An adaptive vehicle distance positioning homing system and a positioning method thereof

Abstract

The application relates to a self-adaptive vehicle distance positioning centering system, which comprises a wheel clamping mechanism unit for pulling a vehicle, a servo unit for performing accurate control of the positioning position of the vehicle and feeding back real-time torque and position to a PLC control unit, and the PLC control unit is used for collecting vehicle position data and logically controlling, processing and issuing commands to make the servo unit perform actions; the problems that the current mainstream front wheel centering positioning device in the battery swap station cannot be compatible with multiple vehicle models and cannot adapt to vehicle iteration and update, and the debugging and maintenance workload is increased are solved.

Description

Technical Field

[0001] This invention belongs to the field of electric vehicle charging and swapping technology, and relates to an adaptive vehicle distance positioning and centering system and its positioning method. Background Technology

[0002] With the rapid development of society, a major problem that urgently needs to be addressed is the shortage of non-renewable energy and environmental pollution. Traditional gasoline-powered vehicles not only cause environmental pollution and contribute to the greenhouse effect, but also suffer from problems such as high noise levels, low energy efficiency, and complex structures. Gradually, new energy electric vehicles have emerged, offering advantages such as zero pollution, low noise, simple structure, easy maintenance, and high energy efficiency, effectively solving the problems associated with gasoline-powered vehicles.

[0003] In existing battery swapping stations, the front wheel alignment and pitch change on the vehicle swapping platform typically uses misalignment plates or chain-plate systems to prevent misalignment during pitch change. Misalignment plates are simple in structure and low in cost, but occupy a large space; chain-plate systems offer good protection and occupy less space, but are expensive, inconvenient to maintain, and have a complex structure. The current mainstream solutions for front wheel alignment devices in battery swapping stations that are compatible with multiple vehicle models involve establishing multiple formulas for left and right alignment of vehicles with various wheelbases. However, these solutions are incompatible with multiple vehicle models, cannot adapt to vehicle upgrades, and increase the workload of debugging and maintenance. Summary of the Invention

[0004] In view of this, in order to solve the problem that the current mainstream front wheel centering and positioning devices in battery swapping stations are not compatible with multiple vehicle models, cannot adapt to vehicle iteration updates, and increase the workload of debugging and maintenance, the present invention provides an adaptive vehicle distance positioning and centering system and its positioning method. This adaptive vehicle distance positioning and centering system can accurately identify the vehicle's wheel distance by combining centering servo and PLC logic algorithm. It is a reliable, easy-to-implement, and more convenient solution for later maintenance.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] An adaptive vehicle distance positioning and centering system includes:

[0007] The wheel clamping mechanism unit is used to pull the vehicle;

[0008] The servo unit is used to perform precise control of the vehicle's positioning and to feed back real-time torque and position to the PLC control unit.

[0009] The PLC control unit is used for acquiring vehicle location data and controlling logic, processing and issuing commands to enable servo units to perform actions.

[0010] Furthermore, the PLC control unit and servo unit kit are combined to achieve PLC logic control and precise centering positioning through PN and EtherCAT communication methods.

[0011] A positioning method based on an adaptive vehicle distance positioning and centering system includes the following steps:

[0012] S1. When the vehicle to be swapped drives to the vehicle swapping platform in the swapping station, the left front wheel servo drive system and the left rear wheel servo drive system use position mode torque limiting control to jog the vehicle body to the right.

[0013] S2. When the right front wheel of the vehicle contacts the right front wheel clamping positioning mechanism, the left front wheel servo drive system stops jogging when the right front wheel servo drive system monitors and identifies the set torque value; when the right front wheel servo drive system does not monitor and identify the set torque value, the left front wheel servo drive system continues to run until the right front wheel servo drive system monitors and identifies the set torque value.

[0014] S3. When the right rear wheel of the vehicle contacts the right rear wheel clamping positioning mechanism, the left rear wheel servo drive system stops jogging when the right rear wheel servo drive system monitors and identifies the set torque value; when the right rear wheel servo drive system does not monitor and identify the set torque value, the left rear wheel servo drive system continues to run until the right rear wheel servo drive system monitors and identifies the set torque value.

