Vehicle posture leveling control system and method

Abstract

The present application relates to a kind of vehicle posture leveling control system and method, belong to new energy automobile field.The system includes PLC control module, touch screen, vehicle centering mechanism, locking and unlocking mechanism, vehicle leveling distance measuring mechanism and vehicle independent lifting mechanism;The PLC control module is used to process the data of vehicle centering mechanism, locking and unlocking mechanism, vehicle leveling distance measuring mechanism and vehicle independent lifting mechanism and to issue action command to it.The present application is leveled by four wheel independent lifting mechanism and the distance measuring mechanism of four corners on RGV to vehicle posture, after leveling, it can cope with the light truck inclined in each direction of front, back, left and right, avoid the failure rate of battery swapping caused by vehicle posture problem in battery swapping process, improve battery swapping stability and battery swapping efficiency, reduce operation and maintenance cost.

Description

Technical Field

[0001] This invention belongs to the field of new energy vehicles and relates to a vehicle posture correction control system and method. Background Technology

[0002] Currently, battery swapping has become an important way to shorten the refueling time of new energy vehicles. Battery swapping station equipment consists of a battery swapping rotating platform, a vehicle lifting mechanism, an unlocking module, a stacker crane, and a battery pack charging compartment. The battery swapping process is completed through the cooperation of these parts. However, differences in tire pressure among the four tires, and variations in vehicle posture due to idling or full load, can affect the battery swapping effect, impacting the operator's service performance and posing safety risks to users. Patent application CN202110592079.1 discloses a vehicle leveling method that controls the lifting mechanism to level the vehicle based on the timing of receiving a first and second leveling signal. This solves the problem of unevenness between the vehicle chassis and the battery swapping platform during the swapping process, improving the success rate and efficiency of battery swapping. However, this patent is limited to leveling vehicles with front-to-back tilts and cannot effectively handle situations with lateral tilts. Summary of the Invention

[0003] In view of this, the purpose of this invention is to provide a vehicle attitude leveling control system and method. If the vehicle attitude is not leveled before battery swapping, there will be certain battery swapping stability problems. This invention adopts a four-wheel independent lifting mechanism and uses distance measuring mechanisms set at the four corners of the RGV to measure the height difference of the vehicle frame to identify the vehicle attitude for leveling. This avoids the battery swapping stability problems caused by the vehicle attitude not being leveled, improves the stability of the equipment, and reduces the battery swapping failure rate.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] A vehicle attitude leveling control system includes a PLC control module, a touch screen, a vehicle centering mechanism, an unlocking mechanism, four vehicle leveling and distance measuring mechanisms, and four independent vehicle lifting mechanisms.

[0006] The vehicle centering mechanism performs centering processing on parked vehicles and uploads the centering data results to the PLC control module.

[0007] Among them, the centering data result is that the centering mechanism has completed its action process, and both the arrival signal and the condition are TRUE;

[0008] The vehicle leveling and ranging mechanism acquires vehicle height difference data, determines whether the four independent vehicle lifting mechanisms adopt the preliminary leveling step or the normal leveling step, and uploads the ranging data results to the PLC control module.

[0009] Among them, the height difference data are the distances from the four vehicle leveling and distance measuring mechanisms to the bottom body frame of the vehicle;

[0010] The vehicle independent lifting mechanism uses the height difference data obtained by the vehicle leveling and ranging mechanism to level the vehicle posture and uploads the leveled vehicle height result to the PLC control module.

[0011] After the vehicle leveling and distance measuring mechanism and the vehicle independent lifting mechanism have leveled the vehicle's posture, the unlocking mechanism performs the unlocking action on the vehicle and uploads the unlocking result to the PLC control module.

[0012] Once the vehicle's attitude is leveled, unlocking is performed. After unlocking, the depleted battery is placed on the buffer rack, and the stacker crane transports the fully charged battery to the RGV and locks it.

[0013] The touchscreen displays the vehicle height after the vehicle posture has been leveled by the PLC control module.

[0014] Among them, the vehicle attitude includes the real-time monitoring values ​​of four vehicle ranging mechanisms and the real-time coordinate values ​​of four independent vehicle lifting mechanisms.

[0015] The PLC control module is used to process data from the vehicle centering mechanism, the unlocking mechanism, the vehicle leveling and distance measuring mechanism, and the vehicle independent lifting mechanism, and to issue action commands to them.

[0016] Optionally, based on the vehicle height difference data obtained by the vehicle leveling and ranging mechanism, if the current vehicle does not meet the vehicle attitude leveling conditions, an alarm will be triggered.

