Vehicle positioning method and device for battery swap station, storage medium and battery swap station

Abstract

The invention provides a battery swap station vehicle positioning method and device, a storage medium and a battery swap station. The vehicle positioning method comprises the steps of obtaining a first distance between a battery of a vehicle entering a station and a front axle in a first direction and a second distance between the center of a front wheel and the center of a positioning rod in the first direction when the positioning rod makes contact with the front wheel of the vehicle, the third distance between the center of the current position of the positioning rod and the groove wall of the battery replacing groove in the first direction and the safety distance between the battery and the groove wall of the battery replacing groove are set; determining a to-be-moved distance value of the positioning rod according to the first distance, the second distance, the third distance and the safe distance; controlling the positioning rod to move along the first direction by a to-be-moved distance value; the vehicle is controlled to move in the first direction and make contact with the positioning rod. Parking positions of vehicles of different models can be controlled, and replacement of batteries is facilitated.

Description

Technical Field

[0001] The present application relates to the field of batteries, and in particular to a vehicle positioning method, device, storage medium and battery swap station for a battery swap station. Background Art

[0002] Energy conservation and emission reduction are the key to the sustainable development of the automobile industry. Electric vehicles have become an important part of the sustainable development of the automobile industry due to their advantages in energy conservation and environmental protection. For electric vehicles, battery technology is an important factor in their development.

[0003] In the related art, due to the inadequate positioning method of the battery swap station, it is difficult to control the stopping position of vehicles of different models after entering the battery swap station, which is not conducive to battery replacement. Summary of the invention

[0004] In view of the above problems, the present application provides a vehicle positioning method, device, storage medium and battery swap station for a battery swap station. The vehicle positioning method for the battery swap station can meet the parking position control requirements of vehicles of different models, which is conducive to battery replacement.

[0005] In a first aspect, the present application provides a vehicle positioning method for a battery swap station, the battery swap station comprising a battery swap tank and a positioning device, the positioning device comprising a positioning rod, and the vehicle positioning method comprising:

[0006] Obtain the first distance between the battery of the incoming vehicle and the front axle in the first direction, the second distance between the center of the front wheel and the center of the positioning rod in the first direction when the positioning rod contacts the front wheel of the vehicle, the third distance between the current position center of the positioning rod and the wall of the battery swap slot in the first direction, and the safety distance between the battery and the wall of the battery swap slot;

[0007] Determine the distance the positioning rod needs to move according to the first distance, the second distance, the third distance and the safety distance;

[0008] Control the positioning rod to move along the first direction by a distance to be moved;

[0009] The vehicle is controlled to move along a first direction and contact the positioning rod.

[0010] The vehicle positioning method of the battery swap station provided in the embodiment of the present application obtains the first distance between the battery of the vehicle entering the station and the front axle in the first direction, the second distance between the center of the front wheel and the center of the positioning rod in the first direction when the positioning rod contacts the front wheel of the vehicle, the third distance between the center of the current position of the positioning rod and the wall of the battery swap slot in the first direction, and the safety distance between the battery and the wall of the battery swap slot, and determines the distance value of the positioning rod to be moved according to the first distance, the second distance, the third distance and the safety distance, and then moves the positioning rod according to the moving distance, so that the vehicle contacts the positioning rod after entering the station, and the positioning of any model of vehicle can be achieved, and the vehicle can be guided to the desired position. It is convenient for battery replacement, avoids collision between the battery and the wall of the battery swap slot due to the vehicle not being in place or exceeding the predetermined position, and improves safety performance.

[0011] In some embodiments, the step of determining the distance the positioning rod is to be moved according to the first distance, the second distance, the third distance and the safety distance includes:

[0012] Determine, based on the first distance and the safety distance, a fourth distance between the center of the front wheel and the wall of the battery swap slot in the first direction when the vehicle moves in the first direction and contacts the positioning rod;

[0013] The value of the distance to be moved is determined according to the second distance, the third distance, and the fourth distance.

[0014] The vehicle positioning method provided in the embodiment of the present application can reduce the difficulty of determining the distance to be moved while ensuring its accurate performance by first obtaining the fourth distance and then determining the distance to be moved of the positioning rod based on the fourth distance, the second distance and the third distance.

[0015] In some embodiments, the first distance, the safety distance, and the fourth distance satisfy the formula: L4=L1-Q;

[0016] The second distance, the third distance, the fourth distance and the distance to be moved satisfy the formula: W = L3-L2-L4;

[0017] Among them, L1 is the first distance, L2 is the second distance, L3 is the third distance, L4 is the fourth distance, Q is the safety distance, and W is the distance to be moved.

[0018] The vehicle positioning method provided in the embodiment of the present application, through the above-mentioned setting, when a vehicle enters, the first distance and the safety distance are directly input into the formula model to obtain the fourth distance, and the fourth distance, the second distance and the third distance are input into the corresponding formula model to obtain the value of the distance to be moved, thereby ensuring the movement of the positioning rod and the stopping position of the incoming vehicle, with a fast reaction speed, which is conducive to the control of the positioning rod.

[0019] In some embodiments, the safety distance ranges from 50 mm to 100 mm.

[0020] In the vehicle positioning method provided in the embodiment of the present application, the safety distance adopts the above numerical range, so that when the vehicle enters the station and the battery is disassembled and assembled, the probability of collision and friction with the wall of the battery exchange slot is reduced. At the same time, this setting method can facilitate the disassembly and replacement of the vehicle's battery.

[0021] In some embodiments, the battery swap station also includes a storage slot, and the positioning method also includes, before the vehicle leaves the battery swap station, controlling the positioning rod to move along a first direction away from the battery swap slot and be stored in the storage slot to avoid the vehicle.