[0015] S4. After the vehicle alignment is completed, record the current position data L1 of the left front wheel clamping servo and the current position data L2 of the right front wheel clamping servo.

[0016] S5. Calculate and confirm the servo centering position through the PLC program.

[0017] Furthermore, in step S5, the left front clamping wheel mechanism moves to the left to a distance L11; the right front clamping wheel mechanism moves to the left simultaneously to a distance L12, where L11+L12=L1; the left rear clamping wheel mechanism moves to the left to a distance L21; the right rear clamping wheel mechanism moves to the left simultaneously to a distance L22, where L21+L22=L2; where L1 / 2+L21=L2 / 2+L11; when L11=L12 and L21=L22, the vehicle coincides with the center line of the positioning platform, ensuring the consistency of the center position of each vehicle model.

[0018] The beneficial effects of this invention are as follows:

[0019] The adaptive vehicle distance positioning and centering system disclosed in this invention has a simple hardware structure, mainly consisting of four sets of clamping wheel mechanisms and four sets of servo drives. Compared with mainstream solutions on the market, the cost is greatly reduced, and no additional software development costs are required. The logic control is processed in the PLC of the battery swapping station. The entire positioning and centering system is simple, practical, widely applicable, and flexibly adaptable to vehicles of various widths, facilitating future vehicle model updates and iterations.

[0020] Other advantages, objectives, and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination, or may be learned from practice of the invention. The objectives and other advantages of the invention can be realized and obtained through the following description. Attached Figure Description

[0021] To make the objectives, technical solutions, and advantages of the present invention clearer, the preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, wherein:

[0022] Figure 1 This is a simplified structural installation diagram of the adaptive vehicle distance positioning and centering system of the present invention;

[0023] Figure 2 This is a vehicle alignment view in the adaptive vehicle distance positioning and centering system of the present invention;

[0024] Figure 3 This is a vehicle centering positioning diagram in the adaptive vehicle distance positioning and centering system of the present invention;

[0025] Figure 4 This is a view of the vehicle centering module in the adaptive vehicle distance positioning and centering system of the present invention;

[0026] Figure 5 This is a view of the electrical network architecture of the vehicle centering part in the adaptive vehicle distance positioning and centering system of the present invention;

[0027] Figure 6 This is an electrical flowchart of the vehicle centering system in the adaptive vehicle distance positioning and centering system of the present invention;

[0028] Figure 7 This is a schematic diagram of the front wheel centering mechanism in the battery swapping station of the present invention. Detailed Implementation

[0029] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0030] The accompanying drawings are for illustrative purposes only and are schematic diagrams, not actual pictures. They should not be construed as limiting the invention. To better illustrate the embodiments of the invention, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual product dimensions. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0031] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," "front," and "rear" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting the present invention. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0032] like Figures 1-6 The adaptive vehicle distance positioning and centering system shown includes:

[0033] The wheel clamping mechanism unit is used to pull the vehicle;

[0034] The servo unit is used to perform precise control of the vehicle's positioning and to feed back real-time torque and position to the PLC control unit.

[0035] The PLC control unit is used for acquiring vehicle location data and controlling logic, processing and issuing commands to enable servo units to perform actions.

[0036] Figure 7 This is a schematic diagram of the front wheel centering mechanism in a battery swapping station. Each wheel corresponds to a servo motor. The servo motor drives the plate to move, thereby pulling the wheel to move, which is the same as the previous centering mechanism.

[0037] A positioning method based on an adaptive vehicle distance positioning and centering system includes the following steps:

[0038] S1. When the vehicle to be swapped drives to the vehicle swapping platform in the swapping station, the left front wheel servo drive system and the left rear wheel servo drive system use position mode torque limiting control to jog the vehicle body to the right (the vehicle wheels return to center during the movement).

