise positioning, the battery transport device moves in the following manner: the battery transport device approaches the battery compartment at a certain speed (second speed), and the reference standard for the battery transport device to stop moving is that the camera captures the reference object.

[0029] The present invention also provides a battery bin positioning system for positioning between a battery transport device and a battery bin, wherein the positioning system comprises:

[0030] A reference object, the reference object being disposed on one end of the battery compartment facing the battery transport device;

[0031] A positioning element, the positioning element being disposed on one end of the battery transport device facing the battery compartment, the positioning element being used to acquire first standard position data indicating the position of the reference object relative to the positioning element when the battery transport device detects the reference object while moving toward the battery compartment at a first speed along the driving direction of the electric vehicle, and to send a first signal to the battery transport device;

[0032] A first control module, configured to stop the battery transport device from moving when the battery transport device receives the first signal;

[0033] a data acquisition module, configured to acquire first instantaneous position data representing an instantaneous position of the positioning element when the battery transport device stops moving;

[0034] a second control module, configured to control the battery transport device to move in the opposite direction at a second speed to approach the battery compartment according to the first standard position data and the first instantaneous position data, until the distance between the positioning element and the reference object along the driving direction of the electric vehicle is within an allowable error range;

[0035] Wherein, the first speed is greater than the second speed.

[0036] Preferably, the positioning element is further used for acquiring second standard position data indicating the position of the reference object relative to the positioning element when the reference object is detected, and sending a second signal to the battery transport device when the battery transport device moves in the opposite direction according to the first standard position data and the first instantaneous position data to approach the battery compartment, and sending a second signal to the battery transport device;

[0037] The first control module is also used to stop the battery transport device from moving when the battery transport device receives the second signal;

[0038] The data acquisition module is also used to acquire second instantaneous position data representing the instantaneous position of the positioning element when the battery transport device stops moving;

[0039] The positioning system also includes a judgment module, which is used to judge whether the distance between the positioning element and the reference object along the driving direction of the electric vehicle is within an allowable error range based on the second standard position data and the second instantaneous position data.

[0040] Preferably, the positioning element is a positioning instrument, and the reference object is a reflective plate;

[0041] The locator is also used to obtain second standard position data representing the position of the reflector relative to the locator when the battery transport device moves in reverse at a second speed to approach the battery compartment based on the first standard position data and the first instantaneous position data, and send a second signal to the battery transport device.

[0042] Preferably, the positioning element is a positioning instrument, the reference object is a reflector, the detection range of the positioning instrument is a circle or a rectangular area, and the diameter of the circle or the size of the long side of the rectangular area is defined as a detection amplitude;

[0043] The positioning system further includes a detection module, which is used to detect whether the reflective plate falls within the detection range of the positioning instrument when the battery transport device moves in the opposite direction at a second speed by a detection amplitude to approach the battery compartment according to the first standard position data and the first instantaneous position data;

[0044] When the detection module detects that the reflective plate does not fall into the detection range of the locator, the second control module is further used to control the battery transport device to move in the opposite direction at the second speed by one of the detection amplitudes;

[0045] When the detection module detects that the reflector falls into the detection range of the locator, the locator is further used to obtain second standard position data representing the position of the reflector relative to the locator, and send the second signal to the battery transport device.

[0046] Preferably, the positioning element is a camera, and the camera is also used to obtain the second standard position data representing the position of the reference object relative to the camera when the reference object is photographed, and send the second signal to the battery transport device when the battery transport device moves in reverse at a second speed to approach the battery compartment based on the first standard position data and the first instantaneous position data, and send the second signal to the battery transport device.

[0047] On the basis of being in accordance with the common sense in the art, the above-mentioned preferred conditions can be arbitrarily combined to obtain the preferred embodiments of the present invention.

