Method and system for automatically adjusting locking and unlocking device based on posture of battery swap vehicle

Abstract

The application provides a method and system for automatically adjusting a locking and unlocking device based on the posture of a battery replacement vehicle, comprising: a vehicle posture sensing unit, which is used for data collection, and the collected data mainly includes the position of the vehicle tire, the posture of the vehicle, etc.; a vector model unit, which is used for outputting the coordinates of the intersection of the locking hole extension line and the vertical direction of the battery replacement mechanism; and an execution unit, which is used for controlling the locking and unlocking device of the battery replacement mechanism to adjust the position according to the offset angle of the horizontal x and y directions of the vehicle after receiving the coordinates. The application can effectively avoid the problem that the locking and unlocking device of the battery replacement mechanism cannot be aligned with the locking hole of the battery pack due to the influence of the vehicle posture, so that the battery pack cannot be disassembled or installed, greatly improves the success rate of vehicle battery replacement, and can also realize cost reduction for the entire battery replacement station, and greatly improves the maintainability of hardware.

Description

Technical Field

[0001] This invention relates to the field of new energy battery swapping technology, and in particular to a method and system based on an automatic adjustment and unlocking device for the posture of a battery swapping vehicle. Background Technology

[0002] In 2020, China officially proposed the "Carbon Neutrality" and "Carbon Peaking" plans. Under the guidance of relevant government policies and the business guidance and supervision of industry authorities, the new energy economy, which is booming under this plan, has become a blue ocean in the market economy. As new energy continues to develop, electric vehicle battery swapping stations, as one of the infrastructures of this industry, are also poised for the next boom. With the rapid development of electric vehicle battery swapping stations, various battery swapping methods have emerged. Currently, the mainstream battery swapping methods are mainly of the following three types: 1. Replacing the vehicle battery from the bottom of the chassis by lifting it up; 2. Replacing the battery from the top of the vehicle; 3. Replacing the battery from the rear of the vehicle. All three battery swapping methods involve fixing the vehicle in a certain position, and then the battery swapping mechanism's locking and unlocking device moves to the battery pack's locking hole according to a fixed displacement, and then performs the disassembly or installation of the vehicle battery to achieve battery replacement. The locking and unlocking mechanism of a battery swapping system that moves by a fixed displacement has a fatal flaw: even a slight deviation in the vehicle's position renders it ineffective at locking and unlocking the battery. The industry has addressed this by using vision to locate the battery pack locking hole, but this method is also affected by the camera's shooting environment, resulting in low accuracy. Therefore, it is necessary to fully explore the potential of battery pack positioning to accurately pinpoint the vehicle's tilt even when its position is not fixed. This would allow the battery swapping mechanism to automatically adjust the locking and unlocking mechanism based on the vehicle's tilt, facilitating battery locking and unlocking. Summary of the Invention

[0003] The present invention aims to provide a method and system for automatically adjusting the locking and unlocking device based on the posture of a battery swapping vehicle to overcome or at least partially solve the above problems.

[0004] To achieve the above objectives, the technical solution of the present invention is specifically implemented as follows:

[0005] This invention provides a method for an automatic posture adjustment and unlocking device for battery swapping vehicles, comprising the following steps:

[0006] S1, the vehicle posture perception unit acquires the position of the vehicle tires, detects the vehicle posture, and establishes a three-dimensional vector model of the vehicle space through the acquisition of vehicle data. The vehicle posture detection is used to obtain the offset angle of the vehicle in the horizontal x and y directions after steady state.

[0007] S2, based on the position information of any tire of the vehicle as the origin coordinate of the spatial vector coordinate system, draws the spatial vector three-dimensional model of the vehicle battery pack, battery lock hole, extension line of the battery lock hole towards the battery replacement mechanism and unlocking device, battery replacement system and unlocking device and lock head, and outputs the coordinates of the intersection point of the lock hole extension line and the vertical direction of the battery replacement mechanism based on the model.

