A two-stage new energy vehicle battery positioning method and device
By employing a two-stage positioning method, combined with image acquisition and laser sensor-based environmental map comparison technology, the problem of insufficient positioning accuracy for new energy vehicle batteries has been solved, achieving rapid, accurate, and stable battery positioning.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- FUJIAN UNIV OF TECH
- Filing Date
- 2026-03-23
- Publication Date
- 2026-07-10
Smart Images
Figure CN122354431A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of new energy vehicle battery technology, and in particular to a two-stage new energy vehicle battery positioning method and equipment. Background Technology
[0002] In the daily use and maintenance of new energy vehicles, the maintenance and replacement of the battery system is a crucial aspect. Because the battery packs of new energy vehicles are typically large and heavy, and installed under the vehicle chassis, their disassembly and installation operations place high demands on the positioning accuracy and efficiency of the equipment. If the positioning equipment cannot accurately return to its original position, it can lead to misalignment of the battery threaded holes and installation difficulties, or even damage to the battery interface or the vehicle chassis structure, causing safety accidents.
[0003] Existing positioning methods generally use path memory, which records the movement trajectory through an encoder and returns along the same path. This method can achieve rapid movement, but due to factors such as wheel slippage and uneven ground, it is easy to accumulate errors, and the positioning accuracy is difficult to guarantee after long-term operation. Summary of the Invention
[0004] Therefore, there is a need to provide a two-stage new energy vehicle battery positioning method and equipment to solve the technical problem that the path memory method is prone to cumulative errors and the positioning accuracy is difficult to guarantee after long-term operation.
[0005] To achieve the above objectives, in a first aspect, the present invention provides a two-stage new energy vehicle battery positioning method, comprising the following steps:
[0006] S1. Establish positioning benchmarks
[0007] The positioning device is moved to the initial position under the battery, and the lifting mechanism is adjusted to initially align with the battery. Multiple image acquisition units on the positioning device are used to collect and record the position information of multiple preset reference points on the battery under the drive of the corresponding moving components.
[0008] S2, Remove the battery and move it.
[0009] The positioning device is controlled to rise to support the battery. After the battery is removed, the positioning device is controlled to descend and move to the charging position.
[0010] S3, First-level coarse positioning
[0011] The control and positioning device returns from the charging location to the initial location based on the recorded movement path;
[0012] S4, Secondary Precision Positioning
[0013] Based on the position information of multiple preset reference points that have been recorded, the pose of the positioning device is finely adjusted until the multiple image acquisition units are realigned with the corresponding multiple preset reference points.
[0014] Unlike existing technologies, the technical solution of this application completes a large-stroke rapid movement through primary coarse positioning, bringing the device back to the vicinity of the initial position. The cumulative error generated in this stage is controlled within an acceptable range. Then, through secondary fine positioning, small-range fine adjustments are made based on pre-recorded visual benchmarks, directly eliminating all cumulative errors introduced in the coarse positioning process, achieving effective isolation and precise correction of errors. This hierarchical positioning method not only takes into account positioning speed and accuracy, but also avoids the impact and error transmission from the coarse positioning stage to the final alignment process, significantly reducing the probability of positioning failure, thereby achieving fast, accurate and stable battery positioning operations.
[0015] In one embodiment of the present invention, in step S1, establishing a positioning reference, the surrounding environment is scanned by a laser sensor installed on the positioning device to generate and store an initial environment map.
[0016] After step S4, secondary fine positioning is completed, step S5, repositioning verification, is also included: the current environment is scanned by the laser sensor to generate a current environment map, and the current environment map is compared with the initial environment map to verify whether the positioning device has accurately returned to the initial position.
[0017] Thus, by introducing the environmental map comparison function of the laser sensor, a final relocation verification step is added on the basis of visual precision positioning, forming a double guarantee to further ensure that the positioning device accurately returns to its original position and avoids positioning deviations caused by visual obstruction or light interference.
[0018] In one embodiment of the present invention, in step S5, the return verification, the laser sensor uses loop closure detection technology to match the current environmental features generated by scanning with the environmental features in the initial environmental map, and determines whether the positioning device has returned to the initial position based on the matching deviation.
[0019] Thus, using loop closure detection technology for environmental feature matching can effectively eliminate accumulated errors from long-term operation or complex environments, providing a reliable quantitative basis for relocation judgment and improving the accuracy and robustness of the verification process.
[0020] As one embodiment of the present invention, step S3, primary coarse positioning, specifically includes:
[0021] S31. During the process of the positioning device moving from the initial position to the charging position, the movement trajectory data of the positioning device is collected and stored in real time, and the first path is generated and stored.
[0022] S32. When a return is required, a second path is generated based on the first path.
[0023] S33. Control the positioning device to move according to the second path, so that it returns from the charging position to the initial position.
[0024] In this way, coarse positioning is achieved through path recording and reverse path generation. It does not rely on external navigation signals and can complete the initial positioning by relying only on the trajectory recorded by the device itself. It has the advantages of being simple to implement and highly reliable.
[0025] As one embodiment of the present invention, the movement trajectory data is collected in real time by an encoder set on the chassis mechanism of the positioning device. The encoder records the rotation data of the steering wheel at the bottom of the chassis mechanism. After processing by the main control unit, the relative pose of the positioning device relative to the initial position is calculated in real time, including coordinates (x, y) and heading angle θ. A path point is recorded at fixed intervals, and a path point sequence composed of multiple path points is generated as the first path.
[0026] In this way, by using the encoder to collect steering wheel rotation data and combining it with dead reckoning algorithms to generate a path point sequence, relatively accurate trajectory recording can be achieved at a lower cost, providing a reliable path basis for subsequent coarse positioning.
