Method and equipment for detecting attitude of vehicle bottom 3D camera of battery swap station

Abstract

The invention belongs to the technical field of new energy automobile novel control system modes and methods, and discloses a battery swap station underbody 3D camera attitude detection method, which comprises the following steps: enabling a centering plate to push an automobile to center through a centering assembly; the whole vehicle is lifted through the lifting assembly; turning on a camera through an opening and closing assembly, shooting the bottom of the automobile through the camera, transmitting a shot picture to a terminal, comparing the shot picture with a terminal database, and judging whether a second motor is started or not; the RGV equipment positioning pin is accurately positioned, and after the positioning pin is accurately positioned, the RGV equipment carries out battery replacement operation. According to the invention, the compatibility trouble of different vehicle types of the battery swap station is solved, no-load or heavy-load compatibility of vehicles with different sizes is realized, the stability of equipment is greatly improved, and the battery swap failure rate is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of new control system methods and approaches for new energy vehicles, and specifically relates to a method and device for detecting postures with a 3D camera under a vehicle at a battery swap station. Background Art

[0002] In recent years, the development of my country's new energy vehicle industry has entered the "fast lane". Data from the Ministry of Industry and Information Technology showed that in the first half of the year, my country's production and sales of new energy vehicles reached 2.661 million and 2.6 million respectively, both up 1.2 times year-on-year, and the market penetration rate reached 21.6%; at the same time, my country's new energy vehicle ownership has increased rapidly. Data from the Ministry of Public Security showed that as of the end of June 2022, the national new energy vehicle ownership reached 10.01 million. Against the background of the rapid increase in the number of new energy vehicles, charging alone is difficult to meet the huge energy replenishment demand, and the charging method has bottlenecks such as long replenishment time and inflexibility, which has been criticized by new energy vehicle owners. Against this background, the battery swap model came into being and has become an important way to shorten the energy replenishment time of new energy vehicles.

[0003] The charging and swapping station equipment consists of a vehicle centering mechanism, a battery swapping rotating platform, a vehicle lifting mechanism, an unlocking and locking module, a stacker, a battery pack charging compartment, etc. The battery swapping process is completed by the cooperation of these parts. However, the different sizes of vehicles, whether they are empty or overloaded, will affect the vehicle's X-direction (the front and rear direction of the vehicle is the X-direction) posture to a greater or lesser extent. When the RGV car goes under the vehicle to swap batteries, inaccurate positioning of the vehicle body will lead to battery swap failure, affecting the stability and efficiency of the battery swapping station. Summary of the invention

[0004] The purpose of the present invention is to provide a method for detecting posture of a 3D camera under a vehicle at a battery swap station, so as to solve the problems raised in the above-mentioned background technology.

[0005] In order to achieve the above object, the present invention provides the following technical solution: a method for detecting posture of a 3D camera under a vehicle in a battery swap station, comprising: S1: The user drives the car to the top of the platform and parks it; S2: Then the cylinder is started by PLC control, so that several cylinders on both sides of the car are started at the same time, so that the centering plate pushes the car to return to the center; S3: Then the first motor is started by controlling the PLC, the start of the first motor drives the rotation of the first threaded rod, the rotation of the first threaded rod drives the two first sliders to move relative to each other, the movement of the first slider drives the movement of the connecting block, the movement of the connecting block drives the first connecting rod and the second connecting rod to rotate, the first connecting rod and the second connecting rod drive the lifting frame to move upward, so that the lifting frame drives the entire vehicle body to move upward, and the vehicle is lifted as a whole; S4: At the same time, the third motor can be started by PLC control, the start of the third motor drives the movement of the protection box, the movement of the protection box drives the movement of the protection plate, so that the protection plate and the protection box slide into the interior of the RGV equipment to open the camera, and the bottom of the car is photographed by the camera, and the photographed photos are transmitted to the terminal, compared with the terminal database and judged whether the second motor is started; S5: If the second motor needs to be started, the second motor is started by controlling the external power supply. The start of the second motor drives the rotation of the third threaded rod. The rotation of the third threaded rod drives the second slider to slide inside the second bearing plate. The movement of the second slider drives the movement of the RGV equipment, so that the positioning pin of the RGV equipment is accurately positioned. When the positioning pin is accurately positioned, the battery replacement operation is performed through the RGV equipment.