[0022] The vehicle positioning method provided in the embodiment of the present application makes the battery swap station also include a storage slot, and the positioning method also controls the positioning rod to move along a first direction away from the battery swap slot and be stored in the storage slot before the vehicle leaves the battery swap station, thereby avoiding the vehicle from being blocked by the blocking rod after the battery is replaced and preventing it from leaving the battery swap station.

[0023] In a second aspect, the present application provides a vehicle positioning device for a battery swap station, comprising: a processor and a memory storing computer program instructions;

[0024] The processor implements the above-mentioned vehicle positioning method when executing the computer program instructions.

[0025] In a third aspect, the present application provides a computer-readable storage medium having computer program instructions stored thereon, and when the computer program instructions are executed by a processor, the above-mentioned vehicle positioning method for a battery swap station is implemented.

[0026] In a fourth aspect, the present application provides a battery swap station, including:

[0027] Battery replacement slot;

[0028] A positioning device is arranged on one side of the battery replacement slot in the first direction, and the positioning device includes a positioning rod;

[0029] A control module, the control module is used to execute the vehicle positioning method as claimed in any one of claims 1 to 5.

[0030] The battery swap station provided in the embodiment of the present application includes a battery swap slot, a positioning device and a control module. The battery swap slot is used to be arranged relative to the battery area of ​​the vehicle. The positioning device can provide a positioning block for the vehicle after entering the station, and the control module can obtain the first distance between the battery of the vehicle entering the station and the front axle in the first direction, the second distance between the center of the front wheel and the center of the positioning rod in the first direction when the positioning rod contacts the front wheel of the vehicle, the third distance between the current position center of the positioning rod and the slot wall of the battery swap slot in the first direction, and the safety distance between the battery and the slot wall of the battery swap slot, and determine the distance value of the positioning rod to be moved according to the first distance, the second distance, the third distance and the safety distance, and then move the positioning rod according to the moving distance, so that the vehicle contacts the positioning rod after entering the station, and the positioning of any model of vehicle can be achieved, and the vehicle can be guided to the desired position. It is convenient for battery replacement, avoids collision between the battery and the slot wall of the battery swap slot due to the vehicle not being in place or exceeding the predetermined position, and improves safety performance.

[0031] In some embodiments, the positioning device also includes a driving component and a transmission component. The driving component is electrically connected to the control module, the positioning rod is arranged on the transmission component, and the control module is configured to control the driving component according to the distance value to be moved so that the positioning rod moves the distance value to be moved along the first direction.

[0032] The battery swap station provided in the embodiment of the present application, by making the positioning device also include a driving component and a transmission component, and limiting the control module to be configured to control the driving component according to the value of the distance to be moved, can accurately control the distance of the positioning rod to be moved according to the control signal of the control module, so that after the vehicle enters the station and contacts the positioning rod and stops running, its battery can reach the corresponding position of the battery swap slot and maintain a safe distance range from the slot wall of the battery swap slot. Different models can be guided to the desired position, which is convenient for battery replacement.

[0033] In some embodiments, the transmission component includes a driving wheel, a transmission wheel and a traction member, the driving wheel and the transmission wheel are matched through the traction member, the positioning rod is arranged on the traction member, and the driving component is connected to the driving wheel.

[0034] In the battery swap station provided in the embodiment of the present application, the transmission component adopts the above-mentioned structural form, so that the driving component can drive the corresponding driving wheel to rotate, so that the driving wheel drives the traction member to move, and then can drive the positioning rod connected to the traction member to move, so as to ensure the position adjustment requirement of the positioning rod in the first direction. And this form can improve the accuracy of the positioning rod position adjustment and ensure the traction requirement of the vehicle at the required position.

[0035] In some embodiments, the traction member includes one of a transmission belt and a transmission chain, and the transmission member further includes an adapter plate, which is disposed on the traction member, and the positioning rod is detachably connected to the adapter plate.

[0036] The battery swap station provided in the embodiment of the present application adopts the above-mentioned structural form of the traction parts, which can not only ensure the transmission coordination requirements between the driving wheel and the transmission wheel, but also the setting of the adapter plate and the detachable connection with the positioning rod are convenient for the disassembly and assembly of the positioning rod. When the positioning rod is worn, it can be repaired or replaced in time.

[0037] In some embodiments, the two ends of the positioning rod in the second direction are respectively connected with matching driving components and transmission components, and the second direction is arranged to intersect with the first direction.

[0038] The battery swap station provided in the embodiment of the present application has a long positioning rod. By connecting the two ends of the positioning rod in the second direction with a driving component and a transmission component respectively, it is possible to provide support for the two ends of the positioning rod in its own length direction, and at the same time, the positioning rod can be synchronously driven to move along the first direction, thereby ensuring the smoothness of the positioning rod position adjustment.

[0039] In some embodiments, the battery swap station further includes a receiving groove, which is disposed on a side of the positioning device away from the battery swap groove in the first direction, and the shape of the receiving groove matches the shape of the positioning rod and is used to receive the positioning rod.

[0040] The battery swap station provided in the embodiment of the present application is capable of avoiding the vehicle by making the battery swap station also include a storage slot, and the positioning method also includes controlling the positioning rod to move along a first direction away from the battery swap slot and be stored in the storage slot before the vehicle leaves the battery swap station, thereby preventing the vehicle from being blocked by the blocking rod after the battery is replaced and being unable to leave the battery swap station.

[0041] In some embodiments, the positioning device further includes a sensor disposed on the positioning rod, the sensor being configured to detect a pressure value received by the positioning rod, and the control module being further configured to send an alarm signal when the pressure value exceeds a preset threshold range.

