A method, system, device, and medium for calculating vehicle body offset based on pin holes.

Abstract

This invention provides a method, system, device, and medium for calculating vehicle body offset based on pin holes in the field of electric vehicle battery swapping technology. The method includes: Step S1, a PLC scans the surface of the first battery pack of an unloaded electric vehicle using a laser rangefinder sensor to identify the first pin hole on the surface of the first battery pack, and sets the first center point of the first pin hole as the MARK point; Step S2, the PLC binds and stores the MARK point and the vehicle model; Step S3, the PLC scans the surface of the second battery pack of an electric vehicle carrying a load using a laser rangefinder sensor to identify the second pin hole on the surface of the second battery pack, and obtains the second center point of the second pin hole; Step S4, the PLC matches the MARK point with the vehicle model of the electric vehicle carrying the load, and calculates the vehicle body offset based on the MARK point and the second center point. The advantages of this invention are: it achieves accurate calculation of the offset between the vehicle body and the battery pack, and then compensates for the offset, greatly improving the safety and stability of battery swapping.

Description

Technical Field

[0001] This invention relates to the field of electric vehicle battery swapping technology, and in particular to a method, system, device and medium for calculating vehicle body offset based on pin holes. Background Technology

[0002] With the rapid development of electric vehicles, they are occupying an increasingly larger share of the market. However, due to the lack of breakthroughs in battery technology, electric vehicles need to carry more batteries to achieve longer driving ranges. This leads to a series of problems, such as high overall vehicle costs. As a result, the driving range of electric vehicles has always been a concern for users, causing range anxiety. The time required to fully charge an electric vehicle is far longer than the time required to refuel a traditional gasoline car. Commercial vehicles, which have the greatest charging demand, typically charge during shift changes, which coincide with peak electricity consumption in cities, placing a significant burden on the urban power grid. Therefore, battery swapping stations have emerged to directly extend the driving range of electric vehicles by replacing their battery packs with fully charged ones.

[0003] However, when an electric vehicle is carrying cargo, the position of the battery pack will shift. For example, in light truck electric vehicles, the weight and distribution of the cargo inside may vary, causing a relative error between the vehicle body and the battery pack. This can lead to the battery pack being bumped and rubbed during battery swapping, thus affecting the safety and stability of the swapping process.

[0004] Therefore, how to provide a method, system, device and medium for calculating vehicle body offset based on pin holes to accurately calculate the offset between the vehicle body and the battery pack, and then compensate for the offset to improve the safety and stability of battery swapping, has become an urgent technical problem to be solved. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a method, system, device and medium for calculating vehicle body offset based on pin holes, so as to realize accurate calculation of the offset between the vehicle body and the battery pack, and then compensate for the offset, thereby improving the safety and stability of battery swapping.

[0006] In a first aspect, the present invention provides a method for calculating vehicle body offset based on pin holes, comprising the following steps:

[0007] Step S1: The PLC scans the surface of the first battery pack of the unloaded electric vehicle using a laser rangefinder sensor, identifies each first pin hole on the surface of the first battery pack, and takes the first center point of the first pin hole as the MARK point.

[0008] Step S2: The PLC binds and stores each of the MARK points and the electric vehicle model;

[0009] Step S3: The PLC scans the surface of the second battery pack of the electric vehicle carrying the object using a laser rangefinder sensor, identifies each second pin hole on the surface of the second battery pack, and then obtains the second center point of each second pin hole.

[0010] Step S4: The PLC matches the MARK point with the vehicle model of the electric vehicle carrying the cargo, and calculates the vehicle body offset based on the MARK point and the second center point;

[0011] Step S5: The PLC performs position compensation on the battery swapping equipment based on the vehicle body offset, and then performs battery swapping operation on the electric vehicle carrying the vehicle through the position-compensated battery swapping equipment.

[0012] Further, step S1 specifically includes:

[0013] The PLC scans the surface of the first battery pack of an unloaded electric vehicle using a laser rangefinder to obtain the distance value between the PLC and the surface of the first battery pack. Based on the abrupt change in the distance value, the PLC locates the edge of the first pin hole and identifies each first pin hole on the surface of the first battery pack, and uses the first center point of the first pin hole as the MARK point.

[0014] Further, step S2 specifically includes:

[0015] The PLC binds each of the MARK points with the electric vehicle model and the measurement time to obtain binding data, stores the binding data in a database, and encrypts the database using a preset key.

