Automatic location-finding system and method based on battery swap station

Abstract

The present invention discloses an automatic positioning system and method based on a battery swap station, which relates to the field of battery swap technology. The system comprises: a positioning device, used to obtain position parameters of a vehicle to be battery swapped, determine a target battery swap position according to the position parameters, and send the target battery swap position to a battery swap centralized control unit; a battery swap centralized control unit, used to obtain the target battery swap position and send the target battery swap position to an autonomous robot; an autonomous robot, used to receive the target battery swap position, and obtain environmental data and the position of the robot, construct an optimal trajectory according to the target battery swap position, the position of the robot and the environmental data, and move to the target battery swap position according to the optimal trajectory. The present invention eliminates the risk of vehicle damage caused by positioning, adopts contactless soft positioning, realizes automatic positioning compensation, improves positioning accuracy, reduces costs, and improves battery swap efficiency and user experience.

Description

Technical Field

[0001] The present invention relates to the field of battery swapping technology, and in particular to an automatic positioning system and method based on a battery swapping station. Background Art

[0002] As pure electric vehicles, hybrid vehicles and other types of new energy vehicles are increasingly widely used, battery swap stations provide energy stations for electric vehicles to quickly replace batteries, which can achieve power replenishment in a short time, just as convenient as refueling. Therefore, battery swap stations are becoming more and more popular among new energy vehicle users. At present, during the battery swap process, the positioning mechanism is required to accurately locate the vehicle, and then the RGV battery swap car can replace the battery pack.

[0003] The existing battery swapping methods have the following problems: 1) When a car user drives into a battery swapping station, the vehicle's body posture cannot be guaranteed, and a positioning mechanism is required to forcibly correct the vehicle to the specified position. This not only poses a risk of damaging the car, but also reduces the battery swapping efficiency, resulting in a poor user experience; 2) The RGV battery swapping cart is mainly a rail-based transportation method, and its positioning accuracy and vehicle positioning accuracy are not high, with large errors, and the RGV battery swapping cart cannot compensate for the positioning error by itself, further reducing the battery swapping efficiency. Summary of the invention

[0004] In view of the defects in the prior art, the present invention provides an automatic positioning system and method based on a battery swap station, which reduces the risk of vehicle damage caused by positioning and improves the positioning effect, battery swap efficiency and user experience.

[0005] The scheme of the present invention is:

[0006] In a first aspect, an automatic positioning system based on a battery swap station includes:

[0007] A positioning device, used to obtain the position parameters of the vehicle to be replaced, determine the target battery replacement position according to the position parameters, and send the target battery replacement position to the battery replacement centralized control unit;

[0008] A battery swapping centralized control unit, used to obtain the target battery swapping position and send the target battery swapping position to the autonomous robot;

[0009] An autonomous robot is used to receive the target battery replacement position, and obtain environmental data and robot position, construct an optimal trajectory according to the target battery replacement position, robot position and environmental data, and move to the target battery replacement position according to the optimal trajectory.

[0010] Preferably, the vehicle to be replaced with a battery is parked on a battery replacement platform of a battery replacement warehouse, and a wheel blocking mechanism is provided on the battery replacement platform. The wheel blocking mechanism is used to park the vehicle to be replaced with a battery at a target parking position to achieve the positioning of the vehicle to be replaced with a battery.

[0011] Preferably, the wheel blocking mechanism includes a fixed plate, a fixed frame, a blocking roller, a plurality of guide rods and a plurality of springs. The fixed plate is arranged on the top wall of the battery exchange platform, the blocking roller is arranged on the fixed frame, the two ends of the spring are respectively connected to the fixed frame and the fixed plate, the top end of the guide rod is connected to the fixed frame, the bottom end of the guide rod passes through the fixed plate and is embedded in the battery exchange platform, and the guide rod can move up and down.

[0012] Preferably, the positioning device includes: a first acquisition unit, used to scan the target scanning point on the vehicle to be replaced with a battery, and obtain a first position parameter, wherein the first position parameter includes a scanning angle, a scanning distance, and an angle between the scanning line and the battery replacement platform; a second acquisition unit, used to obtain the device position of the scanning device; a processing unit, used to obtain a second position parameter based on the first position parameter and a preset projection formula, and determine the target battery replacement position based on the second position parameter and the device position, wherein the second position parameter includes the horizontal angle and horizontal distance of the vehicle to be replaced with a battery relative to the positioning device.

[0013] Preferably, the preset projection formula includes:

[0014]

[0015]

[0016]

[0017] Among them, L AB is the scanning distance, β is the scanning angle, θ is the angle between the scanning line and the battery swap platform, and L BC is the horizontal distance and α is the horizontal angle.

