Battery replacement vehicle body correction method and system, electronic device and storage medium

Abstract

The application discloses a battery replacement vehicle body correction method and system, electronic equipment and a storage medium, the method comprising: obtaining a vehicle identifier of the target vehicle; obtaining a target adjustment parameter according to the vehicle identifier; adjusting the position of the moving frame body along the first direction according to the wheelbase parameter; obtaining a target power according to the full-load parameter, and controlling the position adjustment of the wheels of the target vehicle along the second direction by the linkage mechanism with the target power. In one aspect of the application, the intelligence of the target adjustment parameter acquisition is improved. On the other hand, the vehicle identifier and the target adjustment parameter correspond one by one, and it is not easy to make mistakes. Through the wheelbase parameter, the adjustment of the wheelbase can be targeted, and through the full-load parameter, the adjustment of the wheelbase can be targeted, so that the battery pack of the target vehicle is aligned with the battery replacement vehicle, which facilitates the subsequent battery replacement process, improves the battery replacement efficiency, and saves the battery replacement cost.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicle battery replacement, in particular to a vehicle body correction method and system for a battery replacement vehicle, an electronic device and a storage medium. BACKGROUND

[0002] Nowadays, electric vehicles are becoming more and more popular among consumers. The energy used by electric vehicles is basically electric energy. Electric vehicles need to be charged after the electric energy is used up. Due to the limitations of battery technology and charging technology, it takes a long time to fully charge an electric vehicle, which is not as simple and fast as refueling a fuel vehicle. Therefore, in order to reduce the waiting time of users, replacing the battery when the electric energy of the electric vehicle is about to run out is an effective means. In order to facilitate the replacement of the battery of the electric vehicle and meet the battery replacement needs of the electric vehicle, a battery replacement station needs to be built so that the battery pack of the electric vehicle can be replaced by driving into the battery replacement station when it is running out of power.

[0003] The battery replacement station is provided with a battery replacement lifting platform which can lift the electric vehicle. The battery replacement trolley of the battery replacement station performs battery replacement operation below the electric vehicle. Due to the problem of deviation during the process of driving the electric vehicle into the battery replacement lifting platform, generally, after the electric vehicle drives into the battery replacement lifting platform, the position of the battery replacement vehicle is adjusted uniformly, including the adjustment of the wheel track and the adjustment of the wheel base of the vehicle, so that the battery pack installed on the battery replacement vehicle is aligned with the battery replacement trolley.

[0004] However, due to the differences in size, structure, shape and weight of different battery replacement vehicles, it is difficult to correct the vehicle body of the battery replacement vehicle in a targeted manner, which may result in excessive energy consumption during wheel track adjustment or the wheel base adjustment cannot be adjusted to the right position, causing energy waste during battery replacement and the battery pack installed on the battery replacement vehicle cannot be aligned with the battery replacement trolley, affecting the smooth progress of subsequent battery replacement operation. SUMMARY

[0005] The technical problem to be solved by the present application is to overcome the technical problem that it is difficult to correct the vehicle body of the electric vehicle in a targeted manner before battery replacement, which may result in excessive energy consumption during wheel track adjustment or the wheel base adjustment cannot be adjusted to the right position, causing energy waste during battery replacement and possibly affecting the smooth progress of subsequent battery replacement operation. The present application provides a vehicle body correction method, system, electronic device and storage medium for a battery replacement vehicle, which can correct the vehicle body of the electric vehicle in a targeted manner before battery replacement, thereby saving energy consumption during battery replacement and improving the accuracy of vehicle body correction.

[0006] The present application solves the above technical problems by the following technical solutions:

[0007] The application provides a vehicle body correction method of a battery replacement vehicle, which is used for controlling a lifting device, the lifting device comprising a moving frame body for carrying wheels, an adjusting mechanism for providing power for the moving frame body along a first direction, a linkage mechanism arranged on the moving frame body, and a driving device for providing power for the linkage mechanism along a second direction, two output ends of the linkage mechanism moving towards opposite directions, the first direction being a length direction of a target vehicle, and the second direction being a width direction of the target vehicle, the vehicle body correction method of the battery replacement vehicle comprising the following steps:

[0008] Obtaining a vehicle identifier of the target vehicle;

[0009] Obtaining a target adjustment parameter according to the vehicle identifier, the target adjustment parameter comprising an axle distance parameter and a full vehicle load parameter;

[0010] Adjusting a position of the moving frame body along the first direction according to the axle distance parameter, so as to realize axle distance adjustment of the target vehicle;

[0011] Obtaining a target power according to the full vehicle load parameter, and controlling the linkage mechanism to adjust a position of the wheels of the target vehicle along the second direction by using the target power, so as to realize wheel track adjustment of the target vehicle.

[0012] In the application, the target adjustment parameter corresponding to the target vehicle is automatically matched according to the identified vehicle identifier, which on one hand improves the intelligence of the target adjustment parameter acquisition, and on the other hand, the vehicle identifier and the target adjustment parameter are one-to-one corresponding, and are not prone to errors. According to different vehicle models, license plates, vehicle types and other information, the target vehicle can be accurately adjusted in the battery replacement position. The target adjustment parameter specifically comprises an axle distance parameter and a full vehicle load parameter. The axle distance parameter can be used to realize the axle distance adjustment of the battery replacement vehicle, and the full vehicle load parameter can be used to calculate the minimum required force to realize the wheel track adjustment of the battery replacement vehicle. When the wheel track and the axle distance are both adjusted in place, the battery pack of the target vehicle is aligned with the battery replacement vehicle, which facilitates the subsequent battery replacement process, improves the battery replacement efficiency, and saves the battery replacement cost.

[0013] Preferably, before the step of controlling the linkage mechanism to adjust the position of the wheels of the target vehicle along the second direction, the method further comprises the following steps:

[0014] Controlling an entrance gate to be lifted up;

[0015] Detecting a parking state of the target vehicle: if the target vehicle is parked in place at a battery replacement station, triggering the step of controlling the linkage mechanism to adjust the position of the wheels of the target vehicle along the second direction.

[0016] In the present application, after entering the battery replacement position, it is detected whether the target vehicle is parked in place, and after detecting that the target vehicle is parked in place, the wheel track is adjusted to avoid affecting the adjustment of the wheel track due to the fact that the wheels are not parked in place (for example, the parking position of the wheels is offset, and the angle of the wheels is distorted).

[0017] Preferably, the step of controlling the entrance gate to be lifted is performed after the step of adjusting the position of the mobile frame body along the first direction according to the wheel base parameter.

[0018] In the present application, the wheel base of the target vehicle can be adjusted before the target vehicle enters the battery replacement position, which can save the position adjustment time of the target vehicle after entering the battery replacement position and improve the battery replacement efficiency.

[0019] Preferably, the step of parking the target vehicle in place in the battery replacement position further comprises the following steps:

[0020] It is judged whether the position of the target vehicle in the first direction is offset, and if so, the position of the mobile frame body along the first direction is adjusted again according to the wheel base parameter to realize the re-adjustment of the wheel base of the target vehicle.

[0021] In the present application, two wheel base adjustments are performed in this way, the first wheel base adjustment is performed when the target vehicle has not entered the battery replacement position, and the second wheel base adjustment is performed when the target vehicle has parked in place in the battery replacement position. Since the target vehicle is parked, the target vehicle will generate a certain impact force on the mobile frame body in the first direction, which may cause the position of the mobile frame body in the first direction to change. Therefore, the second distance between the mobile frame body and the main frame body at this time is obtained, and if the second distance is not within the second limit difference, the wheel base is adjusted again to further ensure the smooth progress of the subsequent battery replacement process.

[0022] Preferably, the step of adjusting the position of the mobile frame body along the first direction according to the wheel base parameter further comprises the following steps:

[0023] The entrance gate is controlled to be lifted;

[0024] The parking state of the target vehicle is detected: if the target vehicle is parked in place in the battery replacement position, the step of adjusting the position of the mobile frame body along the first direction according to the wheel base parameter is triggered.

[0025] In the present application, one wheel base adjustment is performed in this way, that is, the wheel base is adjusted after the target vehicle is parked in place in the battery replacement position. Through one wheel base adjustment, the wheel base adjustment time can be saved, and the battery replacement efficiency can be improved.

[0026] Preferably, the step of obtaining the vehicle identifier of the target vehicle further comprises:

[0027] The target vehicle establishes a communication connection with the target battery swap station.

[0028] The step of obtaining the vehicle identifier of the target vehicle further comprises:

[0029] It is judged whether the target vehicle is allowed to swap battery, and if yes, the step of obtaining the target adjustment parameter according to the vehicle identifier is performed.

[0030] In the present application, after obtaining the vehicle identifier, it is judged whether the corresponding target vehicle is allowed to swap battery, and if yes, the subsequent steps are performed, and the entrance gate is opened to allow the target vehicle to enter. In this way, vehicles with permission can enter the battery swap position in an orderly manner.