[0006] A 3D camera detection device for a vehicle underbody of a battery swap station is applied to a 3D camera detection posture method for a vehicle underbody of a battery swap station: comprising a bearing platform, mounting plates are fixedly installed on both sides of the bearing platform, a centering component and a lifting component are arranged on the top of the bearing platform, an RGV device is installed inside the bearing platform, the RGV device is slidably connected to the bearing platform through a sliding component, a second bearing plate is arranged below the RGV device, an adjustment component is arranged between the RGV device and the second bearing plate, a camera is fixedly installed on one side of the second bearing plate, and a protective component is arranged above the camera; Among them, the centering component includes a centering plate arranged on the top of the supporting platform, and there are multiple centering plates. One side of each centering plate is fixedly connected to a cylinder, and each cylinder is installed inside the mounting plate.

[0007] As a further technical solution of the present invention, the lifting assembly includes a lifting frame arranged at the top of the supporting platform, and a first connecting rod and a second connecting rod are arranged at the bottom end of the lifting frame. The first connecting rod and the second connecting rod are cross-arranged in multiple groups, and one side of the first connecting rod and the second connecting rod at the bottom are both installed with a connecting block through a connecting shaft. The two connecting blocks are symmetrically arranged, and the bottom ends of the two connecting blocks are fixedly connected with a first slider, and a first threaded rod is embedded in the interior of the two first sliders, and one end of the first threaded rod is fixedly connected with a first motor.

[0008] As a further technical solution of the present invention, the sliding assembly includes a first bearing plate arranged below the RGV equipment, the first bearing plate is arranged below the second bearing plate, a second threaded rod is embedded inside the bottom end of the first bearing plate, and the second threaded rod is rotatably installed inside the bearing platform.

[0009] As a further technical solution of the present invention, the adjustment component includes a second slider fixedly installed at the bottom end of the RGV equipment, and two second sliders are symmetrically arranged. Both of the second sliders are slidably installed on the inner wall of the second supporting plate, and a third threaded rod is embedded in the interior of one of the second sliders, and a second motor is fixedly installed at one end of the third threaded rod.

[0010] As a further technical solution of the present invention, the protection assembly includes a protection plate arranged above the camera, the top of the protection plate is fixedly connected with a protection box, and the protection box is slidably installed on the inner wall of the RGV device through an opening and closing assembly.

[0011] As a further technical solution of the present invention, the opening and closing assembly includes a fourth threaded rod embedded in the protective box, and a third motor is fixedly mounted on one end of the fourth threaded rod.

[0012] As a further technical solution of the present invention, a nozzle is provided at the bottom end of the protective box, and a plurality of nozzles are evenly arranged. The top of each nozzle is connected to a first connecting tube, one side of the first connecting tube is fixedly connected to a second connecting tube, an end of the second connecting tube away from the first connecting tube is fixedly installed with an airbag, one side of the airbag is provided with a push plate, and the push plate is fixedly installed on one side of the protective box.

[0013] As a further technical solution of the present invention, each of the nozzles is fixedly connected by a connecting shaft, the connecting shaft is rotatably installed on the inner wall of the protective box, a gear is fixedly installed on one end of the connecting shaft, a rack plate is arranged above the gear, the rack plate is slidably installed on the inner wall of the protective box, and one end of the rack plate is fixedly installed inside the RGV equipment.

[0014] As a further technical solution of the present invention, a torsion spring is arranged between the connecting shaft and the protection box, and two ends of the torsion spring are fixedly connected to the connecting shaft and the protection box respectively.

