Method for precise positioning of battery-swapping AGV in a narrow space

Abstract

The present invention provides a method for fine positioning of a battery-swapping AGV in a narrow space, comprising the following steps: observing the dirtiness of the battery chassis, if there is dirtiness, installing multiple electronic tags in the locking area of ​​the battery chassis, and if there is no dirtiness, not installing the electronic tags; installing RFID readers near the four locking mechanisms on the two battery-swapping AGVs, and also installing two 3D cameras on the two battery-swapping AGVs; using laser SLAM and QR code for composite navigation, navigating the battery-swapping AGV to the initial detachable battery position, starting two 3D cameras to take pictures, detecting positioning features, and adjusting the AGV posture when the features are detected to complete the positioning of the battery-swapping AGV. The present invention realizes non-contact fine positioning in a limited spatial range and completes the efficient docking of two devices.

Description

Technical Field

[0001] The present invention relates to the field of vehicle battery replacement technology, and in particular to a method for fine positioning of a battery replacement AGV in a narrow space. Background Art

[0002] In the prior art, when a new energy vehicle replaces its battery, the new energy vehicle is usually driven into a battery swap room of a special battery swap station, and then the battery swap AGV is moved by a plan to complete the battery swap operation on the new energy vehicle. Alternatively, the new energy vehicle is parked at a certain location, and then the battery swap AGV is moved under the chassis of the new energy vehicle to replace the battery. In these two methods, when performing the battery swap operation, the new energy vehicle is in different static states, that is, when the battery swap AGV is replacing the battery, the space it is in is relatively small, the difficulty of replacing the battery by the battery swap AGV is increased, and the positioning accuracy is reduced.

[0003] Therefore, a method for fine positioning of the battery-swapping AGV in a narrow space is needed to solve the problem of fine positioning of the battery-swapping AGV in a narrow space. Summary of the invention

[0004] The present invention aims to provide a method for fine positioning of a battery-swapping AGV in a narrow space to overcome the above-mentioned problems or at least partially solve the above-mentioned problems.

[0005] To achieve the above object, the technical solution of the present invention is specifically implemented as follows:

[0006] The present invention provides a method for fine positioning of a battery-swapping AGV in a narrow space, comprising the following steps:

[0007] Step 1: observe the dirtiness of the battery chassis. If there is dirtiness, install multiple electronic tags in the locking area of ​​the battery chassis. If there is no dirtiness, do not install the electronic tags.

[0008] Step 2: Connect the two battery-swapping AGVs end to end, and the battery-swapping AGV on the forward side is used to remove the battery, and the battery-swapping AGV on the following side is used to install the battery;

[0009] Step 3: Install RFID readers near the four locking mechanisms on the two battery-swapping AGVs, and also install two 3D cameras on the two battery-swapping AGVs;

[0010] Step 4: Set up laser SLAM and QR code on the battery swap AGV respectively, and use laser SLAM and QR code for composite navigation to navigate the battery swap AGV to the initial removable battery position, start two 3D cameras to take pictures, detect positioning features, and adjust the AGV posture when the features are detected to complete the positioning of the battery swap AGV;

[0011] Step 5: The battery-swapping AGV on the forward side enters under the chassis of the new energy vehicle from the front side, and uses laser SLAM and QR code for composite navigation to navigate the battery-swapping AGV to the initial removable battery position;

[0012] Step 6: First, start the two 3D cameras on the forward-side battery-swapping AGV to take pictures and detect positioning features. When the features are detected, adjust the position of the battery-swapping AGV to complete the positioning of the battery-swapping AGV.

[0013] Step 7: When no features are detected, use high-power electronic tags to perform preliminary positioning, move the battery-swapping AGV, and use the RFID reader to read the low-power electronic tag information. Synchronously adjust the position of the battery-swapping AGV so that all four readers can read the corresponding electronic tags, thereby completing the positioning of the battery-swapping AGV.

[0014] Step 8: Use the lifting mechanism on the forward-side battery-swapping AGV to dismantle the battery on the new energy vehicle and then reset it;

[0015] Step nine, after disassembly and reception, move the two battery-swapping AGVs to the rear of the new energy vehicle, while keeping the moving directions of the two battery-swapping AGVs consistent, and position the battery-swapping AGV on the following side by controlling the displacement distance of the battery-swapping AGV on the forward side, and use the 3D camera on the battery-swapping AGV on the following side, as well as the electronic tag and RFID reader for joint positioning, to achieve auxiliary positioning of the battery-swapping AGV on the following side;

[0016] Step 10: Install the new battery on the new energy vehicle through the lifting mechanism on the follow-side battery-swapping AGV;

[0017] Step 11: Move the two battery-swapping AGVs out from under the chassis of the new energy vehicle.