[0039] S2. When the right front wheel of the vehicle contacts the right front wheel clamping positioning mechanism, the left front wheel servo drive system stops jogging when the right front wheel servo drive system monitors and identifies the set torque value; when the right front wheel servo drive system does not monitor and identify the set torque value, the left front wheel servo drive system continues to run until the right front wheel servo drive system monitors and identifies the set torque value.

[0040] S3. When the right rear wheel of the vehicle contacts the right rear wheel clamping and positioning mechanism, the left rear wheel servo drive system stops jogging when the right rear wheel servo drive system monitors and identifies the set torque value; if the right rear wheel servo drive system does not monitor and identify the set torque value, the left rear wheel servo drive system continues to run until the right rear wheel servo drive system monitors and identifies the set torque value.

[0041] S4. After the vehicle alignment is completed, record the current position data L1 of the left front wheel clamping servo and the current position data L2 of the right front wheel clamping servo.

[0042] S5. The PLC program calculates and confirms the servo centering position: the left front clamping wheel mechanism moves to the left to a distance L11; the right front clamping wheel mechanism moves synchronously to the left to a distance L12, where L11 + L12 = L1; the left rear clamping wheel mechanism moves to the left to a distance L21; the right rear clamping wheel mechanism moves synchronously to the left to a distance L22, where L21 + L22 = L2; and L1 / 2 + L21 = L2 / 2 + L11. When L11 = L12 and L21 = L22, the vehicle coincides with the center line of the positioning platform, ensuring that the center position of all vehicle models is consistent. After the four clamping wheel mechanisms center the vehicle to the correct position, the left and right centering positioning of the vehicle is completed.

[0043] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A positioning method based on an adaptive vehicle distance positioning centering system, characterized by, Includes the following steps: S1. When the vehicle to be swapped drives to the vehicle swapping platform in the swapping station, the left front wheel servo drive system and the left rear wheel servo drive system use position mode torque limiting control to jog the vehicle body to the right. S2. When the right front wheel of the vehicle contacts the right front wheel clamping positioning mechanism, the left front wheel servo drive system stops jogging when the right front wheel servo drive system monitors and identifies the set torque value; when the right front wheel servo drive system does not monitor and identify the set torque value, the left front wheel servo drive system continues to run until the right front wheel servo drive system monitors and identifies the set torque value. S3. When the right rear wheel of the vehicle contacts the right rear wheel clamping positioning mechanism, the left rear wheel servo drive system stops jogging when the right rear wheel servo drive system monitors and identifies the set torque value; when the right rear wheel servo drive system does not monitor and identify the set torque value, the left rear wheel servo drive system continues to run until the right rear wheel servo drive system monitors and identifies the set torque value. S4. After the vehicle alignment is completed, record the current position data L1 of the left front wheel clamping servo and the current position data L2 of the right front wheel clamping servo. S5. Calculate and confirm the servo centering position through the PLC program; The adaptive vehicle distance positioning and centering system includes: The wheel clamping mechanism unit is used to pull the vehicle; The servo unit is used to perform precise control of the vehicle's positioning and to feed back real-time torque and position to the PLC control unit. The PLC control unit is used for acquiring vehicle location data and controlling logic, processing and issuing commands to enable servo units to perform actions.

2. The positioning method of claim 1, wherein, In step S5, the left front clamping wheel mechanism moves to the left to a distance L11; the right front clamping wheel mechanism moves to the left synchronously to a distance L12, where L11+L12=L1; the left rear clamping wheel mechanism moves to the left to a distance L21; the right rear clamping wheel mechanism moves to the left synchronously to a distance L22, where L21+L22=L2; where L1 / 2+L21=L2 / 2+L11; when L11=L12 and L21=L22, the vehicle coincides with the center line of the positioning platform, ensuring the consistency of the center position of each vehicle model.

3. The positioning method of claim 1, wherein, In step S5, the PLC control unit and servo unit kit in the adaptive vehicle distance positioning and centering system are combined to achieve PLC logic control and precise centering and positioning through PN and EtherCAT communication methods.

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