[0027] In one embodiment of the present invention, in step S4, the second-level fine positioning, the pose adjustment of the positioning device specifically includes:
[0028] S41. By adjusting the horizontal and / or vertical movement of the positioning device, the first of the multiple image acquisition units is aligned with its corresponding first preset reference point;
[0029] S42. Using the first preset reference point as a reference, adjust the rotation angle of the positioning device so that the remaining image acquisition units are aligned with their respective preset reference points in sequence.
[0030] Thus, by adopting a positioning strategy of first aligning a reference point through translation and then aligning the remaining points through rotation, the complex multi-dimensional pose adjustment is decomposed into two simple steps, reducing the difficulty of control and improving the alignment efficiency.
[0031] In one embodiment of the present invention, in step S4, secondary precision positioning, images acquired by multiple image acquisition units are displayed in real time on a touch screen on the positioning device. The operator observes the positional deviation between the preset reference points in the images and the center of the image acquisition units, inputs movement commands on the touch screen, and controls the positioning device to move horizontally, vertically, and rotate until all preset reference points are aligned with the center of the corresponding image acquisition units.
[0032] In this way, by providing a visual human-computer interaction interface through the touch screen, operators can intuitively observe the alignment and make manual fine adjustments, which retains the efficiency of automatic control and introduces the flexibility of human judgment, making it particularly suitable for scenarios with complex environments or where automatic alignment fails.
[0033] To achieve the above objectives, in a second aspect, the present invention also provides a two-stage new energy vehicle battery positioning device, comprising:
[0034] Chassis mechanism, used for movement on the ground;
[0035] The lifting mechanism is mounted on the chassis mechanism.
[0036] The lifting mechanism is installed on the lifting mechanism and is used to carry and lift the battery;
[0037] The positioning mechanism is installed on the lifting mechanism. The positioning mechanism includes multiple moving components and multiple image acquisition units that are correspondingly set on the moving components. The moving components are used to drive the image acquisition units to move in a plane parallel to the lifting mechanism, so that each image acquisition unit can acquire and record the position information of a corresponding preset reference point on the battery at the initial position.
[0038] The controller is electrically connected to the chassis mechanism, the lifting mechanism and the positioning mechanism respectively, and is used to execute the two-stage new energy vehicle battery positioning method as provided by the inventor above.
[0039] Unlike existing technologies, the technical solution of this application provides a positioning device that integrates omnidirectional movement, lifting and supporting, visual positioning and intelligent control. Through the cooperation of the moving component and the image acquisition unit, it realizes flexible acquisition and accurate positioning of the battery preset reference point, providing hardware support for the above-mentioned secondary positioning method.
[0040] As one embodiment of the present invention, the secondary new energy vehicle battery positioning device also includes a laser sensor. The laser sensor is installed on the chassis mechanism or the lifting mechanism. The laser sensor is used to scan the surrounding environment to construct an environmental map. The laser sensor is electrically connected to the controller.
[0041] Thus, with the addition of a laser sensor, the device gains environmental awareness and map-building capabilities, enabling it to record environmental features simultaneously during the positioning process and perform loop closure detection verification after repositioning, further improving the reliability and accuracy of positioning.
[0042] In one embodiment of the present invention, a transparent area is provided on the lifting mechanism, and a positioning mechanism is located below the transparent area. The image acquisition unit acquires an image of a preset reference point of the battery above through the transparent area.
[0043] In this way, placing the image acquisition unit below the transparent area not only protects the delicate optical components from external impacts or contamination, but also ensures a clear and unobstructed field of view. The structural design is reasonable and highly reliable.
[0044] The above description of the invention is merely an overview of the technical solution of this application. In order to enable those skilled in the art to better understand the technical solution of this application and to implement it based on the description and drawings, and to make the above-mentioned objectives and other objectives, features and advantages of this application easier to understand, the following description is provided in conjunction with the specific embodiments and drawings of this application. Attached Figure Description
[0045] The accompanying drawings are only used to illustrate the principles, implementation methods, applications, features, and effects of specific embodiments of this application and other related content, and should not be considered as limitations on this application.
[0046] In the accompanying drawings of the instruction manual:
[0047] Figure 1 This is a flowchart of a two-stage new energy vehicle battery positioning method according to an embodiment of this application;
[0048] Figure 2 This is a schematic diagram of the positioning device during positioning according to an embodiment of this application;
[0049] Figure 3 This is a schematic diagram of a positioning mechanism for positioning threaded holes on a battery plate according to an embodiment of this application;
[0050] Figure 4 This is a schematic diagram of the structure of a positioning device according to an embodiment of this application;
[0051] Figure 5 This is a bottom view of a positioning device according to an embodiment of this application;
[0052] Figure 6 This is a schematic diagram of the positioning mechanism according to one embodiment of this application.
[0053] The reference numerals used in the above figures are explained as follows:
[0054] 100. Positioning device; 200. Solar panel; 2001. Threaded hole.
[0055] 1. Chassis mechanism; 11. Base; 12. Main control unit; 13. Driven wheel; 14. Steering wheel.
[0056] 2. Lifting mechanism; 21. Scissor lift frame; 22. Hydraulic cylinder; 23. Power unit.
[0057] 3. Lifting mechanism; 31. Fixing plate; 311. Transparent area; 32. Battery support beam.
[0058] 4. Positioning mechanism; 41. Moving component; 411. X-axis slide table; 412. Y-axis slide table; 413. X-axis slide table drive motor; 414. Y-axis slide table drive motor; 42. Image acquisition unit; a. X-axis; b. Y-axis.