[0015] The beneficial effects of the present invention are as follows: 1. The present invention is configured by the coordination of the centering component, the lifting component, the sliding component and the adjusting component. When the device is needed to be used to perform a battery replacement operation on a new energy vehicle, the user first needs to drive the vehicle to the top of the load-bearing platform and park the vehicle at a predetermined position. Then, the cylinders on both sides of the vehicle can be started at the same time to drive the centering plate to push the vehicle to the center. Then, the vehicle body is lifted by the lifting component, and the protective component is opened by starting the opening and closing component, so that the camera takes pictures of the bottom of the vehicle, and the pictures taken are transmitted to the terminal, compared with the terminal database, and the adjustment component is started. Finally, the position of the RGV device is changed by the adjusting component, so that the positioning pins set on the top of the RGV device are accurately positioned with the bottom of the vehicle before the battery replacement operation is performed, which avoids the different sizes of vehicles. When the vehicle is unloaded or overloaded, it will affect the X direction (the front and rear direction of the vehicle is the X direction) The posture changes to a greater or lesser extent. When the RGV car goes under the vehicle to replace the battery, if the body positioning is inaccurate, it will lead to battery replacement failure, affecting the stability and efficiency of the battery replacement station, and improving the stability and efficiency of the battery replacement station.

[0016] 2. The present invention adjusts the components so that when an offset is detected between the body positioning hole at the bottom of the vehicle and the predetermined position, the start of the second motor can be controlled by PLC. The start of the second motor drives the second slider to slide on the outer wall of the third threaded rod. The movement of the second slider drives the movement of the RGV device, so that the positioning pin set on the top of the RGV device is accurately positioned with the bottom of the vehicle.

[0017] 3. Through the setting of the opening and closing component of the present invention, when the device needs to be used for power replacement operation, the third motor can be started by an external power supply. The start of the third motor drives the rotation of the fourth threaded rod, and the rotation of the fourth threaded rod drives the movement of the protective box and the protective plate, which is convenient for the protective box and the protective plate to be removed from the top of the camera, so that the camera can take pictures of the bottom of the vehicle. After the power replacement is completed, the third motor can be started to drive the fourth threaded rod to reverse, so that the protective box and the protective plate move to the top of the camera to protect the camera, providing power for the movement of the protective component, and facilitating the use or protection of the camera. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic cross-sectional view of the structure of the mounting plate of the present invention; Figure 3 It is a schematic cross-sectional view of the overall structure of the present invention; Figure 4 It is a cross-sectional schematic diagram of another viewing angle of the overall structure of the present invention; Figure 5 It is a schematic cross-sectional view of the structure of the protection box of the present invention; Figure 6For the present invention Figure 3 A schematic diagram of the structure enlargement in the middle; Figure 7 For the present invention Figure 4 A magnified schematic diagram of the structure at B in the middle; Figure 8 For the present invention Figure 4 A magnified schematic diagram of the structure at C in the middle; Fig. 9 For the present invention Figure 5 Enlarged schematic diagram of the structure at point D in the middle.

[0019] In the figure: 1. support platform; 2. mounting plate; 3. RGV equipment; 4. centering plate; 5. cylinder; 6. lifting frame; 7. first connecting rod; 8. second connecting rod; 9. connecting block; 10. first slider; 11. first threaded rod; 12. first motor; 13. first support plate; 14. second threaded rod; 15. second support plate; 16. camera; 17. second slider; 18. third threaded rod; 19. second motor; 20. protective plate; 21. protective box; 22. fourth threaded rod; 23. third motor; 24. nozzle; 25. first connecting pipe; 26. second connecting pipe; 27. airbag; 28. push plate; 29. ​​connecting shaft; 30. gear; 31. torsion spring; 32. rack plate. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] Embodiment 1 like Figures 1 to 9 As shown, in an embodiment of the present invention, a method for detecting posture of a 3D camera under a vehicle in a battery swap station includes: S1: The user drives the car to the top of the carrying platform 1 and parks it; S2: Then the cylinder 5 is started by PLC control, so that several cylinders 5 on both sides of the car are started at the same time, so that the centering plate 4 pushes the car to center; S3: Then the first motor 12 is started by controlling the PLC, and the start of the first motor 12 drives the rotation of the first threaded rod 11, and the rotation of the first threaded rod 11 drives the two first sliders 10 to move relative to each other, and the movement of the first slider 10 drives the movement of the connecting block 9, and the movement of the connecting block 9 drives the first connecting rod 7 and the second connecting rod 8 to rotate, and the first connecting rod 7 and the second connecting rod 8 drive the lifting frame 6 to move upward, so that the lifting frame 6 drives the entire vehicle body to move upward, and the vehicle is lifted as a whole; S4: At the same time, the third motor 23 can be started by PLC control, the start of the third motor 23 drives the movement of the protection box 21, and the movement of the protection box 21 drives the movement of the protection plate 20, so that the protection plate 20 and the protection box 21 slide into the interior of the RGV device 3 to open the camera 16, and the bottom of the car is photographed by the camera 16, and the photographed photos are transmitted to the terminal, compared with the terminal database and judged whether the second motor 19 is started; S5: If the second motor 19 needs to be started, the second motor 19 is started by controlling the external power supply. The start of the second motor 19 drives the rotation of the third threaded rod 18. The rotation of the third threaded rod 18 drives the second slider 17 to slide inside the second supporting plate 15. The movement of the second slider 17 drives the movement of the RGV equipment 3, so that the positioning pin of the RGV equipment 3 is accurately positioned. When the positioning pin is accurately positioned, the power replacement operation is performed through the RGV equipment 3.