[0031] Preferably, the lifting device further comprises a main frame body, and the step of adjusting the position of the moving frame body along the first direction according to the wheelbase parameter comprises the following steps:

[0032] According to the wheelbase parameter, a target distance between the moving frame body and the main frame body is obtained, the moving frame body comprises a first position and a second position, and the first position and the second position are different positions in the width direction of the moving frame body.

[0033] The first position and the second position are controlled to move along the first direction in a first running state, and a moving difference value of the first position and the second position is obtained in real time, the moving difference value representing a difference value of the moving distances of the first position and the second position relative to the main frame body.

[0034] It is judged whether the moving difference value is less than a first limit difference value, if not, the moving frame body is controlled to move in a second running state until the moving difference value is less than or equal to a suitable difference value, and then the moving frame body is controlled to move in a third running state.

[0035] It is judged whether an absolute value of a difference between the first distance between the moving frame body and the main frame body and the target distance is within a second limit difference value, if yes, the moving frame body is controlled to stop moving, and it is confirmed that the wheelbase adjustment is in place.

[0036] In the present application, the target distance between the moving frame body and the main frame body can be obtained according to the wheelbase parameter, and the first position and the second position can be controlled to move along the first direction, i.e., the length direction of the target vehicle, to realize synchronous movement according to the target distance. The movement of the moving frame body can be accurately and stably controlled for the target vehicle, and when moving in the two positions, the movement difference between the two positions can be controlled to be less than the first limit difference, so as to prevent mechanical jamming and strength competition, and to protect the mechanical equipment. Finally, the distance between the moving frame body and the main frame body can be adjusted within the second limit difference, so that the moving frame body is adjusted to the wheelbase, and the subsequent battery replacement process can be smoothly carried out.

[0037] Preferably, the step of judging whether the position of the target vehicle in the first direction is deviated, and if so, adjusting the position of the moving frame body in the first direction according to the wheelbase parameter again comprises the following steps:

[0038] obtaining a second distance between the moving frame body and the main frame body;

[0039] judging whether the absolute value of the difference between the second distance and the target distance is within the second limit difference, and if not, controlling the moving frame body to move along the first direction until the absolute value of the difference between the second distance and the target distance is within the second limit difference.

[0040] In the present application, the second distance between the moving frame body and the main frame body can be detected again after the target vehicle enters the battery replacement position, and when the second distance is not within the second limit difference, the wheelbase can be adjusted again to ensure that the vehicle body can be aligned with the battery replacement vehicle in the width direction of the target vehicle.

[0041] Preferably, the moving frame body further comprises a roller mechanism for parking the wheels, the roller mechanism comprising a plurality of roller assemblies arranged along the width direction of the target vehicle, each roller assembly comprising a rotating shaft and a roller, the roller being rotatably connected to the rotating shaft through a corresponding bearing;

[0042] The linkage mechanism comprises a first connecting plate, a first connecting rod, a rotating piece, a second connecting rod, a second connecting plate and two pushing pieces, the two pushing pieces are a first pushing piece and a second pushing piece respectively, the first pushing piece, the first connecting plate, the first connecting rod, the rotating piece, the second connecting rod, the second connecting plate and the second pushing piece are sequentially connected, the first connecting plate and the second connecting plate are slidably connected with the frame body along the width direction of the target vehicle through linear guide mechanisms at corresponding positions, the first end of the first connecting rod and the first end of the second connecting rod are hingedly connected to the two ends of the rotating piece respectively, the middle part of the rotating piece has a rotating center, the rotating center of the rotating piece is rotationally connected with the frame body of the lifting device and the rotating piece can rotate along the rotating center, and the first pushing piece, the first connecting plate, the first connecting rod, the rotating piece, the second connecting rod, the second connecting plate and the second pushing piece are centrally symmetric with respect to the rotating center of the rotating piece, an acute angle formed between the first connecting rod and the first connecting plate is a first included angle, and the driving end of the driving device is connected with the first connecting plate.

[0043] The first end of the first pushing piece is fixedly connected with the middle part of the first connecting plate, one end of the first connecting rod away from the rotating piece is hingedly connected with the middle part of the first connecting plate, the first end of the second pushing piece is fixedly connected with the middle part of the second connecting plate, and one end of the second connecting rod away from the rotating piece is hingedly connected with the middle part of the second connecting plate.

[0044] The second end of the first pushing piece drives the wheels on the first side of the target vehicle to move in the width direction of the target vehicle by contacting the wheels, and the second end of the second pushing piece drives the wheels on the second side of the target vehicle to move in the width direction of the target vehicle by contacting the wheels.

[0045] In the present application, by using the above structure, the rotating piece can drive the first pushing piece and the second pushing piece to move synchronously using only one driving device, which not only ensures the synchronization of the movement of the first pushing piece and the second pushing piece, avoids the situation that the first pushing piece and the second pushing component move out of synchronization, improves the wheel track adjustment accuracy, but also ensures the compactness of the wheel track adjustment mechanism and reduces the cost.

[0046] Preferably, the target force includes a second acting force; the step of obtaining a target force according to the full-load weight parameter and controlling the linkage mechanism to adjust the position of the wheels of the target vehicle in a second direction to realize the wheel track adjustment of the target vehicle specifically comprises the following steps:

[0047] Obtaining a structural parameter of the linkage mechanism, the structural parameter comprising a minimum included angle value, the minimum included angle value being an included angle value of the first included angle when the linkage mechanism is in a retracted state;

[0048] According to the full load parameter and the friction coefficient of the bearing, a first pushing force is calculated, the first pushing force being a pushing force required when the target vehicle is pushed;

[0049] According to the first pushing force and the minimum included angle value, a first acting force is calculated;

[0050] The two pushing members of the linkage mechanism are driven to move in opposite directions along the second direction by the second acting force, the second acting force being greater than the first acting force, so as to adjust the position of the wheels of the target vehicle on the lifting device to a target wheel track position.

[0051] In the present application, according to the full load of the target vehicle and the friction coefficient of the bearing of the roller assembly, the size of the acting force that can push the corresponding target vehicle from the side can be calculated, and the specific method is to calculate the minimum first acting force that simultaneously pushes the wheels on both sides of the target vehicle by combining the full load parameter and the structural parameter of the linkage mechanism, and to provide the linkage mechanism with a second acting force greater than the minimum acting force by the driving device, so as to push the wheels to move in the width direction of the target vehicle, so as to realize the adjustment of the wheel track.

[0052] Preferably, the step of obtaining the vehicle identifier of the target vehicle further comprises:

[0053] According to the vehicle identifier, a corresponding wheel track parameter is obtained;

[0054] According to the wheel track parameter, a first target rotation value of a rotating member of the linkage mechanism is obtained, and when the rotating member rotates the first target rotation value, the target vehicle is in a centered state;

[0055] After adjusting the position of the wheels of the target vehicle on the lifting device, the following steps are further included:

[0056] After a preset time, a first rotation value of the rotating member is detected, and when the first rotation value is greater than or equal to the first target rotation value, it is confirmed that the wheel track is adjusted to a target wheel track position, and the driving of the two pushing members to move in opposite directions along the width direction of the target vehicle is controlled to stop.

[0057] In the present application, the driving parameter of the driving device can be obtained in advance, and the preset time required to push the corresponding target vehicle into position can be obtained according to the driving parameter second acting force, and the first rotation value is detected at the preset time, so as to ensure that the wheel track can be adjusted into position.

[0058] The application further provides a vehicle body correction system of a battery replacement vehicle, which is used for controlling a lifting device, the lifting device comprising a moving frame body and a linkage mechanism, and the vehicle body correction system comprises a vehicle information acquisition device, a parameter acquisition module, an adjusting mechanism, a first control module, a driving device and a second control module.

[0059] The vehicle information acquisition device is used for acquiring a vehicle identifier of a target vehicle.

[0060] The parameter acquisition module is used for acquiring target adjustment parameters according to the vehicle identifier, and the target adjustment parameters comprise an axle distance parameter and a full vehicle load parameter.

[0061] The first control module is used for adjusting the position of the moving frame body along a first direction through the adjusting mechanism according to the axle distance parameter, so as to realize first axle distance adjustment of the target vehicle, and the first direction is the length direction of the target vehicle.

[0062] The second control module is used for acquiring target power according to the full vehicle load parameter, and driving the driving device to drive the linkage mechanism to adjust the position of the wheel of the target vehicle along a second direction, so as to realize wheel track adjustment of the target vehicle, and the second direction is the width direction of the target vehicle.

[0063] In the application, the parameter acquisition module automatically matches the target adjustment parameters corresponding to the target vehicle according to the vehicle identifier acquired by the vehicle information acquisition device, which improves the intelligence of the target adjustment parameter acquisition, and the vehicle identifier and the target adjustment parameter are one-to-one corresponding, so that errors are less likely to occur, and the target vehicle can be accurately adjusted in the battery replacement position according to the vehicle type, license plate and other information of the target vehicle. The target adjustment parameters specifically comprise the axle distance parameter and the full vehicle load parameter, the first control module can use the adjusting mechanism to adjust the axle distance of the battery replacement vehicle according to the axle distance parameter, and the second control module can calculate the minimum force required to be provided by using the driving device according to the full vehicle load parameter, so as to adjust the wheel track of the battery replacement vehicle, when the wheel track and the axle distance are adjusted in place, the battery pack of the target vehicle is aligned with the battery replacement vehicle, the subsequent battery replacement process is facilitated, the battery replacement efficiency is improved, and the battery replacement cost is saved.