[0059] 5. Controller; 51. Electrical control module; 52. Touchscreen tablet.
[0060] 6. Laser sensor. Detailed Implementation
[0061] To illustrate the possible application scenarios, technical principles, implementable specific solutions, and achievable objectives and effects of this application in detail, the following description, in conjunction with the listed specific embodiments and accompanying drawings, provides a detailed explanation. The embodiments described herein are merely illustrative of the technical solutions of this application and are therefore intended to limit the scope of protection of this application.
[0062] In this document, the term "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The term "embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment, nor does it specifically limit its independence or connection with other embodiments. In principle, in this application, as long as there are no technical contradictions or conflicts, the technical features mentioned in each embodiment can be combined in any way to form corresponding implementable technical solutions.
[0063] Unless otherwise defined, the technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the use of related terms herein is merely for the purpose of describing particular embodiments and is not intended to limit this application.
[0064] In the description of this application, the term "and / or" is used to describe the logical relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A exists, B exists, and A and B exist simultaneously. Additionally, the character " / " in this document generally indicates that the preceding and following objects have an "or" logical relationship.
[0065] In this application, terms such as “first” and “second” are used only to distinguish one entity or operation from another, and do not necessarily require or imply any actual quantity, hierarchy or order relationship between these entities or operations.
[0066] Without further limitations, the use of terms such as “comprising,” “including,” “having,” or other similar open-ended expressions in this application is intended to cover non-exclusive inclusion, which does not exclude the presence of additional elements in a process, method, or product that includes the stated elements, such that a process, method, or product that includes a list of elements may include not only those defined elements but also other elements not expressly listed, or elements inherent to such a process, method, or product.
[0067] As understood in the Examination Guidelines, in this application, expressions such as "greater than," "less than," and "exceeding" are understood to exclude the stated number; expressions such as "above," "below," and "within" are understood to include the stated number. Furthermore, in the description of the embodiments in this application, "multiple" means two or more (including two), and similar expressions related to "multiple" are also understood in this way, such as "multiple groups" and "multiple times," unless otherwise explicitly specified.
[0068] In the description of the embodiments of this application, the space-related expressions used, such as "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "vertical," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," indicate the orientation or positional relationship based on the orientation or positional relationship shown in the specific embodiments or drawings. They are only for the purpose of describing the specific embodiments of this application or for the reader's understanding, and do not indicate or imply that the device or component referred to must have a specific position, a specific orientation, or be constructed or operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.
[0069] Unless otherwise expressly specified or limited, the terms "installation," "connection," "linking," "fixing," and "setting," as used in the description of the embodiments of this application, should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral arrangement; it can be a direct connection or an indirect connection through an intermediate medium; it can be a relationship of two components combined together, an interaction relationship between two components, or a connection within two structures. Those skilled in the art to which this application pertains can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.
[0070] Existing positioning methods generally use path memory, which records the movement trajectory through an encoder and returns along the same path. This method can achieve rapid movement, but due to factors such as wheel slippage and uneven ground, it is easy to accumulate errors, and the positioning accuracy is difficult to guarantee after long-term operation.
[0071] In view of this, this application provides a two-stage new energy vehicle battery positioning method, including the following steps:
[0072] S1. Establish positioning benchmarks
[0073] The positioning device 100 is moved to the initial position under the battery, and the lifting mechanism 3 is adjusted to initially align with the battery. Multiple image acquisition units 42 set on the positioning device 100 are used to collect and record the position information of multiple preset reference points on the battery under the drive of the corresponding moving components 41.
[0074] S2, Remove the battery and move it.
[0075] The positioning device 100 is raised to support the battery. After the battery is removed, the positioning device 100 is lowered and moved to the charging position.
[0076] S3, First-level coarse positioning
[0077] The control positioning device 100 returns from the charging position to the initial position according to the recorded movement path;
[0078] S4, Secondary Precision Positioning
[0079] Based on the position information of multiple preset reference points that have been recorded, the pose of the positioning device 100 is finely adjusted until the multiple image acquisition units 42 are re-aligned with the corresponding multiple preset reference points.
[0080] According to some embodiments of this application, please refer to Figures 1 to 3 This embodiment relates to a two-stage new energy vehicle battery positioning method, including the following steps:
[0081] S1. Establish positioning benchmarks
[0082] The positioning device 100 is moved to the initial position under the battery, and the lifting mechanism 3 is adjusted to initially align with the battery. Multiple image acquisition units 42 set on the positioning device 100 are used to collect and record the position information of multiple preset reference points on the battery under the drive of the corresponding moving components 41.
[0083] S2, Remove the battery and move it.
[0084] The positioning device 100 is raised to support the battery. After the battery is removed, the positioning device 100 is lowered and moved to the charging position.
[0085] S3, First-level coarse positioning
[0086] The control positioning device 100 returns from the charging position to the initial position according to the recorded movement path;
[0087] S4, Secondary Precision Positioning
[0088] Based on the position information of multiple preset reference points that have been recorded, the pose of the positioning device 100 is finely adjusted until the multiple image acquisition units 42 are re-aligned with the corresponding multiple preset reference points.
