Intelligent and accurate battery replacement method for AGV (Automatic Guided Vehicle)

Abstract

The invention discloses an intelligent and accurate battery replacing method for an AGV. The method comprises the following steps that S1, reflective strips are installed on the periphery of a vehicle battery pack; s2, when the vehicle enters the battery replacing station, obtaining the specification of a vehicle battery pack, and assuming that the length of the battery pack is L and the width of the battery pack is M; s3, one group of range finders arranged in two adjacent directions in the battery replacement station begins to measure the distance between the group of range finders and the reflective stripe, the group of range finders in one direction measures the maximum distance between the group of range finders and the reflective stripe as X1 and the minimum distance between the group of range finders and the reflective stripe as X2, the group of range finders in the other direction measures the maximum distance between the group of range finders and the reflective stripe as Y1 and the minimum distance between the group of range finders and the reflective stripe as Y2, X2 and Y1 are taken as original points, and X1 and Y2 are taken as original points; the deflection angle sinB = (X1-X2) / L of the vehicle is calculated, and B is the deflection angle of the vehicle; and S4, the RGV travels into the battery replacement station, the RGV rotates to the angle B, and the battery replacement assembly performs battery replacement. The device has the advantages of being exquisite in design, simple in structure, easy and convenient to operate and wide in applicability.

Description

Technical Field

[0001] The present invention relates to the field of battery replacement technology, and in particular to an intelligent and precise battery replacement method for an AGV vehicle. Background Art

[0002] In recent years, with the rise in global oil prices and increasingly stringent automobile emission standards, the development of domestic new energy vehicles has ushered in a trend of sustained rapid growth, and the market share has steadily increased. According to the latest data released by the China Association of Automobile Manufacturers: In June 2023, the production and sales of new energy vehicles were 784,000 and 806,000 respectively, an increase of 9.9% and 12.5% ​​month-on-month, and an increase of 32.8% and 35.2% year-on-year respectively. From January to June 2023, the production and sales of new energy vehicles were 3.788 million and 3.747 million respectively, an increase of 42.4% and 44.1% year-on-year respectively. Against the background of the rapid increase in the number of new energy vehicles, it is difficult to meet the huge demand for energy replenishment by traditional charging methods alone, and the charging methods have bottlenecks such as long energy replenishment time and inflexibility, which have been criticized by new energy vehicle owners. Although there are 1000V high-voltage fast charging on the market, which can shorten the energy replenishment time, new technologies often take time to verify and improve. In the current context, the battery swap model has emerged as the times require, becoming an important way to shorten the time it takes to recharge new energy vehicles and reduce the pressure on the power grid when many vehicles are recharging. The battery swap station can charge the vehicle when the power grid electricity price is at its valley point, and return the electricity to the grid when the power price is at its peak point, which has the effect of shaving the peak and filling the valley and reducing the pressure on the power grid.

[0003] In new energy cars, the battery pack is located on the chassis of the vehicle and is generally rectangular in shape. Battery packs of different specifications vary in size. Currently, the industry usually uses image recognition, simulation training and other methods to identify the size and position of the battery pack. However, the above methods are complex in structure, difficult to operate, and have great limitations. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art and provide an intelligent and precise battery replacement method for an AGV vehicle.

[0005] The purpose of the present invention is achieved through the following technical solutions: An intelligent and precise battery replacement method for an AGV vehicle comprises the following steps: S1. Install reflective strips around the vehicle battery pack; S2. When the vehicle enters the battery swap station, obtain the license plate information of the vehicle, and obtain the specifications of the vehicle battery pack through the license plate information, assuming that the length of the battery pack is L and the width is M; S3. A set of distance meters set in two adjacent directions in the battery swap station starts to measure the distance between it and the reflective strip. A set of distance meters in one direction measures the maximum distance between it and the reflective strip as X1 and the minimum distance as X2. A set of distance meters in another direction measures the maximum distance between it and the reflective strip as Y1 and the minimum distance as Y2. Take X2 and Y1 as the origin and calculate the deflection angle of the vehicle sinB=(X1-X2) / L, where B is the deflection angle of the vehicle. S4, the RGV car drives into the battery swap station until one end of the battery swap assembly on the RGV car drives to the origin, and the RGV car rotates to angle B. At this time, the battery swap assembly is located directly below the battery pack, and the battery swap assembly performs battery swapping.

[0006] Preferably, the rangefinder is a laser rangefinder.

[0007] Preferably, when the vehicle enters the battery swap station vertically, a group of rangefinders in one direction measures its maximum distance to the reflective strip as X1 and the minimum distance as X2, and the distances of X1 and X2 are equal. A group of rangefinders in another direction measures its maximum distance to the reflective strip as Y1 and the minimum distance as Y2, and the distances of Y1 and Y2 are equal. Taking X2 and Y1 as the origin, the vehicle deflection angle is 0.