[0042] The battery swap station provided in the embodiment of the present application is provided with a sensor, and the sensor is configured to detect the pressure value received by the positioning rod, and the control module is also configured to send an alarm signal when the pressure value exceeds the preset threshold range. It can ensure that when the vehicle stops running after entering the station by positioning the positioning rod, the probability of the positioning rod being broken due to driving past the predetermined position can be avoided, which can not only ensure the accuracy of the vehicle reaching the predetermined position after entering the station, but also improve the overall safety of the battery swap station.

[0043] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0045] Figure 1 is a structural schematic diagram of a vehicle provided by an embodiment of the present application;

[0046] Figure 2 is a schematic diagram of the structure of a battery provided in one embodiment of the present application;

[0047] Figure 3 It is a flow chart of a vehicle positioning method of a battery swap station according to an embodiment of the present invention;

[0048] Figure 4 It is a structural principle diagram corresponding to the vehicle positioning method of the battery swap station provided in one embodiment of the present application;

[0049] Figure 5 It is a structural schematic diagram of a vehicle positioning device of a battery swap station provided in an embodiment of the present application;

[0050] Figure 6 is a structural schematic diagram of a battery swap station in a state provided by an embodiment of the present application;

[0051] Figure 7 It is a structural schematic diagram of a battery swap station in another state provided by an embodiment of the present application.

[0052] The reference numerals in the specific implementation manner are as follows:

[0053] 1000-battery exchange station;

[0054] 10-battery replacement slot; 11-slot wall;

[0055] 20-positioning device; 21-positioning rod; 22-driving component; 23-transmission component; 231-driving wheel; 232-transmission wheel; 233-traction member; 234-adapter plate;

[0056] 30-storage slot; 40-sensor;

[0057] 1- Vehicle;

[0058] 100-battery; 110-box; 110a-first box part; 110b-second box part; 120-battery; 200-controller; 300-motor; 400-front axle; 500-front wheel;

[0059] L1-first distance; L2-second distance; L3-third distance; L4-fourth distance; Q-safety distance; W-distance to be moved;

[0060] X-first direction; Y-second direction;

[0061] 501 - memory; 502 - processor; 503 - communication interface; 504 - bus. DETAILED DESCRIPTION

[0062] The following embodiments of the technical solution of the present application will be described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0063] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in the embodiments of the present application should have the common meanings understood by technicians in the field to which the embodiments of the present application belong.

[0064] In the description of the embodiments of the present application, the orientations or positional relationships indicated by technical terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", and "circumferential" are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.

[0065] In addition, the technical terms "first", "second", etc. are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0066] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0067] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0068] With the development of new energy technologies, the number of devices using batteries has increased. When the power of electrical equipment runs out, it is often supplemented by connecting to charging equipment. For example, electric vehicles can be connected to charging piles for charging. Charging takes a long time and affects the user experience. Compared with charging, replacing batteries can replenish power faster. When replacing batteries, the electrical equipment needs to be moved to the battery swap station and the battery needs to be disassembled in the corresponding area to achieve fast battery replacement.

[0069] The electrical equipment mentioned in the embodiments of the present application may be a vehicle. The vehicle may be a fuel vehicle, a gas vehicle or a new energy vehicle, and the new energy vehicle may be a pure electric vehicle, a hybrid vehicle or an extended-range vehicle.

[0070] The following description will be made by taking a vehicle as an example of an electrical equipment.

[0071] like Figure 1 As shown, the vehicle 1 is provided with a battery 100, and the battery 100 may be provided at the bottom, head, or tail of the vehicle 1. The battery 100 may be used for powering the vehicle 1, for example, the battery 100 may be used as an operating power source for the vehicle 1.

[0072] The vehicle 1 may also include a controller 200, a motor 300, a front axle 400, and a front wheel 500 connected to the front axle 400. The controller 200 is used to control the battery 100 to supply power to the motor 300, for example, for starting, navigating, and driving the vehicle 1 to meet operating power requirements.

[0073] In some embodiments of the present application, the battery 100 can not only serve as an operating power source for the vehicle 1, but also serve as a driving power source for the vehicle 1, replacing or partially replacing fuel or natural gas to provide driving power for the vehicle 1.

[0074] In some embodiments, the battery 100 can be snap-connected to the chassis of the vehicle 1 via a snap-fit ​​structure.

[0075] like Figure 2 As shown, the battery 100 may refer to a single physical module including one or more battery cells 110 to provide higher voltage and capacity.

[0076] In some embodiments, the battery 100 may be a battery pack.

[0077] As an example, the battery 100 includes a case 110 and a battery cell 120 , and the battery cell 120 is accommodated in the case 110 .

[0078] The case 110 may be a component for accommodating the battery cells 120. The case 110 provides an accommodating space for the battery cells 120, and the case 110 may adopt various structures.

[0079] In some embodiments, the box 110 may include a first box portion 110a and a second box portion 110b, the first box portion 110a and the second box portion 110b cover each other, and the first box portion 110a and the second box portion 110b together define a storage space for accommodating the battery cell 120. The second box portion 110b may be a hollow structure with one end open, the first box portion 110a is a plate-shaped structure, and the first box portion 110a covers the open side of the second box portion 110b to form the box 110 with a storage space; the first box portion 110a and the second box portion 110b may also be a hollow structure with one side open, and the open side of the first box portion 110a covers the open side of the second box portion 110b to form the box 110 with a storage space. Of course, the first box portion 110a and the second box portion 110b may be in a variety of shapes, such as a cylinder, a cuboid, etc.