[0089] In this embodiment, the positioning device 100 first moves to directly beneath the battery to be removed, and achieves initial alignment by adjusting the height and position of the lifting mechanism 3. Subsequently, multiple image acquisition units 42, driven by their respective moving components 41, move in a plane parallel to the lifting mechanism 3, respectively searching for and positioning themselves directly beneath multiple preset reference points on the bottom of the battery (e.g., threaded holes 2001 on the battery plate 200), and recording the position coordinates of each image acquisition unit 42 at this time as the position information of the preset reference point. After recording, the positioning device 100 rises to lift the battery. After the battery is removed, the positioning device 100 descends and moves to the charging position for charging or standby. When a new battery needs to be installed, the positioning device 100 initiates a first-level coarse positioning mode, automatically returning from the charging position to the initial position based on the movement path recorded when leaving. Finally, it enters a second-level fine positioning mode, finely adjusting the lateral position, longitudinal position, and rotation angle of the positioning device 100 based on the position information of the multiple preset reference points recorded in step S1, so that each image acquisition unit 42 is accurately aligned with its corresponding preset reference point again, completing the precise positioning.
[0090] Unlike existing technologies, the technical solution of this application completes a large-stroke rapid movement through primary coarse positioning, bringing the device back to the vicinity of the initial position. The cumulative error generated in this stage is controlled within an acceptable range. Then, through secondary fine positioning, small-range fine adjustments are made based on pre-recorded visual benchmarks, directly eliminating all cumulative errors introduced in the coarse positioning process, achieving effective isolation and precise correction of errors. This hierarchical positioning method not only takes into account positioning speed and accuracy, but also avoids the impact and error transmission from the coarse positioning stage to the final alignment process, significantly reducing the probability of positioning failure, thereby achieving fast, accurate and stable battery positioning operations.
[0091] According to some embodiments of this application, optionally, in step S1, establishing a positioning reference, the surrounding environment is scanned by the laser sensor 6 set on the positioning device 100 to generate and store an initial environment map; after step S4, secondary fine positioning is completed, step S5, repositioning verification is also included: the current environment is scanned by the laser sensor 6 to generate a current environment map, and the current environment map is compared with the initial environment map to verify whether the positioning device 100 has accurately returned to the initial position.
[0092] In this embodiment, while the positioning device 100 establishes a visual reference at the initial position, the laser sensor 6 starts working, scanning surrounding environmental features (such as walls, columns, equipment outlines, etc.) to generate and store an initial environmental map. After the positioning device 100 completes secondary fine positioning and the image acquisition unit 42 is realigned with the preset reference point, the laser sensor 6 restarts, scanning the current environment to generate a current environmental map. The controller 5 compares the current environmental map with the initial environmental map, and by calculating the matching degree or deviation value between the two, determines whether the positioning device 100 has truly returned to its initial position.
[0093] Thus, by introducing the environmental map comparison function of the laser sensor 6, a final repositioning verification step is added on the basis of visual precision positioning, forming a double guarantee to further ensure that the positioning device 100% accurately returns to its original position and avoids positioning deviations caused by visual obstruction or light interference.
[0094] According to some embodiments of this application, optionally, in step S5, repositioning verification, the laser sensor 6 uses loop closure detection technology to match the current environmental features generated by scanning with the environmental features in the initial environmental map, and determines whether the positioning device 100 has returned to the initial position based on the matching deviation.
[0095] In this embodiment, the laser sensor 6 employs loop closure detection technology for environmental feature matching. Specifically, the laser sensor 6 extracts feature points (such as corners, edges, contours, etc.) from the current environment and registers and matches them with feature points in the initial environment map. By calculating parameters such as the Euclidean distance and angular deviation between feature points, a matching deviation value is obtained. If the deviation value is less than a preset threshold, it is determined that the positioning device 100 has accurately returned to its initial position; if the deviation value is too large, an alarm can be triggered or repositioning can be performed.
[0096] Thus, using loop closure detection technology for environmental feature matching can effectively eliminate accumulated errors from long-term operation or complex environments, providing a reliable quantitative basis for relocation judgment and improving the accuracy and robustness of the verification process.
[0097] According to some embodiments of this application, optionally, step S3, primary coarse positioning, specifically includes:
[0098] S31. During the process of the positioning device 100 moving from the initial position to the charging position, the movement trajectory data of the positioning device 100 is collected and stored in real time, and a first path is generated and stored.
[0099] S32. When a return is required, a second path is generated based on the first path.
[0100] S33. Control the positioning device 100 to move according to the second path, so that it returns from the charging position to the initial position.
[0101] In this embodiment, when the positioning device 100 leaves its initial position and heads towards the charging position after removing the battery, the controller 5 begins to collect real-time movement trajectory data, including movement direction, movement distance, and turning angle. This data is stored chronologically to generate a first path from the initial position to the charging position. When a return is needed, the controller 5 reverses the first path, changing the starting point to the ending point and vice versa, generating a second path. Subsequently, the positioning device 100 follows the guidance of the second path, passing through each path point sequentially, and finally returns from the charging position to the initial position.
[0102] In this way, coarse positioning is achieved through path recording and reverse path generation. It does not rely on external navigation signals and can complete the initial positioning by relying only on the trajectory recorded by the device itself. It has the advantages of being simple to implement and highly reliable.
[0103] According to some embodiments of this application, optionally, the movement trajectory data is collected in real time by an encoder set on the chassis mechanism 1 of the positioning device 100. The encoder records the rotation data of the bottom steering wheel 14 of the chassis mechanism 1. After processing by the main control unit 12, the relative pose of the positioning device 100 relative to the initial position is calculated in real time, including coordinates (x, y) and heading angle θ. A path point is recorded at fixed intervals to generate a path point sequence composed of multiple path points in an orderly manner as the first path.
