Positioning and fixing method for new energy battery replacement vehicle model

Abstract

The invention discloses a positioning and fixing method for a new energy battery replacement vehicle type. The method comprises the following steps: S1, automatically measuring and recording the working stroke of a vehicle positioning and fixing mechanism corresponding to each battery replacement vehicle type through a PLC (Programmable Logic Controller) control program unit; s2, when the battery replacing vehicle arrives at the battery replacing platform, the station control system communicates with the battery replacing vehicle, the vehicle type information of the battery replacing vehicle is obtained, the corresponding working stroke is automatically searched and applied, and positioning and fixing of the battery replacing vehicle are completed; the working strokes of the vehicle positioning and fixing mechanisms corresponding to the battery replacement vehicle types are automatically measured and recorded through the PLC control program unit, manual measurement and recording are not needed, the working efficiency and accuracy are improved, the method is suitable for various battery replacement vehicle types, only the working strokes of the vehicle types need to be recorded during initial measurement, automatic matching can be conducted subsequently, and the working efficiency and accuracy are improved. And each vehicle type does not need to be independently arranged.

Description

Technical Field

[0001] The present invention relates to the technical field of battery replacement for electric vehicles, and specifically to a positioning and fixing method for a new energy battery replacement vehicle model. Background Art

[0002] There are two methods for positioning and fixing existing battery swapping vehicles on the battery swapping platform:

[0003] 1. Position mode: When entering the parameters of a new battery-swap vehicle model, manually measure the front and rear wheel widths of each vehicle model, subtract the wheel width from the distance of the wheel clamping fixing mechanism and divide it by two to get the working stroke of the positioning and fixing mechanism, and then enter the working stroke of the positioning and fixing mechanism into the control system through the HMI. When subsequent vehicles come to swap batteries, the positioning and fixing mechanism will fix the vehicle according to the corresponding stroke of the vehicle model. This method is more cumbersome.

[0004] 2. Torque mode: When the servo driver of the vehicle positioning and fixing mechanism drives the vehicle positioning and fixing mechanism in the torque mode, the vehicle positioning and fixing mechanism will move forward to push the wheels. When the vehicle stops, the four wheels are at different distances from the vehicle positioning and fixing mechanism. The order of contacting the wheels during operation is different, and the resistance encountered by the vehicle positioning and fixing mechanism is different. The running speed of the vehicle positioning and fixing mechanism will be different. When the left and right vehicle positioning and fixing mechanisms of the front or rear axle clamp the wheels and stop, there will be different degrees of position deviation. The maximum measured error can reach 8mm.

[0005] Therefore, a positioning and fixing method for new energy battery swapping vehicles is proposed. Summary of the invention

[0006] The object of the present invention is to provide a method for positioning and fixing a new energy battery-swap vehicle, thereby solving or at least alleviating one or more of the above-mentioned problems and other problems existing in the prior art.

[0007] To achieve the above purpose, the present invention provides the following technical solution: a positioning and fixing method for a new energy battery replacement vehicle, comprising the following steps:

[0008] S1. Automatically measure and record the vehicle positioning and working stroke of the fixing mechanism corresponding to each battery-swap vehicle model through the PLC control program unit;

[0009] S2. When the battery swap vehicle arrives at the battery swap platform, the station control system communicates with the battery swap vehicle to obtain the vehicle model information of the battery swap vehicle, and automatically searches for and applies the corresponding work itinerary to complete the positioning and fixation of the battery swap vehicle.

[0010] In a positioning and fixing method for a new energy battery-swap vehicle according to the present invention, optionally, the step of automatically measuring and recording the working stroke of the vehicle positioning and fixing mechanism includes:

[0011] S11, operate the human-machine operation screen to send a start command to the PLC control program unit, the PLC control program unit controls the servo drive system to drive the vehicle positioning and fixing mechanism to clamp and fix the vehicle from the initial position in the torque mode, the vehicle positioning and fixing mechanism includes a left front wheel positioning and fixing mechanism, a right front wheel positioning and fixing mechanism, a left rear wheel positioning and fixing mechanism and a right rear wheel positioning and fixing mechanism;

[0012] S12, respectively recording the effective N travel distances of the left front wheel positioning and fixing mechanism, the right front wheel positioning and fixing mechanism, the left rear wheel positioning and fixing mechanism, and the right rear wheel positioning and fixing mechanism;

[0013] S13, the PLC control program unit automatically calculates and stores the travel distances of the left front wheel alignment and fixing mechanism, the right front wheel alignment and fixing mechanism, the left rear wheel alignment and fixing mechanism, and the right rear wheel alignment and fixing mechanism corresponding to the current vehicle model based on the recorded N travel distances.

