Battery replacement control method based on height difference of battery pack at bottom of vehicle

Abstract

The invention discloses a battery replacement control method based on the height difference of battery packs at the bottom of a vehicle. The method comprises the following steps that battery information of the vehicle is obtained through license plate information; acquiring actual feature point location information of two predetermined feature point locations on the bottom surface of the battery pack; comparing the actual feature point location information with a predetermined feature point location, and calculating a position deviation value of the battery pack; the battery replacing trolley is controlled to move to a battery replacing position corresponding to the bottom of the vehicle, and a battery replacing platform on the battery replacing trolley is driven to deflect by an angle corresponding to the position deviation value of the battery pack; and the battery replacing platform is controlled to complete dismounting or mounting operation on the battery pack on the vehicle. The method has the main beneficial effects that the design is exquisite, the height of the battery replacing platform can be automatically adjusted according to the height difference of different positions of the bottom surface of the battery pack, so that the problem of vehicle inclination is rapidly solved, the vehicle state compatibility is high, the influence of the vehicle state on the battery replacing process is greatly reduced, and the operation is simple, convenient, stable and reliable; and the method has relatively wide applicability.

Description

Technical Field

[0001] The present invention relates to the field of battery replacement technology, and more specifically, to a battery replacement control method based on the height difference of battery packs at the bottom of a vehicle. Background Art

[0002] With the development and popularization of new energy vehicles, battery pack quick-swap technology has also developed rapidly. Currently, quick-swap technology is most mature in small passenger cars. Passenger car batteries are fixed to the vehicle chassis. Therefore, when replacing the battery pack, dedicated battery swapping equipment must be moved to the bottom of the vehicle to remove or install the battery. Moreover, due to the light weight of passenger cars, the battery pack is relatively small, making battery replacement very convenient.

[0003] However, for large vehicles, such as heavy trucks or light trucks, the body and cargo weight are very large, resulting in a high demand for battery pack capacity. A large enough capacity of electricity is required to support large vehicles to travel hundreds of kilometers, which also leads to a large weight and volume of battery packs for large vehicles. Therefore, in the existing technology, large vehicles in the new energy series all use a top-hanging method to fix a large battery container on the vehicle's beam. The battery container is set close to the cab, which leads to a large safety hazard for the driver and the vehicle itself during driving and the top-hanging battery replacement process; moreover, if the battery fails, it will directly cause personal injury to the driver. In addition, the top-hanging method has very high requirements for the site of the battery swap station. The battery swap station needs to have a large enough area to carry out the lifting equipment to transport the batteries and store the batteries, etc., resulting in a very high cost of station construction.

[0004] Therefore, for large vehicles, there is an urgent need for a safer, more reliable and easy-to-popularize battery swap mode. For example, patent publication number CN116923179A discloses a battery swap control method based on the bottom height of the battery swap vehicle, which is characterized in that the battery swap control method is applied to the chassis-type battery swap structure of the battery swap vehicle. The battery swap vehicle has a beam body for locking the quick-swap battery pack from the bottom. The battery swap control method includes the following steps: obtaining the battery disassembly and assembly information of the battery swap vehicle parked in the battery swap area, and the battery disassembly and assembly information at least includes the battery disassembly and assembly height; controlling the battery swap platform of the battery swap car to move to the battery swap position corresponding to the bottom of the battery swap vehicle; controlling the battery swap platform to rise to a height position matching the battery disassembly and assembly height; controlling the battery swap platform to perform battery disassembly or installation operations from the bottom of the battery swap vehicle. However, due to the uneven load distribution or no-load conditions of the current chassis battery-swap vehicles, it is difficult to ensure the levelness of the vehicle bottom during the battery swap process due to the influence of the vehicle suspension, resulting in different height differences between different battery positions relative to the ground during battery swap. The direct impact of the battery's unsatisfactory levelness is that it reduces the smoothness of the separation between the battery and the vehicle bottom, and indirectly increases the failure rate of the battery swap, thus failing to achieve the expected battery swap effect. Summary of the Invention

[0005] The purpose of the present invention is to overcome the shortcomings of the existing technology and provide a battery replacement control method based on the height difference of the battery pack at the bottom of the vehicle.

[0006] The purpose of the present invention is achieved through the following technical solutions: A battery swap control method based on the height difference of the battery pack at the bottom of a vehicle is applied to a vehicle chassis-type battery swap structure. The vehicle has a vehicle suspension for supporting the battery pack. The battery swap control method includes the following steps: S1. Obtain the license plate information of a vehicle parked at the battery swap station, and obtain the battery information of the vehicle through the license plate information; S2. Using a camera assembly to obtain actual feature point information of two predetermined feature points on the bottom surface of the battery pack; S3. Compare the actual feature point information with the predetermined feature point information to calculate the battery pack position deviation value; S4. Control the battery swapping trolley to move to the corresponding battery swapping position at the bottom of the vehicle, and drive the battery swapping platform on the battery swapping trolley to deflect by an angle corresponding to the battery pack position deviation value; S5. Control the battery swap platform to complete the removal or installation of the battery pack on the vehicle.