[0104] In this embodiment, the chassis mechanism 1 has multiple steering wheels 14 at its bottom, each equipped with an encoder. When the positioning device 100 moves, the encoder records the number of rotations and the direction of rotation of each steering wheel 14 in real time. Based on the encoder data and parameters such as the diameter and wheelbase of the steering wheels 14, the main control unit 12 calculates the current coordinates and heading angle of the positioning device 100 in real time using a dead reckoning algorithm. To reduce data storage and improve path recording efficiency, the controller 5 records a path point at fixed intervals (e.g., 10 cm), each path point containing its coordinates and heading angle at that moment. All path points are arranged in chronological order to form the first path.
[0105] In this way, by using the encoder to collect the rotation data of the steering wheel 14 and combining it with the dead reckoning algorithm to generate a path point sequence, a relatively accurate trajectory record can be achieved at a lower cost, providing a reliable path basis for subsequent coarse positioning.
[0106] According to some embodiments of this application, optionally, in step S4, the fine-tuning of the pose of the positioning device 100 specifically includes:
[0107] S41. By adjusting the horizontal and / or vertical movement of the positioning device 100, the first of the multiple image acquisition units 42 is aligned with its corresponding first preset reference point.
[0108] S42. Using the first preset reference point as a reference, by adjusting the rotation angle of the positioning device 100, the remaining image acquisition units 42 are aligned with their respective preset reference points in sequence.
[0109] In this embodiment, four image acquisition units 42 are provided. The secondary precision positioning process is divided into two stages: In the first stage, the controller 5 uses the first image acquisition unit 42 (e.g., the industrial camera in the lower right corner) as the target and controls the chassis mechanism 1 to perform lateral and longitudinal translation, so that the image acquisition unit 42 is precisely aligned with its corresponding first preset reference point (e.g., the threaded hole 2001 in the lower right corner). At this time, the first point is aligned, but the other points may have angular deviations. In the second stage, the controller 5 uses the first preset reference point as the rotation center and controls the chassis mechanism 1 to rotate in place, fine-tuning the heading angle of the positioning device 100, so that the second, third, and fourth image acquisition units 42 are sequentially aligned with their respective preset reference points.
[0110] Thus, by adopting a positioning strategy of first aligning a reference point through translation and then aligning the remaining points through rotation, the complex multi-dimensional pose adjustment is decomposed into two simple steps, reducing the difficulty of control and improving the alignment efficiency.
[0111] According to some embodiments of this application, optionally, in step S4, secondary precision positioning, images acquired by multiple image acquisition units 42 are displayed in real time on a touch screen set on the positioning device 100. The operator observes the positional deviation between the preset reference point in the image and the center of the image acquisition unit 42, inputs a movement command on the touch screen, and controls the positioning device 100 to move laterally, longitudinally, and rotate until all preset reference points are aligned with the center of the corresponding image acquisition unit 42.
[0112] In this embodiment, the positioning device 100 is equipped with a touch screen, which is electrically connected to the controller 5. During the secondary precision positioning process, the touch screen is divided into multiple display areas, each displaying an image acquired by one of the image acquisition units 42 in real time. The operator can visually see the positional deviation between the preset reference point (such as the threaded hole 2001) and the crosshair at the center of each image. If a preset reference point in an image is found to be off-center, the operator can directly click the corresponding directional button or slide the screen to input a movement command. After receiving the command, the controller 5 controls the chassis mechanism 1 to perform corresponding lateral, longitudinal, or rotational movements until all preset reference points in all images are aligned with the image center.
[0113] In this way, by providing a visual human-computer interaction interface through the touch screen, operators can intuitively observe the alignment and make manual fine adjustments, which retains the efficiency of automatic control and introduces the flexibility of human judgment, making it particularly suitable for scenarios with complex environments or where automatic alignment fails.
[0114] According to some embodiments of this application, please refer to Figures 4 to 6 This embodiment also relates to a two-stage new energy vehicle battery positioning device 100, including a chassis mechanism 1, a lifting mechanism 2, a supporting mechanism 3, a positioning mechanism 4, and a controller 5; the chassis mechanism 1 is used to move on the ground; the lifting mechanism 2 is installed on the chassis mechanism 1; the supporting mechanism 3 is installed on the lifting mechanism 2 and is used to carry and support the battery; the positioning mechanism 4 is installed on the supporting mechanism 3, and the positioning mechanism 4 includes multiple moving components 41 and multiple image acquisition units 42 that are correspondingly arranged on the moving components 41. The moving components 41 are used to drive the image acquisition units 42 to move in a plane parallel to the supporting mechanism 3, so that each image acquisition unit 42 acquires and records the position information of a corresponding preset reference point on the battery at the initial position; the controller 5 is electrically connected to the chassis mechanism 1, the lifting mechanism 2, and the positioning mechanism 4 respectively, and the controller 5 is used to execute the two-stage new energy vehicle battery positioning method.
[0115] In this embodiment, the chassis mechanism 1 includes a base 11, a main control unit 12, two driven wheels 13, and two steering wheels 14. The base 11 has a flat plate structure and serves as the supporting foundation for the entire positioning device 100. The two driven wheels 13 and the two steering wheels 14 are cross-mounted at the bottom of the base 11. The driven wheels 13 provide follow-up support, and the steering wheels 14 have built-in drive motors and steering motors, enabling 360° omnidirectional rotation and drive according to control commands. This allows the entire chassis mechanism 1 to have omnidirectional movement capabilities, including forward and backward movement, lateral movement, diagonal movement, and rotation in place, providing a motion basis for the device to flexibly adjust its position under the narrow car chassis. The main control unit 12 is mounted at the bottom of the base 11 and is used for auxiliary positioning and leveling control.