[0017] Optionally, the current vehicle does not meet the vehicle attitude leveling condition as follows:

[0018] Four vehicle leveling and ranging mechanisms obtain ranging values. The minimum and second minimum values ​​are the vehicle's diagonal angles. If the vehicle's diagonal angles are left front and right rear, or right front and left rear, it indicates that the vehicle frame is deformed. The alarm data is then uploaded to the PLC control module to trigger an alarm.

[0019] Optionally, the normal leveling step is as follows: take the minimum and second minimum values ​​of the vehicle leveling distance measuring mechanism. The farther the vehicle is from the vehicle leveling distance measuring mechanism, the smaller the value. The corresponding vehicle independent lifting mechanism descends. Monitor the value of the vehicle leveling distance measuring mechanism. When the maximum value - minimum value ≤ set value, the corresponding vehicle independent lifting mechanism stops descending, and the vehicle attitude leveling is completed.

[0020] The preliminary leveling step is as follows: raise the independent lifting mechanism of the vehicle on the left or right side where data exists, monitor the value of the vehicle leveling distance measuring mechanism on the other side where no data exists, and when the value of the vehicle leveling distance measuring mechanism is less than or equal to the set value, the independent lifting mechanism of the corresponding vehicle stops rising and the normal leveling step is started.

[0021] A vehicle attitude leveling control method, wherein the vehicle centering mechanism performs centering processing on the parked vehicle and uploads the centering data results to the PLC control module;

[0022] Among them, the centering data result is that the centering mechanism has completed its action process, and both the arrival signal and the condition are TRUE;

[0023] The vehicle leveling and ranging mechanism acquires vehicle height difference data, determines whether the four independent vehicle lifting mechanisms should use the preliminary leveling step or the normal leveling step, and uploads the ranging data results to the PLC control module.

[0024] The vehicle independent lifting mechanism uses the height difference data obtained by the vehicle leveling and ranging mechanism to level the vehicle posture and uploads the leveled vehicle height result to the PLC control module.

[0025] Among them, the height difference data are the distances from the four vehicle leveling and distance measuring mechanisms to the bottom body frame of the vehicle;

[0026] After the vehicle leveling and distance measuring mechanism and the vehicle independent lifting mechanism have leveled the vehicle's posture, the unlocking mechanism performs the unlocking action on the vehicle and uploads the unlocking result to the PLC control module.

[0027] Once the vehicle's attitude is leveled, unlocking is performed. After unlocking, the depleted battery is placed on the buffer rack, and the stacker crane transports the fully charged battery to the RGV and locks it.

[0028] The touchscreen displays the vehicle height after the vehicle posture has been leveled and processed by the PLC control module.

[0029] Among them, the vehicle attitude includes the real-time monitoring values ​​of four vehicle ranging mechanisms and the real-time coordinate values ​​of four independent vehicle lifting mechanisms.

[0030] The PLC control module is used to process data from the vehicle centering mechanism, the unlocking mechanism, the vehicle leveling and distance measuring mechanism, and the vehicle independent lifting mechanism, and to issue action commands to them.

[0031] Four vehicle leveling and distance measuring mechanisms acquire vehicle height difference data to determine whether it is an extreme working condition.

[0032] If not, the normal leveling procedure is adopted, and the minimum and second minimum values ​​of the vehicle leveling distance measuring mechanism are taken. The farther the vehicle is from the vehicle leveling distance measuring mechanism, the smaller the value. The corresponding vehicle independent lifting mechanism descends. The value of the vehicle leveling distance measuring mechanism is monitored. When the maximum value - minimum value ≤ set value, the corresponding vehicle independent lifting mechanism stops descending, and the vehicle attitude leveling is completed.

[0033] If so, the initial leveling procedure is adopted: raise the independent lifting mechanism of the corresponding vehicle on the left or right side where data exists, monitor the value of the vehicle leveling distance measuring mechanism on the other side where no data exists, and when the value of the vehicle leveling distance measuring mechanism is less than or equal to the set value, the independent lifting mechanism of the corresponding vehicle stops rising and the normal leveling procedure is started.

[0034] Optionally, the extreme operating condition is when the vehicle tilts to a certain angle, or when the leveling and ranging mechanism on the left or right side of the vehicle cannot detect data.

[0035] The beneficial effects of this invention are as follows: by using four independent wheel lifting mechanisms and distance measuring mechanisms set at the four corners of the RGV to level the vehicle's posture before swapping the battery, it can cope with light trucks tilted in all directions, avoiding battery swapping failures caused by vehicle posture issues, improving battery swapping stability and efficiency, and reducing operation and maintenance costs.

[0036] 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

[0037] 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:

[0038] Figure 1 This is a system diagram of the present invention;

[0039] Figure 2 This is a data flow diagram of the system of the present invention;

[0040] Figure 3 This is a flowchart of the method of the present invention. Detailed Implementation

[0041] 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.