[0048] The positive and progressive effects of the present invention are:

[0049] In this positioning method, the positioning element on the battery transport device and the reference object on the battery compartment are used. The battery transport device is first driven at a first speed to allow the positioning element to act on the reference object to achieve rough positioning of the battery compartment. Then, the battery transport device is moved in the opposite direction at a second speed to allow the positioning element to gradually approach the reference object until the distance between the positioning element and the reference object along the driving direction of the electric vehicle is within the allowable error range, thereby achieving precise positioning of the battery compartment. The above method can more reliably achieve positioning of the battery compartment, which is beneficial to improving the reliability of battery replacement. Accordingly, the positioning system can more reliably achieve positioning of the battery compartment, which is beneficial to improving the reliability of battery replacement. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 This is a module schematic diagram of the battery compartment positioning system of Example 1 of the present invention.

[0051] Figure 2 Schematic diagram of the relative positions of the battery compartment and the reference object in the positioning system of the battery compartment according to Embodiment 1 of the present invention.

[0052] Figure 3 Schematic diagram of the relative positions of positioning elements in the positioning system of the battery transport device and the battery compartment in Example 1 of the present invention.

[0053] Figure 4 This is a module schematic diagram of a battery compartment positioning system according to Embodiment 2 of the present invention.

[0054] Figure 5 This is a module schematic diagram of a battery compartment positioning system according to Embodiment 3 of the present invention.

[0055] Figure 6 This is a flow chart of a battery compartment positioning method according to Embodiment 5 of the present invention.

[0056] Description of reference numerals:

[0057] 1 Positioning system

[0058] 10 Reference images

[0059] 20 positioning elements

[0060] 30 battery compartment

[0061] 301 installation port

[0062] 40Battery transfer equipment

[0063] 401 battery tray holder

[0064] 402 battery tray DETAILED DESCRIPTION

[0065] The present invention will be described more clearly and completely below by way of embodiments in conjunction with the accompanying drawings, but the present invention is not limited to the scope of the embodiments.

[0066] Example 1

[0067] This embodiment discloses a battery compartment positioning system 1, which is used for positioning between a battery transport device and a battery compartment. Figure 1-3 It is understood that the positioning system 1 includes a reference object 10, a positioning element 20, a first control module, a data acquisition module, and a second control module. The reference object 10 is provided on one end of the battery compartment 30 facing the battery transport device 40, the positioning element 20 is provided on one end of the battery transport device 40 facing the battery compartment 30, and the positioning element 20 is used to obtain the first standard position data indicating the position of the reference object 10 relative to the positioning element 20 when the battery transport device 40 moves toward the battery compartment 30 at a first speed along the driving direction of the electric vehicle, and send a first signal to the battery transport device 40. The first control module is used to stop the battery transport device 40 from moving when the battery transport device 40 receives the first signal. The data acquisition module is used to obtain the first instantaneous position data indicating the instantaneous position of the positioning element 20 when the battery transport device 40 stops moving. The second control module is used to control the battery transport device 40 to move in the opposite direction according to the first standard position data and the first instantaneous position data to approach the battery compartment 30 until the distance between the positioning element 20 and the reference object 10 along the driving direction of the electric vehicle is within the allowable error range.

[0068] In this embodiment, when the positioning system is used to position the battery compartment, the positioning element provided on the battery transport device and the reference object provided on the battery compartment are used. The battery transport device is first driven quickly to allow the positioning element to act on the reference object, so that the battery compartment can be roughly positioned. Then, the battery transport device is moved in the opposite direction to allow the positioning element to gradually approach the reference object until the distance between the positioning element and the reference object along the driving direction of the electric vehicle is within the allowable error range, so that the battery compartment can be precisely positioned. Thus, the positioning system can be used to more reliably position the battery compartment, which is beneficial to improving the reliability of battery replacement.

[0069] In this embodiment, the positioning system also includes an adjustment module (not shown in the figure), which is used to adjust the vertical distance of the battery transfer equipment relative to the ground according to the height of the battery compartment when the electric vehicle is docked at the battery replacement area.

