Battery detection mechanism

Abstract

The utility model provides a battery detection mechanism, the battery detection mechanism is applied to a stacker crane, the stacker crane is provided with a lift car and a battery taking and placing mechanism arranged in the lift car, the battery detection mechanism comprises at least two position sensors arranged at intervals, and each position sensor is arranged in the lift car; the position sensor is used for collecting position data of a preset calibration point on the battery after the battery obtained by the battery taking and placing mechanism enters the lift car, and judging whether the battery is located at the standard position in the lift car or not and whether the posture is normal or not. According to the method, the position data of the calibration points are collected through the at least two position sensors arranged in the car at intervals so as to detect whether the battery is located at the standard position in the car or not, the accuracy and reliability of battery position detection are guaranteed, the battery can be accurately placed in the car, collision of the battery is avoided, and the safety of the battery is improved. The safety performance of the battery is guaranteed, and it can be ensured that the electric automobile smoothly completes battery replacement work.

Description

Technical Field

[0001] The present invention relates to the application field of smart battery swap stations, and in particular to a battery detection mechanism. Background Art

[0002] In recent years, with the development of smart battery swapping station networks, electric vehicles have changed from charging to battery swapping. During the battery swapping process of electric vehicles, the battery swapping equipment needs to remove the old battery from the vehicle and pass the old battery to the palletizer. The palletizer puts the old battery into the old bin of the charging room, and then takes the new battery from the new bin of the charging room. After that, the new battery is passed to the battery swapping equipment, and the battery swapping equipment installs the new battery on the vehicle.

[0003] The existing palletizer mainly uses photoelectric sensors to detect whether the telescopic mechanism has retracted into place, and then determines whether the battery has entered the car, but the photoelectric sensor is easily interfered by smoke. When there is smoke interference, the palletizer cannot accurately determine whether the telescopic mechanism has retracted into place, and cannot accurately detect the position of the battery. There is a situation where part of the battery is exposed on the palletizer and the other part of the battery is in the car, which causes the battery to be not accurately placed in the car, causing the battery to bump, affecting the safety performance of the battery, and cannot ensure that the electric vehicle can successfully complete the battery replacement. At the same time, the existing palletizer only involves the detection of whether the battery is in the car, and does not further detect the battery posture. Utility Model Content

[0004] The technical problem to be solved by the present disclosure is to provide a battery detection mechanism to overcome the defects in the prior art that the palletizer cannot accurately detect whether the battery is located in the car and cannot detect the battery posture.

[0005] The present invention solves the above technical problems through the following technical solutions:

[0006] The present disclosure provides a battery detection mechanism, which is applied to a palletizer. The palletizer has a car and a battery pick-up and placement mechanism arranged in the car. The battery detection mechanism includes:

[0007] at least two spaced apart position sensors, each of the position sensors being disposed in the car;

[0008] The two position sensors are used to respectively collect the position data of preset calibration points on the battery after the battery obtained by the battery picking and placing mechanism enters the car, and judge whether the battery is located at the standard position in the car, so as to determine whether the position of the battery is normal.

[0009] In this solution, at least two position sensors arranged at intervals in the car collect position data of calibration points to detect whether the battery is located in the standard position in the car, thereby determining whether the battery's position is normal. This overcomes the problem that the prior art uses photoelectric sensors to determine whether the battery has entered the car and is easily disturbed by smoke, thereby ensuring the accuracy and reliability of battery position detection, allowing the battery to be accurately placed in the car, avoiding battery bumps, ensuring the battery's safety performance, and ensuring that the electric vehicle can successfully complete the battery replacement work.

[0010] Preferably, the car includes a bottom plate and side plates located on both sides of the bottom plate, the battery access mechanism is arranged at a first position on the bottom plate, and the position sensor is arranged at a second position on the bottom plate;

[0011] The first position and the second position are staggered with each other.

[0012] In this solution, the second position where the position sensor is set and the first position where the battery pick-up and placement mechanism is set are staggered, avoiding the influence of the battery pick-up and placement mechanism on the position data collection of the position sensor, and improving the accuracy and reliability of the battery position detection by the battery detection mechanism.

[0013] Preferably, the battery access mechanism further comprises two extending arms which are spaced at a preset distance and can be telescopically moved relative to the car;

[0014] The space enclosed area between the two extending arms is correspondingly projected onto the second projection area of ​​the bottom plate;

[0015] The standard position corresponds to a first projection area projected onto the base plate;

[0016] The second projection area is included in the first projection area, and the second position is included in the second projection area.

[0017] In this solution, the second projection area is the projection area corresponding to the space enclosed area between the two extending arms of the battery picking and placing mechanism, and the spatial range is relatively large. Therefore, the second position where the position sensor is located is set within the second projection area, so that multiple position sensors have sufficient installation space. At the same time, they will not interfere with the extending arms in the first position, thereby further improving the accuracy and reliability of the battery detection mechanism in performing battery position detection.

[0018] Preferably, the extending arm is used to take and place the battery, and when the extending arm obtains the battery from the outside and retracts to a specified position, the position sensor is used to collect the position data.

[0019] In this solution, after the extending arm of the battery picking and placing mechanism retracts to the specified position, the position sensor is used to collect position data to detect whether the battery is in the standard position, that is, the position data is collected after the extending arm brings the battery back into the car, thereby ensuring the timeliness and effectiveness of the battery position detection by the battery detection mechanism.

[0020] Preferably, there are two position sensors;

[0021] The two position sensors are arranged on the bottom plate at a first distance apart along the length direction of the second projection area, and the first distance is not less than half the length of the battery;

[0022] Alternatively, the two position sensors are arranged on the bottom plate at a second distance in a width direction of the second projection area, and the second distance is not less than half of the width of the battery.