[0080] Assuming that the first box body portion 110 a covers the top of the second box body portion 110 b , the first box body portion 110 a may also be referred to as an upper box cover, and the second box body portion 110 b may also be referred to as a lower box body 110 .

[0081] In the battery 100 , there may be one or more battery cells 120 . If there are more than one battery cells 120 , the battery cells 120 may be connected in series, in parallel, or in mixed connection. Mixed connection means that the battery cells 120 may be connected in series or in parallel.

[0082] Multiple battery cells 120 can be directly connected in series, in parallel, or mixed together, and then the whole formed by the multiple battery cells 120 can be accommodated in the box 110; of course, multiple battery cells 120 can also be connected in series, in parallel, or mixed together to form a battery module, and then the multiple battery modules can be connected in series, in parallel, or mixed together to form a whole and accommodated in the box 110.

[0083] The existing battery swap stations cannot reasonably arrange the various types of vehicles and fix them in the desired positions when vehicles of different sizes enter the battery swap stations, which makes it inconvenient to disassemble and replace the battery 100.

[0084] In view of this, the embodiments of the present application provide a vehicle positioning method, device, storage medium and battery swap station for a battery swap station, which can meet the parking position control requirements of vehicles of different models and facilitate the replacement of the battery 100.

[0085] like Figure 3 as well as Figure 4 As shown, the vehicle positioning method of the battery swap station provided in the embodiment of the present application is used in the battery swap station 1000, the battery swap station 1000 includes a battery swap slot 10 and a positioning device 20, the positioning device 20 includes a positioning rod 21, and the positioning method includes:

[0086] S100, obtaining the first distance L1 between the battery 100 of the incoming vehicle 1 and the front axle 400 in the first direction X, the second distance L2 between the center of the front wheel 500 and the center of the positioning rod 21 in the first direction X when the positioning rod 21 contacts the front wheel 500 of the vehicle 1, the third distance L3 between the current position center of the positioning rod 21 and the slot wall 11 of the battery swap slot 10 in the first direction X, and the safety distance Q between the battery 100 and the slot wall 11 of the battery swap slot 10;

[0087] S200, determining a distance value W to be moved of the positioning rod 21 according to the first distance L1, the second distance L2, the third distance L3 and the safety distance Q;

[0088] S300, controlling the positioning rod 21 to move along the first direction X by a distance W to be moved;

[0089] S400 , controlling the vehicle 1 to move along the first direction X and to contact the positioning rod 21 .

[0090] In step S100, the first distance L1 between the battery 100 and the front axle 400 of the vehicle 1 entering the battery swap station 1000 in the first direction X is known data based on the model of the vehicle 1. The first distance L1 can be understood as the distance between the battery 100 of the vehicle 1 and the front axle 400 of the vehicle 1, and can be the vertical distance between the end face of the battery 100 facing the front axle 400 and the axis of the front axle 400 in the first direction X.

[0091] The radial dimension of the front wheel 500 of the vehicle 1 entering the station is obtained according to the vehicle type of the vehicle 1 entering the station, and is known, and the distance from the center of the positioning rod 21 to its outer peripheral surface can be obtained in advance. The positioning rod 21 can be cylindrical, and the distance from the center of the positioning rod 21 to its outer peripheral surface can be understood as the radial dimension of the positioning rod 21, so that the second distance L2 can be obtained.

[0092] The current position of the positioning rod 21 can be obtained by a controller that controls its movement, that is, the third distance L3 can be determined according to the current position of the positioning rod 21 .

[0093] The safety distance Q may be a preset constant value. Regardless of the vehicle model, the safety distance Q needs to be maintained between the battery 100 and the slot wall 11 of the battery swap slot 10.

[0094] The slot wall 11 of the battery swap slot 10 can be understood as the wall surface close to the side where the positioning rod 21 is located in the first direction X.

[0095] In step S200, the distance between the center of the front wheel 500 and the groove wall 11 of the battery swap groove 10 in the first direction X can be obtained based on the first distance L1 and the safety distance Q, and then the distance W to be moved by the positioning rod 21 can be determined based on the difference between the third distance L3 and the distance between the center of the front wheel 500 and the groove wall 11 of the battery swap groove 10 in the first direction X and the second distance L2.

[0096] In step S300, the positioning rod 21 can be moved by manual control, or can be driven by a driving device, for example, by controlling its movement through a driving device such as a driving motor, a telescopic cylinder, or the like.

[0097] In step S400, the vehicle 1 is controlled to move along the first direction X and contact the positioning rod 21 before the vehicle 1 stops. At this time, the distance between the battery of the vehicle 1 and the slot wall 11 of the battery swap slot 10 is a safe distance Q.

[0098] The vehicle 1 positioning method of the battery swap station 1000 provided in the embodiment of the present application obtains the first distance L1 between the battery 100 of the vehicle 1 entering the station and the front axle 400 in the first direction X, the second distance L2 between the center of the front wheel 500 and the center of the positioning rod 21 in the first direction X when the positioning rod 21 contacts the front wheel 500 of the vehicle 1, the third distance L3 between the current position center of the positioning rod 21 and the slot wall 11 of the battery swap slot 10 in the first direction X, and the safety distance Q between the battery 100 and the slot wall 11 of the battery swap slot 10, and determines the distance value W to be moved of the positioning rod 21 according to the first distance L1, the second distance L2, the third distance L3 and the safety distance Q, and then moves the positioning rod 21 according to the moving distance, so that the vehicle 1 contacts the positioning rod 21 after entering the station, so as to achieve the positioning of any model of vehicle 1 and guide the vehicle 1 to the desired position. It is convenient to replace the battery 100, avoid the collision between the battery 100 and the slot wall 11 of the battery swap slot 10 due to the vehicle 1 not being in place or exceeding the predetermined position, and improve the safety performance.