[0070] Reference Figure 2 and Figure 3 It is understood that the number of positioning elements and the number of reference objects are both two, the battery transport equipment includes a battery tray 402 and a battery tray seat 401, the battery tray 402 is installed on the battery tray seat 401, the battery tray seat 401 is provided with an outlet for the battery tray 402 to extend out, two positioning elements 20 are relatively fixed on both sides of the battery tray seat 401, the battery compartment 30 is installed on the side of the electric vehicle, and the side of the battery compartment 30 is provided with an installation port 301 for the battery box to enter and exit, and the two reference objects 10 are relatively attached to the surface of the battery compartment with the installation port, and the two positioning elements and the two reference objects are respectively provided in a one-to-one correspondence.

[0071] In addition, the battery transport device further includes a position adjustment mechanism (not shown in the figure), which is installed below the battery tray seat. The position adjustment mechanism is used to drive the battery tray seat to tilt so that the battery tray seat is at an angle with the horizontal plane, and is used to drive the battery tray seat to rotate to adjust the relative angle between the battery tray seat and the battery compartment. The positioning system also includes a rotation detection module and a third control module (not shown in the figure). The rotation detection module is arranged on the battery transport device. The rotation detection module is used to compare whether the difference between two third standard position data corresponding to the two positioning elements and indicating the position of the reference object relative to the positioning element exceeds the allowable error range, and is used to detect the angle between the battery tray and the battery compartment when the difference between the two third standard position data exceeds the allowable error range and send the angle measurement data to the position adjustment mechanism. The third control module is used to control the position adjustment mechanism to adjust the position of the battery tray according to the angle measurement data until the battery tray is directly opposite to the installation opening of the battery compartment.

[0072] Among them, the number of positioning elements and reference objects is two each. The use of the rotation detection module and the third control module is convenient for improving the reliability of the position adjustment mechanism for the battery tray, which is beneficial to ensure that the battery tray is facing the installation port of the battery compartment, thereby helping to further improve the reliability and accuracy of battery replacement.

[0073] Example 2

[0074] This embodiment is a further improvement of embodiment 1. Figure 4 It is understood that the positioning element is also used to obtain second standard position data indicating the position of the reference object relative to the positioning element when the battery transport device moves in the opposite direction to approach the battery compartment according to the first standard position data and the first instantaneous position data, and send a second signal to the battery transport device. The first control module is also used to stop the battery transport device from moving when the battery transport device receives the second signal. The data acquisition module is also used to obtain second instantaneous position data indicating the instantaneous position of the positioning element when the battery transport device stops moving. The positioning system also includes a judgment module, which is used to judge whether the distance between the positioning element and the reference object along the driving direction of the electric vehicle is within the allowable error range based on the second standard position data and the second instantaneous position data in Example 1.

[0075] In this embodiment, the positioning element is a positioning instrument, the reference object is a reflector, the detection range of the positioning instrument is a rectangular area, and the size of the long side of the rectangular area is defined as a detection amplitude. In this embodiment, the rectangular area is a square, and the side length of the rectangular area is 200 mm, that is, the detection amplitude is 200 mm. In other alternative embodiments, the side length of the rectangular area can be any other value between 100 and 300 mm.

[0076] In other alternative implementations, the detection range of the locator may also be a circle, and the diameter of the circle may be defined as a detection amplitude, wherein the diameter of the circle ranges from 100 to 300 mm.

[0077] The locator is also used to obtain second standard position data indicating the position of the reflector relative to the locator when the reflector is detected, and send a second signal to the battery transport device when the battery transport device moves in the opposite direction at a second speed to approach the battery compartment according to the first standard position data and the first instantaneous position data, wherein the first speed is greater than the second speed.

[0078] Example 3

[0079] This embodiment is basically the same as embodiment 2, except that a detection module is added in this embodiment (refer to Figure 5The detection module is used to detect whether the reflector falls into the detection range of the locator when the battery transport device moves in the opposite direction at a second speed by a detection amplitude to approach the battery compartment according to the first standard position data and the first instantaneous position data. When the detection module detects that the reflector does not fall into the detection range of the locator, the second control module is also used to control the battery transport device to move in the opposite direction at the second speed by a detection amplitude. When the detection module detects that the reflector falls into the detection range of the locator, the locator is also used to obtain second standard position data indicating the position of the reflector relative to the locator, and send a second signal to the battery transport device; wherein the first speed is greater than the second speed.