[0014] In a positioning and fixing method for a new energy battery swap vehicle type according to the present invention, optionally, the calculation formula in step S13 is: Lleft front = Lright front = (ΣL1i+ΣL2i) / 2N, Lleft rear = Lright rear = (ΣL3i+ΣL4i) / 2N, wherein ΣL1i represents the sum of N travel distances of the left front wheel positioning and the fixing mechanism, ΣL2i represents the sum of N travel distances of the right front wheel positioning and the fixing mechanism, ΣL3i represents the sum of N travel distances of the left rear wheel positioning and the fixing mechanism, ΣL4i represents the sum of N travel distances of the right rear wheel positioning and the fixing mechanism, i=1,2,...,N.

[0015] In a positioning and fixing method for a new energy battery-swap vehicle according to the present invention, optionally, when the servo drive system drives the vehicle positioning and fixing mechanism, the servo drive system feeds back the torque and the position of the vehicle positioning and fixing mechanism to the PLC control program unit in real time;

[0016] When the torque fed back by the servo drive system is greater than the preset threshold value T, and the difference between the left front wheel positioning and the travel distance of the fixing mechanism and the right front wheel positioning and the travel distance, and the difference between the left rear wheel positioning and the travel distance of the fixing mechanism and the right rear wheel positioning and the travel distance are both within the preset range, the PLC control program unit sends a stop command to the servo drive system and records the distance traveled this time.

[0017] In a positioning and fixing method for a new energy battery-swap vehicle model according to the present invention, optionally, after each measurement of valid data, the PLC control program unit sends a reset instruction to the servo drive system to reset the vehicle positioning and fixing mechanism for the next measurement.

[0018] In a positioning and fixing method for a new energy battery-swap vehicle according to the present invention, optionally, the specific operation steps of S2 include:

[0019] S21, when the battery swapping vehicle arrives at the battery swapping platform, the station control system obtains vehicle information and sends the vehicle model information to the PLC controller;

[0020] S22, the TCP communication program unit of the PLC controller parses the battery replacement instruction sent by the station control system, updates the relevant vehicle model parameters, and transmits the updated vehicle model parameters to the PLC control program unit;

[0021] S23, the PLC control program unit automatically searches for the working stroke of the vehicle positioning and fixing mechanism corresponding to the current vehicle model according to the received vehicle model parameters, and controls the servo drive system to drive the vehicle positioning and fixing mechanism to reach the working position, thereby completing the positioning and fixing operation of the vehicle.

[0022] In a positioning and fixing method for a new energy battery-swap vehicle according to the present invention, optionally, the servo drive system communicates with the PLC using the EtherCAT protocol.

[0023] In a method for positioning and fixing a new energy battery-swap vehicle according to the present invention, optionally, in step S21, the battery-swap vehicle communicates with the station control system via WIFI.

[0024] In a method for positioning and fixing a new energy battery-swap vehicle according to the present invention, optionally, the station control system communicates with the PLC controller via a TCP protocol.

[0025] In a positioning and fixing method for a new energy battery-swap vehicle model according to the present invention, after the battery swap is completed, the PLC control program unit controls the vehicle positioning and fixing mechanism to return to the initial position to facilitate the next battery swap operation.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] The present invention automatically measures and records the vehicle positioning and working stroke of the fixing mechanism corresponding to each battery-swap vehicle model through a PLC control program unit, without the need for manual measurement and entry, thereby improving work efficiency and accuracy;

[0028] This method is applicable to a variety of battery-swap vehicle models. It only requires recording the working range of each model during the initial measurement, and it can be automatically matched later without the need for separate settings for each model. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a block diagram of the electrical network architecture in a positioning and fixing method for a new energy battery-swap vehicle of the present invention;

[0030] Figure 2 This is a new vehicle model parameter measurement flow chart in a new energy battery replacement vehicle model positioning and fixing method of the present invention;

[0031] Figure 3 This is a vehicle battery replacement flow chart for a positioning and fixing method for a new energy battery replacement vehicle model of the present invention. DETAILED DESCRIPTION

[0032] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0033] Among them, the drawings are only used for illustrative explanations, and they only represent schematic diagrams rather than actual pictures, and should not be understood as limitations on this patent; in order to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0034] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "inner", "outer", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as a limitation on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0035] In the description of the present invention, unless otherwise clearly specified and limited, if the term "connection" or the like appears to indicate the connection relationship between components, the term 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, it can be the internal connection of two components or the interaction relationship between two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] Example 1