[0007] Preferably, in step S3, “comparing and calculating the actual feature point information with the predetermined feature point information” is specifically as follows: S31. The actual feature point information obtained is A1 (Xa, Ya, Za) and B1 (Xb, Yb, Zb). The distance difference between A1 and B1 in the X direction is recorded as X1, the distance difference between A1 and B1 in the Y direction is recorded as Y1, and the distance difference between A1 and B1 in the Z direction is recorded as Z1. S32, obtaining the predetermined feature point information as A2 (XA, YA, ZA) and B2 (XB, YB, ZB), recording the distance difference between A2 and B2 in the X direction as X2, the distance difference between A2 and B2 in the Y direction as Y2, and the distance difference between A2 and B2 in the Z direction as Z2; S33. The deviation between the actual feature point information and the predetermined feature point information is ΔX=|X2-X1|, ΔY=|Y2-Y1|, ΔZ=|Z2-Z1|, the height offset angle of the battery pack in the X direction is arctan(ΔZ / ΔX), and the height offset angle of the battery pack in the Y direction is arctan(ΔZ / ΔY).

[0008] Preferably, the camera assembly includes at least a static laser stereo camera.

[0009] Preferably, it also includes a tilt sensor arranged on the battery pack.

[0010] Preferably, the camera component sends data to the control vehicle and the battery exchange platform via TCP / IP.

[0011] Preferably, the battery-swapping vehicle is configured to move back and forth in a preset battery-swapping channel, and a collection device is provided in the battery-swapping channel toward the battery-swapping vehicle, and the collection device is used to collect the height between it and the vehicle suspension.

[0012] Preferably, the acquisition device is a laser sensor arranged on the ground of the battery exchange channel and located at the bottom of the battery exchange vehicle, or the acquisition device is an image sensor arranged in the battery exchange channel and located on either side of the battery exchange vehicle.

[0013] Preferably, when the vehicle enters the battery swap station, wireless communication is established with the vehicle to obtain the license plate information of the vehicle.

[0014] The beneficial effects of the present invention are mainly reflected in: 1. The method is ingeniously designed. It can automatically adjust the height of the battery swap platform according to the height difference at different positions of the battery pack bottom surface, thereby quickly solving the problem of vehicle tilt. It has strong compatibility with vehicle status and greatly reduces the impact of vehicle status on the battery swap process. The operation is simple and convenient, stable and reliable, and has wide applicability. 2. The layout is reasonable. There is no need to adjust the vehicle through the lifting mechanism in the battery swap station. The battery swap car controls the battery swap platform to adjust itself to adapt to the vehicle body. It is simpler, more convenient, and lowers the cost, thus reducing the cost of the enterprise and facilitating its development. 3. The tilt sensor compares the battery pack deviation angle measured by this method with the deviation angle. If it is within the predetermined range, such as when the deviation angle is less than 1°, no reminder is issued and the battery is replaced normally. If it is outside the predetermined range, an alarm sounds and data information is sent to the user client. This setting can avoid measurement errors and further improve safety. 4. The collection device collects real-time information from the battery swapping vehicle. After the battery swapping vehicle reaches the bottom of the vehicle, the corresponding battery removal and installation height is detected in the static state of the vehicle. The detection data is more accurate and can be used to determine the battery swapping position in the subsequent battery swapping process, ensuring the overall battery swapping efficiency. 5. The hardware structure is simple, and there is no need to design a complex mechanical structure to be compatible with the battery pack status. It is easy for personnel to install and maintain. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The technical solution of the present invention will be further described below with reference to the accompanying drawings: Figure 1 : Flowchart of a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0016] The present invention will be described in detail below with reference to the specific embodiments shown in the accompanying drawings. However, these embodiments are not limited to the present invention, and any structural, methodological, or functional modifications made by those skilled in the art based on these embodiments are all within the scope of protection of the present invention.

[0017] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0018] like Figure 1 As shown, the present invention discloses a battery swap control method based on the height difference of the battery pack at the bottom of the vehicle. The battery swap control method is applied to a vehicle chassis-type battery swap structure, and the vehicle has a vehicle suspension for carrying the battery pack. In this preferred embodiment, the vehicle includes but is not limited to a truck vehicle, such as a heavy truck. Such a battery swap vehicle is large, and its vehicle suspension has a strong load-bearing capacity.