[0022] A method for detecting posture of a 3D camera under a vehicle in a battery swap station, further comprising: Receive information, the signal being information of a photo taken by the camera 16; The information is judged to determine whether the information meets a threshold value, the threshold value is pre-set, if the threshold value is met, no operation is performed, if the threshold value is not met, the information is converted into a control signal, and the control signal is transmitted to the controller, the controller generates a control instruction corresponding to the control signal, and controls the second motor 19 to start according to the control instruction.

[0023] Embodiment 2 like Figures 1 to 9 As shown, in an embodiment of the present invention, a 3D camera detection device for the underbody of a battery swap station is applied to a 3D camera detection posture method for the underbody of a battery swap station, comprising a bearing platform 1, mounting plates 2 are fixedly installed on both sides of the bearing platform 1, a centering component and a lifting component are arranged on the top of the bearing platform 1, an RGV device 3 is installed inside the bearing platform 1, the RGV device 3 is slidably connected to the bearing platform 1 through a sliding component, a second bearing plate 15 is arranged below the RGV device 3, an adjustment component is arranged between the RGV device 3 and the second bearing plate 15, a camera 16 is fixedly installed on one side of the second bearing plate 15, and a protective component is arranged above the camera 16; Among them, the centering component includes a centering plate 4 arranged on the top of the supporting platform 1, and there are multiple centering plates 4. One side of each centering plate 4 is fixedly connected to a cylinder 5, and each cylinder 5 is installed inside the mounting plate 2.

[0024] Through the coordination of the centering component, the lifting component, the sliding component and the adjusting component, when the device is needed to perform a battery replacement operation on a new energy vehicle, the user first needs to drive the vehicle to the top of the carrier 1 to park the vehicle at a predetermined position, and then the cylinders 5 on both sides of the vehicle can be started at the same time to drive the centering plate 4 to push the vehicle to the center, and then the vehicle body is lifted by the lifting component, and the protective component is opened by starting the opening and closing component, so that the camera 16 takes pictures of the bottom of the vehicle, and transmits the taken pictures to the terminal, compares with the terminal database and adjusts whether the component is started, and finally changes the position of the RGV device 3 by the adjusting component, so that the positioning pin set on the top of the RGV device 3 is accurately positioned with the bottom of the vehicle before the battery replacement operation is performed, avoiding the different sizes of vehicles, and the vehicle is unloaded or overloaded. The vehicle posture in the X direction (the front and rear direction of the vehicle is the X direction) will change to a greater or lesser extent. When the RGV car goes under the vehicle to replace the battery, if the body positioning is inaccurate, it will lead to battery replacement failure, affecting the stability and efficiency of the battery replacement station, and improving the stability and efficiency of the battery replacement station.

[0025] Camera 16 is configured as a 3D camera. A 3D camera can form images without a light source, is not easily restricted by space during installation, has higher detection accuracy than a 2D camera, is simple to debug and maintain, can obtain XYZ information, has strong anti-interference capabilities, and greatly improves the stability of the battery swap station.

[0026] like Figure 1-9 As shown, the lifting assembly includes a lifting frame 6 arranged at the top of the supporting platform 1, and a first connecting rod 7 and a second connecting rod 8 are arranged at the bottom end of the lifting frame 6. The first connecting rod 7 and the second connecting rod 8 are cross-arranged in multiple groups, and one side of the first connecting rod 7 and the second connecting rod 8 at the bottom is installed with a connecting block 9 through a connecting shaft 29. The two connecting blocks 9 are symmetrically arranged, and the bottom ends of the two connecting blocks 9 are fixedly connected with a first slider 10, and the first threaded rod 11 is embedded in the two first sliders 10, and one end of the first threaded rod 11 is fixedly connected to the first motor 12.