[0064] The application further provides an electronic device, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, and the processor realizes the vehicle body correction method of the battery replacement vehicle when executing the computer program.

[0065] The application further provides a storage medium, which stores a computer program, and the computer program realizes the vehicle body correction method of the battery replacement vehicle when executed by a processor.

[0066] The positive progress effect of the present application is that the corresponding wheelbase parameter and the corresponding full vehicle load parameter of the target vehicle are automatically matched according to the identified vehicle identifier, the corresponding wheelbase parameter can be used to adjust the wheelbase of the target vehicle, and the corresponding full vehicle load parameter can be used to adjust the wheelbase of the target vehicle.

[0067] Different body correction processes can be set, for example, the first wheelbase adjustment is performed before the target vehicle enters the battery replacement station, the second wheelbase adjustment is performed after the target vehicle enters the battery replacement station, and the wheelbase adjustment is performed after the second wheelbase adjustment. Through this battery replacement process, the position adjustment time of the target vehicle after entering the battery replacement station can be saved, and the battery replacement efficiency can be improved. For example, the wheelbase adjustment is performed once after the target vehicle enters the battery replacement station, and the wheelbase adjustment is performed after the wheelbase adjustment. Through the wheelbase adjustment, the wheelbase adjustment time can be saved, and the overall battery replacement efficiency can be improved.

[0068] When the wheelbase and wheelbase of the target vehicle are adjusted in place, the correction of the body is completed, and the battery pack of the target vehicle is aligned with the battery replacement vehicle, so that the subsequent battery replacement process can be smoothly performed, and the battery replacement efficiency can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0069] Figure 1 It is a structure schematic view of the lifting device in the embodiment of the present application.

[0070] Figure 2 It is a top view of the frame body of the lifting device. Figure 1

[0071] Figure 3 It is a top view of the structure below the frame body of the lifting device. Figure 1

[0072] Figure 4 It is a top view of the internal structure of the lifting machine in the embodiment of the present application.

[0073] Figure 5 It is a position schematic view of the angle sensor in the embodiment of the present application.

[0074] Figure 6 It is a flowchart of the body correction method of the battery replacement vehicle in the embodiment 1 of the present application.

[0075] Figure 7 It is a flowchart of the specific implementation mode of step 103 in the embodiment 1 of the present application.

[0076] Figure 8 It is a flowchart of the specific implementation mode of step 104 in the embodiment 1 of the present application.

[0077] ​​Figure 9 Flow chart for detecting whether the wheel track is adjusted in place in embodiment 1 of the present application.

[0078] Figure 10 Flow chart for the vehicle body correction method of the battery swap vehicle in embodiment 2 of the present application.

[0079] Figure 11 Flow chart for the specific implementation of step 203 in embodiment 2 of the present application.

[0080] Figure 12 Flow chart for the vehicle body correction method of the battery swap vehicle in embodiment 3 of the present application.

[0081] Figure 13 Module schematic diagram of the vehicle body correction system of the battery swap vehicle in embodiment 4 of the present application.

[0082] Figure 14 Module schematic diagram of the vehicle body correction system of the battery swap vehicle in embodiment 5 of the present application.

[0083] Figure 15 Module schematic diagram of the vehicle body correction system of the battery swap vehicle in embodiment 6 of the present application.

[0084] Figure 16 Module schematic diagram of the electronic device in embodiment 7 of the present application. DETAILED DESCRIPTION

[0085] The present application will be further described in the following by way of examples, but the present application is not limited to the scope of the examples.

[0086] The present application will be further described in the following by way of examples, but the present application is not limited to the scope of the examples.

[0087] It should be understood that the present application uses specific words to describe the embodiments of the present application. The use of the words “first”, “second”, etc. to limit technical features only facilitates the distinction of the corresponding technical features, and the above words have no special meaning unless otherwise stated, and therefore cannot be understood as limiting the scope of protection of the present application. In addition, certain features, structures or characteristics of one or more embodiments of the present application can be properly combined.

[0088] In order to better understand the embodiments, the structures appearing in the embodiments will be described first as follows:

[0089] Specifically, the battery swap station has a battery swap room, a charging room and a battery swap device. The battery swap room is provided with a lifting device and can accommodate the battery swap vehicle to replace the battery pack. The charging room can store the battery and provide space for charging the battery. The battery swap device can reciprocate between the battery swap room and the charging room. The battery swap device is used to replace the battery for the battery swap vehicle. When the battery swap vehicle has a battery replacement requirement and is positioned on the lifting device, the battery swap device enters the bottom of the battery swap vehicle, removes the battery, sends the removed battery back to the charging room, and installs the battery. When the battery is installed, the battery swap device obtains a fully charged battery from the charging room and enters the battery swap room from the charging room to replace the battery for the battery swap vehicle.

[0090] As shown in Figure 1 , the lifting device is used to lift the electric vehicle located in the battery swap room. The lifting device includes a frame body 100, a base 300 and a lifting mechanism 200 located between the frame body 100 and the base 300 and driving the frame body 100 to lift in the height direction. The battery swap vehicle located on the frame body 100 is lifted in the height direction by the lifting mechanism 200, so that the battery swap vehicle has enough space below for the battery swap vehicle to replace the battery.

[0091] As shown in Figure 2 , the frame body 100 specifically includes a moving frame body 120 and a main frame body 130. When the wheelbase is adjusted, the main frame body 130 is fixed, and the moving frame body 120 is controlled to move relative to the main frame body 130 in the length direction of the battery swap vehicle (i.e. the vertical direction of Figure 2 . Specifically, as shown in Figure 3 , the lower portion of the frame body 100 is provided with an adjusting mechanism for driving the moving frame body 120 to move in the first direction of the battery swap vehicle (it should be understood that the first direction in the embodiment is the length direction of the battery swap vehicle). The lower portion of the frame body 100 is also provided with a measurement module for detecting the movement distance of the moving frame body 120 relative to the main frame body.

[0092] In the embodiment, the specific implementation of the measurement module is an electronic ruler, and the specific implementation of the adjusting mechanism can be a hydraulic cylinder. It should be understood that in other embodiments, the measurement module and the adjusting mechanism can also use other implementations.

[0093] As shown in Figure 3 , two adjusting mechanisms are provided on the frame body 100 for the moving frame body 120 to move along the first direction Figure 3The power is provided in the vertical direction (i.e. the width direction of the battery swap vehicle) by arranging a first adjusting mechanism 702 and a first measuring module 701 on the first side of the frame body 100, and arranging a second adjusting mechanism 802 and a second measuring module 801 on the second side of the frame body 100. The first adjusting mechanism 702 drives the first side 121 of the movable frame body to move, the first measuring module 701 measures the distance between the first side 121 of the movable frame body and the main frame body 130, the second adjusting mechanism 802 drives the second side 122 of the movable frame body to move, and the second measuring module 801 measures the distance between the second side 122 of the movable frame body and the main frame body 130. As shown in FIG. 1, the first side 121 of the movable frame body is connected to the second side 122 of the movable frame body by a connecting body 123 arranged in the middle. The first side 121 of the movable frame body is used to carry the wheels on the first side of the battery swap vehicle, and the second side 122 of the movable frame body is used to carry the wheels on the second side of the battery swap vehicle. It should be understood that the first side and the second side correspond to two sides of the battery swap vehicle that are different in the width direction (i.e. the horizontal direction in FIG. 1). Figure 2 As shown in FIG. 1, the first side 121 of the movable frame body is connected to the second side 122 of the movable frame body by a connecting body 123 arranged in the middle. The first side 121 of the movable frame body is used to carry the wheels on the first side of the battery swap vehicle, and the second side 122 of the movable frame body is used to carry the wheels on the second side of the battery swap vehicle. It should be understood that the first side and the second side correspond to two sides of the battery swap vehicle that are different in the width direction (i.e. the horizontal direction in FIG. 1). Figure 3 As shown in FIG. 1, the first side 121 of the movable frame body is connected to the second side 122 of the movable frame body by a connecting body 123 arranged in the middle. The first side 121 of the movable frame body is used to carry the wheels on the first side of the battery swap vehicle, and the second side 122 of the movable frame body is used to carry the wheels on the second side of the battery swap vehicle. It should be understood that the first side and the second side correspond to two sides of the battery swap vehicle that are different in the width direction (i.e. the horizontal direction in FIG. 1).