[0116] The lifting mechanism 2 includes a scissor lift frame 21, a hydraulic cylinder 22, and a power unit 23. The scissor lift frame 21 is connected between the base 11 and the lifting mechanism 3, and consists of multiple sets of cross-hinged support arms, maintaining platform stability during lifting. The hydraulic cylinder 22 is mounted on the scissor lift frame 21, and the extension and retraction of its piston rod drives the scissor lift frame 21 to achieve lifting and lowering actions. The power unit 23 is mounted on the base 11 and connected to the hydraulic cylinder 22 via hydraulic lines. The power unit 23 contains a hydraulic pump, an oil tank, and a control valve assembly, used to supply power oil to the hydraulic cylinder 22 and control its movement. During operation, the power unit 23 supplies oil to the hydraulic cylinder 22, the piston rod extends, pushing the scissor lift frame 21 to unfold and achieve lifting; when not in operation, the oil flows back to the power unit 23 under gravity, the piston rod retracts, and the scissor lift frame 21 folds back to its original position. The overall structure of the lifting mechanism 2 can refer to existing scissor lift platform technology, and will not be elaborated here.
[0117] The lifting mechanism 3 includes a fixed plate 31 and battery support beams 32. The fixed plate 31 is a flat plate structure, installed on top of the lifting mechanism 2, and rises and falls synchronously with the lifting mechanism 2. Two battery support beams 32 are symmetrically installed on both sides of the fixed plate 31, for direct contact and support of the bottom of the battery. An upper limit switch is installed on the contact surface between the battery support beam 32 and the battery. The contact of the limit switch is basically flush with the upper surface of the battery support beam 32. When the lifting mechanism 3 rises to the battery, the limit switch contact first contacts the battery and is pressed down. When the contact is pressed down to be flush with the upper surface of the battery support beam 32, a stop signal is issued to ensure that the lifting mechanism 3 stops accurately at the lifting position.
[0118] The positioning mechanism 4 includes multiple moving components 41 and multiple image acquisition units 42 correspondingly mounted on the moving components 41. Each moving component 41 specifically includes an X-axis slide 411, a Y-axis slide 412, an X-axis slide drive motor 413, and a Y-axis slide drive motor 414. The X-axis slide 411 and Y-axis slide 412 are assembled together at a 90-degree angle to form a two-dimensional moving platform. The X-axis slide 411 is responsible for moving along the X-axis (a), and the Y-axis slide 412 is responsible for moving along the Y-axis (b). The slide movement screws within the X-axis slide 411 and Y-axis slide 412 convert the rotational motion of the drive motors into linear motion of the slides. The image acquisition unit 42 can be an industrial camera, which is mounted on the cross slide formed by the X-axis slide 411 and the Y-axis slide 412. During operation, the image acquisition unit 42 captures an image of the bottom of the battery through the transparent area 311 above. The X-axis drive motor and the Y-axis drive motor drive the slide to move according to the control command, so that the industrial camera can move in two dimensions in a plane parallel to the lifting mechanism 3, accurately search for and position itself directly below the preset reference point on the bottom of the battery (such as the threaded hole 2001 on the battery plate 200), and record the position coordinates at this time.
[0119] The controller 5 includes an electrical control module 51 and a touch-screen tablet 52. The electrical control module 51 is mounted in front of the fixed plate 31 and integrates a main control circuit, drive circuit, and communication interface. It is electrically connected to the steering wheel 14 motor and encoder of the chassis mechanism 1, the power unit 23 control valve of the lifting mechanism 2, and the X-axis drive motor, Y-axis drive motor, and image acquisition unit 42 of the positioning mechanism 4. It receives various sensor signals and sends control commands to each actuator. The touch-screen tablet 52 is also mounted in front of the fixed plate 31 and above the electrical control module 51. The touch-screen tablet 52 is electrically connected to the electrical control module 51 and serves as a human-machine interface, displaying real-time images acquired by multiple image acquisition units 42. Operators can observe the positional deviation between a preset reference point and the image center through the touchscreen and input movement commands to control the horizontal, vertical, and rotational movement of the positioning device 100, as well as the sliding movement of the industrial camera, making operation more convenient and faster.
[0120] Unlike existing technologies, the technical solution of this application provides a positioning device 100 that integrates omnidirectional movement, lifting and supporting, visual positioning and intelligent control. Through the cooperation of the moving component 41 and the image acquisition unit 42, it realizes flexible acquisition and accurate positioning of the battery preset reference point, providing hardware support for the above-mentioned secondary positioning method.
[0121] like Figure 4 As shown, the secondary new energy vehicle battery positioning device 100 also includes a laser sensor 6. The laser sensor 6 is mounted on the chassis mechanism 1 or the lifting mechanism 3. The laser sensor 6 is used to scan the surrounding environment to build an environmental map. The laser sensor 6 is electrically connected to the controller 5.
[0122] The laser sensors 6 can be installed around the chassis mechanism 1 or at the edge of the lifting mechanism 3. In this embodiment, two laser sensors 6 are placed diagonally around the base 11 to scan the surrounding environment to determine the trolley's reset status. Since the laser sensors 6 determine whether the trolley has returned to its original position by comparing the environmental characteristics at departure and those at return, their placement is not limited. In some embodiments, four laser sensors 6 can be placed around the base 11 to further ensure accurate trolley reset.
[0123] When the positioning device 100 is in its initial position, the laser sensor 6 is activated to scan the surrounding environment within a 360° range, acquiring point cloud data or distance data to construct an initial environmental map. During the return process, the laser sensor 6 assists in environmental perception and obstacle avoidance. After secondary fine positioning is completed, the laser sensor 6 is activated again to scan the current environment, construct a current environmental map, and compare it with the initial environmental map using loop closure detection technology to verify the repositioning accuracy.