[0099] In some optional embodiments, the vehicle 1 positioning method of the battery swap station 1000 provided in the embodiment of the present application, step S200, determining the distance value W to be moved of the positioning rod 21 according to the first distance L1, the second distance L2, the third distance L3 and the safety distance Q may specifically include:

[0100] According to the first distance L1 and the safety distance Q, when the vehicle 1 moves along the first direction X and contacts the positioning rod 21, the center of the front wheel 500 is at a fourth distance L4 from the slot wall 11 of the battery swap slot 10 in the first direction X.

[0101] The distance value W to be moved is determined according to the second distance L2, the third distance L3 and the fourth distance L4.

[0102] The fourth distance L4 between the center of the front wheel 500 and the slot wall 11 of the battery swap slot 10 in the first direction X can be understood as the distance between the wall surface of the slot wall 11 of the battery swap slot 10 close to the side of the positioning rod 21 in the first direction X and the center of the front wheel 500 in the first direction X.

[0103] The fourth distance L4 can be obtained by the difference between the first distance L1 and the safety distance Q.

[0104] The vehicle 1 positioning method provided in the embodiment of the present application can reduce the difficulty of determining the distance value W to be moved by first obtaining the fourth distance L4, and then determining the distance value W to be moved of the positioning rod 21 according to the fourth distance L4, the second distance L2 and the third distance L3, while ensuring its accurate performance.

[0105] In some optional embodiments, in the vehicle 1 positioning method provided in the embodiments of the present application, the first distance L1, the safety distance Q and the fourth distance L4 satisfy the formula: L4=L1-Q.

[0106] The second distance L2, the third distance L3, the fourth distance L4 and the distance to be moved value W satisfy the formula: W=L3-L2-L4.

[0107] Among them, L1 is the first distance L1, L2 is the second distance L2; L3 is the third distance L3, L4 is the fourth distance L4, Q is the safety distance Q, and W is the distance value W to be moved.

[0108] The vehicle 1 positioning method provided in the embodiment of the present application, through the above-mentioned setting, when a vehicle 1 enters, the first distance L1 and the safety distance Q are directly input into the formula model to obtain the fourth distance L4, and the fourth distance L4, the second distance L2 and the third distance L3 are input into the corresponding formula model to obtain the distance value W to be moved, thereby ensuring the movement of the positioning rod 21 and the stopping position of the incoming vehicle 1, with a fast reaction speed, which is conducive to the control of the positioning rod 21.

[0109] In some optional embodiments, in the vehicle 1 positioning method provided in the embodiments of the present application, the value range of the safety distance Q is 50mm-100mm.

[0110] The safety distance Q can be any value between 50 mm and 100 mm, including the two end values ​​of 50 mm and 100 mm. It can be any value between 60 mm and 90 mm, including 70 mm, 80 mm, etc.

[0111] In the vehicle 1 positioning method provided in the embodiment of the present application, the safety distance Q adopts the above numerical range, so that when the battery is disassembled and assembled after the vehicle 1 enters the station, the probability of collision and friction with the slot wall 11 of the battery swap slot 10 is reduced. At the same time, this setting method can facilitate the disassembly and replacement of the battery of the vehicle 1.

[0112] In some optional embodiments, the vehicle 1 positioning method provided in the embodiments of the present application, the battery swap station 1000 also includes a storage slot 30, and the positioning method also includes, before the vehicle 1 leaves the battery swap station 1000, controlling the positioning rod 21 to move along the first direction X in a direction away from the battery swap slot 10 and be stored in the storage slot 30 to avoid the vehicle 1.

[0113] The shape of the receiving groove 30 may match the shape of the positioning rod 21 and be used to accommodate the positioning rod 21 . Of course, the size of the receiving groove 30 may also be larger than the size of the positioning rod 21 to ensure that the positioning rod 21 can be accommodated.

[0114] The receiving groove 30 may be provided in a supporting area for supporting the positioning rod 21 , and a groove may be provided in the supporting area to form the receiving groove 30 mentioned above.

[0115] The vehicle 1 positioning method provided in the embodiment of the present application makes the battery swap station 1000 also include a storage slot 30, and the positioning method also includes controlling the positioning rod 21 to move along the first direction X away from the battery swap slot 10 and be stored in the storage slot 30 before the vehicle 1 leaves the battery swap station 1000, so as to avoid the vehicle 1 from being blocked by the positioning rod 21 after the battery is replaced and unable to leave the battery swap station 1000.

[0116] like Figure 5 As shown, the second aspect of the present application further provides a vehicle 1 positioning device for a battery swap station 1000. The positioning device includes a memory 501, a processor 502, and a computer program stored in the memory 501 and executable on the processor 502.

[0117] In some examples, the processor 502 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0118] The memory 501 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 501 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these.

[0119] The memory 501 may include a read-only memory (ROM), a random access memory (RAM), a disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Therefore, typically, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software including computer executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the model publishing method in the distributed system according to the embodiment of the present application.

[0120] The processor 502 runs a computer program corresponding to the executable program code by reading the executable program code stored in the memory 501, so as to implement the model publishing method in the distributed system in the above embodiment.

[0121] In some examples, the vehicle 1 positioning device may further include a communication interface 503 and a bus 504. The memory 501, the processor 502, and the communication interface 503 are connected via the bus 504 and communicate with each other.

[0122] The communication interface 503 is mainly used to realize the communication between the modules, devices, units and / or equipment in the embodiment of the present application. The communication interface 503 can also be used to access input devices and / or output devices.