[0008] Preferably, when the vehicle tilts into the battery swap station, a group of rangefinders in one direction measures the maximum distance from the reflective strip to be X1 and the minimum distance to be X2, and a group of rangefinders in the other direction measures the maximum distance from the reflective strip to be Y1 and the minimum distance to be Y2. Taking X2 and Y1 as the origin, the vehicle's deflection angle sinB=(X1-X2) / L is calculated, where B is the vehicle's deflection angle.

[0009] Preferably, when the vehicle enters the battery swap station, wireless communication with the vehicle is established to obtain the license plate information of the vehicle.

[0010] Preferably, the reflective strip is attached to four sides of the battery pack, and the length of the reflective strip is equal to the four sides of the battery pack.

[0011] Preferably, a CCD camera is installed on the RGV vehicle.

[0012] Preferably, the rangefinders are arranged equidistantly, wherein the distance between the nearest rangefinder and the farthest rangefinder in one direction is greater than the length of the battery pack, and the distance between the nearest rangefinder and the farthest rangefinder in another direction is greater than the width of the battery pack.

[0013] The beneficial effects of the present invention are mainly reflected in: 1. The distance meter in two adjacent directions can accurately judge the direction of the battery pack on the vehicle. Whether it is set vertically or tilted, its angle can be judged to ensure that the battery replacement component on the RGV car is at the same angle with it, thereby ensuring the accuracy of battery replacement. In addition, the above structure is exquisitely designed, simple in structure, simple and convenient to operate, and has a wide range of applicability; 2. The reflective strip increases the intensity of the light reflection signal to facilitate the rangefinder to receive its signal, reduce the fault tolerance, improve the accuracy, and further ensure the accuracy of battery replacement. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The technical solution of the present invention is further described below in conjunction with the accompanying drawings: Figure 1 : A schematic structural diagram of a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0015] The present invention will be described in detail below in conjunction with the specific embodiments shown in the accompanying drawings. However, these embodiments are not limited to the present invention, and any structural, methodological, or functional changes made by a person skilled in the art based on these embodiments are all within the scope of protection of the present invention.

[0016] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0017] like Figure 1 As shown, the present invention discloses an intelligent and precise battery replacement method for an AGV, comprising the following steps: S1. Install reflective strips 11 around the vehicle battery pack 1. The reflective strips 11 are attached around the battery pack 1. The length of the reflective strips 11 is equal to the length of the battery pack 1. Of course, the reflective strips can also be installed in other ways, which all fall within the scope of protection of the present invention and are not described in detail here.

[0018] S2. When a vehicle enters the battery swap station, the license plate information of the vehicle is obtained, and the specifications of the vehicle battery pack 1 are obtained through the license plate information. It is assumed that the length of the battery pack is L and the width is M.

[0019] S3. A set of rangefinders 2 arranged in two adjacent directions in the battery swap station starts to measure the distance between them and the reflective strip 11. A set of rangefinders 2 in one direction measures the maximum distance between them and the reflective strip 11 as X1 and the minimum distance as X2. A set of rangefinders 2 in another direction measures the maximum distance between them and the reflective strip 11 as Y1 and the minimum distance as Y2. X2 and Y1 are taken as the origin, and the deflection angle of the vehicle is calculated as sinB=X1-X2 / L, where B is the deflection angle of the vehicle. S4, the RGV car drives into the battery swap station until one end of the battery swap assembly on the RGV car drives to the origin, and the RGV car rotates to angle B. At this time, the battery swap assembly is located directly below the battery pack 1, and the battery swap assembly performs battery swapping.

[0020] 3. In the above, the distance meter in two adjacent directions can accurately judge the direction of the battery pack on the vehicle. Whether it is set vertically or tilted, its angle can be judged to ensure that the battery replacement component on the RGV car is at the same angle with it, thereby ensuring the accuracy of battery replacement. In addition, the above structure is exquisitely designed, simple in structure, simple and convenient to operate, and has a wide range of applicability.

[0021] In this preferred embodiment, the rangefinder 2 is a laser rangefinder. Of course, other types of rangefinders may also be used, and all fall within the protection scope of the present invention.

[0022] In the above, when the vehicle enters the battery swap station vertically, a group of rangefinders 2 in one direction measures its maximum distance from the reflective strip 11 as X1 and the minimum distance as X2, and the distances of X1 and X2 are equal. A group of rangefinders 2 in another direction measures its maximum distance from the reflective strip 11 as Y1 and the minimum distance as Y2, and the distances of Y1 and Y2 are equal. Taking X2 and Y1 as the origin, the vehicle deflection angle is 0.

[0023] When the vehicle tilts into the battery swap station, a group of rangefinders 2 in one direction measures the maximum distance to the reflective strip 11 as X1 and the minimum distance as X2, and a group of rangefinders 2 in the other direction measures the maximum distance to the reflective strip 11 as Y1 and the minimum distance as Y2. Taking X2 and Y1 as the origin, the vehicle's deflection angle sinB=X1-X2 / L is calculated, where B is the vehicle's deflection angle.