[0027] Through the setting of the lifting component, when it is necessary to perform a battery replacement operation on the new energy vehicle, the first motor 12 can be started by controlling the PLC. Since the input end of the first motor 12 is electrically connected to the external power supply through a wire, and the output end of the first motor 12 is fixedly connected to the first threaded rod 11, the start of the first motor 12 can drive the rotation of the first threaded rod 11. Since two threads with opposite thread directions are arranged on the outer wall of the first threaded rod 11, and the two threads are respectively connected to the two first sliders 10 through inner and outer screws, the rotation of the first threaded rod 11 can drive the two first sliders 10 to move relative to each other. The movement of the two first sliders 10 drives the movement of the two connecting blocks 9. The two connecting blocks 9 are connected to the first connecting rod 7 and the second connecting rod 8 through a connecting shaft 29, and each group of the first connecting rod 7 and the second connecting rod 8 is also rotationally connected through the connecting shaft 29. The relative movement of the first slider 10 drives the first connecting rod 7 and the second connecting rod 8 to rotate, thereby driving the lifting frame 6 to rise, and the vehicle is lifted, which is convenient for battery replacement of the vehicle.

[0028] like Figure 1-9 As shown, the sliding assembly includes a first bearing plate 13 arranged below the RGV equipment 3, the first bearing plate 13 is arranged below the second bearing plate 15, a second threaded rod 14 is embedded inside the bottom end of the first bearing plate 13, and the second threaded rod 14 is rotatably installed inside the bearing platform 1.

[0029] Through the setting of the sliding component, and a fourth motor is fixedly installed at one end of the second threaded rod 14, the start of the fourth motor can be controlled by PLC to drive the first supporting plate 13 to slide on the outside of the second threaded rod 14, thereby driving the RGV equipment 3 to slide, facilitating the movement of the RGV equipment 3 and performing battery replacement operations on the new energy vehicle.

[0030] like Figure 1-9 As shown, the adjustment component includes a second slider 17 fixedly mounted at the bottom end of the RGV device 3, and two second sliders 17 are symmetrically arranged. Both second sliders 17 are slidably mounted on the inner wall of the second supporting plate 15, and a third threaded rod 18 is embedded in the interior of one of the second sliders 17, and a second motor 19 is fixedly mounted at one end of the third threaded rod 18.

[0031] By adjusting the setting of the component, when an offset is detected between the body positioning hole at the bottom of the vehicle and the predetermined position, the start of the second motor 19 can be controlled by PLC. The start of the second motor 19 drives the second slider 17 to slide on the outer wall of the third threaded rod 18. The movement of the second slider 17 drives the movement of the RGV equipment 3, so that the positioning pin set on the top of the RGV equipment 3 is accurately positioned with the bottom of the vehicle.

[0032] like Figure 1-9As shown, the protection assembly includes a protection plate 20 arranged above the camera 16, and a protection box 21 is fixedly connected to the top of the protection plate 20. The protection box 21 is slidably installed on the inner wall of the RGV device 3 through an opening and closing assembly.

[0033] By setting up the protective component, when the device is not in use, the protective plate 20 and the protective box 21 can be placed on the top of the camera 16 to protect the camera 16 and prevent the camera 16 from being exposed to the outside air. Dust or other impurities in the air can easily adhere to the surface of the camera 16, affecting the clarity of the camera 16 and further affecting the effect of the analysis and processing.

[0034] like Figure 1-9 As shown, the opening and closing assembly includes a fourth threaded rod 22 embedded in the protective box 21 , and a third motor 23 is fixedly mounted on one end of the fourth threaded rod 22 .