[0094] As shown in FIG. 1, the first side 121 of the movable frame body is connected to the second side 122 of the movable frame body by a connecting body 123 arranged in the middle. The first side 121 of the movable frame body is used to carry the wheels on the first side of the battery swap vehicle, and the second side 122 of the movable frame body is used to carry the wheels on the second side of the battery swap vehicle. It should be understood that the first side and the second side correspond to two sides of the battery swap vehicle that are different in the width direction (i.e. the horizontal direction in FIG. 1). Figure 4 As shown in FIG. 1, the first side 121 of the movable frame body is connected to the second side 122 of the movable frame body by a connecting body 123 arranged in the middle. The first side 121 of the movable frame body is used to carry the wheels on the first side of the battery swap vehicle, and the second side 122 of the movable frame body is used to carry the wheels on the second side of the battery swap vehicle. It should be understood that the first side and the second side correspond to two sides of the battery swap vehicle that are different in the width direction (i.e. the horizontal direction in FIG. 1).

[0095] As shown in FIG. 1, the first side 121 of the movable frame body is connected to the second side 122 of the movable frame body by a connecting body 123 arranged in the middle. The first side 121 of the movable frame body is used to carry the wheels on the first side of the battery swap vehicle, and the second side 122 of the movable frame body is used to carry the wheels on the second side of the battery swap vehicle. It should be understood that the first side and the second side correspond to two sides of the battery swap vehicle that are different in the width direction (i.e. the horizontal direction in FIG. 1). Figure 4 As shown in FIG. 1, the first side 121 of the movable frame body is connected to the second side 122 of the movable frame body by a connecting body 123 arranged in the middle. The first side 121 of the movable frame body is used to carry the wheels on the first side of the battery swap vehicle, and the second side 122 of the movable frame body is used to carry the wheels on the second side of the battery swap vehicle. It should be understood that the first side and the second side correspond to two sides of the battery swap vehicle that are different in the width direction (i.e. the horizontal direction in FIG. 1). Figure 4The first connecting plate 630 and the second connecting plate 730 are slidably connected along the width direction of the target vehicle relative to the movable frame body 120. The first end of the first connecting rod 910 ( Figure 4 The right end of the first link 910 in the figure) and the first end of the second link 920 ( Figure 4 The left end of the second connecting rod 920 in the figure is respectively hinged to the two ends of the rotating member 930, and the middle part of the rotating member 930 has a rotation center. The rotation center of the rotating member 930 is rotatably connected to the mobile frame body 120, and the rotating member 930 can rotate relative to the mobile frame body 120 along its own rotation center.

[0096] The first pushing member 610, the first connecting plate 630, the first connecting rod 910, the rotating member 930, the second connecting rod 920, the second connecting plate 730 and the second pushing member 710 are symmetrical relative to the rotation center of the rotating member 930. The acute angle formed between the axis of the first connecting rod 910 and the extension direction of the first connecting plate 630 is the first angle, and the driving end of the driving device is connected to the first connecting plate.

[0097] The first end of the first pusher 610 ( Figure 4 The right end of the first pusher 610 in the middle of the first connecting plate 630 is fixedly connected, the end of the first connecting rod 910 away from the rotating member is hinged to the middle of the first connecting plate 630, and the first end of the second pusher 710 ( Figure 4 The left end of the second pushing member 710 in the middle is fixedly connected to the middle of the second connecting plate 730, and one end of the second connecting rod 920 away from the rotating member 930 is hinged to the middle of the second connecting plate 730.

[0098] The driving device drives the first pushing member 610 and the second pushing member 710 to move along the second direction, which is the width direction of the target vehicle ( Figure 4 In the horizontal direction), the second end of the first pushing member 610 drives the wheel on the first side to move in the width direction of the battery-swapping vehicle by contacting the wheel on the first side of the battery-swapping vehicle, and the second end of the second pushing member 710 drives the wheel on the second side to move in the width direction of the battery-swapping vehicle by contacting the wheel on the second side of the battery-swapping vehicle.

[0099] In this embodiment, the above-mentioned structure is adopted, and the rotating member 930 can drive the first pushing member 610 and the second pushing member 710 to move synchronously while using only one driving device. This not only ensures the synchronization of the movement of the first pushing member 610 and the second pushing member 710, but also avoids the occurrence of the first pushing member 610 and the second pushing member 710 moving asynchronously, thereby improving the wheelbase adjustment accuracy, but also ensures the structural compactness of the wheelbase adjustment mechanism and reduces the cost.

[0100] like Figure 5As shown, the angle sensor 960 is arranged at the rotation center of the rotating member 930 for detecting the rotation angle of the rotating member 930.

[0101] The driving device adopts the cylinder 800, compared with the hydraulic cylinder, the cylinder 800 provides the corresponding acting force, when the first pushing member 610 and the second pushing member 710 push the wheel to the required position, because the compressibility of the gas is stronger, at this time, the first pushing member 610 and the second pushing member 710 will not further push the side of the wheel to cause the damage of the wheel, which is convenient for control.

[0102] The following is to use the lifting device to carry out the expansion.

[0103] Embodiment 1

[0104] The embodiment provides a specific implementation of a vehicle body correction method of a battery swap vehicle for controlling a lifting device, such as Figure 6 As shown, the vehicle body correction method of the battery swap vehicle comprises the following steps:

[0105] Step 101, obtaining a vehicle identifier of a target vehicle.

[0106] The vehicle identifier can be a license plate, a vehicle model, etc. The license plate photo can be taken by a shooting device to identify the vehicle identifier of the target vehicle according to the license plate photo, or the vehicle model information of the target vehicle can be obtained by shooting a photo of the target vehicle. In other embodiments, the vehicle identifier can also be obtained by manual identification, active sending of the vehicle identifier by the target vehicle, or other ways.

[0107] Step 102, obtaining a target adjustment parameter according to the vehicle identifier.

[0108] The target adjustment parameter includes an axle distance parameter and a full vehicle load parameter. The storage server corresponding to the battery swap station or the battery swap system stores the target adjustment parameter corresponding to the vehicle identifier in advance, that is, the axle distance parameter and the full vehicle load parameter. The corresponding axle distance parameter and the corresponding full vehicle load parameter can be obtained according to the vehicle identifier.

[0109] Step 103, adjusting the position of the moving frame body along the first direction according to the axle distance parameter, the first direction being the length direction of the vehicle, to realize the axle distance adjustment of the target vehicle.

[0110] Specifically, as shown in the figure, step 103 can realize the axle distance adjustment by the following steps: Figure 7

[0111] Step 1031, obtaining a target distance between the moving frame body and the main frame body according to the axle distance parameter.

[0112] ​The mobile frame body 120 includes a first position and a second position, the first position and the second position are different positions in the width direction of the mobile frame body 120, the first position is a preset position on the first side 121 of the mobile frame body, and the second position is a preset position on the second side 122 of the mobile frame body. The first position and the second position are positions of the mobile frame body for carrying two wheels of the target vehicle.

[0113] In step 1032, the first position and the second position are controlled to move along the first direction in the first operating state, and the movement difference value of the first position and the second position is obtained in real time.

[0114] The movement difference value represents the difference between the movement distances of the first position and the second position relative to the main frame body, and the first direction is the length direction of the target vehicle. The movement distance of the first position can be measured by the measurement module, and the movement distance of the second position is the distance of the second position relative to the corresponding position of the main frame body along the first direction. Similarly, the movement distance of the second position is the distance of the second position relative to the corresponding position of the main frame body along the first direction. The movement difference value can be calculated according to the measurement of the two movement distances.

[0115] In step 1033, it is judged whether the movement difference value is less than the first limit difference value. If not, the mobile frame body is controlled to move in the second operating state until the movement difference value is less than or equal to the appropriate difference value, and the mobile frame body is controlled to move in the third operating state.

[0116] If the judgment result of whether the movement difference value is less than the first limit difference value is yes, the mobile frame body is controlled to move in the first movement state, and the movement difference value is continuously monitored.

[0117] In this embodiment, the first limit difference value is a value preset to prevent mechanical jamming of the mechanical structure at the first position and the second position. The first limit difference value varies according to the structure related to the wheelbase adjustment. In this embodiment, the first limit difference value can be any value in the range of 2-4 mm, preferably 3 mm.

[0118] According to the size and specification of the mobile frame body, the first limit difference value is taken in the range of 2-4 mm, so that the first limit difference value matches the structure related to the wheelbase adjustment on the lifting device, avoids damage to the structure related to the wheelbase adjustment on the lifting device, and enables the first position and the second position to remain balanced.

[0119] There are various ways to control the mobile frame body to move along the first direction in the second operating state, as follows:

[0120] Method one: control the first target position to stop or move at a reduced speed along the first direction.

[0121] The first target position is the position with a larger moving distance relative to the main frame body among the first position and the second position.

[0122] In this embodiment, the moving distance of the first position and the second position can be balanced by controlling the position with a larger moving distance to stop or decelerate, so as to effectively prevent the jam between the two positions.

[0123] The second target position is the position with a smaller moving distance relative to the main frame body among the first position and the second position.