[0019] In the present invention, the battery replacement control method includes the following steps: S1. Obtain the license plate information of a vehicle parked at the battery swap station, and obtain the vehicle's battery information through the license plate information. The battery information includes at least information such as the length, width, height, and bottom surface flatness of the battery. In addition, when the vehicle enters the battery swap station, establish wireless communication with the vehicle to obtain the vehicle's license plate information. In the above, the wireless communication can be disclosed in Authorization Announcement No. CN101816143B. Of course, it can also be a wireless communication structure of other structures, all of which fall within the scope of protection of the present invention and are not further described here.

[0020] S2. Use a camera assembly to obtain actual feature point information of two predetermined feature points on the bottom surface of the battery pack. The predetermined feature points may be components located at both ends of the diagonal of the bottom surface of the battery pack, or components in other areas. The present invention does not make specific limitations on their positions, and all of them fall within the scope of protection of the present invention.

[0021] In this preferred embodiment, the camera assembly includes at least a static laser stereo camera, which uses a wide dynamic algorithm to measure highly reflective / highly absorbing materials more accurately and optimize efficiency, supporting a maximum speed of 3m / s, greatly improving efficiency. In addition, the camera uses sub-pixel technology with an accuracy of up to 3mm, making the measurement more accurate. At the same time, the use of a high-power laser module has a wider dynamic range. The optical sheet uses a narrow-band filter with stronger anti-interference ability, ensuring the accuracy of the photo to the greatest extent. In this preferred embodiment, the camera assembly sends data to the control vehicle and the battery exchange platform via TCP / IP.

[0022] S3, compare and calculate the actual feature point information with the predetermined feature point information, and calculate the battery pack position deviation value. Specifically, in step S3, "compare and calculate the actual feature point information with the predetermined feature point information" is specifically as follows: S31. The actual feature point information obtained is A1 (Xa, Ya, Za) and B1 (Xb, Yb, Zb). The distance difference between A1 and B1 in the X direction is recorded as X1, the distance difference between A1 and B1 in the Y direction is recorded as Y1, and the distance difference between A1 and B1 in the Z direction is recorded as Z1. S32, obtaining the predetermined feature point information as A2 (XA, YA, ZA) and B2 (XB, YB, ZB), recording the distance difference between A2 and B2 in the X direction as X2, the distance difference between A2 and B2 in the Y direction as Y2, and the distance difference between A2 and B2 in the Z direction as Z2; S33. The deviation between the actual feature point information and the predetermined feature point information is ΔX=|X2-X1|, ΔY=|Y2-Y1|, ΔZ=|Z2-Z1|, the height offset angle of the battery pack in the X direction is arctan(ΔZ / ΔX), and the height offset angle of the battery pack in the Y direction is arctan(ΔZ / ΔY).

[0023] The present invention also includes a tilt sensor mounted on the battery pack. This sensor allows for precise correction within a 30° angle range, with a typical error of 0.03°. It also provides temperature compensation across the full temperature range of -40°C to 85°C. The deviation angle of the battery pack measured by this method can be compared with the deviation angle. If the deviation is within the predetermined range, such as less than 1°, no warning is issued and the battery replacement proceeds normally. If the deviation is outside the predetermined range, an alarm sounds and data information is sent to the user client. This configuration prevents measurement errors and further improves safety.

[0024] S4. Control the battery-swapping trolley to move to the corresponding battery-swapping position at the bottom of the vehicle, and drive the battery-swapping platform on the trolley to deflect by an angle corresponding to the battery pack position deviation value. In this preferred embodiment, the battery-swapping trolley is provided with a lifting assembly that can drive the battery-swapping platform mounted thereon to deflect, thereby aligning the tilt angle of the battery-swapping platform with the tilt angle of the battery pack.

[0025] S5. Control the battery swap platform to complete the removal or installation of the battery pack on the vehicle. The structure of the battery swap platform is prior art, and the present invention will not elaborate on it here, as it all falls within the protection scope of the present invention.

[0026] In this preferred embodiment, the battery swapping trolley is configured to move back and forth within a preset battery swapping channel. A collection device is provided within the battery swapping channel, facing the battery swapping vehicle, to collect real-time information about the battery swapping vehicle. After the battery swapping trolley reaches the bottom of the vehicle, the corresponding battery removal and installation height is detected in the static state of the vehicle. This more accurate detection data is used to determine the battery swapping position during subsequent battery swapping processes, ensuring overall battery swapping efficiency. The above design is simple, easy, and reliable, thereby improving the convenience and reliability of the overall battery swapping control method.