[0037] See also Figures 1 to 3 , the present invention provides a technical solution:

[0038] A positioning and fixing method for a new energy battery-swap vehicle comprises the following steps:

[0039] S1. Automatically measure and record the vehicle positioning and working stroke of the fixing mechanism corresponding to each battery-swap vehicle model through the PLC control program unit;

[0040] The steps of automatically measuring and recording the working stroke of the vehicle positioning and fixing mechanism include:

[0041] S11, operate the human-machine operation screen to send a start command to the PLC control program unit, the PLC control program unit controls the servo drive system, drives the vehicle positioning and fixing mechanism to clamp and fix the vehicle from the initial position in the torque mode, the vehicle positioning and fixing mechanism includes a left front wheel positioning and fixing mechanism, a right front wheel positioning and fixing mechanism, a left rear wheel positioning and fixing mechanism and a right rear wheel positioning and fixing mechanism;

[0042] S12, respectively recording the effective N travel distances of the left front wheel positioning and fixing mechanism, the right front wheel positioning and fixing mechanism, the left rear wheel positioning and fixing mechanism, and the right rear wheel positioning and fixing mechanism;

[0043] Wherein, when the servo drive system drives the vehicle positioning and fixing mechanism, the servo drive system feeds back the torque and the position of the vehicle positioning and fixing mechanism to the PLC control program unit in real time;

[0044] When the torque feedback from the servo drive system is greater than the preset threshold value T, and the difference between the travel distance of the left front wheel positioning and fixing mechanism and the travel distance of the right front wheel positioning and fixing mechanism, and the difference between the travel distance of the left rear wheel positioning and fixing mechanism and the travel distance of the right rear wheel positioning and fixing mechanism are both within the preset range, the PLC control program unit sends a stop command to the servo drive system and records the distance traveled this time.

[0045] S13. The PLC control program unit automatically calculates and stores the distances traveled by the left front wheel alignment and fixing mechanism, the right front wheel alignment and fixing mechanism, the left rear wheel alignment and fixing mechanism, and the right rear wheel alignment and fixing mechanism corresponding to the current vehicle model based on the recorded N travel distances. The calculation formula is: Lleft front = Lright front = (ΣL1i+ΣL2i) / 2N, Lleft rear = Lright rear = (ΣL3i+ΣL4i) / 2N, wherein ΣL1i represents the sum of the N travel distances of the left front wheel alignment and fixing mechanism, ΣL2i represents the sum of the N travel distances of the right front wheel alignment and fixing mechanism, ΣL3i represents the sum of the N travel distances of the left rear wheel alignment and fixing mechanism, ΣL4i represents the sum of the N travel distances of the right rear wheel alignment and fixing mechanism, and i = 1, 2, ..., N.

[0046] In this embodiment, after each measurement of valid data, the PLC control program unit sends a reset instruction to the servo drive system to reset the vehicle positioning and fixing mechanism for the next measurement.

[0047] S2. When the battery swapping vehicle arrives at the battery swapping platform, the battery swapping vehicle communicates with the station control system via WIFI to obtain the vehicle model information of the battery swapping vehicle, and automatically searches and applies the corresponding work itinerary to complete the positioning and fixation of the battery swapping vehicle; the specific operation steps of S2 include:

[0048] S21, when the battery swapping vehicle arrives at the battery swapping platform, the station control system obtains vehicle information and communicates with the PLC controller through the TCP protocol, and sends the vehicle model information to the PLC controller;

[0049] S22, the TCP communication program unit of the PLC controller parses the battery replacement instruction sent by the station control system, updates the relevant vehicle model parameters, and transmits the updated vehicle model parameters to the PLC control program unit;

[0050] S23. The PLC control program unit automatically searches for the working range of the vehicle positioning and fixing mechanism corresponding to the current vehicle model according to the received vehicle model parameters, and controls the servo drive system to drive the vehicle positioning and fixing mechanism to the working position to complete the positioning and fixing operations of the vehicle. After the battery replacement is completed, the PLC control program unit controls the vehicle positioning and fixing mechanism to return to the initial position to facilitate the next battery replacement operation.

[0051] In this embodiment, the servo drive system communicates with the PLC using the EtherCAT protocol.

[0052] Parts not involved in the present invention are the same as the prior art or can be implemented by the prior art. Although the embodiments of the present invention have been shown and described, it is understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for positioning and fixing a new energy battery-swap vehicle, characterized in that: The following steps are involved: S1. Automatically measure and record the vehicle positioning and working stroke of the fixing mechanism corresponding to each battery-swap vehicle model through the PLC control program unit; S2. When the battery swap vehicle arrives at the battery swap platform, the station control system communicates with the battery swap vehicle to obtain the vehicle model information of the battery swap vehicle, and automatically searches for and applies the corresponding work itinerary to complete the positioning and fixation of the battery swap vehicle.