[0080] Example 4

[0081] This embodiment is basically the same as the second embodiment, except for the structure of the positioning element. In this embodiment, the positioning element is a camera, which is also used to obtain second standard position data indicating the position of the reference object relative to the camera when the battery transport device moves in the opposite direction at a second speed (the first speed is greater than the second speed) to approach the battery compartment according to the first standard position data and the first instantaneous position data, and send a second signal to the battery transport device.

[0082] Example 5

[0083] This embodiment discloses a method for positioning a battery bin, which is used for positioning between a battery transport device and a battery bin, wherein a positioning element is provided on one end of the battery transport device facing the battery bin, and a reference object is provided on one end of the battery bin facing the battery transport device. Figure 6 It is understood that the positioning method includes the following steps:

[0084] Step 100: Park the electric vehicle at the battery replacement area, and adjust the vertical distance of the battery transfer equipment relative to the ground according to the height of the battery compartment;

[0085] Step 101: The battery transport device moves toward the battery compartment at a first speed along the driving direction of the electric vehicle. When the positioning element detects a reference object, the positioning element acquires first standard position data indicating the position of the reference object relative to the positioning element, and sends a first signal to the battery transport device. The battery transport device stops moving when receiving the first signal.

[0086] Step 102, obtaining first instantaneous position data representing the instantaneous position of the positioning element;

[0087] Step 103: the battery transport device moves in the opposite direction according to the first standard position data and the first instantaneous position data to approach the battery compartment until the distance between the positioning element and the reference object along the driving direction of the electric vehicle is within an allowable error range;

[0088] Step 104, compare whether the difference between two third standard position data corresponding to the two positioning elements and representing the position of the reference object relative to the positioning elements exceeds the allowable error range. If so, detect the angle between the battery tray and the battery compartment and send the angle measurement data to the position adjustment mechanism, and the position adjustment mechanism adjusts the position of the battery tray according to the angle measurement data until the battery tray is opposite to the installation port of the battery compartment; if not, end the positioning step.

[0089] The number of positioning elements and the number of reference objects are both two. The battery transport equipment includes a battery tray and a battery tray seat. The battery tray is installed on the battery tray seat. The battery tray seat is provided with an outlet for the battery tray to extend out. Two positioning elements are relatively fixed on both sides of the battery tray seat. The battery compartment is installed on the side of the electric vehicle. The side of the battery compartment is provided with an installation port for the battery box to enter and exit. The two reference objects are relatively attached to the surface of the battery compartment with the installation port. The two positioning elements and the two reference objects are respectively arranged one by one. The battery transport equipment also includes a position adjustment mechanism, which is installed below the battery tray seat. The position adjustment mechanism is used to drive the battery tray seat to tilt so that the battery tray seat is at an angle with the horizontal plane, and is used to drive the battery tray seat to rotate to adjust the relative angle between the battery tray seat and the battery compartment.

[0090] In this embodiment, when positioning, the positioning element on the battery transport device and the reference object on the battery compartment are used. The battery transport device is first driven quickly to make the positioning element act on the reference object to achieve rough positioning of the battery compartment, and then the battery transport device is moved in the opposite direction to make the positioning element gradually approach the reference object until the distance between the positioning element and the reference object along the driving direction of the electric vehicle is within the allowable error range, thereby achieving precise positioning of the battery compartment. The above method can more reliably achieve positioning of the battery compartment, which is conducive to improving the reliability of battery replacement.

[0091] In addition, here, the number of positioning elements and reference objects is two, which is convenient for improving the reliability of the position adjustment mechanism for the battery tray, and is beneficial for ensuring that the battery tray is facing the installation port of the battery compartment, thereby helping to further improve the reliability and accuracy of battery replacement.