[0123] The bus 504 includes hardware, software or both, and couples the components of the vehicle 1 positioning device to each other. For example, but not limitation, the bus 504 may include an accelerated graphics port (Accelerated Graphics Port, AGP) or other graphics bus, an enhanced industry standard architecture (Enhanced Industry Standard Architecture, EISA) bus, a front side bus (Front Side Bus, FSB), a hypertransport (Hyper Transport, HT) interconnection, an industry standard architecture (Industry Standard Architecture, ISA) bus, an infinite bandwidth interconnection, a low pin count (Low pin count, LPC) bus, a memory bus, a micro channel architecture (Micro Channel Architecture, MCA) bus, a peripheral component interconnect (Peripheral Component Interconnect, PCI) bus, a PCI-Express (PCI-E) bus, a serial advanced technology attachment (Serial Advanced Technology Attachment, SATA) bus, a video electronics standards association local (Video Electronics Standards Association Local Bus, VLB) bus or other suitable buses or a combination of two or more of these. Where appropriate, the bus 504 may include one or more buses. Although embodiments of the present application describe and illustrate a particular bus, the present application contemplates any suitable bus or interconnect.

[0124] The third aspect of the present application also provides a computer-readable storage medium, on which a computer program instruction is stored. When the computer program instruction is executed by a processor, the vehicle 1 positioning method in the above embodiment can be implemented, and the same technical effect can be achieved. To avoid repetition, it is not repeated here. Among them, the above-mentioned computer-readable storage medium may include a non-transitory computer-readable storage medium, such as a read-only memory (Read-Only Memory, referred to as ROM), a random access memory (Random Access Memory, referred to as RAM), a disk or an optical disk, etc., which is not limited here.

[0125] It should be clear that each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. For device embodiments, equipment embodiments, and computer-readable storage medium embodiments, the relevant parts can refer to the description part of the method embodiment. The present application is not limited to the specific steps and structures described above and shown in the figures. Those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application. In addition, for the sake of brevity, a detailed description of known method technologies is omitted here.

[0126] The above reference is according to the method of the embodiment of the present application, the flow chart of the device (system) and the computer program product and / or the block diagram described various aspects of the present application.It should be understood that each square box in the flow chart and / or the block diagram and the combination of each square box in the flow chart and / or the block diagram can be realized by computer program instructions.These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the realization of the function / action specified in one or more square boxes of the flow chart and / or the block diagram.Such a processor can be but is not limited to a general-purpose processor, a special-purpose processor, a special application processor or a field programmable logic circuit.It can also be understood that each square box in the block diagram and / or the flow chart and the combination of the square boxes in the block diagram and / or the flow chart can also be realized by the dedicated hardware that performs the specified function or action, or can be realized by the combination of dedicated hardware and computer instructions.

[0127] like Figure 6 as well as Figure 7 As shown, the fourth aspect of the present application further provides a battery swap station 1000, comprising a battery swap slot 10, a positioning device 20 and a control module (not shown), wherein the positioning device 20 is disposed on one side of the battery swap slot 10 in the first direction X, and the positioning device 20 comprises a positioning rod 21. The control module is used to execute the above-mentioned vehicle 1 positioning method.

[0128] The battery swap slot 10 may be an open slot formed by digging or the like in a predetermined area of ​​the battery swap station 1000. The battery swap slot 10 may be a polygonal slot, or optionally a quadrilateral slot.

[0129] The battery swap slot 10 is used to be arranged opposite to the battery of the vehicle 1 . When the vehicle 1 enters the battery swap station 1000 , the positive projection of the battery can fall exactly within the battery swap slot 10 .

[0130] The positioning device 20 is used to position the vehicle 1 so that the vehicle 1 can stop at a preset position.

[0131] The control module may be arranged in a corresponding control cabinet, etc., for executing the vehicle 1 positioning method provided in any of the above embodiments.

[0132] The battery swap station 1000 provided in the embodiment of the present application includes a battery swap slot 10, a positioning device 20 and a control module. The battery swap slot 10 is used to be arranged relative to the battery area of ​​the vehicle 1. The positioning device 20 can provide a positioning block for the vehicle 1 after entering the station, and the control module can obtain the first distance L1 between the battery 100 of the vehicle 1 entering the station and the front axle 400 in the first direction X, the second distance L2 between the center of the front wheel 500 and the center of the positioning rod 21 in the first direction X when the positioning rod 21 contacts the front wheel 500 of the vehicle 1, the third distance L3 between the current position center of the positioning rod 21 and the slot wall 11 of the battery swap slot 10 in the first direction X, and the safety distance Q between the battery 100 and the slot wall 11 of the battery swap slot 10, and determine the distance W to be moved of the positioning rod 21 according to the first distance L1, the second distance L2, the third distance L3 and the safety distance Q, and then move the positioning rod 21 according to the moving distance, so that the vehicle 1 contacts the positioning rod 21 after entering the station, so as to achieve the positioning of any model of vehicle 1 and guide the vehicle 1 to the desired position. It is convenient to replace the battery 100, and avoids the vehicle 1 from failing to reach its position or exceeding the predetermined position so as to cause a collision between the battery 100 and the slot wall 11 of the battery replacement slot 10, thereby improving safety performance.

[0133] In some optional embodiments, in the battery swap station 1000 provided in the embodiments of the present application, the positioning device 20 also includes a driving component 22 and a transmission component 23, the driving component 22 is electrically connected to the control module, the positioning rod 21 is arranged on the transmission component 23, and the control module is configured to control the driving component 22 according to the distance value W to be moved, so that the positioning rod 21 moves along the first direction X by the distance value W to be moved.