[0024] When the vehicle enters the battery swap station, wireless communication is established with the vehicle to obtain the license plate information of the vehicle. In addition, in this preferred embodiment, a CCD camera is fixed on the RGV trolley, and the CCD camera can collect visual data to further ensure accuracy. The CCD camera at least includes an image sensor and an analog-to-digital conversion circuit, the image sensor is connected to the analog-to-digital conversion circuit, the analog-to-digital conversion circuit is provided with a communication interface, the image sensor converts the external light signal into an analog signal, and the analog-to-digital conversion circuit converts the analog signal into a digital signal and transmits it to the processor. The CCD camera used in the present invention can meet the illumination requirements in an industrial manufacturing environment and has high sensitivity. The system uses a communication interface for data transmission, which can effectively prevent interference from other signals and improve the stability of data transmission. At the same time, the CCD camera includes an optical lens connected to the fuselage, and the image sensor and analog-to-digital converter are provided inside the fuselage. The optical lens gathers external light to the image sensor, which is conducive to the system to collect clear images.

[0025] The rangefinders 2 are arranged equidistantly, wherein the distance between the nearest rangefinder 2 and the farthest rangefinder in one direction is greater than the length of the battery pack, and the distance between the nearest rangefinder 2 and the farthest rangefinder in another direction is greater than the width of the battery pack.

[0026] It should be understood that although this specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each implementation mode may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

[0027] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of the present invention. They are not intended to limit the scope of protection of the present invention. Any equivalent implementation methods or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. The intelligent and precise battery replacement method for AGV is characterized by: The steps include: S1. Installing reflective strips (11) around the vehicle battery pack (1); S2. When the vehicle enters the battery swap station, obtain the license plate information of the vehicle, and obtain the specifications of the vehicle battery pack (1) through the license plate information, assuming that the length of the battery pack is L and the width is M; S3, a set of distance meters (2) arranged in two adjacent directions in the battery swap station starts to measure the distance between itself and the reflective strip (11), wherein the distance meter (2) in one direction measures the maximum distance between itself and the reflective strip (11) to be X1 and the minimum distance to be X2, and the distance meter (2) in the other direction measures the maximum distance between itself and the reflective strip (11) to be Y1 and the minimum distance to be Y2, taking X2 and Y1 as the origin, and calculating the deflection angle of the vehicle sinB=(X1-X2) / L, where B is the deflection angle of the vehicle; S4, the RGV trolley drives into the battery swap station until one end of the battery swap assembly on the RGV trolley drives to the origin, and the RGV trolley rotates to angle B. At this time, the battery swap assembly is located directly below the battery pack (1), and the battery swap assembly performs battery swapping.

2. The intelligent and precise battery replacement method for the AGV according to claim 1 is characterized in that: The rangefinder (2) is a laser rangefinder.

3. The intelligent and precise battery replacement method for the AGV according to claim 1 is characterized in that: When the vehicle enters the battery swap station vertically, a set of distance meters (2) in one direction measures that the maximum distance between the vehicle and the reflective strip (11) is X1 and the minimum distance is X2, and the distances of X1 and X2 are equal. A set of distance meters (2) in the other direction measures that the maximum distance between the vehicle and the reflective strip (11) is Y1 and the minimum distance is Y2, and the distances of Y1 and Y2 are equal. X2 and Y1 are taken as the origin, and the vehicle deflection angle is 0.

4. The intelligent and precise battery replacement method for the AGV according to claim 1 is characterized in that: When the vehicle tilts into the battery swap station, a set of rangefinders (2) in one direction measures the maximum distance between the vehicle and the reflective strip (11) to be X1 and the minimum distance to be X2, and a set of rangefinders (2) in another direction measures the maximum distance between the vehicle and the reflective strip (11) to be Y1 and the minimum distance to be Y2. Taking X2 and Y1 as the origin, the deflection angle of the vehicle sinB=(X1-X2) / L is calculated, and B is the deflection angle of the vehicle.

5. The intelligent and precise battery replacement method for the AGV according to claim 1 is characterized in that: When the vehicle enters the battery swap station, wireless communication is established with the vehicle to obtain the license plate information of the vehicle.

6. The intelligent and precise battery replacement method for the AGV according to claim 1 is characterized in that: The reflective strip (11) is attached to the four sides of the battery pack (1), and the length of the reflective strip (11) is equal to the four sides of the battery pack (1).

7. The intelligent and precise battery replacement method for an AGV according to claim 1 is characterized in that: The RGV trolley is provided with a CCD camera.

8. The intelligent and precise battery replacement method for an AGV according to claim 1 is characterized in that: The distance meters (2) are arranged at equal distances, wherein the distance between the nearest distance meter (2) and the farthest distance meter in one direction is greater than the length of the battery pack, and the distance between the nearest distance meter (2) and the farthest distance meter in another direction is greater than the width of the battery pack.

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