[0042] 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.

[0043] 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.

[0044] Figure 1 This is a schematic diagram of a vehicle attitude leveling control system. The system includes: a PLC control module, a touch screen, a vehicle centering mechanism, an unlocking mechanism, a vehicle leveling and distance measuring mechanism, and a vehicle independent lifting mechanism.

[0045] PLC Control Module: The PLC control module is the brain, used to process data from various functional modules of the vehicle centering mechanism, unlocking mechanism, vehicle leveling and distance measuring mechanism, and vehicle independent lifting mechanism, and to issue action commands to them.

[0046] Vehicle centering mechanism: Used to center the vehicle after it has been parked and upload the centering data to the PLC control module.

[0047] Unlocking / locking mechanism: After the vehicle leveling and distance measuring mechanism and the vehicle independent lifting mechanism have leveled the vehicle's posture, the mechanism performs unlocking / locking actions on the vehicle and uploads the unlocking / locking data results to the PLC control module.

[0048] Vehicle leveling and distance measuring mechanism: used to acquire vehicle height difference data, determine whether the four independent vehicle lifting mechanisms adopt the preliminary leveling step or the normal leveling step, and upload the distance measuring data results to the PLC control module.

[0049] Independent vehicle lifting mechanism: Used to level the vehicle's posture based on the height difference data obtained by the vehicle leveling and ranging mechanism, and upload the leveled vehicle height result to the PLC control module.

[0050] Touchscreen: The PLC control module displays the vehicle height after the vehicle posture has been leveled via the touchscreen.

[0051] like Figure 2 As shown, based on the vehicle height difference data obtained by the vehicle leveling and ranging mechanism, it is determined that the current vehicle does not meet the vehicle attitude leveling conditions, and the alarm data is sent to the alarm system. When the minimum and second minimum values ​​of the four ranging mechanisms are diagonally opposite to the vehicle (left front and right rear, or right front and left rear), it indicates that the vehicle frame is deformed. In this case, no vehicle attitude leveling processing is performed, and the alarm data is directly uploaded to the PLC control module for alarm processing through the alarm system.

[0052] Figure 3 The flowchart for vehicle attitude leveling is as follows: First, four ranging mechanisms acquire vehicle height difference data to determine if it is an extreme working condition (the vehicle tilts to a certain angle, and the left or right ranging mechanism cannot detect data). If not, the normal leveling steps are adopted, and the minimum and second minimum values ​​of the ranging mechanisms are taken (the farther the vehicle is from the ranging mechanism, the smaller the value). The corresponding independent lifting mechanism of the vehicle is lowered, and the values ​​of the ranging mechanisms are monitored in real time. When the maximum value - minimum value ≤ set value, the corresponding independent lifting mechanism of the vehicle stops lowering, and the vehicle attitude leveling is completed.

[0053] If so, the initial leveling steps are as follows: the vehicle's independent lifting mechanism rises on the side with data on the left or right, and the distance measuring mechanism on the side without data on the left or right is monitored in real time. If the value is less than or equal to the set value, the vehicle's independent lifting mechanism stops rising. Then, the normal leveling steps described above are used.

[0054] 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 vehicle attitude levelling control system characterised in that: The system includes a PLC control module, a touch screen, a vehicle centering mechanism, an unlocking mechanism, four vehicle leveling and distance measuring mechanisms, and four independent vehicle lifting mechanisms. The vehicle centering mechanism performs centering processing on parked vehicles and uploads the centering data results to the PLC control module. Among them, the centering data result is that the centering mechanism has completed its action process, and both the arrival signal and the condition are TRUE; The vehicle leveling and ranging mechanism acquires vehicle height difference data, determines whether the four independent vehicle lifting mechanisms adopt the preliminary leveling step or the normal leveling step, and uploads the ranging data results to the PLC control module. Among them, the height difference data are the distances from the four vehicle leveling and distance measuring mechanisms to the bottom body frame of the vehicle; The vehicle independent lifting mechanism uses the height difference data obtained by the vehicle leveling and ranging mechanism to level the vehicle posture and uploads the leveled vehicle height result to the PLC control module. After the vehicle leveling and distance measuring mechanism and the vehicle independent lifting mechanism have leveled the vehicle's posture, the unlocking mechanism performs the unlocking action on the vehicle and uploads the unlocking result to the PLC control module. Once the vehicle's attitude is leveled, unlocking is performed. After unlocking, the depleted battery is placed on the buffer rack, and the stacker crane transports the fully charged battery to the RGV and locks it. The touchscreen displays the vehicle height after the vehicle posture has been leveled by the PLC control module. Among them, the vehicle attitude includes the real-time monitoring values ​​of four vehicle ranging mechanisms and the real-time coordinate values ​​of four independent vehicle lifting mechanisms. The PLC control module is used to process data from the vehicle centering mechanism, the unlocking mechanism, the vehicle leveling and distance measuring mechanism, and the vehicle independent lifting mechanism, and to issue action commands to them. The normal leveling steps are as follows: take the minimum and second minimum values ​​of the vehicle leveling distance measuring mechanism. The farther the vehicle is from the vehicle leveling distance measuring mechanism, the larger the value. The corresponding vehicle independent lifting mechanism descends. Monitor the value of the vehicle leveling distance measuring mechanism. When the maximum value - minimum value ≤ set value, the corresponding vehicle independent lifting mechanism stops descending, and the vehicle attitude leveling is completed. The preliminary leveling step is as follows: raise the independent lifting mechanism of the vehicle on the left or right side where data exists, monitor the value of the vehicle leveling distance measuring mechanism on the other side where no data exists, and when the value of the vehicle leveling distance measuring mechanism is less than or equal to the set value, the independent lifting mechanism of the corresponding vehicle stops rising and the normal leveling step is started.