[0124] Thus, with the addition of laser sensor 6, the device has environmental perception and map building capabilities, can record environmental features simultaneously during the positioning process, and perform loop closure detection verification after returning to its original position, further improving the reliability and accuracy of positioning.
[0125] like Figure 4 As shown, a transparent area 311 is provided on the lifting mechanism 3, and the positioning mechanism 4 is located below the transparent area 311. The image acquisition unit 42 acquires the image of the preset reference point of the battery above through the transparent area 311.
[0126] In this embodiment, the fixed plate 31 of the supporting mechanism 3 has multiple transparent areas 311. For example, a glass baffle (which can be tempered glass) is installed on the fixed plate 31 next to the battery support beam 32 as a transparent area 311. Four transparent areas 311 are provided, located at the four corners of the fixed plate 31, and distributed in pairs on the sides of the two battery support beams 32. Corresponding to the four transparent areas 311, four moving components 41 and four image acquisition units 42 are also provided. Each moving component 41 and image acquisition unit 42 is installed as a pair directly below the transparent area 311. The image acquisition unit 42 takes an upward image through the tempered glass plate, capturing the image of the threaded hole 2001 at the bottom of the battery. The transparent areas 311 not only ensure the field of view of the image acquisition unit 42 but also protect the moving components 41 and image acquisition unit 42 below from damage caused by dust, oil, or accidental collisions.
[0127] Thus, placing the image acquisition unit 42 below the transparent area 311 protects the delicate optical components from external impacts or contamination while ensuring a clear and unobstructed field of view. The structural design is reasonable and highly reliable. Furthermore, when removing the battery, simply adjusting the image acquisition unit 42 under the transparent area 311 is sufficient to reposition the vehicle, ensuring good stability. The four moving components 41 and the corresponding four image acquisition units 42 achieve precise alignment through coordinated positioning at the four corners of the rectangle, minimizing deviations during assembly and disassembly and ensuring high accuracy. Simultaneously, it can be applied to all bolt-mounted battery boxes in new energy vehicles, making it widely applicable.
[0128] As a complete workflow embodiment of this application, the specific operation steps of the above-mentioned two-stage new energy vehicle battery positioning method are as follows:
[0129] The first step is to prepare for battery removal. The operator uses a touch-screen tablet 52 to control the chassis mechanism 1 of the positioning device 100 to move under the car battery and initially adjust the lifting mechanism 3 to align it with the bottom of the battery.
[0130] The second step is to establish a positioning reference. The operator observes the distribution of threaded holes 2001 on the battery panel 200 on the vehicle chassis using a touch-screen tablet 52. First, the first hole alignment module is activated. The image acquisition unit 42 within the first hole alignment module is moved on the X-axis slide 411 and Y-axis slide 412, positioning itself directly below a threaded hole 2001. The controller 5 records the position coordinates of this image acquisition unit 42 as the position information of the first preset reference point. Subsequently, the remaining three hole alignment modules are activated in the same way, moving each image acquisition unit 42 directly below its corresponding threaded hole 2001 and recording its position coordinates. Simultaneously, the laser sensor 6 mounted on the chassis mechanism 1 begins scanning the surrounding environment, generating and storing an initial environmental point cloud map as a reference for subsequent positioning verification.
[0131] The third step is battery removal. The operator controls the lifting mechanism 2 to rise via the touchscreen tablet 52. When the battery support beam 32 on the lifting mechanism 3 contacts the battery, the upper limit switch on the battery support beam 32 is triggered, and the lifting mechanism 2 automatically stops rising. At this point, the operator removes the connecting bolts between the battery and the vehicle chassis, removes the battery from the vehicle, and places it on the lifting mechanism 3. Subsequently, the lifting mechanism 2 is lowered to its lowest position, and the battery, along with the positioning device 100, is removed from under the vehicle.
[0132] Step four, primary coarse positioning. The operator manually controls the positioning device 100 to move to the charging position for charging. During the movement, the main control unit 12 collects and stores data from the left and right wheel encoders on the chassis mechanism 1 at a fixed frequency in real time. The system processes the raw encoder data and calculates the relative pose of the positioning device 100 relative to its initial position in real time, usually expressed as coordinates and heading angle. A path point is recorded at fixed intervals, eventually generating an ordered sequence of path points as the first path and storing it in the memory. After the positioning device 100 is fully charged, the operator inputs a command on the touch-screen tablet 52 to start the return mode. After receiving the command, the main control unit 12 reads the first path just generated from the memory and reverses the path using a built-in algorithm to obtain the second return path. The main control unit 12 drives the two steering wheels 14 to move laterally, longitudinally, and rotate according to the second path, so that the positioning device 100 initially returns to its initial position under the car with the pose it left in.
[0133] Step 5, Secondary Precision Positioning. After the positioning device 100 initially returns to its original position under the car, the operator observes the position of the threaded hole 2001 on the battery panel 200 on the car chassis via a touch-screen tablet 52. First, the positioning device 100 is controlled to move laterally and longitudinally, aligning the first image acquisition unit 42 with the position of the threaded hole 2001 recorded in Step 2. Since the four image acquisition units 42 are fixed after recording the threaded hole position information, the first point is now aligned, but the remaining points may have angular deviations. Subsequently, using the first threaded hole 2001 as a reference, the positioning device 100 is rotated in place, sequentially aligning the remaining three image acquisition units 42 with their respective threaded holes 2001. When all four image acquisition units 42 have reached their originally recorded relative positions with the four threaded holes 2001, precise positioning is completed. Finally, using the loop closure detection technology of laser sensor 6, the environmental point cloud map generated by the current scan is compared with the initial environmental point cloud map stored in the second step to determine whether the positioning device 100 has accurately returned to its original position, thus completing the repositioning verification.