[0008] S3, the execution unit controls the locking and unlocking device of the battery swapping mechanism to adjust according to the obtained offset angles in the horizontal x and y directions of the vehicle in steady state. After the adjustment angle is consistent with the offset angles in the horizontal x and y directions of the vehicle in steady state, the unit controls the locking and unlocking device of the battery swapping mechanism to move to the coordinates of the intersection of the extension line of the lock hole and the vertical direction of the battery swapping mechanism. Finally, the locking and unlocking device of the battery swapping mechanism translates along the extension line towards the position of the battery pack lock hole until the lock head of the locking and unlocking device of the battery swapping mechanism coincides with the lock hole of the battery pack.

[0009] As a further aspect of the present invention, in step S1, the position of the vehicle tires is acquired from the positioning sensor in the centering device of the electric vehicle battery swapping station. After the vehicle stops on the parking platform in the battery swapping station, the centering device clamps the tires of the vehicle. By collecting sensor data in the centering device, the position information of the vehicle tires is obtained.

[0010] As a further aspect of the present invention, in step S1, the detection of vehicle posture includes multiple methods:

[0011] Method 1: The vehicle posture sensing unit establishes a connection with the vehicle's own acceleration sensor and magnetic field sensor, and obtains the vehicle's horizontal x and y offset angles in real time after it reaches a steady state.

[0012] Method 2 uses the distance sensor built into the vehicle posture perception unit to detect the distance to the vehicle chassis, and calculates the horizontal x and y offset angles after steady state by using the steady-state distance based on the cosine theorem.

[0013] As a further aspect of the present invention, in step S2, the establishment of the spatial vector three-dimensional model requires not only the position information of any one of the vehicle's tires as the origin coordinates of the spatial vector coordinate system, but also the receipt of the horizontal x and y deviation angles from the vehicle posture perception unit and the vehicle tire position information, combined with the configured lock hole position, the length, width and height data of the battery pack itself, and the default position data of the locking and unlocking device of the battery replacement mechanism.

[0014] As a further embodiment of the present invention, step S3 further includes the following step:

[0015] S4. During the movement of the battery swapping mechanism's locking and unlocking device controlled by the execution unit, the spatial vector three-dimensional coordinates of the locking and unlocking device are collected in real time by the feedback unit. Based on the origin of the spatial vector three-dimensional model generated in the vector model unit, the coordinates of the model are transformed to determine whether there is any offset of the moving coordinates in real time, so as to ensure the accuracy of the coordinates of the execution unit during the movement of the battery swapping mechanism's locking and unlocking device.

[0016] A system based on an automatic posture adjustment and unlocking device for battery swapping vehicles includes,

[0017] The vehicle posture sensing unit is used for data acquisition. The acquired data includes the position of the vehicle tires and the vehicle posture, which is the horizontal x and y offset angle of the vehicle after it reaches a steady state.

[0018] The vector model unit is used to draw a three-dimensional spatial vector model of the vehicle battery pack, battery lock hole, extension line of the battery lock hole toward the battery replacement mechanism and unlocking device, battery replacement system and unlocking device and lock head based on the position information of any tire of the vehicle as the origin coordinate of the spatial vector coordinate system. The vector model unit is used to draw a three-dimensional spatial vector model of the vehicle battery pack, battery lock hole, extension line of the battery lock hole toward the battery replacement mechanism and unlocking device, battery replacement system and unlocking device and lock head based on the model output.

[0019] The execution unit receives coordinates and controls the locking / unlocking device of the battery swapping mechanism to adjust its position according to the obtained offset angles in the horizontal x and y directions of the vehicle in steady state. After the adjustment angle is consistent with the offset angles in the horizontal x and y directions of the vehicle in steady state, the execution unit controls the locking / unlocking device of the battery swapping mechanism to move to the coordinates of the intersection of the extension line of the lock hole and the vertical direction of the battery swapping mechanism. Finally, the locking / unlocking device of the battery swapping mechanism translates along the extension line towards the position of the battery pack lock hole until the lock head of the locking / unlocking device of the battery swapping mechanism coincides with the lock hole of the battery pack.