[0092] The battery exchange area is provided with a positioning pile, a sensor and a controller. The sensor is electrically connected to the positioning pile, and the controller is electrically connected to the sensor. When the electric vehicle drives to the position of the positioning pile, the sensor generates an arrival signal and sends the arrival signal to the controller; when the controller receives the arrival signal, the controller sends a stop signal to the electric vehicle, and the electric vehicle stops driving after receiving the stop signal. The setting of the above-mentioned battery exchange area is conducive to improving the reliability of the electric vehicle's docking in the battery exchange area, facilitating the positioning of the battery compartment, and is conducive to further improving the positioning reliability of the battery compartment.

[0093] Further, step 103 includes the steps of:

[0094] Step 1031: the battery transport device moves in the opposite direction according to the first standard position data and the first instantaneous position data to approach the battery compartment, and when the positioning element detects the reference object, it acquires second standard position data indicating the position of the reference object relative to the positioning element, and sends a second signal to the battery transport device, and the battery transport device stops moving when receiving the second signal;

[0095] Step 1032, obtaining second instantaneous position data representing the instantaneous position of the positioning element;

[0096] Step 1033: determine whether the distance between the positioning element and the reference object along the driving direction of the electric vehicle is within the allowable error range based on the second standard position data and the second instantaneous position data; if not, execute step 1031; if yes, execute step 104.

[0097] Among them, the precise positioning of the battery compartment is achieved by repeatedly acquiring and comparing the second standard position data and the second instantaneous position data, and the positioning reliability is high, which is conducive to further improving the reliability of the battery compartment positioning.

[0098] In this embodiment, the positioning element is a positioning instrument, the reference object is a reflector, the detection range of the positioning instrument is a rectangular area, and the size of the long side of the rectangular area is defined as a detection amplitude. The above step 1031 is: the battery transport device moves in the opposite direction at a second speed to approach the battery compartment according to the first standard position data and the first instantaneous position data. When the positioning instrument detects the reflector, the second standard position data indicating the position of the reflector relative to the positioning instrument is obtained, and a second signal is sent to the battery transport device. The battery transport device stops moving after receiving the second signal. Among them, the first speed is greater than the second speed. Step 1032 is: obtain the second instantaneous position data indicating the instantaneous position of the positioning instrument.

[0099] In this embodiment, the locator is a laser generator, the rectangular area is a square, and the side length of the rectangular area is 200 mm. In other alternative embodiments, the side length of the rectangular area can be any other value between 100 and 300 mm.

[0100] It should be noted that the first speed is the driving speed of the electric vehicle during coarse positioning, and the second speed is the driving speed of the electric vehicle during fine positioning. Setting the first speed to be greater than the second speed is beneficial to improving the positioning efficiency during coarse positioning and improving the positioning reliability during fine positioning.

[0101] In other alternative implementations, the detection range of the locator may also be a circle, and the diameter of the circle is defined as a detection amplitude. The diameter of the circle may take any other value between 100 and 300 mm.

[0102] It should be noted that, in step 104, the allowable error of the distance between the positioning element and the reference object along the driving direction of the electric vehicle is ±2 mm.

[0103] Example 6

[0104] This embodiment is basically the same as the embodiment 5, except for step 1031 and step 1032. In this embodiment, step 1031 is: the battery transport device moves in the opposite direction at a second speed by a detection amplitude to approach the battery compartment according to the first standard position data and the first instantaneous position data, and detects whether the reflector falls into the detection range of the locator; if not, the battery transport device moves in the opposite direction at a second speed by a detection amplitude; if so, the locator obtains the second standard position data indicating the position of the reflector relative to the locator, and sends a second signal to the battery transport device, and the battery transport device stops moving after receiving the second signal. In which, similarly, the first speed is greater than the second speed. Step 1032 is: obtain the second instantaneous position data indicating the instantaneous position of the locator.

[0105] The positioning element adopts a locator, and the reference object adopts a reflector, which is convenient for detection and has high detection reliability, which is conducive to improving the positioning reliability of the battery compartment. In the process of the battery transfer equipment moving in the opposite direction to achieve precise positioning, there are two ways of moving the battery transfer equipment. One is that the battery transfer equipment moves with a fixed detection amplitude. If the reflector does not fall into the detection range of the locator at this time, the battery transfer equipment is moved to the next detection amplitude until the reflector falls into the detection range of the locator; the other is that the battery transfer equipment approaches the battery compartment at a certain speed (the second speed), and the reference standard for the battery transfer equipment to stop moving is that the locator detects the reflector. The battery transfer equipment in Example 5 adopts the former movement method, and the battery transfer equipment in Example 6 adopts the latter movement method.