[0134] Step 6: Install the battery. The operator controls the lifting mechanism 2 to rise, raising the lifting mechanism 3 to the height at which the battery support beam 32 contacts the battery in step 3. The new battery or the maintained battery is then installed back into the vehicle chassis, completing all operations.
[0135] It should be noted that although the above embodiments have been described herein, this does not limit the scope of patent protection of the present invention. Therefore, any changes and modifications made to the embodiments described herein based on the innovative concept of the present invention, or equivalent structural or procedural transformations made using the content of the present invention's specification and drawings, directly or indirectly applying the above technical solutions to other related technical fields, are all included within the scope of patent protection of the present invention.
Claims
1. A two-stage new energy vehicle battery positioning method, characterized in that, Includes the following steps: S1. Establish positioning benchmarks Control the positioning device to move to the initial position under the battery, and adjust the lifting mechanism to initially align with the battery; By setting multiple image acquisition units on the positioning device and driving the corresponding moving components, the position information of multiple preset reference points on the battery is collected and recorded respectively. S2, Remove the battery and move it. The positioning device is controlled to rise to support the battery. After the battery is removed, the positioning device is controlled to descend and move to the charging position. S3, First-level coarse positioning The positioning device is controlled to return from the charging location to the initial location according to the recorded movement path; S4, Secondary Precision Positioning Based on the recorded position information of the plurality of preset reference points, the pose of the positioning device is finely adjusted until the plurality of image acquisition units are realigned with the corresponding plurality of preset reference points.
2. The two-stage new energy vehicle battery positioning method according to claim 1, characterized in that, In step S1, establishing a positioning reference, the surrounding environment is scanned by a laser sensor installed on the positioning device to generate and store an initial environment map; After step S4, secondary precise positioning is completed, step S5, repositioning verification, is also included: the current environment is scanned by the laser sensor to generate a current environment map, and the current environment map is compared with the initial environment map to verify whether the positioning device has accurately returned to the initial position.
3. The two-stage new energy vehicle battery positioning method according to claim 2, characterized in that, In step S5, the repositioning verification, the laser sensor uses loop closure detection technology to match the current environmental features generated by scanning with the environmental features in the initial environmental map, and determines whether the positioning device has returned to the initial position based on the matching deviation.
4. The two-stage new energy vehicle battery positioning method according to claim 1 or 2, characterized in that, Step S3, the first-level coarse positioning, specifically includes: S31. During the process of the positioning device moving from the initial position to the charging position, the movement trajectory data of the positioning device is collected and stored in real time, and a first path is generated and stored. S32. When a return is required, a second reverse path is generated based on the first path; S33. Control the positioning device to move according to the second path, so that it returns from the charging position to the initial position.
5. The two-stage new energy vehicle battery positioning method according to claim 4, characterized in that, The movement trajectory data is collected in real time by an encoder installed on the chassis mechanism of the positioning device. The encoder records the rotation data of the steering wheel at the bottom of the chassis mechanism. After processing by the main control unit, the relative pose of the positioning device relative to the initial position is calculated in real time, including coordinates (x, y) and heading angle θ. A path point is recorded at fixed intervals to generate a path point sequence composed of multiple path points in an orderly manner as the first path.
6. The two-stage new energy vehicle battery positioning method according to claim 1 or 2, characterized in that, In step S4, the fine-tuning of the pose of the positioning device specifically includes: S41. By adjusting the horizontal and / or vertical movement of the positioning device, the first of the plurality of image acquisition units is aligned with its corresponding first preset reference point; S42. Using the first preset reference point as a reference, adjust the rotation angle of the positioning device so that the remaining image acquisition units are aligned with their respective preset reference points in sequence.
7. The two-stage new energy vehicle battery positioning method according to claim 6, characterized in that, In step S4, the secondary precision positioning, the images acquired by the multiple image acquisition units are displayed in real time on the touch screen set on the positioning device. The operator observes the positional deviation between the preset reference points in the image and the center of the image acquisition unit, and inputs movement commands on the touch screen to control the positioning device to move horizontally, vertically, and rotate until all preset reference points are aligned with the center of the corresponding image acquisition unit.
8. A two-stage new energy vehicle battery positioning device, characterized in that, include: A chassis mechanism for moving on the ground; A lifting mechanism, which is mounted on the chassis mechanism; A lifting mechanism, which is mounted on the lifting mechanism, is used to carry and lift the battery; A positioning mechanism is installed on the lifting mechanism. The positioning mechanism includes multiple moving components and multiple image acquisition units that are correspondingly arranged on the moving components. The moving components are used to drive the image acquisition units to move in a plane parallel to the lifting mechanism, so that each image acquisition unit can acquire and record the position information of a preset reference point on the battery at its initial position. A controller is electrically connected to the chassis mechanism, the lifting mechanism and the positioning mechanism respectively, and the controller is used to execute the two-stage new energy vehicle battery positioning method as described in any one of claims 1 to 7.
9. The two-stage new energy vehicle battery positioning device according to claim 8, characterized in that, The secondary new energy vehicle battery positioning device also includes a laser sensor, which is mounted on the chassis mechanism or the lifting mechanism. The laser sensor is used to scan the surrounding environment to construct an environmental map, and the laser sensor is electrically connected to the controller.
10. The two-stage new energy vehicle battery positioning device according to claim 8, characterized in that, The lifting mechanism has a transparent area, the positioning mechanism is located below the transparent area, and the image acquisition unit acquires an image of a preset reference point of the battery above through the transparent area.