[0020] The feedback unit is used to collect the spatial vector three-dimensional coordinates of the unlocking device in real time and to determine whether the moving coordinate point has shifted in real time.

[0021] This invention provides a method and system for an automatic adjustment and unlocking device based on the posture of a battery swapping vehicle. The advantages are: it can effectively avoid the problem that the unlocking device of the battery swapping mechanism cannot be aligned with the lock hole of the battery pack due to the influence of the vehicle posture, thus preventing the battery pack from being disassembled or installed. This greatly improves the success rate of vehicle battery swapping and can also reduce the cost of the entire battery swapping station. By eliminating the vehicle lifting mechanism, the complexity of the hardware structure of the electric vehicle battery swapping station is reduced, and the maintainability of the hardware is greatly improved. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a flowchart illustrating the workflow of the present invention.

[0024] Figure 2 This is a block diagram illustrating the working principle of the present invention.

[0025] In the diagram: 1. Vehicle posture perception unit; 2. Vector model unit; 3. Execution unit; 4. Feedback unit. Detailed Implementation

[0026] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0027] See Figure 1 The present invention provides a method for an automatic adjustment and unlocking device for the posture of a battery swapping vehicle, comprising the following steps:

[0028] S1, Vehicle posture perception unit 1, is used for data acquisition, mainly for obtaining the position of the vehicle tires and detecting the vehicle posture. Acquiring vehicle data facilitates the subsequent establishment of a three-dimensional vector model of the vehicle space. The position of the vehicle tires is primarily acquired from the positioning sensors in the centering device of the electric vehicle battery swapping station. After the vehicle stops on the parking platform within the station, the centering device clamps the tires, and the tire position information is obtained by collecting sensor data from the centering device. Vehicle posture detection is provided by several methods, such as: Method 1, establishing a connection between vehicle posture perception unit 1 and the vehicle's own acceleration and magnetic field sensors, and acquiring the horizontal x and y offset angles of the vehicle in steady state in real time; Method 2, using the distance sensor built into vehicle posture perception unit 1 to detect the distance to the vehicle chassis, and calculating the horizontal x and y offset angles in steady state based on the cosine theorem.

[0029] S2, Vector Model Unit 2, after receiving the horizontal x and y deviation angles and vehicle tire position information from Vehicle Posture Perception Unit 1, combines the configured lock hole position, the length, width and height data of the battery pack itself, and the default position data of the battery replacement mechanism's locking and unlocking device. Based on the position information of any one of the vehicle's tires as the origin coordinates of the spatial vector coordinate system, it draws a spatial vector three-dimensional model of the vehicle battery pack, battery lock hole, the extension line of the battery lock hole toward the battery replacement mechanism's locking and unlocking device, the battery replacement system's locking and unlocking device, and the lock head. Based on the model, it outputs the coordinates of the intersection point of the lock hole extension line and the vertical direction of the battery replacement mechanism.

[0030] S3, Execution unit 3, after the vector model unit 2 calculates the coordinates of the intersection point of the lock hole extension line and the vertical direction of the battery replacement mechanism, the execution unit 3 controls the locking and unlocking device of the battery replacement mechanism to adjust according to the obtained offset angles in the horizontal x and y directions of the vehicle in steady state. After the adjustment angle is consistent with the offset angles in the horizontal x and y directions of the vehicle in steady state, the execution unit 3 controls the locking and unlocking device of the battery replacement mechanism to move to the coordinates of the intersection point of the lock hole extension line and the vertical direction of the battery replacement mechanism. Finally, the locking and unlocking device of the battery replacement mechanism translates along the extension line towards the position of the battery pack lock hole until the lock head of the locking and unlocking device of the battery replacement mechanism coincides with the lock hole of the battery pack.