[0018] Preferably, the autonomous robot includes: a construction unit, used to obtain the initial robot position and environmental data, construct an initial motion trajectory according to the initial robot position, environmental data and target battery replacement position, and start moving according to the initial motion trajectory; a compensation unit, used to obtain the robot position and environmental data in motion, construct an optimal motion trajectory according to the robot position in motion, environmental characteristic data and target battery replacement position, and move to the target battery replacement position according to the optimal motion trajectory to complete the battery replacement task.

[0019] In a second aspect, an automatic positioning method based on a battery swap station is provided, the method comprising the following steps;

[0020] S1, the positioning device obtains the position parameters of the vehicle to be replaced, determines the target battery replacement position according to the position parameters, and sends the target battery replacement position to the battery replacement centralized control unit;

[0021] S2, the battery swapping centralized control unit receives the target battery swapping position and sends the target battery swapping position to the autonomous robot;

[0022] S2, the autonomous robot obtains the target battery replacement position, robot position and environmental data, builds an optimal trajectory based on the target battery replacement position, robot position and environmental data, and moves to the target battery replacement position according to the optimal trajectory.

[0023] The beneficial effects of the present invention are embodied in: the present invention provides an automatic positioning system based on a battery swap station, the wheel blocking mechanism can limit the wheel position, so as to ensure that the vehicle to be swapped stops at the target battery swap position, and there is no need to use a positioning mechanism to forcibly correct the position of the vehicle to be swapped. The position information of the vehicle to be swapped is obtained through the positioning device, so as to determine the target battery swap position, and the target battery swap position is sent to the autonomous robot through the battery swap centralized control unit. The autonomous robot can couple its own position changes, environmental changes, and target battery swap positions, so as to optimize and adjust the motion trajectory, and reach the target battery swap position according to the optimized trajectory to disassemble or install the battery pack. The present invention eliminates the risk of vehicle damage caused by positioning. At the same time, it adopts contactless soft positioning to realize automatic positioning compensation, improve positioning accuracy, reduce costs, and improve battery swap efficiency and user experience.

[0024] In addition, an automatic positioning system based on a battery swap station provided by the present invention corresponds to the above method and has the same beneficial effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for the specific embodiments or the description of the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn according to the actual scale.

[0026] Figure 1 An automatic positioning system based on a battery swap station of the present invention;

[0027] Figure 2 It is a structural schematic diagram of the wheel blocking mechanism in the present invention;

[0028] Figure 3 A scanning schematic diagram of the positioning device in the present invention;

[0029] Figure 4 The present invention is a schematic structural diagram of an automatic positioning method based on a battery swap station.

[0030] In the attached drawings, 10-positioning device, 11-battery exchange control unit, 12-autonomous robot, 208-fixed plate, 209-fixed frame, 210-blocking roller, 211-guide rod, 212-spring. DETAILED DESCRIPTION

[0031] The following embodiments of the technical solution of the present invention are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and are therefore only used as examples, and cannot be used to limit the protection scope of the present invention.

[0032] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application should have the common meanings understood by those skilled in the art to which the present invention belongs.

[0033] Example 1

[0034] like Figure 1 As shown, an embodiment of the present invention provides an automatic positioning system based on a battery swap station, including: a positioning device 10, used to obtain position parameters of a vehicle to be battery swapped, determine a target battery swap position according to the position parameters, and send the target battery swap position to a battery swap centralized control unit 11; the battery swap centralized control unit 11, used to obtain the target battery swap position and send the target battery swap position to an autonomous robot 12; the autonomous robot 12, used to receive the target battery swap position, and obtain environmental data and the robot position, construct an optimal trajectory according to the target battery swap position, the robot position and the environmental data, and move to the target battery swap position according to the optimal trajectory.

[0035] like Figure 2 As shown, in an embodiment of the present invention, the vehicle to be replaced with a battery is parked on a battery replacement platform of a battery replacement warehouse, and a wheel blocking mechanism is provided on the battery replacement platform. The wheel blocking mechanism is used to make the vehicle to be replaced with a battery parked at a target parking position to achieve the positioning of the vehicle to be replaced with a battery.

[0036] Furthermore, the wheel blocking mechanism includes a fixed plate, a fixed frame, a blocking roller, a plurality of guide rods and a plurality of springs. The fixed plate is arranged on the top wall of the battery exchange platform, the blocking roller is arranged on the fixed frame, the two ends of the spring are respectively connected to the fixed frame and the fixed plate, the top end of the guide rod is connected to the fixed frame, the bottom end of the guide rod passes through the fixed plate and is embedded in the battery exchange platform, and the guide rod can move up and down.