[0016] Further, step S4 specifically includes:

[0017] The PLC decrypts the database using a preset key, matches the corresponding MARK point from the database based on the vehicle model of the electric vehicle carrying the cargo, and subtracts the corresponding second center point from each MARK point to calculate the vehicle body offset.

[0018] Secondly, the present invention provides a vehicle body offset calculation system based on pin holes, comprising the following modules:

[0019] The MARK point setting module is used by the PLC to scan the surface of the first battery pack of an unloaded electric vehicle through a laser rangefinder sensor, identify each first pin hole on the surface of the first battery pack, and take the first center point of the first pin hole as the MARK point.

[0020] The MARK point storage module is used by the PLC to bind and store each MARK point with the model of the electric vehicle;

[0021] The battery pack scanning module is used by the PLC to scan the surface of the second battery pack of the electric vehicle carrying the object through a laser rangefinder sensor, identify each second pin hole on the surface of the second battery pack, and then obtain the second center point of each second pin hole.

[0022] The vehicle body offset calculation module is used by the PLC to match the model of the electric vehicle carrying the vehicle with the MARK point, and to calculate the vehicle body offset based on the MARK point and the second center point.

[0023] The battery swapping module is used by the PLC to perform position compensation of the battery swapping equipment based on the vehicle body offset, and then perform battery swapping operations on the electric vehicle carrying the goods through the position-compensated battery swapping equipment.

[0024] Furthermore, the MARK point setting module is specifically used for:

[0025] The PLC scans the surface of the first battery pack of an unloaded electric vehicle using a laser rangefinder to obtain the distance value between the PLC and the surface of the first battery pack. Based on the abrupt change in the distance value, the PLC locates the edge of the first pin hole and identifies each first pin hole on the surface of the first battery pack, and uses the first center point of the first pin hole as the MARK point.

[0026] Furthermore, the MARK point storage module is specifically used for:

[0027] The PLC binds each of the MARK points with the electric vehicle model and the measurement time to obtain binding data, stores the binding data in a database, and encrypts the database using a preset key.

[0028] Furthermore, the vehicle body offset calculation module is specifically used for:

[0029] The PLC decrypts the database using a preset key, matches the corresponding MARK point from the database based on the vehicle model of the electric vehicle carrying the cargo, and subtracts the corresponding second center point from each MARK point to calculate the vehicle body offset.

[0030] Thirdly, the present invention provides a vehicle body offset calculation device based on pin holes, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method described in the first aspect.

[0031] Fourthly, the present invention provides a vehicle body offset calculation medium based on pin holes, on which a computer program is stored, which, when executed by a processor, implements the method described in the first aspect.

[0032] One or more technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages:

[0033] A laser rangefinder scans the surface of the first battery pack of an unloaded electric vehicle to identify the first pin holes on the surface of the first battery pack. The first center point of the first pin hole is used as the MARK point. The same laser rangefinder scans the surface of the second battery pack of an electric vehicle carrying a load to identify the second pin holes on the surface of the second battery pack, thereby obtaining the second center point of each second pin hole. Based on the MARK point and the second center point, the vehicle body offset can be accurately calculated. Then, the position of the battery swapping device is compensated based on the vehicle body offset. The battery swapping device then performs the battery swapping operation on the electric vehicle carrying the load. Ultimately, this achieves accurate calculation of the offset between the vehicle body and the battery pack, and compensates for the offset, avoiding collisions and friction between the battery pack and the load caused by the offset during battery swapping, greatly improving the safety and stability of battery swapping.

[0034] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0035] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0036] Figure 1 This is a flowchart of a vehicle body offset calculation method based on pin holes according to the present invention.

[0037] Figure 2 This is a schematic diagram of the structure of a vehicle body offset calculation system based on pin holes according to the present invention.

[0038] Figure 3 This is a schematic diagram of the structure of a vehicle body offset calculation device based on pin holes according to the present invention.

[0039] Figure 4 This is a schematic diagram of the structure of a vehicle body offset calculation medium based on pin holes according to the present invention. Detailed Implementation

[0040] This application provides a method, system, device, and medium for calculating vehicle body offset based on pin holes, which enables accurate calculation of the offset between the vehicle body and the battery pack, thereby compensating for the offset and improving the safety and stability of battery swapping.