[0134] The driving component 22 includes a driving motor, a telescopic cylinder, a lead screw and a worm gear, etc. The driving component 22 can receive a control signal from the control module and drive the positioning rod 21 to move a preset distance along the first direction X according to the control signal.

[0135] The transmission component 23 includes a sprocket chain, a gear rack, a transmission wheel 232 , a transmission belt, etc., which are used to transmit the power of the driving component 22 to the positioning rod 21 .

[0136] The battery swap station 1000 provided in the embodiment of the present application, by making the positioning device 20 also include a driving component 22 and a transmission component 23, and limiting the control module to be configured to control the driving component 22 according to the distance value W to be moved, can accurately control the distance moved by the positioning rod 21 according to the control signal of the control module, so that after the vehicle 1 enters the station and contacts the positioning rod 21 and stops running, its battery can reach the corresponding position of the battery swap slot 10 and maintain a safe distance Q range from the slot wall 11 of the battery swap slot 10. Different vehicle models can be guided to the desired position, which is convenient for replacing batteries.

[0137] In some optional embodiments, in the battery swap station 1000 provided in the embodiments of the present application, the transmission component 23 includes a driving wheel 231, a transmission wheel 232 and a traction member 233, the driving wheel 231 and the transmission wheel 232 are matched through the traction member 233, the positioning rod 21 is arranged on the traction member 233, and the driving component 22 is connected to the driving wheel 231.

[0138] The driving wheel 231 includes a wheel structure such as a gear, a sprocket, and a pulley that can play a transmission role.

[0139] The transmission wheel 232 may also include a wheel structure such as a gear, a sprocket, a pulley, etc. that can play a transmission role.

[0140] The traction member 233 includes structures such as a toothed belt, a chain, and a belt to cooperate with the driving wheel 231 and the transmission wheel 232 for transmission.

[0141] The positioning rod 21 is disposed on the traction member 233 , which can be understood as the positioning rod 21 is connected to the traction member 233 , and when the driving wheel 231 drives the traction member 233 to move, the positioning rod 21 can be driven to move.

[0142] In the battery swap station 1000 provided in the embodiment of the present application, the transmission component 23 adopts the above-mentioned structural form, so that the driving component 22 can drive the corresponding driving wheel 231 to rotate, so that the driving wheel 231 drives the traction member 233 to move, and then can drive the positioning rod 21 connected to the traction member 233 to move, so as to ensure the position adjustment requirement of the positioning rod 21 in the first direction X. And this form can improve the accuracy of the position adjustment of the positioning rod 21, and ensure the traction requirement of the required position of the vehicle 1.

[0143] In some optional embodiments, in the battery swap station 1000 provided in the embodiments of the present application, the traction component 233 includes a transmission belt or a transmission chain, and the transmission component 23 also includes an adapter plate 234, which is arranged on the traction component 233, and the positioning rod 21 is detachably connected to the adapter plate 234.

[0144] The traction member 233 may include a transmission belt, which may be a flat belt, a V-belt, a toothed belt, etc., and correspondingly, the driving wheel 231 and the transmission wheel 232 may be friction wheels, pulleys, gears, etc. Of course, the traction member 233 may also include a transmission chain, and correspondingly, the driving wheel 231 and the transmission wheel 232 may be sprockets.

[0145] The adapter plate 234 can be fastened by fasteners such as bolts, or can be detachably connected to the positioning rod 21 by means of snap connection or the like.

[0146] The traction member 233 may extend along the first direction X and form a closed loop. The driving wheel 231 and the transmission wheel 232 may be distributed along the first direction X.

[0147] In the battery swap station 1000 provided in the embodiment of the present application, the traction member 233 adopts the above-mentioned structural form, which can not only ensure the transmission coordination requirements between the driving wheel 231 and the transmission wheel 232, but also the setting of the adapter plate 234 and the detachable connection with the positioning rod 21 are conducive to the disassembly and assembly of the positioning rod 21. When the positioning rod 21 is worn, it can be repaired or replaced in time.

[0148] In some optional embodiments, in the battery swap station 1000 provided in the embodiments of the present application, the positioning rod 21 is respectively connected to matching driving components 22 and transmission components 23 at both ends of the second direction Y, and the second direction Y is arranged to intersect with the first direction X.

[0149] The second direction Y and the first direction X may be perpendicular to each other.

[0150] The positioning rod 21 may extend along the second direction Y. The driving component 22 and the transmission component 23 connected to the two ends of the positioning rod 21 in the second direction Y may be symmetrically arranged.

[0151] The battery swap station 1000 provided in the embodiment of the present application has a relatively long positioning rod 21. By connecting the positioning rod 21 with a driving component 22 and a transmission component 23 at both ends of the second direction Y, the positioning rod 21 can provide support for both ends of its own length direction, and at the same time, the positioning rod 21 can be synchronously driven to move along the first direction X, thereby ensuring the smoothness of the position adjustment of the positioning rod 21.

[0152] In some optional embodiments, the battery swap station 1000 provided in the embodiments of the present application further includes a storage groove 30, which is arranged on the side of the positioning device 20 away from the battery swap groove 10 in the first direction X. The shape of the storage groove 30 matches the shape of the positioning rod 21 and is used to store the positioning rod 21.

[0153] The receiving groove 30 may be arranged in a supporting area for supporting the positioning rod 21 , and a groove may be arranged in the supporting area to form the receiving groove 30 mentioned above.