[0124] In this embodiment, the moving distance of the first position and the second position can be balanced by controlling the position with a smaller moving distance to accelerate, so as to effectively prevent the jam between the two positions.

[0125] The second target position is the position with a smaller moving distance relative to the main frame body among the first position and the second position.

[0126] The second target position is the position with a smaller moving distance relative to the main frame body among the first position and the second position.

[0127] In the above-mentioned mode three, the first target position can be controlled to stop or decelerate, and the second target position can be controlled to accelerate in combination with the mode one and the mode two, so as to more quickly balance the moving distance of the first position and the second position, and improve the efficiency of adjustment.

[0128] In step 1034, it is judged whether the absolute value of the difference between the first distance and the target distance is within the second limit difference value, and if yes, the moving frame body is controlled to stop moving, and it is confirmed that the wheelbase adjustment is in place.

[0129] If the absolute value of the difference between the first distance and the target distance is not within the second limit difference value, the moving frame body is controlled to continue moving until the first distance is within the second limit difference value.

[0130] In this embodiment, the target distance between the moving frame body and the main frame body can be obtained according to the wheelbase parameter, and the first position and the second position can be controlled to move along the first direction, i.e., the length direction of the target vehicle, to realize synchronous movement according to the target distance. The movement of the moving frame body is accurately and stably controlled, and when the two positions move, the moving difference value of the two positions can be controlled to be less than the first limit difference value, so as to prevent mechanical jam and struggle, and protect the mechanical equipment. Finally, the distance between the moving frame body and the main frame body can be adjusted within the second limit difference value, so as to realize the wheelbase adjustment of the moving frame body, and facilitate the smooth progress of the subsequent battery replacement process.

[0131] Step 104, acquiring a target power according to the full vehicle load parameter, and controlling the linkage mechanism to adjust the position of the wheel of the target vehicle in the second direction by the target power, so as to realize the wheel track adjustment of the target vehicle.

[0132] Specifically, the target power includes a second acting force, such as Figure 8 As shown, the wheel track can be adjusted by the following steps in the embodiment:

[0133] Step 1041, acquiring a structural parameter of the linkage mechanism.

[0134] The structural parameter includes a minimum included angle value, which is the included angle value of the first included angle when the linkage mechanism is in the folding state, that is Figure 4 The angle a in the formula.

[0135] Step 1042, calculating a first pushing force according to the full vehicle load parameter and the friction coefficient of the bearing of the roller assembly.

[0136] The first pushing force is the pushing force required when the target vehicle is pushed.

[0137] Step 1043, calculating a first acting force according to the first pushing force and the minimum included angle value.

[0138] In the embodiment, the calculation according to the full vehicle load parameter and the friction coefficient of the bearing of the roller assembly can obtain the minimum pushing force that the target vehicle can be pushed when fully loaded, that is, the first pushing force. According to the first pushing force and the minimum included angle value, the minimum pushing force that can be simultaneously pushed on both sides of the target vehicle through the acting force transmission of the linkage mechanism can be calculated, that is, the first acting force. In the embodiment, the force transmitted from the first connecting plate 630 to the second pushing piece 710 by the cylinder 800 acting on the first connecting plate 630 will be lost. Therefore, based on the foregoing manner, the minimum first acting force that can still simultaneously push the two pushing pieces can be calculated in the case of force loss, so as to avoid the situation that the first pushing piece is pushed but the second pushing piece cannot be pushed.

[0139] Specifically, the first pushing force F1 can be calculated by a first formula in steps 1042 and 1043, and the first formula is as follows:

[0140] F1=W*μ*g

[0141] Wherein, W represents the full vehicle load parameter, μ represents the friction coefficient of the bearing, and g represents the acceleration of gravity.

[0142] Since the wheels of the target vehicle are parked on the roller mechanism, specifically on the rollers of the roller mechanism, the wheels move in their own width direction to drive the rollers to move, and the rollers are rotatably connected to the rotating shaft through corresponding bearings. Therefore, the minimum thrust that can be used to push the vehicle when it is fully loaded can be obtained through simple calculation based on the friction coefficient of the bearings, the full vehicle load coefficient and the acceleration of gravity.

[0143] The first force F2 can then be calculated according to the second formula, which is:

[0144]

[0145] Step 1044: Use a second force to drive the two pushers of the linkage mechanism to move in opposite directions in a second direction to adjust the position of the wheels of the target vehicle on the lifting device to the target wheelbase position.

[0146] The second acting force is greater than the first acting force so that the target vehicle can be effectively pushed.

[0147] In this embodiment, since the driving device is a cylinder 800, Figure 4 As shown, the system specifically includes two cylinders 800, and each cylinder 800 can be controlled to output half of the second force to propel the target vehicle. The corresponding drive parameters, including the cylinder output pressure value and the pressure-bearing area, are obtained when the cylinders leave the factory. Since the theoretical output force of a cylinder = pressure value * pressure-bearing area, the cylinder output pressure value corresponding to the second force can be controlled according to the aforementioned conversion relationship.

[0148] In this embodiment, the magnitude of the force that can push the corresponding target vehicle from the side can be calculated based on the full load weight of the target vehicle. The specific method is to calculate the minimum first force that can simultaneously push the wheels on both sides of the target vehicle by combining the full load weight parameters and the structural parameters of the linkage mechanism. The driving device provides the linkage mechanism with a second force that exceeds the minimum force, which can push the wheels to move in the width direction of the target vehicle to achieve wheelbase adjustment.

[0149] In order to further detect whether the wheelbase is adjusted in place, Figure 9 As shown, after step 101, the following steps may be further included:

[0150] Step 112: Obtain corresponding wheelbase parameters according to the vehicle identifier;

[0151] Step 113: Obtain a first target rotation value of the rotating member of the linkage mechanism according to the wheelbase parameter.

[0152] When the rotating member rotates by a first target rotation value, the target vehicle is in a centered state.

[0153] It should be understood that step 112 can be performed at any position between steps 101-104, and step 113 can be performed at any position between steps 112-104.

[0154] Since the rotating member 930 is connected with the first pushing member 610 and the second pushing member 710, the movement distance of the target vehicle pushed by the first pushing member 610 and the second pushing member 710 can be reflected according to the rotation angle of the rotating member 930. In the embodiment, the first target rotation value of the rotating member of different vehicles in the centering state is stored in advance. In the actual wheel track adjustment process, the corresponding first target rotation value can be obtained according to the obtained wheel track parameter. The rotation value of the rotating member can be obtained through the angle sensor 960 arranged below the rotating member 930. The wheel track adjustment can be controlled to be in place according to the first target rotation value, so that the target vehicle is effectively centered. Details are shown below.

[0155] In order to verify whether the wheel track adjustment is in place, the following steps can be further included after step 104:

[0156] Step 115: After a preset time, the first rotation value of the rotating member is detected. When the first rotation value is greater than or equal to the first target rotation value, it is confirmed that the wheel track adjustment is to the target wheel track position, and the driving of the two pushing members in the width direction of the target vehicle along the opposite direction is controlled to stop.

[0157] It should be understood that if the first rotation value is less than the first target rotation value, it is confirmed that the wheel track is not adjusted to be in place, and the wheel track continues to be adjusted. The adjustment method of re-adjustment can refer to step 104.

[0158] Specifically, the following steps can be further included before step 115:

[0159] The driving parameter of the driving device is obtained, the driving device being a device for driving the movement of the two pushing members;

[0160] The corresponding preset time is obtained according to the driving parameter and the second acting force.

[0161] In the embodiment, the driving parameter of the cylinder 800 can be obtained in advance. According to the driving parameter and the second acting force, the theoretical time for pushing the corresponding target vehicle to be in place can be obtained, and the preset time can be obtained based on the theoretical time. The value of the preset time is slightly larger than that of the theoretical time, for example, the preset time is set to be slightly larger than the value of the theoretical time, so as to ensure that the wheel track can be adjusted to be in place. After the wheel track is adjusted to be in place, the driving of the two pushing members in the width direction of the target vehicle along the opposite direction is controlled to stop, so that the current position in the width direction of the target vehicle can be maintained, and the centered position can be maintained to facilitate the subsequent battery replacement.

[0162] In this embodiment, the driving parameters of the driving device can be obtained in advance. According to the second driving force, the theoretical time for pushing the corresponding target vehicle to the position can be obtained, and the preset time is obtained based on the theoretical time. The preset time is greater than the value of the theoretical time, for example, the preset time is set to be slightly greater than the value of the theoretical time, so as to ensure that the wheel track can be adjusted to the position. For example, in the case of a pneumatic cylinder, if the rotation value of the rotating part 930 is greater than or equal to the first target rotation value at the preset time, the output pressure value of the pneumatic cylinder is kept unchanged, so that the current position of the target vehicle in the width direction is kept, and the position of the target vehicle can be kept in the center to facilitate the subsequent battery replacement.