[0031] S4, Feedback Unit 4, during the movement of the battery swapping mechanism unlocking device controlled by Execution Unit 3, collects the spatial vector three-dimensional coordinates of the unlocking device in real time, and transforms the coordinate points of the spatial vector three-dimensional model generated in Vector Model Unit 2 to determine whether the moving coordinate points are offset in real time, so as to ensure the accuracy of the coordinates of Execution Unit 3 during the movement of the battery swapping mechanism unlocking device.

[0032] like Figure 2 As shown, a system based on an automatic posture adjustment and unlocking device for battery swapping vehicles includes,

[0033] Vehicle posture sensing unit 1 is used for data acquisition. The data it acquires mainly includes the position of the vehicle tires and the vehicle's posture.

[0034] Vector model unit 2 is used to output the coordinates of the vertical intersection point of the lock hole extension line for the battery replacement mechanism.

[0035] The execution unit 3 receives the coordinates and uses them to control the unlocking and unlocking device of the battery replacement mechanism to adjust its position according to the obtained offset angles in the x and y directions of the vehicle's steady-state level.

[0036] Feedback unit 4 is used to collect the spatial vector three-dimensional coordinates of the unlocking device in real time and to determine whether the moving coordinate point has shifted in real time.

[0037] In use, this invention enables the vehicle posture sensing unit 1 to automatically detect the vehicle's horizontal x and y-direction deviation angles after the vehicle has come to a complete stop. Based on these deviation angles, and in conjunction with the direction of the battery lock holes, extension lines are drawn from each lock hole towards the locking / unlocking device of the battery replacement mechanism, forming a spatial vector model. Based on the intersection of each extension line with the perpendicular direction of the battery replacement mechanism, the x, y, and z positions of each lock head of the locking / unlocking device on the extension line are determined. By obtaining the vehicle's horizontal x and y-direction deviation angles, the locking / unlocking device of the battery replacement mechanism is adjusted in the horizontal x and y-directions according to the vehicle's deviation angles. After the angles are aligned, the locks of the battery replacement mechanism are engaged. The head moves to the x, y, z coordinates corresponding to the determined extension line. Finally, the locking and unlocking device of the battery swapping mechanism translates along the extension line towards the battery pack lock hole, thus enabling the locking and unlocking device of the battery swapping mechanism to perform the locking and unlocking operation on the vehicle battery pack lock hole. In this way, the problem of the locking and unlocking device of the battery swapping mechanism being unable to align with the lock hole of the battery pack due to the influence of the vehicle posture can be effectively avoided, which would prevent the battery pack from being disassembled or installed. This greatly improves the success rate of vehicle battery swapping and can also reduce the cost of the entire battery swapping station. By eliminating the vehicle lifting mechanism, the complexity of the hardware mechanism of the electric vehicle battery swapping station is reduced, and the maintainability of the hardware is greatly improved.

[0038] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for an automatic posture adjustment and unlocking device based on a battery swapping vehicle, characterized in that, Includes the following steps: S1, the vehicle posture perception unit (1) acquires the position of the vehicle tires, detects the vehicle posture, and establishes the subsequent three-dimensional vector model of the vehicle space through the acquisition of vehicle data. The vehicle posture detection is used to obtain the offset angle of the vehicle in the horizontal x and y directions after steady state. S2, based on the position information of any tire of the vehicle as the origin coordinate of the spatial vector coordinate system, draws the spatial vector three-dimensional model of the vehicle battery pack, battery lock hole, extension line of the battery lock hole towards the battery replacement mechanism and unlocking device, battery replacement system and unlocking device and lock head, and outputs the coordinates of the intersection point of the lock hole extension line and the vertical direction of the battery replacement mechanism based on the model. S3, the execution unit (3) controls the battery replacement mechanism to adjust the locking and unlocking device according to the obtained vehicle steady-state horizontal x and y direction offset angle. After the adjustment angle is consistent with the vehicle steady-state horizontal x and y direction offset angle, the battery replacement mechanism locking and unlocking device is controlled to move to the coordinate of the intersection of the lock hole extension line and the vertical direction of the battery replacement mechanism. Finally, the battery replacement mechanism locking and unlocking device moves along the extension line to the battery pack lock hole position until the lock head of the battery replacement mechanism locking and unlocking device coincides with the battery pack lock hole.