[0041] The overall idea of ​​the technical solution in this application embodiment is as follows: the first pin hole of the first battery pack of the unloaded electric vehicle is identified by a laser ranging sensor, and the first center point of the first pin hole is taken as the MARK point. Then, the second center point of the second pin hole of the second battery pack of the loaded electric vehicle is identified. Based on the MARK point and the second center point, the vehicle body offset can be accurately calculated. Then, the battery swapping operation is performed based on the vehicle body offset, that is, the offset between the vehicle body and the battery pack is accurately calculated, and the offset is compensated to improve the safety and stability of battery swapping.

[0042] Example 1

[0043] This embodiment provides a method for calculating vehicle body offset based on pin holes, such as... Figure 1 As shown, it includes the following steps:

[0044] Step S1: The PLC scans the surface of the first battery pack of the unloaded electric vehicle using a laser rangefinder sensor, identifies each first pin hole on the surface of the first battery pack, and takes the first center point of the first pin hole as the MARK point.

[0045] Step S2: The PLC binds and stores each of the MARK points and the electric vehicle model;

[0046] Step S3: The PLC scans the surface of the second battery pack of the electric vehicle carrying the object using a laser rangefinder sensor, identifies each second pin hole on the surface of the second battery pack, and then obtains the second center point of each second pin hole.

[0047] Step S4: The PLC matches the MARK point with the vehicle model of the electric vehicle carrying the cargo, and calculates the vehicle body offset based on the MARK point and the second center point;

[0048] Step S5: The PLC performs position compensation on the battery swapping equipment based on the vehicle body offset, and then performs battery swapping operation on the electric vehicle carrying the vehicle through the position-compensated battery swapping equipment.

[0049] This invention uses a PLC as the control center. The height of the lower surface of the battery pack is collected by a laser rangefinder and transmitted to the PLC. In each scanning cycle, the PLC judges the height value collected in the previous scanning cycle and subtracts it. When the height difference is greater than a set parameter value, it is judged that one end of the pin hole has been identified. When the height difference is less than the set parameter value, it is judged that the other end of the pin hole has been identified. That is, the height difference changes abruptly, which is the edge of the pin hole. The positions of the two pin hole edges are recorded and subtracted to obtain the center point of the pin hole, which is the MARK point. In this way, the MARK point (reference point) is calculated and saved on an unloaded electric vehicle. The center point of a loaded electric vehicle is also calculated in this way. The position difference between the center point and the reference point is the vehicle body offset.

[0050] Step S1 specifically involves:

[0051] The PLC scans the surface of the first battery pack of an unloaded electric vehicle using a laser rangefinder to obtain the distance value between the PLC and the surface of the first battery pack. Based on the abrupt change in the distance value, the PLC locates the edge of the first pin hole and identifies each first pin hole on the surface of the first battery pack, and uses the first center point of the first pin hole as the MARK point.

[0052] Step S2 specifically involves:

[0053] The PLC binds each MARK point with the electric vehicle model and measurement time to obtain binding data, stores the binding data in a database, and encrypts the database using a preset key. Encrypting the database with a key prevents data theft and tampering, thus avoiding battery swapping based on erroneous data and greatly ensuring the security of battery swapping.

[0054] Step S4 specifically involves:

[0055] The PLC decrypts the database using a preset key, matches the corresponding MARK point from the database based on the vehicle model of the electric vehicle carrying the cargo, and subtracts the corresponding second center point from each MARK point to calculate the vehicle body offset.

[0056] The scanning difference must be above the step error on the surface of the battery pack to avoid misjudging the pin hole due to uneven cross-section of the battery pack, which would lead to incorrect calculation of the vehicle body offset. Since the maximum step error of the battery pack is 8mm, a scanning difference of 20mm is set to distinguish them.

[0057] Example 2

[0058] This embodiment provides a vehicle body offset calculation system based on pin holes, such as... Figure 2 As shown, it includes the following modules:

[0059] The MARK point setting module is used by the PLC to scan the surface of the first battery pack of an unloaded electric vehicle through a laser rangefinder sensor, identify each first pin hole on the surface of the first battery pack, and take the first center point of the first pin hole as the MARK point.

[0060] The MARK point storage module is used by the PLC to bind and store each MARK point with the model of the electric vehicle;

[0061] The battery pack scanning module is used by the PLC to scan the surface of the second battery pack of the electric vehicle carrying the object through a laser rangefinder sensor, identify each second pin hole on the surface of the second battery pack, and then obtain the second center point of each second pin hole.