[0163] In this embodiment, the target adjustment parameter corresponding to the target vehicle is automatically matched according to the identified vehicle identifier. On the one hand, the intelligence of obtaining the target adjustment parameter is improved. On the other hand, the vehicle identifier and the target adjustment parameter are one-to-one corresponding, and it is not easy to make mistakes. According to different vehicle models, license plates, and other information of the target vehicle, accurate battery replacement position adjustment can also be performed. The target adjustment parameter specifically includes the wheelbase parameter and the full vehicle load parameter. The wheelbase parameter can be used to adjust the wheelbase of the battery replacement vehicle. The full vehicle load parameter can be used to calculate the minimum force required to adjust the wheelbase of the battery replacement vehicle. When the wheelbase and the wheelbase are adjusted to the position, the battery pack of the target vehicle is aligned with the battery replacement vehicle, which facilitates the subsequent battery replacement process, improves the utilization of driving resources, improves the battery replacement efficiency, and saves the battery replacement cost.

[0164] Further, in order to confirm whether the target vehicle allows battery replacement in advance, before step 101, the target vehicle and the target battery replacement station also establish a communication connection.

[0165] After step 101, before step 103, it is also judged whether the target vehicle allows battery replacement. If yes, the step of obtaining the target adjustment parameter according to the vehicle identifier is executed.

[0166] The judgment condition of whether the target vehicle allows battery replacement can be set according to the actual situation, such as whether the target vehicle is reserved, whether the target vehicle has an adaptive replaceable battery, whether the target vehicle is a legal vehicle, whether the customer account corresponding to the target vehicle exists abnormally, and the like.

[0167] It should be understood that if the judgment result is that the target vehicle does not allow battery replacement, the subsequent steps will not be executed. When the target vehicle reaches the battery replacement station, the gate will not be opened, and the target vehicle cannot enter the battery replacement position for battery replacement.

[0168] In this embodiment, after obtaining the vehicle identifier, it is judged whether the corresponding target vehicle is allowed to change the battery. If allowed, the subsequent steps are performed, and the target vehicle is allowed to enter the entrance gate. The target vehicle is allowed to perform the subsequent steps of adjusting the wheelbase and the track. In this way, vehicles with permission can orderly enter the battery changing position for battery changing.

[0169] [Embodiment 2]

[0170] This embodiment provides another specific implementation of a vehicle body correction method for a battery changing vehicle. Based on Embodiment 1, as shown in Figure 10

[0171] Step 201, control the entrance gate to rise;

[0172] Step 202, detect the parking state of the target vehicle: if the target vehicle is parked in place at the battery changing station, trigger the execution of step 104; if the target vehicle is not parked in place at the battery changing station, then after the target vehicle is parked in place at the battery changing station, trigger the execution of step 104.

[0173] Among them, the battery changing station is provided with a parking detection device for detecting whether the wheels of the target vehicle are parked in place. Further, after the entrance gate is raised, if the parking detection device does not detect that the wheels of the target vehicle are parked in place after a predetermined waiting time, a reminder information can be sent to remind the driver to adjust the parking position of the target vehicle. The predetermined waiting time is a value set in advance and is determined according to the actual working condition, which is not limited here.

[0174] In this way, the wheelbase of the target vehicle can be adjusted before the vehicle enters the battery changing station, shortening the position adjustment time after the vehicle enters the battery changing station, improving the battery changing efficiency and improving the user experience. After entering the battery changing position, it is further detected whether the target vehicle is parked in place. After detecting that the target vehicle is parked in place, the track is adjusted, avoiding the influence of the wheelbase adjustment due to the fact that the wheels are not parked in place (such as the parking position of the wheels is offset, the angle of the wheels is distorted).

[0175] Further, in order to avoid the target vehicle driving onto the moving frame body causing the moving frame body to deviate in the first direction, the following steps are further included after step 202 and before step 104:

[0176] Step 203, judge whether the position of the target vehicle in the first direction is deviated, if yes, adjust the position of the moving frame body along the first direction according to the wheelbase parameter again to realize the re-adjustment of the wheelbase of the target vehicle, if the result of the judgment of whether the position of the target vehicle in the first direction is deviated is no, then the track adjustment of step 104 can be directly performed. ​

[0177] Wherein, the specific way of the second time wheelbase adjustment can refer to the way of the first time wheelbase adjustment in step 103.

[0178] Specifically, as shown in Figure 11 , step 203 can specifically include the following steps:

[0179] Step 2031, acquiring a second distance between the mobile frame body and the main frame body;

[0180] Step 2032, judging whether the absolute value of the difference between the second distance and the target distance is within a second limit difference, if not, controlling the mobile frame body to move along the first direction until the absolute value of the difference between the second distance and the target distance is within the second limit difference.

[0181] Wherein, if the absolute value of the difference between the second distance and the target distance is within the second limit difference, it is considered that the wheelbase has not deviated, and step 104 can be performed for wheelbase adjustment.

[0182] Wherein, the second limit difference can be equal to or not equal to the first limit difference, and the embodiment preferably that the second limit difference is less than or equal to the first limit difference to achieve more accurate adjustment of the target vehicle after parking in place in the battery replacement work station.

[0183] In the embodiment, two times of wheelbase adjustment are performed, the first time of wheelbase adjustment is when the target vehicle has not entered the battery replacement work station, and the second time of adjustment is when the target vehicle has parked in place in the battery replacement work station. Due to the parking of the target vehicle, the target vehicle will generate a certain impact force on the mobile frame body in the first direction, so that the position of the mobile frame body in the first direction can change. Therefore, the second distance between the mobile frame body and the main frame body at this time is acquired, and if the second distance is not within the second limit difference, the wheelbase adjustment is performed again, so as to further ensure the smooth progress of the subsequent battery replacement process.

[0184]

Embodiment 3

[0185] The embodiment provides another embodiment of a vehicle body correction method of a battery replacement vehicle, and the embodiment is based on embodiment 1, and as shown in Figure 12 , step 103 includes the following steps:

[0186] Step 301, controlling the entrance gate to be lifted;

[0187] Step 302, detecting the parking state of the target vehicle: if the target vehicle is parked in place in the battery replacement work station, triggering step 103 to be performed.

[0188] Wherein, the specific detection way in step 302 can refer to the detection way in step 202 in embodiment 2, which will not be repeated here.

[0189] Wherein, step 301 can be performed at any position before step 103, and step 302 can be performed at any position after step 301 and before step 103.

[0190] It should be understood that in this embodiment, it is preferred to perform step 103 for wheelbase adjustment first, and then perform step 104 for track adjustment.

[0191] In other embodiments, step 104 for track adjustment can be performed first, and then step 103 for wheelbase adjustment. When track adjustment is performed first, in order to avoid the situation that the wheels are stuck in the first direction and cannot be adjusted in the second direction, it is necessary to control the linkage mechanism to retract a certain distance first, so as to leave enough adjustment space for the second direction, facilitate track adjustment in the second direction, and ensure the smooth progress of track adjustment. In order to facilitate control, it is preferred to retract to the folded state here; or step 103 and step 104 are performed synchronously, which will not be described here.

[0192] This embodiment performs wheelbase adjustment once, that is, when the target vehicle is parked in place at the battery replacement station, the wheelbase is adjusted. Through the mode of one-time wheelbase adjustment, the time for wheelbase adjustment is saved, and the battery replacement efficiency is improved.

[0193]

Embodiment 4

[0194] This embodiment provides a specific implementation of a vehicle body correction system of a battery replacement vehicle, for controlling a lifting device, as shown in Figure 13 The vehicle body correction system includes a vehicle information acquisition device 401, a parameter acquisition module 402, an adjustment mechanism 403, a first control module 404, a driving device 405, and a second control module 406. Specifically, the adjustment mechanism can include a first adjustment mechanism 702 and a second adjustment mechanism 802, and the driving device 405 can specifically include a cylinder 800.

[0195] The vehicle information acquisition device 401 is used to acquire the vehicle identifier of the target vehicle.

[0196] The parameter acquisition module 402 is used to acquire target adjustment parameters according to the vehicle identifier, and the target adjustment parameters include wheelbase parameters and full-load parameters;

[0197] The first control module 404 is used to adjust the position of the moving frame body along the first direction through the adjustment mechanism 403 according to the wheelbase parameters, to realize the first wheelbase adjustment of the target vehicle, and the first direction is the length direction of the target vehicle.

[0198] The second control module 406 is configured to obtain a target power according to the full vehicle load parameter, and control the driving device 405 to drive the linkage mechanism to adjust the position of the wheel of the target vehicle in the second direction, so as to realize the wheel track adjustment of the target vehicle, and the second direction is the width direction of the target vehicle.

[0199] The specific implementation of each module can refer to the implementation in Embodiment 1, and details are not repeated here.