[0035] Through the setting of the opening and closing component, when the device needs to be used for power replacement operation, the third motor 23 can be started by an external power supply. The start of the third motor 23 drives the rotation of the fourth threaded rod 22. The rotation of the fourth threaded rod 22 drives the movement of the protective box 21 and the protective plate 20, which is convenient for the protective box 21 and the protective plate 20 to be moved away from the top of the camera 16, so that the camera 16 can shoot the bottom of the vehicle. After the power replacement is completed, the third motor 23 can be started to drive the fourth threaded rod 22 to reverse, so that the protective box 21 and the protective plate 20 move to the top of the camera 16 to protect the camera 16, providing power for the movement of the protective component, and facilitating the use or protection of the camera 16.

[0036] like Figure 1-9 As shown, a nozzle 24 is provided at the bottom end of the protective box 21, and a plurality of nozzles 24 are evenly arranged. The top of each nozzle 24 is connected to a first connecting tube 25, and a second connecting tube 26 is fixedly connected to one side of the first connecting tube 25. An air bag 27 is fixedly installed at one end of the second connecting tube 26 away from the first connecting tube 25, and a push plate 28 is provided on one side of the air bag 27. The push plate 28 is fixedly installed on one side of the protective box 21.

[0037] When the battery replacement is completed and the protective assembly needs to be moved to protect the camera 16, the movement of the protective box 21 can drive the movement of the push plate 28, so that the push plate 28 squeezes the airbag 27, and the gas inside the airbag 27 is discharged from the inside of the nozzle 24 through the second connecting tube 26 and the first connecting tube 25 (the airbag 27 is provided with a membrane flap and a one-way valve, which is a common airbag 27 structure and will not be described in detail here), so that the nozzle 24 blows air to the surface of the camera 16 to clean it, thereby improving the use effect of the camera 16.

[0038] like Figure 1-9As shown, each nozzle 24 is fixedly connected by a connecting shaft 29, and the connecting shaft 29 is rotatably mounted on the inner wall of the protective box 21. A gear 30 is fixedly mounted on one end of the connecting shaft 29, and a rack plate 32 is arranged above the gear 30. The rack plate 32 is slidably mounted on the inner wall of the protective box 21, and one end of the rack plate 32 is fixedly mounted inside the RGV device 3.

[0039] When the protective box 21 moves, the movement of the protective box 21 drives the movement of the gear 30, the movement of the gear 30 drives the movement of the connecting shaft 29, the movement of the connecting shaft 29 drives the movement of the nozzle 24, and the bottom end of the rack plate 32 is evenly provided with tooth blocks. When the gear 30 moves and contacts with the tooth blocks provided at the bottom of the rack plate 32, the gear 30 rotates, and the rotation of the gear 30 drives the rotation of the connecting shaft 29, and the rotation of the connecting shaft 29 drives the rotation of the nozzle 24, so that the nozzle 24 rotates when blowing, thereby improving the cleaning effect on the camera 16.

[0040] like Figure 1-9 As shown, a torsion spring 31 is provided between the connecting shaft 29 and the protection box 21 , and two ends of the torsion spring 31 are fixedly connected to the connecting shaft 29 and the protection box 21 , respectively.

[0041] When the gear 30 rotates, the torsion spring 31 deforms to store elastic potential energy. When the gear 30 is disengaged from the gear 30 at the bottom of the rack plate 32, the torsion spring 31 releases the elastic potential energy to cause the nozzle 24 to rotate. By cooperating with the rack plate 32, the nozzle 24 swings back and forth when blowing air, further improving the cleaning effect on the camera 16.