[0018] As a further solution of the present invention, the electronic tags in step one correspond one-to-one to the RFID readers on the two battery-exchanging AGV carts.

[0019] As a further solution of the present invention, the size of the electronic tag in the steps is 12mm*5mm.

[0020] As a further solution of the present invention, the 3D camera in step three is a 3D vision camera.

[0021] As a further solution of the present invention, the positioning deviation in step six is ​​≤5mm.

[0022] As a further solution of the present invention, the positioning deviation in step seven is ≤10 mm.

[0023] The present invention provides a method for fine positioning of a battery-exchanging AGV in a narrow space, which has the beneficial effects of realizing non-contact fine positioning in a limited space, completing efficient docking of two devices, and simultaneously connecting two battery-exchanging AGVs together for use, thereby realizing the installation and replacement of old and new battery packs respectively, with clear division of labor, high battery-exchanging efficiency, shortened battery-exchanging time, and good use effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0025] Figure 1 It is the work flow chart of the present invention.

[0026] Figure 2 This is a workflow diagram for dirt detection in the present invention.

[0027] Figure 3 It is a schematic diagram of the structure of the battery pack frame in the present invention.

[0028] Figure 4 For the present invention Figure 3 Partial schematic diagram within the middle frame.

[0029] In the figure: 1. Locking area; 2. Electronic tag. DETAILED DESCRIPTION

[0030] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0031] See also Figure 1 The method for fine positioning of a battery-swapping AGV in a narrow space provided by an embodiment of the present invention includes the following steps:

[0032] Step 1: observe the dirtiness of the battery chassis. If there is dirtiness, install multiple electronic tags 2 in the locking area 1 of the battery chassis. If there is no dirtiness, do not install the electronic tags 2.

[0033] Step 2: Connect the two battery-swapping AGVs end to end, and the battery-swapping AGV on the forward side is used to remove the battery, and the battery-swapping AGV on the following side is used to install the battery;

[0034] Step 3: Install RFID readers near the four locking mechanisms on the two battery-swapping AGVs, and also install two 3D cameras on the two battery-swapping AGVs;

[0035] Step 4: Set up laser SLAM and QR code on the battery-swapping AGV respectively, and use laser SLAM and QR code for composite navigation, start two 3D cameras to take pictures, detect positioning features, and adjust the AGV posture when the features are detected to complete the positioning of the battery-swapping AGV;

[0036] Step 5: The battery-swapping AGV on the forward side enters under the chassis of the new energy vehicle from the front side, and uses laser SLAM and QR code for composite navigation to navigate the battery-swapping AGV to the initial removable battery position;

[0037] Step 6: First, start the two 3D cameras on the forward-side battery-swapping AGV to take pictures and detect positioning features. When the features are detected, adjust the position of the battery-swapping AGV to complete the positioning of the battery-swapping AGV.

[0038] Step 7: When no features are detected, use the high-power electronic tag 2 to perform preliminary positioning, move the battery-swapping AGV, and use the RFID reader to read the low-power electronic tag 2 information, and adjust the position of the battery-swapping AGV synchronously so that all four readers can read the corresponding electronic tag 2, thereby completing the positioning of the battery-swapping AGV.

[0039] Step 8: Use the lifting mechanism on the forward-side battery-swapping AGV to dismantle the battery on the new energy vehicle and then reset it;

[0040] Step nine, after disassembly and reception, move the two battery-swapping AGVs to the rear of the new energy vehicle, while keeping the moving directions of the two battery-swapping AGVs consistent, and position the battery-swapping AGV on the following side by controlling the displacement distance of the battery-swapping AGV on the forward side, and use the 3D camera on the battery-swapping AGV on the following side, as well as the electronic tag 2 and the RFID reader for joint positioning to achieve auxiliary positioning of the battery-swapping AGV on the following side;

[0041] Step 10: Install the new battery on the new energy vehicle through the lifting mechanism on the follow-side battery-swapping AGV;

[0042] Step 11: Move the two battery-swapping AGVs out from under the chassis of the new energy vehicle.

[0043] During use of the present invention, vehicles in actual operation may have different degrees of dirtiness on the battery chassis due to different driving years and road conditions.

[0044] No dirt coverage: When the bottom frame of the battery pack is not covered with dirt, the inherent feature points on the battery frame are used for recognition. Under this condition, two 3D vision cameras installed on both sides of the battery-swapping AGV are used to achieve fixed positioning feature detection with a deviation of ≤5mm.

[0045] The chassis is seriously dirty: When the inherent features of the chassis are blocked by irregular dirt, non-contact positioning is used. Figure 3 A plurality of electronic tags 2 with a size of 12 mm*5 mm are installed in the middle frame area, namely the locking area 1 .