[0062] The vehicle body offset calculation module is used by the PLC to match the model of the electric vehicle carrying the vehicle with the MARK point, and to calculate the vehicle body offset based on the MARK point and the second center point.

[0063] The battery swapping module is used by the PLC to perform position compensation of the battery swapping equipment based on the vehicle body offset, and then perform battery swapping operations on the electric vehicle carrying the goods through the position-compensated battery swapping equipment.

[0064] This invention uses a PLC as the control center. The height of the lower surface of the battery pack is collected by a laser rangefinder and transmitted to the PLC. In each scanning cycle, the PLC judges the height value collected in the previous scanning cycle and subtracts it. When the height difference is greater than a set parameter value, it is judged that one end of the pin hole has been identified. When the height difference is less than the set parameter value, it is judged that the other end of the pin hole has been identified. That is, the height difference changes abruptly, which is the edge of the pin hole. The positions of the two pin hole edges are recorded and subtracted to obtain the center point of the pin hole, which is the MARK point. In this way, the MARK point (reference point) is calculated and saved on an unloaded electric vehicle. The center point of a loaded electric vehicle is also calculated in this way. The position difference between the center point and the reference point is the vehicle body offset.

[0065] The MARK point setting module is specifically used for:

[0066] The PLC scans the surface of the first battery pack of an unloaded electric vehicle using a laser rangefinder to obtain the distance value between the PLC and the surface of the first battery pack. Based on the abrupt change in the distance value, the PLC locates the edge of the first pin hole and identifies each first pin hole on the surface of the first battery pack, and uses the first center point of the first pin hole as the MARK point.

[0067] The MARK point storage module is specifically used for:

[0068] The PLC binds each MARK point with the electric vehicle model and measurement time to obtain binding data, stores the binding data in a database, and encrypts the database using a preset key. Encrypting the database with a key prevents data theft and tampering, thus avoiding battery swapping based on erroneous data and greatly ensuring the security of battery swapping.

[0069] The vehicle body offset calculation module is specifically used for:

[0070] The PLC decrypts the database using a preset key, matches the corresponding MARK point from the database based on the vehicle model of the electric vehicle carrying the cargo, and subtracts the corresponding second center point from each MARK point to calculate the vehicle body offset.

[0071] The scanning difference must be above the step error on the surface of the battery pack to avoid misjudging the pin hole due to uneven cross-section of the battery pack, which would lead to incorrect calculation of the vehicle body offset. Since the maximum step error of the battery pack is 8mm, a scanning difference of 20mm is set to distinguish them.

[0072] Based on the same inventive concept, this application provides an electronic device embodiment corresponding to Embodiment 1, as detailed in Embodiment 3.

[0073] Example 3

[0074] This embodiment provides a vehicle body offset calculation device based on pin holes, such as... Figure 3 As shown, it includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it can implement any of the embodiments in Example 1.

[0075] Since the electronic device described in this embodiment is the device used to implement the method in Embodiment 1 of this application, those skilled in the art can understand the specific implementation method and various variations of the electronic device in this embodiment based on the method described in Embodiment 1 of this application. Therefore, how the electronic device implements the method in the embodiment of this application will not be described in detail here. Any device used by those skilled in the art to implement the method in the embodiment of this application falls within the scope of protection of this application.

[0076] Based on the same inventive concept, this application provides a storage medium corresponding to Embodiment 1, as detailed in Embodiment 4.

[0077] Example 4

[0078] This embodiment provides a vehicle body offset calculation medium based on pin holes, such as... Figure 4 As shown, a computer program is stored thereon, which, when executed by a processor, can implement any of the embodiments in Example 1.

[0079] Since the storage medium described in this embodiment is the same storage medium used to implement the method in Embodiment 1 of this application, those skilled in the art can understand the specific implementation methods and various variations of the storage medium in this embodiment based on the method described in Embodiment 1 of this application. Therefore, how the storage medium implements the method in this application embodiment will not be described in detail here. Any storage medium used by those skilled in the art to implement the method in this application embodiment falls within the scope of protection of this application.