2. A positioning and fixing method for a new energy battery-swap vehicle according to claim 1, characterized in that: The steps of automatically measuring and recording the working stroke of the vehicle positioning and fixing mechanism include: S11, operate the human-machine operation screen to send a start command to the PLC control program unit, the PLC control program unit controls the servo drive system, drives the vehicle positioning and fixing mechanism to clamp and fix the vehicle from the initial position in the torque mode, the vehicle positioning and fixing mechanism includes a left front wheel positioning and fixing mechanism, a right front wheel positioning and fixing mechanism, a left rear wheel positioning and fixing mechanism and a right rear wheel positioning and fixing mechanism; S12, respectively recording the effective N travel distances of the left front wheel positioning and fixing mechanism, the right front wheel positioning and fixing mechanism, the left rear wheel positioning and fixing mechanism, and the right rear wheel positioning and fixing mechanism; S13, the PLC control program unit automatically calculates and stores the travel distances of the left front wheel alignment and fixing mechanism, the right front wheel alignment and fixing mechanism, the left rear wheel alignment and fixing mechanism, and the right rear wheel alignment and fixing mechanism corresponding to the current vehicle model based on the recorded N travel distances.

3. A positioning and fixing method for a new energy battery-swap vehicle according to claim 2, characterized in that: The calculation formula in step S13 is: Lleft front = Lright front = (ΣL1i+ΣL2i) / 2N, Lleft rear = Lright rear = (ΣL3i+ΣL4i) / 2N, wherein ΣL1i represents the sum of the left front wheel positioning and the N travel distances of the fixing mechanism, ΣL2i represents the sum of the right front wheel positioning and the N travel distances of the fixing mechanism, ΣL3i represents the sum of the left rear wheel positioning and the N travel distances of the fixing mechanism, ΣL4i represents the sum of the right rear wheel positioning and the N travel distances of the fixing mechanism, i=1,2,...,N.

4. A positioning and fixing method for a new energy battery-swap vehicle according to claim 3, characterized in that: When the servo drive system drives the vehicle positioning and fixing mechanism, the servo drive system feeds back the torque and the position of the vehicle positioning and fixing mechanism to the PLC control program unit in real time; When the torque fed back by the servo drive system is greater than the preset threshold value T, and the difference between the left front wheel positioning and the travel distance of the fixing mechanism and the right front wheel positioning and the travel distance, and the difference between the left rear wheel positioning and the travel distance of the fixing mechanism and the right rear wheel positioning and the travel distance are both within the preset range, the PLC control program unit sends a stop command to the servo drive system and records the distance traveled this time.

5. A positioning and fixing method for a new energy battery-swap vehicle according to claim 4, characterized in that: After each measurement of valid data, the PLC control program unit sends a reset instruction to the servo drive system to reset the vehicle positioning and fixing mechanism for the next measurement.

6. A positioning and fixing method for a new energy battery-swap vehicle according to claim 5, characterized in that: The specific operation steps of S2 include: S21, when the battery swapping vehicle arrives at the battery swapping platform, the station control system obtains vehicle information and sends the vehicle model information to the PLC controller; S22, the TCP communication program unit of the PLC controller parses the battery replacement instruction sent by the station control system, updates the relevant vehicle model parameters, and transmits the updated vehicle model parameters to the PLC control program unit; S23, the PLC control program unit automatically searches for the working stroke of the vehicle positioning list corresponding to the current vehicle model according to the received vehicle model parameters, and controls the servo drive system to drive the vehicle positioning and fixing mechanism to reach the working position to complete the positioning and fixing operations of the vehicle.

7. A positioning and fixing method for a new energy battery-swap vehicle according to claim 6, characterized in that: The servo drive system communicates with the PLC using the EtherCAT protocol.

8. A positioning and fixing method for a new energy battery-swap vehicle according to claim 7, characterized in that: In step S21, the battery-swapping vehicle communicates with the station control system via WIFI.

9. A positioning and fixing method for a new energy battery-swap vehicle according to claim 6, characterized in that: The station control system communicates with the PLC controller via the TCP protocol.

10. A positioning and fixing method for a new energy battery-swap vehicle according to claim 6, characterized in that: After the battery replacement is completed, the PLC control program unit controls the vehicle positioning and fixing mechanism to return to the initial position for the next battery replacement operation.

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