[0200] In this embodiment, the parameter obtaining module automatically matches the target adjustment parameter corresponding to the target vehicle according to the vehicle identifier obtained by the vehicle information obtaining device. On the one hand, the intelligence of obtaining the target adjustment parameter is improved, and on the other hand, the vehicle identifier and the target adjustment parameter are one-to-one corresponding, and it is not easy to make mistakes. According to different vehicle models, license plates, vehicle models and other information, accurate battery replacement position adjustment can also be performed. The target adjustment parameter specifically includes the wheelbase parameter and the full vehicle load parameter. The first control module can use the adjustment mechanism to specifically realize the wheelbase adjustment of the battery replacement vehicle through the wheelbase parameter. The second control module can calculate the minimum required force to be provided to specifically realize the wheel track adjustment of the battery replacement vehicle through the driving device by using the full vehicle load parameter. When the wheel track and the wheelbase are adjusted in place, the battery pack of the target vehicle is aligned with the battery replacement vehicle, which facilitates the subsequent battery replacement process, improves the utilization of driving resources, improves the battery replacement efficiency, and saves the battery replacement cost.

[0201]

Embodiment 5

[0202] This embodiment provides another specific implementation of the vehicle body correction system of the battery replacement vehicle. This embodiment is based on Embodiment 4, as shown in Figure 14 The vehicle body correction system further includes a gate control module 501 and a position detection module 502.

[0203] The gate control module 501 controls the lifting of the entrance gate. After the entrance gate is lifted, the target vehicle enters the battery replacement station. The position detection module 502 detects the parking state of the target vehicle: if the target vehicle is parked in place in the battery replacement station, the second control module 406 is called; if the target vehicle is not parked in place in the battery replacement station, the second control module 406 is called again after the target vehicle is parked in place in the battery replacement station.

[0204] In this embodiment, the first control module 404 can adjust the wheelbase of the target vehicle before the vehicle enters the battery replacement station, which can save the position adjustment time of the vehicle after entering the battery replacement station and improve the battery replacement efficiency. In addition, the gate control module 501 controls the lifting of the entrance gate, and after the target vehicle enters the battery replacement station, the in-place detection module 502 further detects whether the target vehicle is parked in place. After detecting that the target vehicle is parked in place, the second control module 406 adjusts the wheelbase again to avoid affecting the adjustment of the wheelbase due to the fact that the wheels are not parked in place (for example, the parking position of the wheels is offset, and the angle of the wheels is distorted).

[0205] In order to solve the problem that the position of the mobile frame body may be offset when the target vehicle drives onto the mobile frame body, the vehicle body correction system further comprises an offset judgment module 503. The in-place detection module 502 further calls the offset judgment module 503 after the target vehicle is parked in place in the battery replacement station. The offset judgment module 503 judges whether the position of the target vehicle in the first direction is offset. If so, the first control module 404 is called again to adjust the position of the mobile frame body along the first direction according to the wheelbase parameter, so as to realize the re-adjustment of the wheelbase of the target vehicle, and then the second control module 406 is called to adjust the wheelbase.

[0206] Specifically, the offset judgment module 503 specifically acquires a second distance between the mobile frame body and the main frame body, and judges whether the absolute value of the difference between the second distance and a target distance is within a second limit difference. If not, the mobile frame body is controlled to move along the first direction until the absolute value of the difference between the second distance and the target distance is within the second limit difference. If so, it is considered that the wheelbase is not offset, and the second control module 406 can be called to adjust the wheelbase.

[0207] It should be understood that the implementation of each module in this embodiment can refer to the specific manner in Embodiment 2, which will not be described here.

[0208] In this embodiment, the first control module adjusts the wheelbase twice. During the first adjustment of the wheelbase, the target vehicle does not enter the battery replacement station. During the second adjustment, the target vehicle will generate a certain impact force on the mobile frame body in the first direction, so that the position of the mobile frame body in the first direction may change. Therefore, the second distance between the mobile frame body and the main frame body at this time is acquired. If the second distance is not within the second limit difference, the wheelbase is adjusted again, so as to further ensure the smooth progress of the subsequent battery replacement process.

[0209]

Embodiment 6

[0210] This embodiment provides another specific implementation of a vehicle body correction system of a battery replacement vehicle. This embodiment is based on Embodiment 4, and like Figure 15As shown, the vehicle body correction system further includes a gate control module 501 and a position detection module 502.

[0211] The gate control module 501 controls the lifting of the entrance gate, after the lifting of the entrance gate, the target vehicle enters the battery replacement station, and the position detection module 502 detects the parking state of the target vehicle: if the target vehicle is parked in place in the battery replacement station, the first control module 404 is called; if the target vehicle is not parked in place in the battery replacement station, the first control module 404 is called again after the target vehicle is parked in place in the battery replacement station.

[0212] In this embodiment, the implementation of each module can refer to the implementation in Embodiment 3, which will not be repeated here.

[0213] In this embodiment, the distance between the axles is adjusted once, that is, the first control module 404 adjusts the distance between the axles when the target vehicle is parked in place in the battery replacement station. By adjusting the distance between the axles once through the first control module 404, the time for adjusting the distance between the axles is saved, and the battery replacement efficiency is improved.

[0214]

Embodiment 7

[0215] This embodiment provides a specific implementation of an electronic device, which can be in the form of a computing device (for example, it can be a server device), including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor can implement the vehicle body correction method of any one of Embodiments 1-3 when executing the computer program.

[0216] Figure 16 The hardware structure schematic diagram of this embodiment is shown in the figure. Figure 16 As shown, the electronic device 9 specifically includes:

[0217] At least one processor 91, at least one memory 92, and a bus 93 for connecting different system components (including the processor 91 and the memory 92), wherein:

[0218] The bus 93 includes a data bus, an address bus, and a control bus.

[0219] The memory 92 includes a volatile memory, such as a random access memory (RAM) 921 and / or a cache memory 922, and can further include a read-only memory (ROM) 923.

[0220] The memory 92 further includes a program tool 925 having a set of (at least one) program modules 924, such as an operating system, one or more application programs, other program modules, and program data, each of which or some combination of which can include the implementation of a network environment.

[0221] The processor 91 performs various function applications and data processing by running the computer programs stored in the memory 92, such as the body correction method of any one of the electric swap vehicles in Embodiments 1-3.

[0222] The electronic device 9 can further communicate with one or more external devices 94 such as a keyboard, a pointing device, etc. through an input / output (I / O) interface 95. Further, the electronic device 9 can communicate with one or more networks such as a local area network (LAN), a wide area network (WAN), and / or a public network such as the Internet, through a network adapter 96. The network adapter 96 communicates with the other modules of the electronic device 9 through the bus 93. It should be appreciated that although not shown, other hardware and / or software modules can be used in conjunction with the electronic device 9 including, but not limited to, microcode, device drivers, redundant processors, external disk drive arrays, RAID (redundant array of independent disks) systems, tape drives, and data backup storage systems, etc.

[0223] It should be noted that although several units / modules or sub-units / modules of the electronic device are mentioned in the foregoing detailed description, such division is merely exemplary and not mandatory. Indeed, according to the embodiments of the present application, the features and functions of two or more units / modules described above can be embodied in one unit / module. Conversely, the features and functions of one unit / module described above can be further divided into a plurality of units / modules.

[0224]

Embodiment 8

[0225] The present embodiment provides a specific implementation of a storage medium having stored thereon a computer program which, when executed by a processor, implements the body correction method of any one of the electric swap vehicles in Embodiments 1-3.

[0226] More specifically, the storage medium can include, but is not limited to, a portable disc, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0227] In a possible implementation, the present application can also be implemented in the form of a program product including program codes for causing a terminal device to perform the body correction method of any one of the electric swap vehicles in Embodiments 1-3 when the program product is run on the terminal device.

[0228] programmable logic arrays, field programmable gate arrays, programmable logic devices, microcode, etc. In this manner, the program code can implement a virtual machine that operates in response to execution of the program code by the processor or microprocessor-based computer system.

[0229] Although the present application has been described in connection with the embodiments thereof, it will be understood that the application is capable of further modifications. This application is intended to cover any variations, uses or adaptations of the application other than those shown in the specification.

Claims

1. A vehicle body correction method for a battery swap vehicle, for controlling a lifting device, the lifting device comprising a moving frame body for carrying a vehicle wheel, an adjusting mechanism for providing power to the moving frame body along a first direction, a linkage mechanism provided on the moving frame body, and a driving device for providing power to the linkage mechanism along a second direction, two output ends of the linkage mechanism moving towards opposite directions, the first direction being a length direction of a target vehicle, and the second direction being a width direction of the target vehicle, characterized in that, The vehicle body correction method of the battery swap vehicle comprises the following steps: Obtaining a vehicle identifier of a target vehicle; Obtaining a target adjustment parameter according to the vehicle identifier, the target adjustment parameter comprising an axle distance parameter and a full vehicle load parameter; Adjusting the position of the mobile frame body along the first direction according to the axle distance parameter, so as to realize axle distance adjustment of the target vehicle; Obtaining a target power according to the full vehicle load parameter, and controlling the linkage mechanism to adjust the position of the wheels of the target vehicle along the second direction with the target power, so as to realize wheel track adjustment of the target vehicle; The lifting device further comprises a main frame body, and the step of adjusting the position of the mobile frame body along the first direction according to the axle distance parameter comprises the following steps: Obtaining a target distance between the mobile frame body and the main frame body according to the axle distance parameter, the mobile frame body comprising a first position and a second position, the first position and the second position being different positions in the width direction of the mobile frame body; Controlling the first position and the second position to move along the first direction in a first running state, and obtaining a movement difference value of the first position and the second position in real time, the movement difference value representing the difference in movement distance of the first position and the second position relative to the main frame body; Judging whether the movement difference value is less than a first limit difference value, if not, controlling the mobile frame body to move in a second running state until the movement difference value is less than or equal to a suitable difference value, and then controlling the mobile frame body to move in a third running state; Judging whether the absolute value of the difference between the first distance between the mobile frame body and the main frame body and the target distance is within a second limit difference value, if yes, controlling the mobile frame body to stop moving, and confirming that the axle distance adjustment is complete.