[0037] It should be noted that two arc-shaped parking grooves are also provided on the battery exchange platform, and the wheel blocking mechanism is provided on the front side of the two arc-shaped parking grooves. Through the cooperation between the arc-shaped parking grooves and the wheel blocking mechanism, the front wheels of the vehicle to be battery exchanged can be parked in the arc-shaped parking grooves to realize the positioning of the front wheels of the vehicle to be battery exchanged.

[0038] Specifically, after the front wheel of the vehicle to be replaced enters the arc-shaped parking groove, the vehicle to be replaced stops moving. When the front wheel of the vehicle to be replaced passes the arc-shaped parking groove by inertia, it is blocked by the blocking roller 210, so that the front wheel of the vehicle to be replaced returns to the arc-shaped parking groove 207, and the front wheel of the vehicle to be replaced is positioned. After the battery replacement of the vehicle to be replaced is completed, the vehicle to be replaced is started and the blocking roller 210 is rolled over. The blocking roller 210 moves downward, and the vehicle to be replaced can directly roll over the blocking roller 210. The spring 212 plays a role in returning the blocking roller 210, and the guide rod 211 plays a guiding role to ensure that the up and down movement of the blocking roller 210 does not deviate. In this embodiment, the number of guide rods 211 and springs 212 is set to be multiple.

[0039] like Figure 3 As shown, in an embodiment of the present invention, the positioning device 10 includes: a first acquisition unit, used to scan the target scanning point on the vehicle to be replaced with a battery, and obtain a first position parameter, wherein the first position parameter includes a scanning angle, a scanning distance, and an angle between the scanning line and the battery replacement platform; a second acquisition unit, used to obtain the device position of the scanning device; a processing unit, used to obtain a second position parameter according to the first position parameter using a preset projection formula, and determine the target battery replacement position according to the second position parameter and the device position, wherein the second position parameter includes a horizontal angle and a horizontal distance of the vehicle to be replaced with a battery relative to the positioning device 10.

[0040] It should be noted that the scanning device is arranged on the battery exchange platform, the scanning device includes but is not limited to radar, and the target scanning point includes but is not limited to the front wheel axle of the vehicle to be battery exchanged.

[0041] Specifically, the radar scans the front wheel axle of the vehicle to be replaced as the scanning object to obtain the scanning distance L AB , scanning angle β and the angle θ between the scanning line and the battery swap platform, through the scanning distance L AB , scanning angle β and the angle θ between the scanning line and the battery swap platform, and Figure 3 The geometric position relationship shown in the figure uses the projection formula to convert the scanning distance L AB and scanning angle β are projected onto the horizontal plane to obtain the projection angle and projection distance, that is, the horizontal distance and horizontal angle of the vehicle to be replaced relative to the radar. Figure 3 In the figure, △CDB, △ADB, and △ACD are all right triangles, and the corresponding projections are as follows:

[0042]

[0043]

[0044]

[0045]

[0046] In an embodiment of the present invention, the autonomous robot 12 includes: a construction unit, used to obtain the initial robot position and environmental data, construct an initial motion trajectory according to the initial robot position, environmental data and target battery replacement position, and start moving according to the initial motion trajectory; a compensation unit, used to obtain the robot position and environmental data in motion, construct an optimal motion trajectory according to the robot position in motion, environmental characteristic data and target battery replacement position, and move to the target battery replacement position according to the optimal motion trajectory to complete the battery replacement task.

[0047] In summary, the embodiment of the present invention provides an automatic positioning system based on a battery swap station. The wheel blocking mechanism can limit the wheel position, thereby ensuring that the vehicle to be swapped stops at the target battery swap position. There is no need to use a positioning mechanism to forcibly correct the position of the vehicle to be swapped. The position information of the vehicle to be swapped is obtained through the positioning device 10, thereby determining the target battery swap position, and sending the target battery swap position to the autonomous robot 12 through the battery swap centralized control unit 11. The autonomous robot 12 can couple its own position changes, environmental changes, and target battery swap positions, thereby optimizing and adjusting the motion trajectory, and reaching the target battery swap position according to the optimized trajectory to disassemble or install the battery pack. The present invention eliminates the risk of vehicle damage caused by positioning. At the same time, it adopts contactless soft positioning to achieve automatic positioning compensation, improve positioning accuracy, reduce costs, and improve battery swap efficiency and user experience.