[0106] Example 7

[0107] This embodiment is basically the same as the embodiment 5, except that the positioning element is different, so that step 1031 is different. In this embodiment, step 1031 is: the battery transport device moves in the opposite direction at a second speed to approach the battery compartment according to the first standard position data and the first instantaneous position data, and when the camera captures the reference object, the second standard position data indicating the position of the reference object relative to the camera is obtained, and a second signal is sent to the battery transport device, and the battery transport device stops moving after receiving the second signal. In which, similarly, the first speed is greater than the second speed. Step 1032 is: obtaining the second instantaneous position data indicating the instantaneous position of the reference object.

[0108] 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 method for positioning a battery compartment, characterized in that: A positioning element is provided on one end of the battery transport device facing the battery compartment, a reference object is provided on one end of the battery compartment facing the battery transport device, a position adjustment mechanism is installed below the battery tray seat, and the position adjustment mechanism is used to drive the battery tray seat to tilt so that the battery tray seat is at an angle to the horizontal plane, and to drive the battery tray seat to rotate so as to adjust the relative angle between the battery tray seat and the battery compartment; The positioning method comprises the following steps: S1, the battery transport device moves toward the battery compartment at a first speed along the driving direction of the electric vehicle, the positioning element acquires first standard position data indicating the position of the reference object relative to the positioning element when detecting the reference object, and sends a first signal to the battery transport device, and the battery transport device stops moving when receiving the first signal; S2, acquiring first instantaneous position data representing the instantaneous position of the positioning element; S3, the battery transport device moves in the opposite direction at a second speed to approach the battery compartment according to the first standard position data and the first instantaneous position data, until the distance between the positioning element and the reference object along the driving direction of the electric vehicle is within an allowable error range; Wherein, the first speed is greater than the second speed.

2. The method for positioning the battery compartment according to claim 1, characterized in that: Step S3 includes the steps of: S31, the battery transport device moves in the opposite direction at a second speed to approach the battery compartment according to the first standard position data and the first instantaneous position data, the positioning element acquires second standard position data indicating the position of the reference object relative to the positioning element when detecting the reference object, and sends a second signal to the battery transport device, and the battery transport device stops moving upon receiving the second signal; S32, acquiring second instantaneous position data representing the instantaneous position of the positioning element; S33. According to the second standard position data and the second instantaneous position data, determine whether the distance between the positioning element and the reference object along the driving direction of the electric vehicle is within an allowable error range; if not, execute step S31.

3. The battery compartment positioning method according to claim 2, characterized in that: The positioning element is a positioning instrument, and the reference object is a reflector; The step S31 is: the battery transfer device moves in reverse at a second speed to approach the battery compartment according to the first standard position data and the first instantaneous position data, and when the locator detects the reflector, it obtains the second standard position data representing the position of the reflector relative to the locator, and sends the second signal to the battery transfer device, and the battery transfer device stops moving after receiving the second signal.

4. The method for positioning the battery compartment according to claim 2, wherein: The positioning element is a positioning instrument, the reference object is a reflector, the detection range of the positioning instrument is a circle or a rectangular area, and the diameter of the circle or the size of the long side of the rectangular area is defined as a detection amplitude; The step S31 is: the battery transport device moves in the opposite direction by a detection amplitude at a second speed according to the first standard position data and the first instantaneous position data to approach the battery compartment, and detects whether the reflective plate falls within the detection range of the locator; If not, the battery transport device moves in the opposite direction at the second speed by the detection amplitude; If yes, the locator obtains second standard position data indicating the position of the reflective plate relative to the locator, and sends the second signal to the battery transport device, and the battery transport device stops moving after receiving the second signal.