2. The vehicle attitude correction control system according to claim 1, characterized in that: Based on the vehicle height difference data obtained by the vehicle leveling and ranging mechanism, if the current vehicle does not meet the vehicle attitude leveling conditions, an alarm will be triggered. The current vehicle does not meet the vehicle attitude correction conditions because: Four vehicle leveling and ranging mechanisms obtain ranging values. The minimum and second minimum values ​​are the vehicle's diagonal angles. If the vehicle's diagonal angles are left front and right rear, or right front and left rear, it indicates that the vehicle frame is deformed. The alarm data is then uploaded to the PLC control module to trigger an alarm.

3. A vehicle attitude leveling control method, characterized in that: The method is as follows: the vehicle centering mechanism performs centering processing on the parked vehicle and uploads the centering data results to the PLC control module; Among them, the centering data result is that the centering mechanism has completed its action process, and both the arrival signal and the condition are TRUE; The vehicle leveling and ranging mechanism acquires vehicle height difference data, determines whether the four independent vehicle lifting mechanisms should use the preliminary leveling step or the normal leveling step, and uploads the ranging data results to the PLC control module. The vehicle independent lifting mechanism uses the height difference data obtained by the vehicle leveling and ranging mechanism to level the vehicle posture and uploads the leveled vehicle height result to the PLC control module. Among them, the height difference data are the distances from the four vehicle leveling and distance measuring mechanisms to the bottom body frame of the vehicle; After the vehicle leveling and distance measuring mechanism and the vehicle independent lifting mechanism have leveled the vehicle's posture, the unlocking mechanism performs the unlocking action on the vehicle and uploads the unlocking result to the PLC control module. Once the vehicle's attitude is leveled, unlocking is performed. After unlocking, the depleted battery is placed on the buffer rack, and the stacker crane transports the fully charged battery to the RGV and locks it. The touchscreen displays the vehicle height after the vehicle posture has been leveled and processed by the PLC control module. Among them, the vehicle attitude includes the real-time monitoring values ​​of four vehicle ranging mechanisms and the real-time coordinate values ​​of four independent vehicle lifting mechanisms. The PLC control module is used to process data from the vehicle centering mechanism, the unlocking mechanism, the vehicle leveling and distance measuring mechanism, and the vehicle independent lifting mechanism, and to issue action commands to them. Four vehicle leveling and distance measuring mechanisms acquire vehicle height difference data to determine whether it is an extreme working condition; the extreme working condition is when the vehicle tilts to a certain angle, or the vehicle leveling and distance measuring mechanism on the left or right cannot detect data. If not, the normal leveling procedure is adopted, and the minimum and second minimum values ​​of the vehicle leveling distance measuring mechanism are taken. The farther the vehicle is from the vehicle leveling distance measuring mechanism, the larger the value. The corresponding vehicle independent lifting mechanism descends. The value of the vehicle leveling distance measuring mechanism is monitored. When the maximum value - minimum value ≤ set value, the corresponding vehicle independent lifting mechanism stops descending, and the vehicle attitude leveling is completed. If so, the initial leveling procedure is adopted: raise the independent lifting mechanism of the corresponding vehicle on the left or right side where data exists, monitor the value of the vehicle leveling distance measuring mechanism on the other side where no data exists, and when the value of the vehicle leveling distance measuring mechanism is less than or equal to the set value, the independent lifting mechanism of the corresponding vehicle stops rising and the normal leveling procedure is started.

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