[0080] The technical solutions provided in this application embodiment have at least the following technical effects or advantages:

[0081] A laser rangefinder scans the surface of the first battery pack of an unloaded electric vehicle to identify the first pin holes on the surface of the first battery pack. The first center point of the first pin hole is used as the MARK point. The same laser rangefinder scans the surface of the second battery pack of an electric vehicle carrying a load to identify the second pin holes on the surface of the second battery pack, thereby obtaining the second center point of each second pin hole. Based on the MARK point and the second center point, the vehicle body offset can be accurately calculated. Then, the position of the battery swapping device is compensated based on the vehicle body offset. The battery swapping device then performs the battery swapping operation on the electric vehicle carrying the load. Ultimately, this achieves accurate calculation of the offset between the vehicle body and the battery pack, and compensates for the offset, avoiding collisions and friction between the battery pack and the load caused by the offset during battery swapping, greatly improving the safety and stability of battery swapping.

[0082] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0083] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0084] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0085] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0086] While specific embodiments of the present invention have been described above, those skilled in the art should understand that the specific embodiments described are merely illustrative and not intended to limit the scope of the present invention. Equivalent modifications and variations made by those skilled in the art in accordance with the spirit of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A method for calculating vehicle body offset based on pin holes, characterized in that: Includes the following steps: Step S1: The PLC scans the surface of the first battery pack of the unloaded electric vehicle using a laser rangefinder to obtain the distance value between the PLC and the surface of the first battery pack. Based on the abrupt change in the distance value, the PLC locates the edge of the first pin hole and identifies each first pin hole on the surface of the first battery pack. The first center point of the first pin hole is taken as the MARK point. Step S2: The PLC binds each MARK point with the electric vehicle model and measurement time to obtain binding data, stores the binding data in the database, and encrypts the database using a preset key; Step S3: The PLC scans the surface of the second battery pack of the electric vehicle carrying the object using a laser rangefinder sensor, identifies each second pin hole on the surface of the second battery pack, and then obtains the second center point of each second pin hole. Step S4: The PLC matches the MARK point with the vehicle model of the electric vehicle carrying the cargo, and calculates the vehicle body offset based on the MARK point and the second center point; Step S5: The PLC performs position compensation on the battery swapping equipment based on the vehicle body offset, and then performs battery swapping operation on the electric vehicle carrying the vehicle through the position-compensated battery swapping equipment.

2. The method for calculating vehicle body offset based on pin holes as described in claim 1, characterized in that: Step S4 specifically involves: The PLC decrypts the database using a preset key, matches the corresponding MARK point from the database based on the vehicle model of the electric vehicle carrying the cargo, and subtracts the corresponding second center point from each MARK point to calculate the vehicle body offset.

3. A vehicle body offset calculation system based on pin holes, characterized in that: Includes the following modules: The MARK point setting module is used by the PLC to scan the surface of the first battery pack of an unloaded electric vehicle through a laser rangefinder sensor, obtain the distance value between the PLC and the surface of the first battery pack, locate the edge of the first pin hole based on the abrupt change of the distance value, and then identify each first pin hole on the surface of the first battery pack, and take the first center point of the first pin hole as the MARK point. The MARK point storage module is used by the PLC to bind each MARK point with the electric vehicle model and measurement time to obtain binding data, store the binding data in the database, and encrypt the database using a preset key; The battery pack scanning module is used by the PLC to scan the surface of the second battery pack of the electric vehicle carrying the object through a laser rangefinder sensor, identify each second pin hole on the surface of the second battery pack, and then obtain the second center point of each second pin hole. The vehicle body offset calculation module is used by the PLC to match the model of the electric vehicle carrying the cargo with the MARK point, and to calculate the vehicle body offset based on the MARK point and the second center point. The battery swapping module is used by the PLC to perform position compensation of the battery swapping equipment based on the vehicle body offset, and then perform battery swapping operations on the electric vehicle carrying the goods through the position-compensated battery swapping equipment.

4. The vehicle body offset calculation system based on pin holes as described in claim 3, characterized in that: The vehicle body offset calculation module is specifically used for: The PLC decrypts the database using a preset key, matches the corresponding MARK point from the database based on the vehicle model of the electric vehicle carrying the cargo, and subtracts the corresponding second center point from each MARK point to calculate the vehicle body offset.

5. A vehicle body offset calculation device based on pin holes, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the method as described in any one of claims 1 to 2.

6. A storage medium for calculating vehicle body offset based on pin holes, wherein a computer program is stored thereon, characterized in that, When the program is executed by the processor, it implements the method as described in any one of claims 1 to 2.

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