[0042] Working principle and usage process: When it is necessary to replace the battery of a new energy vehicle, the user first needs to drive the vehicle to the top of the supporting platform 1 and park the vehicle at a predetermined position; Then the car is turned off, and the user needs to get off the car. The cylinder 5 is started by the PLC control, so that several cylinders 5 on both sides of the car are started at the same time, so that the centering plate 4 pushes the car to return to the center; Then, the first motor 12 is started by controlling the PLC, and the start of the first motor 12 drives the rotation of the first threaded rod 11, and the rotation of the first threaded rod 11 drives the two first sliders 10 to move relative to each other, and the movement of the first slider 10 drives the movement of the connecting block 9, and the movement of the connecting block 9 drives the first connecting rod 7 and the second connecting rod 8 to rotate, and the first connecting rod 7 and the second connecting rod 8 drive the lifting frame 6 to move upward, so that the lifting frame 6 drives the entire vehicle body to move upward, and the vehicle is lifted; At the same time, the third motor 23 can be started by PLC control. The start of the third motor 23 drives the movement of the protective box 21. The movement of the protective box 21 drives the movement of the protective plate 20, so that the protective plate 20 and the protective box 21 slide into the interior of the RGV equipment 3 to open the camera 16, and use the camera 16 to take pictures of the bottom of the car, and transmit the pictures to the terminal, compare with the terminal database and judge whether the second motor 19 is started. If the second motor 19 needs to be started, the second motor 19 is controlled to start by an external power supply. The start of the second motor 19 drives the rotation of the third threaded rod 18. The rotation of the third threaded rod 18 drives the second slider 17 to slide inside the second bearing plate 15. The movement of the second slider 17 drives the movement of the RGV equipment 3, so that the positioning pin of the RGV equipment 3 is accurately positioned. When the positioning pin is accurately positioned, the battery replacement operation is performed through the RGV equipment 3 (the specific battery replacement method is a mature existing technology and will not be described in detail here). When the power exchange is completed, the second motor 19 can be controlled by the PLC to reverse, and similarly, the RGV device 3 is moved on the top of the second carrier plate 15 and restored to its original position; When the battery replacement is completed, the third motor 23 can be controlled by the PLC to reverse, and similarly, the protection box 21 and the protection plate 20 can slide out of the interior of the RGV device 3 and move to the top of the camera 16 to protect the camera 16; At the same time, the movement of the protection box 21 drives the push plate 28 to move, so that the push plate 28 squeezes the air bag 27, so that the gas inside the air bag 27 is discharged from the nozzle 24 through the second connecting pipe 26 and the first connecting pipe 25, and the top of the camera 16 is blown and cleaned. At the same time, the movement of the protective box 21 drives the movement of the gear 30 . When the gear 30 contacts the tooth block at the bottom end of the rack plate 32 , the gear 30 rotates, thereby improving the dust removal effect on the camera 16 .

[0043] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for detecting posture of a 3D camera under a vehicle in a battery swap station, characterized in that: include: S1: The user drives the car to the top of the supporting platform (1) and parks it; S2: Then the cylinder (5) is started by controlling the PLC, so that several cylinders (5) on both sides of the vehicle are started simultaneously, so that the centering plate (4) pushes the vehicle to return to the center; S3: Then, the first motor (12) is started by controlling the PLC. The start of the first motor (12) drives the first threaded rod (11) to rotate. The rotation of the first threaded rod (11) drives the two first sliders (10) to move relative to each other. The movement of the first slider (10) drives the movement of the connecting block (9). The movement of the connecting block (9) drives the first connecting rod (7) and the second connecting rod (8) to rotate. The first connecting rod (7) and the second connecting rod (8) drive the lifting frame (6) to move upward, so that the lifting frame (6) drives the entire vehicle body to move upward, thereby lifting the vehicle as a whole. S4: At the same time, the third motor (23) can be started by controlling the PLC, and the start of the third motor (23) drives the movement of the protection box (21), and the movement of the protection box (21) drives the movement of the protection plate (20), so that the protection plate (20) and the protection box (21) slide into the interior of the RGV device (3), and the camera (16) is turned on. The bottom of the car is photographed by the camera (16), and the photographed photo is transmitted to the terminal, compared with the terminal database, and it is determined whether the second motor (19) is started; S5: If the second motor (19) needs to be started, the second motor (19) is started by controlling the external power supply. The start of the second motor (19) drives the third threaded rod (18) to rotate. The rotation of the third threaded rod (18) drives the second slider (17) to slide inside the second bearing plate (15). The movement of the second slider (17) drives the movement of the RGV device (3), so that the positioning pin of the RGV device (3) is accurately positioned. When the positioning pin is accurately positioned, the battery replacement operation is performed through the RGV device (3).