[0046] RFID readers are installed near the four locking mechanisms of the battery-swapping AGV. When the RFID readers near the four ejector pins read the corresponding electronic tags 2, the positioning is successful, and the deviation is ≤10mm.

[0047] The two battery-swapping AGVs are connected end to end, and the laser SLAM and QR code composite navigation of the battery-swapping AGV on the forward side are used to move the two battery-swapping AGVs from the bottom of the front of the vehicle into the vehicle, and navigate the battery-swapping AGV to the initial removable battery position. Then, the two 3D vision cameras on it are started to take pictures to detect positioning features. When the features are detected, the posture of the battery-swapping AGV is adjusted to complete the positioning of the battery-swapping AGV. If no features are detected, a high-power electronic tag 2 is used for preliminary positioning, the battery-swapping AGV is moved, and the RFID reader is used to read the low-power electronic tag 2 information, and the posture of the battery-swapping AGV is adjusted synchronously so that the four readers all read the corresponding electronic tag 2, thereby realizing the positioning of the battery-swapping AGV and removing the old battery.

[0048] After the old battery is removed, continue to move the two battery-swapping AGV carts forward, and at the same time control the displacement distance of the battery-swapping AGV carts to keep the displacement distance equal to the length of one battery-swapping AGV cart. At the same time, start the 3D vision camera and RFID card reader on the following-side battery-swapping AGV cart according to the above steps to assist in positioning the following-side battery-swapping AGV cart, further improving the precision of positioning, and also facilitating the installation of new batteries on the vehicle. Finally, move the two battery-swapping AGV carts out of the vehicle.

[0049] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. The method for fine positioning of the battery-swapping AGV in a narrow space is characterized by: The following steps are involved: Step 1: observe the dirtiness of the battery chassis. If there is dirtiness, install multiple electronic tags (2) in the locking area (1) of the battery chassis. If there is no dirtiness, do not install the electronic tags (2); Step 2: Connect the two battery-swapping AGVs end to end, and the battery-swapping AGV on the forward side is used to remove the battery, and the battery-swapping AGV on the following side is used to install the battery; Step 3: Install RFID readers near the four locking mechanisms on the two battery-swapping AGVs, and also install two 3D cameras on the two battery-swapping AGVs; Step 4: Set up laser SLAM and QR code on the battery-swapping AGV respectively, and use laser SLAM and QR code for composite navigation, start two 3D cameras to take pictures, detect positioning features, and adjust the AGV posture when the features are detected to complete the positioning of the battery-swapping AGV; Step 5: The battery-swapping AGV on the forward side enters under the chassis of the new energy vehicle from the front side, and uses laser SLAM and QR code for composite navigation to navigate the battery-swapping AGV to the initial removable battery position; Step 6: First, start the two 3D cameras on the forward-side battery-swapping AGV to take pictures and detect positioning features. When the features are detected, adjust the position of the battery-swapping AGV to complete the positioning of the battery-swapping AGV. Step 7: When no feature is detected, use the high-power electronic tag (2) to perform preliminary positioning, move the battery-swapping AGV, and use the RFID reader to read the information of the low-power electronic tag (2), and synchronously adjust the position of the battery-swapping AGV so that the four readers can read the corresponding electronic tags (2), thereby completing the positioning of the battery-swapping AGV. Step 8: Use the lifting mechanism on the forward-side battery-swapping AGV to dismantle the battery on the new energy vehicle and then reset it; Step nine, after disassembly and reception, move the two battery-swapping AGVs to the rear of the new energy vehicle, while keeping the moving directions of the two battery-swapping AGVs consistent, and position the battery-swapping AGV on the following side by controlling the displacement distance of the battery-swapping AGV on the leading side, and use the 3D camera on the battery-swapping AGV on the following side, as well as the electronic tag (2) and the RFID reader for joint positioning to achieve auxiliary positioning of the battery-swapping AGV on the following side; Step 10: Install the new battery on the new energy vehicle through the lifting mechanism on the follow-side battery-swapping AGV; Step 11: Move the two battery-swapping AGVs out from under the chassis of the new energy vehicle; The electronic tags (2) in step one correspond one-to-one to the RFID readers on the two battery-swapping AGVs.

2. The method for fine positioning of a battery-swapping AGV in a narrow space according to claim 1 is characterized in that: The size of the electronic tag (2) in step 1 is 12 mm*5 mm.

3. The method for fine positioning of a battery-swapping AGV in a narrow space according to claim 1 is characterized in that: The 3D camera in step three is a 3D vision camera.

4. The method for fine positioning of a battery-swapping AGV in a narrow space according to claim 1 is characterized in that: The positioning deviation in step six is ​​≤5mm.

5. The method for fine positioning of a battery-swapping AGV in a narrow space according to claim 1 is characterized in that: The positioning deviation in step seven is ≤10mm.

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