[0048] Example 2

[0049] like Figure 4 As shown, an embodiment of the present invention provides an automatic positioning method based on a battery swap station, and the method includes the following steps:

[0050] S1, the positioning device 10 obtains the position parameters of the vehicle to be replaced, determines the target replacement position according to the position parameters, and sends the target replacement position to the battery replacement centralized control unit 11;

[0051] S2, the battery swap centralized control unit 11 receives the target battery swap position and sends the target battery swap position to the autonomous robot 12;

[0052] S2, the autonomous robot 12 obtains the target battery replacement position, robot position and environmental data, constructs an optimal trajectory based on the target battery replacement position, robot position and environmental data, and moves to the target battery replacement position according to the optimal trajectory.

[0053] An automatic positioning method based on a battery swap station provided in an embodiment of the present invention and an automatic positioning system based on a battery swap station provided in the above embodiment are based on the same inventive concept. For more specific work flows of each step in this embodiment, please refer to the above embodiment and will not be repeated in this embodiment.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and specification of the present invention.

Claims

1. An automatic location-finding system based on a battery swap station, characterized in that: include: A positioning device, used to obtain the position parameters of the vehicle to be replaced, determine the target battery replacement position according to the position parameters, and send the target battery replacement position to the battery replacement centralized control unit; A battery swapping centralized control unit, used to obtain the target battery swapping position and send the target battery swapping position to the autonomous robot; An autonomous robot, used to receive the target battery swapping position, obtain environmental data and robot position, construct an optimal trajectory according to the target battery swapping position, robot position and environmental data, and move to the target battery swapping position according to the optimal trajectory; The positioning device comprises: A first acquisition unit is used to scan the target scanning point on the vehicle to be replaced with a battery to obtain a first position parameter, wherein the first position parameter includes a scanning angle, a scanning distance, and an angle between a scanning line and a battery replacement platform; A second acquisition unit, used to acquire a device position of a scanning device; A processing unit, configured to obtain a second position parameter using a preset projection formula according to the first position parameter, and determine the target battery swap position according to the second position parameter and the device position, wherein the second position parameter includes a horizontal angle and a horizontal distance of the vehicle to be swapped relative to the positioning device; The preset projection formula includes: Among them, L AB is the scanning distance, β is the scanning angle, θ is the angle between the scanning line and the battery swap platform, and L BC is the horizontal distance and α is the horizontal angle.

2. The automatic positioning system based on a battery swap station according to claim 1 is characterized in that: The vehicle to be replaced with a battery is parked on a battery replacement platform of a battery replacement warehouse. A wheel blocking mechanism is provided on the battery replacement platform. The wheel blocking mechanism is used to make the vehicle to be replaced with a battery parked at a target parking position to achieve the positioning of the vehicle to be replaced with a battery.

3. The automatic positioning system based on the battery swap station according to claim 2 is characterized in that: The wheel blocking mechanism includes a fixed plate, a fixed frame, a blocking roller, multiple guide rods and multiple springs. The fixed plate is arranged on the top wall of the battery exchange platform, the blocking roller is arranged on the fixed frame, the two ends of the spring are respectively connected to the fixed frame and the fixed plate, the top end of the guide rod is connected to the fixed frame, the bottom end of the guide rod passes through the fixed plate and is embedded in the battery exchange platform, and the guide rod can move up and down.

4. The automatic positioning system based on a battery swap station according to claim 1 is characterized in that: The autonomous robot comprises: A construction unit, used to obtain an initial robot position and environmental data, construct an initial motion trajectory according to the initial robot position, environmental data and target battery replacement position, and start movement according to the initial motion trajectory; The compensation unit is used to obtain the position and environmental data of the robot in motion, construct an optimal motion trajectory based on the position of the robot in motion, the environmental characteristic data and the target battery replacement position, and move to the target battery replacement position according to the optimal motion trajectory to complete the battery replacement task.

5. An automatic location search method based on a battery swap station, characterized in that: The method is applicable to the automatic positioning system based on the battery swap station as claimed in claim 1, comprising the following steps; S1, the positioning device obtains the position parameters of the vehicle to be replaced, determines the target battery replacement position according to the position parameters, and sends the target battery replacement position to the battery replacement centralized control unit; S2, the battery swapping centralized control unit receives the target battery swapping position and sends the target battery swapping position to the autonomous robot; S2, the autonomous robot obtains the target battery replacement position, robot position and environmental data, builds an optimal trajectory based on the target battery replacement position, robot position and environmental data, and moves to the target battery replacement position according to the optimal trajectory.

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