[0027] In addition, the acquisition device is a laser sensor disposed on the ground of the battery exchange channel and located at the bottom of the battery exchange vehicle, or the acquisition device is an image sensor disposed in the battery exchange channel and located on either side of the battery exchange vehicle. Of course, other acquisition structures are also possible, all of which fall within the scope of protection of the present invention and will not be elaborated on in detail herein.

[0028] In the above, distance information is obtained by a laser sensor, or image information is collected by an image sensor, which is simple, easy and reliable, and the detection equipment is easy to obtain, thereby improving the convenience and reliability of the overall battery swap control method. In this embodiment, the battery swap channel and the driving channel of the battery swap vehicle can also be set on the same plane to avoid on-site construction of the battery swap station site, such as digging a pit to bury lifting equipment or sinking the battery swap equipment, etc. The completed battery swap station can be transported to the site as a whole and fixed before battery swapping, which simplifies the construction period of the battery swap station and reduces the construction cost. Of course, this solution does not limit the setting height deviation of the battery swap channel and the driving channel. It does not rule out that in order to obtain higher battery swap efficiency, the driving channel can be set at a certain height from the ground (such as adding a ramp, etc.) or the battery swap channel can be sunk to a predetermined depth below the ground.

[0029] It should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method 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 method can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0030] 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. A battery replacement control method based on the height difference of the battery pack at the bottom of the vehicle is characterized by: The battery swap control method is applied to a vehicle chassis-type battery swap structure, wherein the vehicle has a vehicle suspension for carrying a battery pack. The battery swap control method includes the following steps: S1. Obtain the license plate information of a vehicle parked at the battery swap station, and obtain the battery information of the vehicle through the license plate information; S2. Using a camera assembly to obtain actual feature point information of two predetermined feature points on the bottom surface of the battery pack; S3. Compare the actual feature point information with the predetermined feature point information to calculate the battery pack position deviation value; S4. Control the battery swapping trolley to move to the corresponding battery swapping position at the bottom of the vehicle, and drive the battery swapping platform on the battery swapping trolley to deflect by an angle corresponding to the battery pack position deviation value; S5. Control the battery swap platform to complete the removal or installation of the battery pack on the vehicle.

2. The battery replacement control method based on the height difference of the battery pack at the bottom of the vehicle according to claim 1 is characterized in that: In step S3, "comparing and calculating the actual feature point information with the predetermined feature point information" is specifically as follows: S31. The actual feature point information obtained is A1 (Xa, Ya, Za) and B1 (Xb, Yb, Zb). The distance difference between A1 and B1 in the X direction is recorded as X1, the distance difference between A1 and B1 in the Y direction is recorded as Y1, and the distance difference between A1 and B1 in the Z direction is recorded as Z1. S32, obtaining the predetermined feature point information as A2 (XA, YA, ZA) and B2 (XB, YB, ZB), recording the distance difference between A2 and B2 in the X direction as X2, the distance difference between A2 and B2 in the Y direction as Y2, and the distance difference between A2 and B2 in the Z direction as Z2; S33. The deviation between the actual feature point information and the predetermined feature point information is ΔX=|X2-X1|, ΔY=|Y2-Y1|, ΔZ=|Z2-Z1|, the height offset angle of the battery pack in the X direction is arctan(ΔZ / ΔX), and the height offset angle of the battery pack in the Y direction is arctan(ΔZ / ΔY).

3. The battery replacement control method based on the height difference of the battery pack at the bottom of the vehicle according to claim 1 is characterized in that: The camera assembly includes at least a static laser stereo camera.

4. The battery replacement control method based on the height difference of the battery pack at the bottom of the vehicle according to claim 1 is characterized in that: Also included is a tilt sensor arranged on the battery pack.

5. The battery replacement control method based on the height difference of the battery pack at the bottom of the vehicle according to claim 1 is characterized in that: The camera component sends data to the control vehicle and the battery exchange platform via TCP / IP.

6. The battery replacement control method based on the height difference of the battery pack at the bottom of the vehicle according to claim 1 is characterized in that: The battery-swapping vehicle is configured to move back and forth in a preset battery-swapping channel. A collection device is provided in the battery-swapping channel facing the battery-swapping vehicle, and the collection device is used to collect the height between it and the vehicle suspension.

7. The battery replacement control method based on the height difference of the battery pack at the bottom of the vehicle according to claim 6 is characterized in that: The acquisition device is a laser sensor arranged on the ground of the battery exchange channel and located at the bottom of the battery exchange vehicle, or the acquisition device is an image sensor arranged in the battery exchange channel and located on either side of the battery exchange vehicle.

8. The battery replacement control method based on the height difference of the battery pack at the bottom of the vehicle according to claim 7 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.

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