2. The method for an automatic adjustment and unlocking device based on the posture of a battery swapping vehicle according to claim 1, characterized in that, In step S1, the position of the vehicle tires is acquired from the positioning sensors in the centering device of the electric vehicle battery swapping station. After the vehicle stops on the parking platform in the battery swapping station, the centering device clamps the tires of the vehicle. By collecting sensor data in the centering device, the position information of the vehicle tires is obtained.

3. The method for an automatic adjustment and unlocking device based on the posture of a battery swapping vehicle according to claim 2, characterized in that, In step S1, the detection of vehicle attitude includes multiple methods: Method 1: The vehicle posture sensing unit (1) establishes a connection with the acceleration sensor and magnetic field sensor provided by the vehicle itself, and obtains the horizontal x and y offset angles of the vehicle in steady state in real time. Method 2: The distance sensor built into the vehicle posture perception unit (1) is used to detect the distance to the vehicle chassis. The steady-state distance is then used to calculate the horizontal x and y offset angles after steady state based on the cosine theorem.

4. The method for an automatic adjustment and unlocking device based on the posture of a battery swapping vehicle according to claim 1, characterized in that, In step S2, in addition to using the position information of any one of the vehicle's tires as the origin coordinates of the spatial vector coordinate system, the establishment of the three-dimensional model of the spatial vector also requires receiving the horizontal x and y deviation angles and the position information of the vehicle's tires from the vehicle posture perception unit (1), and combining the configured lock hole position, the length, width and height data of the battery pack itself, and the default position data of the unlocking and locking device of the battery replacement mechanism.

5. A method for an automatic adjustment and unlocking device for the posture of a battery-swapping vehicle according to claim 1, characterized in that, Step S3 further includes the following steps: S4, during the process of the battery swapping mechanism locking and unlocking device being moved by the execution unit (3), the spatial vector three-dimensional coordinates of the locking and unlocking device are collected in real time by the feedback unit (4), and the coordinates of the model are determined in real time based on the origin of the spatial vector three-dimensional model generated in the vector model unit (2) to ensure that the coordinates of the moving coordinates are accurate during the process of the execution unit (3) moving the battery swapping mechanism locking and unlocking device.

6. A system for executing the method of the automatic posture adjustment and unlocking device based on any one of claims 1-5 of a battery swapping vehicle, characterized in that, include, Vehicle posture sensing unit (1), the vehicle posture sensing unit (1) is used for data acquisition, the acquired data includes the position of the vehicle tires and the posture of the vehicle, the posture of the vehicle is the offset angle of the vehicle in the horizontal x and y directions after the vehicle is in steady state. Vector model unit (2), the vector model unit (2) is used to draw the spatial vector three-dimensional model of the vehicle battery pack, battery lock hole, extension line of the battery lock hole toward the battery replacement mechanism and unlocking device, battery replacement system and lock head based on the position information of any tire of the vehicle as the origin coordinate of the spatial vector coordinate system, and output the coordinates of the intersection point of the extension line of the lock hole and the vertical direction of the battery replacement mechanism based on the model. The execution unit (3) receives the coordinates and uses the unlocking and unlocking device of the battery replacement mechanism to adjust its position according to the obtained offset angles in the x and y directions of the vehicle steady state. After adjusting the angle to match the horizontal x and y deflection angles of the vehicle in a steady state, control the battery swapping mechanism's locking and unlocking device to move to the coordinates of the intersection of the lock hole extension line and the vertical direction of the battery swapping mechanism. Finally, the locking and unlocking device of the battery swapping mechanism translates along the extension line toward the battery pack lock hole until the lock head of the locking and unlocking device of the battery swapping mechanism coincides with the battery pack lock hole. Feedback unit (4) is used to collect the spatial vector three-dimensional coordinates of the unlocking device in real time and to determine whether the moving coordinate point has an offset in real time.

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