2. The body correction method of the battery swap vehicle according to claim 1, characterized by, The step of controlling the linkage mechanism to adjust the position of the wheels of the target vehicle along the second direction further comprises the following steps: Controlling the entrance gate to be lifted up; Detecting the parking state of the target vehicle: if the target vehicle is parked in place at the battery swap station, triggering the step of controlling the linkage mechanism to adjust the position of the wheels of the target vehicle along the second direction.

3. The body correction method of the battery swap vehicle according to claim 2, characterized by, The step of controlling the entrance gate to be lifted up is performed after the step of adjusting the position of the mobile frame body along the first direction according to the axle distance parameter.

4. The body correction method of the battery swap vehicle according to claim 3, characterized by, The step of parking the target vehicle in place at the battery swap station further comprises the following steps: Judging whether the position of the target vehicle in the first direction has deviated, if yes, adjusting the position of the mobile frame body along the first direction according to the axle distance parameter again, so as to realize re-axle distance adjustment of the target vehicle.

5. The body correction method of the battery swap vehicle according to claim 1, characterized by, The step of adjusting the position of the mobile frame body along the first direction according to the axle distance parameter further comprises the following steps: Controlling the entrance gate to be lifted up; detecting a parking state of the target vehicle: if the target vehicle is parked at the battery swapping station, triggering the steps of adjusting the position of the mobile frame body along the first direction according to the wheelbase parameter and obtaining the target power according to the full-load parameter of the target vehicle, and controlling the position adjustment of the wheels of the target vehicle along the second direction by the target power to achieve the wheel track adjustment of the target vehicle.

6. The vehicle body correction method of claim 2-5, wherein The step of obtaining the vehicle identifier of the target vehicle further comprises the following steps: The target vehicle and the target battery swapping station establish a communication connection. The step of obtaining the vehicle identifier of the target vehicle further comprises the following steps: Determining whether the target vehicle is allowed to swap the battery: if yes, the step of obtaining the target adjustment parameter according to the vehicle identifier is performed.

7. The body correction method of the battery swapping vehicle according to claim 4, wherein If the position of the target vehicle in the first direction is offset, the step of adjusting the position of the mobile frame body along the first direction according to the wheelbase parameter again comprises the following steps: Obtaining a second distance between the mobile frame body and the main frame body; Determining whether the absolute value of the difference between the second distance and the target distance is within the second limit difference value: if not, controlling the mobile frame body to move along the first direction until the absolute value of the difference between the second distance and the target distance is within the second limit difference value.

8. The body correction method of the battery swap vehicle according to claim 1, characterized by, The mobile frame body further comprises a roller mechanism for parking the wheels, the roller mechanism comprising a plurality of roller assemblies arranged along the width direction of the target vehicle, each roller assembly comprising a rotating shaft and a roller rotatably connected to the rotating shaft through a corresponding bearing; The linkage mechanism comprises a first connecting plate, a first connecting rod, a rotating member, a second connecting rod, a second connecting plate, and two pushing members, i.e., a first pushing member and a second pushing member, which are sequentially connected. The first connecting plate and the second connecting plate are slidably connected to the frame body along the width direction of the target vehicle through linear guide mechanisms at corresponding positions. The first end of the first connecting rod and the first end of the second connecting rod are respectively hinged to the two ends of the rotating member. The rotating member has a rotation center in the middle part, which is rotatably connected to the frame body of the lifting device. The first pushing member, the first connecting plate, the first connecting rod, the rotating member, the second connecting rod, the second connecting plate, and the second pushing member are centrally symmetric with respect to the rotation center of the rotating member. The acute angle formed between the first connecting rod and the first connecting plate is a first included angle. The driving end of the driving device is connected to the first connecting plate. The first end of the first pushing member is fixedly connected with the middle part of the first connecting plate, one end of the first connecting rod away from the rotating member is hingedly connected with the middle part of the first connecting plate, the first end of the second pushing member is fixedly connected with the middle part of the second connecting plate, and one end of the second connecting rod away from the rotating member is hingedly connected with the middle part of the second connecting plate; The second end of the first pushing member drives the wheels on the first side of the target vehicle to move in the width direction of the target vehicle by contacting the wheels, and the second end of the second pushing member drives the wheels on the second side of the target vehicle to move in the width direction of the target vehicle by contacting the wheels.

9. The body correction method of the battery swap vehicle according to claim 8, characterized by, The target force includes a second acting force; the step of obtaining the target force according to the full vehicle load parameter and controlling the linkage mechanism to adjust the position of the wheels of the target vehicle in the second direction to achieve wheel track adjustment of the target vehicle specifically includes the following steps: Obtaining the structural parameters of the linkage mechanism, the structural parameters including a minimum included angle value, the minimum included angle value being an included angle value of the first included angle when the linkage mechanism is in a folded state; Calculating a first pushing force according to the full vehicle load parameter and the friction coefficient of the bearing, the first pushing force being a pushing force required when the target vehicle is pushed; Calculating a first acting force according to the first pushing force and the minimum included angle value; Driving the two pushing members of the linkage mechanism to move in opposite directions in the second direction with a second acting force greater than the first acting force to adjust the position of the wheels of the target vehicle on the lifting device to a target wheel track position.

10. The body correction method of the battery swap vehicle according to claim 9, wherein The step of obtaining the vehicle identifier of the target vehicle further includes: Obtaining a corresponding wheel track parameter according to the vehicle identifier; Obtaining a first target rotation value of the rotating member of the linkage mechanism according to the wheel track parameter, when the rotating member rotates the first target rotation value, the target vehicle is in a centered state; The step of driving the two pushing members of the linkage mechanism to move in opposite directions in the width direction of the target vehicle with a second acting force further includes the following steps: After a preset time, detecting a first rotation value of the rotating member, when the first rotation value is greater than or equal to the first target rotation value, confirming that the wheel track adjustment is to the target wheel track position, and controlling to stop driving the two pushing members to move in opposite directions in the width direction of the target vehicle.

11. A vehicle body correction system of a battery swap vehicle for controlling a lifting device, the lifting device comprising a moving frame body and a linkage mechanism, characterized by, The vehicle body correction system includes a vehicle information acquisition device, a parameter acquisition module, an adjustment mechanism, a first control module, a driving device, and a second control module. The vehicle information acquisition device is used to obtain a vehicle identifier of a target vehicle. The parameter acquisition module is used to obtain a target adjustment parameter according to the vehicle identifier, the target adjustment parameter including an axle track parameter and a full vehicle load parameter. The first control module is configured to adjust the position of the moving frame body along a first direction by the adjusting mechanism according to the wheelbase parameter, so as to realize first wheelbase adjustment of the target vehicle, the first direction being the length direction of the target vehicle. The second control module is configured to obtain a target power according to the full-load parameter, and control the driving device to drive the linkage mechanism to adjust the position of the wheel of the target vehicle along a second direction according to the target power, so as to realize track adjustment of the target vehicle, the second direction being the width direction of the target vehicle. The lifting device further comprises a main frame body, and the first control module is configured to obtain a target distance between the moving frame body and the main frame body according to the wheelbase parameter, the moving frame body comprising a first position and a second position, the first position and the second position being different positions in the width direction of the moving frame body; control the first position and the second position to move along the first direction in a first running state, and obtain a moving difference value of the first position and the second position in real time, the moving difference value representing the difference between the moving distances of the first position and the second position relative to the main frame body; determine whether the moving difference value is less than a first limit difference value, if not, control the moving frame body to move in a second running state until the moving difference value is less than or equal to a suitable difference value, and then control the moving frame body to move in a third running state; determine whether the absolute value of the difference between the first distance between the moving frame body and the main frame body and the target distance is within a second limit difference value, if yes, control the moving frame body to stop moving, and confirm that the wheelbase adjustment is completed.

12. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the computer program to implement the vehicle body correction method of the battery swap vehicle according to any one of claims 1 to 10.

13. A storage medium having stored thereon a computer program, characterized in that The computer program is executed by the processor to implement the vehicle body correction method of the battery swap vehicle according to any one of claims 1 to 10.

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