2. A 3D camera detection device for undercarriage at a battery swap station, applied to a 3D camera detection method for undercarriage at a battery swap station as claimed in claim 1, characterized in that: The invention comprises a carrying platform (1), mounting plates (2) are fixedly mounted on both sides of the carrying platform (1), a centering component and a lifting component are arranged on the top of the carrying platform (1), an RGV device (3) is installed inside the carrying platform (1), the RGV device (3) is slidably connected to the carrying platform (1) via a sliding component, a second carrying plate (15) is arranged below the RGV device (3), an adjustment component is arranged between the RGV device (3) and the second carrying plate (15), a camera (16) is fixedly mounted on one side of the second carrying plate (15), and a protective component is arranged above the camera (16); The centering component comprises a centering plate (4) arranged at the top of the supporting platform (1), a plurality of the centering plates (4) are provided, one side of each centering plate (4) is fixedly connected to a cylinder (5), and each cylinder (5) is installed inside the mounting plate (2).

3. The 3D camera detection device for underbody of a battery swap station according to claim 2, characterized in that: The lifting assembly comprises a lifting frame (6) arranged at the top of the supporting platform (1), the bottom end of the lifting frame (6) is provided with a first connecting rod (7) and a second connecting rod (8), the first connecting rod (7) and the second connecting rod (8) are cross-arranged in multiple groups, one side of the first connecting rod (7) and the second connecting rod (8) at the bottom is installed with a connecting block (9) through a connecting shaft (29), the two connecting blocks (9) are symmetrically arranged, the bottom ends of the two connecting blocks (9) are fixedly connected with a first slider (10), the first threaded rod (11) is embedded in the inside of the two first sliders (10), and one end of the first threaded rod (11) is fixedly connected with a first motor (12).

4. The 3D camera detection device for underbody of a battery swap station according to claim 2, characterized in that: The sliding assembly comprises a first bearing plate (13) arranged below the RGV device (3); the first bearing plate (13) is arranged below a second bearing plate (15); a second threaded rod (14) is embedded inside the bottom end of the first bearing plate (13); and the second threaded rod (14) is rotatably mounted inside the bearing platform (1).

5. The 3D camera detection device for underbody of a battery swap station according to claim 2, characterized in that: The adjustment assembly comprises a second slider (17) fixedly mounted on the bottom end of the RGV device (3), two second sliders (17) are symmetrically arranged, and both of the two second sliders (17) are slidably mounted on the inner wall of the second bearing plate (15), a third threaded rod (18) is embedded in the interior of one of the second sliders (17), and a second motor (19) is fixedly mounted on one end of the third threaded rod (18).

6. The 3D camera detection device for underbody of a battery swap station according to claim 2, characterized in that: The protection assembly comprises a protection plate (20) arranged above the camera (16); a top end of the protection plate (20) is fixedly connected to a protection box (21); and the protection box (21) is slidably mounted on the inner wall of the RGV device (3) via an opening and closing assembly.

7. The 3D camera detection device for underbody of a battery swap station according to claim 6, characterized in that: The opening and closing assembly comprises a fourth threaded rod (22) embedded in the protection box (21), and a third motor (23) is fixedly mounted on one end of the fourth threaded rod (22).

8. The 3D camera detection device for underbody of a battery swap station according to claim 6, characterized in that: A nozzle (24) is arranged at the bottom end of the protection box (21), and a plurality of nozzles (24) are evenly arranged. The top end of each nozzle (24) is connected to a first connecting tube (25), and a second connecting tube (26) is fixedly connected to one side of the first connecting tube (25). An air bag (27) is fixedly installed at one end of the second connecting tube (26) away from the first connecting tube (25), and a push plate (28) is arranged on one side of the air bag (27). The push plate (28) is fixedly installed on one side of the protection box (21).

9. The 3D camera detection device for underbody of a battery swap station according to claim 8, characterized in that: Each of the nozzles (24) is fixedly connected via a connecting shaft (29), the connecting shaft (29) being rotatably mounted on the inner wall of the protective box (21), a gear (30) being fixedly mounted on one end of the connecting shaft (29), a rack plate (32) being arranged above the gear (30), the rack plate (32) being slidably mounted on the inner wall of the protective box (21), and one end of the rack plate (32) being fixedly mounted inside the RGV device (3).

10. The 3D camera detection device for underbody of a battery swap station according to claim 9, characterized in that: A torsion spring (31) is provided between the connecting shaft (29) and the protection box (21), and two ends of the torsion spring (31) are respectively fixedly connected to the connecting shaft (29) and the protection box (21).

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