5. The method for positioning the battery compartment as claimed in claim 2, characterized in that: The positioning element is a camera; The step S31 is: the battery transfer device moves in reverse at a second speed to approach the battery compartment according to the first standard position data and the first instantaneous position data, and when the camera captures the reference object, it obtains second standard position data representing the position of the reference object relative to the camera, and sends the second signal to the battery transfer device, and the battery transfer device stops moving after receiving the second signal.

6. A battery compartment positioning system, characterized in that: The positioning system comprises: A reference object, the reference object is arranged on one end of the battery compartment facing the battery transport device, a position adjustment mechanism is installed below the battery tray seat, the position adjustment mechanism is used to drive the battery tray seat to tilt so that the battery tray seat is at an angle with the horizontal plane, and is used to drive the battery tray seat to rotate so as to adjust the relative angle between the battery tray seat and the battery compartment; A positioning element, the positioning element is arranged on one end of the battery transport device facing the battery compartment, the positioning element and the reference object are respectively arranged in a one-to-one correspondence, and the positioning element is used to obtain first standard position data representing the position of the reference object relative to the positioning element when the battery transport device detects the reference object when moving toward the battery compartment at a first speed along the driving direction of the electric vehicle, and send a first signal to the battery transport device; A first control module, configured to stop the battery transport device from moving when the battery transport device receives the first signal; a data acquisition module, configured to acquire first instantaneous position data representing an instantaneous position of the positioning element when the battery transport device stops moving; a second control module, configured to control the battery transport device to move in the opposite direction at a second speed to approach the battery compartment according to the first standard position data and the first instantaneous position data, until the distance between the positioning element and the reference object along the driving direction of the electric vehicle is within an allowable error range; Wherein, the first speed is greater than the second speed.

7. The battery compartment positioning system according to claim 6, characterized in that: The positioning element is further used for acquiring second standard position data indicating the position of the reference object relative to the positioning element when the reference object is detected, and sending a second signal to the battery transporting device when the battery transporting device moves in the opposite direction at a second speed to approach the battery compartment according to the first standard position data and the first instantaneous position data; The first control module is also used to stop the battery transport device from moving when the battery transport device receives the second signal; The data acquisition module is also used to acquire second instantaneous position data representing the instantaneous position of the positioning element when the battery transport device stops moving; The positioning system also includes a judgment module, which is used to judge whether the distance between the positioning element and the reference object along the driving direction of the electric vehicle is within an allowable error range based on the second standard position data and the second instantaneous position data.

8. The battery compartment positioning system according to claim 7, characterized in that: The positioning element is a positioning instrument, and the reference object is a reflector; The locator is also used to obtain second standard position data representing the position of the reflector relative to the locator when the battery transport device moves in reverse at a second speed to approach the battery compartment based on the first standard position data and the first instantaneous position data, and send a second signal to the battery transport device.

9. The battery compartment positioning system according to claim 7, characterized in that: The positioning element is a positioning instrument, the reference object is a reflector, the detection range of the positioning instrument is a circle or a rectangular area, and the diameter of the circle or the size of the long side of the rectangular area is defined as a detection amplitude; The positioning system further includes a detection module, which is used to detect whether the reflective plate falls within the detection range of the positioning instrument when the battery transport device moves in the opposite direction at a second speed by a detection amplitude to approach the battery compartment according to the first standard position data and the first instantaneous position data; When the detection module detects that the reflective plate does not fall into the detection range of the locator, the second control module is further used to control the battery transport device to move in the opposite direction at the second speed by one of the detection amplitudes; When the detection module detects that the reflector falls into the detection range of the locator, the locator is further used to obtain second standard position data representing the position of the reflector relative to the locator, and send the second signal to the battery transport device.

10. The battery compartment positioning system according to claim 7, characterized in that: The positioning element is a camera, and the camera is also used to obtain the second standard position data representing the position of the reference object relative to the camera when the reference object is photographed, when the battery transport device moves in reverse at a second speed to approach the battery compartment based on the first standard position data and the first instantaneous position data, and send the second signal to the battery transport device.

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