[0154] The battery swap station 1000 provided in the embodiment of the present application is capable of avoiding the vehicle 1 and preventing the vehicle 1 from being blocked by the blocking rod after the battery is replaced so that the vehicle 1 cannot leave the battery swap station 1000 by controlling the positioning rod 21 to move along the first direction X away from the battery swap slot 10 and be stored in the storage slot 30 before the vehicle 1 leaves the battery swap station 1000.

[0155] In some optional embodiments, in the battery swap station 1000 provided in the embodiments of the present application, the positioning device 20 also includes a sensor 40 arranged on the positioning rod 21, and the sensor 40 is configured to detect the pressure value received by the positioning rod 21. The control module is also configured to send an alarm signal when the pressure value exceeds a preset threshold range.

[0156] The sensor 40 includes, but is not limited to, a pressure sensor 40 or the like, which is a structure for detecting pressure.

[0157] The sensor 40 can be arranged on the side of the positioning rod 21 facing the battery replacement slot 10.

[0158] The battery swap station 1000 provided in the embodiment of the present application is provided with a sensor 40, and the sensor 40 is configured to detect the pressure value received by the positioning rod 21, and the control module is also configured to send an alarm signal when the pressure value exceeds the preset threshold range. It can ensure that when the vehicle 1 stops running after entering the station by positioning the positioning rod 21, the probability of the positioning rod 21 being broken due to driving past the predetermined position can be avoided, which can not only ensure the accuracy of the vehicle 1 reaching the predetermined position after entering the station, but also improve the overall safety of the battery swap station 1000.

[0159] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the claims and specification of the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

1. A vehicle positioning method for a battery swap station, the battery swap station comprising a battery swap tank and a positioning device, the positioning device comprising a positioning rod, characterized in that: The vehicle positioning method comprises: Obtain the first distance between the battery of the incoming vehicle and the front axle in the first direction, the second distance between the center of the front wheel and the center of the positioning rod in the first direction when the positioning rod is in contact with the front wheel of the vehicle, the third distance between the current position center of the positioning rod and the wall of the battery swap slot in the first direction, and the safety distance between the battery and the wall of the battery swap slot; Determine the distance to be moved of the positioning rod according to the first distance, the second distance, the third distance and the safety distance; Controlling the positioning rod to move the distance to be moved along the first direction; The vehicle is controlled to move along the first direction and contact the positioning rod.

2. The vehicle positioning method according to claim 1, characterized in that: The step of determining the distance to be moved of the positioning rod according to the first distance, the second distance, the third distance and the safety distance comprises: Determine, based on the first distance and the safety distance, a fourth distance between the center of the front wheel and the wall of the battery swap slot in the first direction when the vehicle moves along the first direction and contacts the positioning rod; The value of the distance to be moved is determined according to the second distance, the third distance, and the fourth distance.

3. The vehicle positioning method according to claim 2, characterized in that: The first distance, the safety distance and the fourth distance satisfy the formula: L4=L1-Q; The second distance, the third distance, the fourth distance and the distance to be moved satisfy the formula: W=L3-L2-L4; Among them, L1 is the first distance, L2 is the second distance, L3 is the third distance, L4 is the fourth distance, Q is the safety distance, and W is the distance to be moved.

4. The vehicle positioning method according to any one of claims 1 to 3, characterized in that: The safety distance has a value range of 50 mm to 100 mm.

5. The vehicle positioning method according to any one of claims 1 to 4, characterized in that: The battery swap station also includes a storage slot, and the positioning method also includes, before the vehicle leaves the battery swap station, controlling the positioning rod to move along the first direction away from the battery swap slot and be stored in the storage slot to avoid the vehicle.

6. A vehicle positioning device for a battery swap station, characterized in that: include: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, the vehicle positioning method according to any one of claims 1 to 5 is implemented.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by a processor, the vehicle positioning method for a battery swap station as described in any one of claims 1 to 5 is implemented.

8. A battery swap station, characterized in that: include: Battery replacement slot; A positioning device, arranged on one side of the battery exchange slot in the first direction, the positioning device comprising a positioning rod; A control module, wherein the control module is used to execute the vehicle positioning method as described in any one of claims 1 to 5.

9. The battery swap station according to claim 8, characterized in that: The positioning device also includes a driving component and a transmission component, the driving component is electrically connected to the control module, the positioning rod is arranged on the transmission component, and the control module is configured to control the driving component according to the distance to be moved so that the positioning rod moves the distance to be moved along the first direction.

10. The battery swap station according to claim 9, characterized in that: The transmission component includes a driving wheel, a transmission wheel and a traction member. The driving wheel and the transmission wheel are matched with each other through the traction member. The positioning rod is arranged on the traction member, and the driving component is connected with the driving wheel.

11. The battery swap station according to claim 10, characterized in that: The traction member includes one of a transmission belt and a transmission chain. The transmission member also includes an adapter plate, which is arranged on the traction member. The positioning rod is detachably connected to the adapter plate.

12. The battery swap station according to any one of claims 9 to 11, characterized in that: The two ends of the positioning rod in the second direction are respectively connected with the matching driving component and the transmission component, and the second direction is arranged to intersect with the first direction.

13. The battery swap station according to any one of claims 8 to 12, characterized in that: The battery swap station further includes a receiving groove, which is disposed on a side of the positioning device away from the battery swap groove in the first direction. The shape of the receiving groove matches the shape of the positioning rod and is used to receive the positioning rod.

14. The battery swap station according to any one of claims 8 to 13, characterized in that: The positioning device further comprises a sensor disposed on the positioning rod, wherein the sensor is configured to detect a pressure value received by the positioning rod, and the control module is further configured to issue an alarm signal when the pressure value exceeds a preset threshold range.

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