[0023] In this solution, two position sensors are spaced apart in the length direction or width direction of the second projection area corresponding to the space enclosed area between the two extended arms, thereby achieving accurate acquisition of the battery position by the position sensor.

[0024] Preferably, the second projection area has a central axis perpendicular to the telescopic movement direction of the extension arm;

[0025] The two position sensors are located on the central axis.

[0026] In this solution, two position sensors are arranged on the central axis of the second projection area, so that the position sensors can accurately collect the battery position.

[0027] Preferably, there are three position sensors, and the three position sensors are not in a straight line;

[0028] In this solution, three position sensors that are not in a straight line are set to collect position data to determine whether the battery posture is normal, thereby achieving accurate detection of the battery position.

[0029] Preferably, there are four position sensors, and the four position sensors are respectively located at edges or vertex corners of the second projection area.

[0030] In this solution, four position sensors are set at the edge or top corner of the second projection area to collect position data, which can accurately determine whether the position of the battery is normal, thereby achieving accurate detection of the battery position.

[0031] Preferably, the position sensor is a proximity switch and / or a micro switch.

[0032] In this solution, proximity switches and micro switches are used to collect position data, which overcomes the problem that the prior art uses photoelectric sensors to determine whether the battery has entered the car and is easily disturbed by smoke, thereby ensuring the accuracy and reliability of battery position detection.

[0033] Preferably, the battery detection mechanism further comprises: an alarm unit;

[0034] The alarm unit is electrically connected to the position sensor;

[0035] The alarm unit is configured to send out an alarm signal when the battery picking and placing mechanism obtains the battery and is located in the car and does not receive a preset signal from the position sensor.

[0036] In this solution, an alarm unit is provided to send out an alarm signal when the battery picking and placing mechanism obtains the battery and is located in the car but does not receive the preset signal of the position sensor, so as to promptly and accurately remind the user that the battery position is abnormal, so as to facilitate the user to check and handle it in time, avoid battery bumps, and ensure the safety performance of the battery.

[0037] On the basis of being in accordance with the common sense in the art, the above-mentioned preferred conditions can be arbitrarily combined to obtain the preferred embodiments of the present disclosure.

[0038] The positive and progressive effects of this disclosure are:

[0039] The present invention collects position data of calibration points by means of at least two position sensors spaced apart in the car to detect whether the battery is located at a standard position in the car, thereby determining whether the battery's position is normal. This overcomes the problem in the prior art of using photoelectric sensors to determine whether the battery has entered the car and is easily disturbed by smoke, thereby ensuring the accuracy and reliability of battery position detection, enabling the battery to be accurately placed in the car, avoiding battery bumps, and ensuring the battery's safety performance, thus ensuring that the electric vehicle can successfully complete the battery replacement process. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 This is a module schematic diagram of the battery detection mechanism of Example 1 of the present disclosure.

[0041] Figure 2 It is a front view of the palletizer according to the first embodiment of the present disclosure.

[0042] Figure 3 It is a left side view of the palletizer according to the first embodiment of the present disclosure.

[0043] Figure 4 It is a top view of the palletizer according to the first embodiment of the present disclosure.

[0044] Figure 5 This is a schematic diagram of a first setting of a position sensor in a battery detection mechanism of Embodiment 2 of the present disclosure.

[0045] Figure 6 This is a schematic diagram of a second arrangement of the position sensor in the battery detection mechanism of Embodiment 2 of the present disclosure.

[0046] Figure 7 This is a schematic diagram of a third arrangement of the position sensor in the battery detection mechanism of Embodiment 2 of the present disclosure.

[0047] Figure 8 This is a schematic diagram of a fourth setting of the position sensor in the battery detection mechanism of Example 2 of the present disclosure.

[0048] Fig. 9 This is a module schematic diagram of the battery detection mechanism of Example 2 of the present disclosure. DETAILED DESCRIPTION

[0049] The present disclosure is further described below by way of examples, but the present disclosure is not limited to the scope of the examples.

[0050] Prefixes such as "first" and "second" are used in the embodiments of the present disclosure only to distinguish different description objects, and have no limiting effect on the position, order, priority, quantity or content of the described objects. The use of prefixes such as ordinal numbers to distinguish description objects in the embodiments of the present disclosure does not constitute a limitation on the described objects. For the statement of the described objects, please refer to the description in the context of the claims or embodiments, and no unnecessary limitation should be constituted due to the use of such prefixes. In addition, in the description of the present embodiment, unless otherwise specified, the meaning of "plurality" is two or more.

[0051] In the embodiments of the present disclosure, the collection, storage, use, processing, transmission, provision and disclosure of user personal information involved are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0052] Example 1

[0053] This embodiment provides a battery detection mechanism, which is applied to a palletizer. The palletizer has a car and a battery pick-up and placement mechanism arranged in the car. Figure 1 As shown, the battery detection mechanism 11 includes:

[0054] At least two position sensors 111 are arranged at intervals, and each position sensor 111 is arranged in the car;

[0055] The two position sensors 111 are used to collect the position data of the preset calibration points on the battery after the battery obtained by the battery picking and placing mechanism enters the car, and judge whether the battery is located at the standard position in the car to determine whether the battery posture is normal.

[0056] Specifically, Figure 2 This is the front view of the palletizer of this embodiment. Figure 3 This is a left side view of the palletizer of this embodiment. Figure 4 1 is a top view of the palletizer of this embodiment. The palletizer includes a battery detection mechanism 11, a car 12, a bracket 13, and a battery pick-up and placement mechanism 14. The car 12 is disposed on the bracket 13 and can move along the height direction of the bracket 13. The car 12 includes a bottom plate 121 and side plates 122 located on both sides of the bottom plate 121. The battery detection mechanism 11 includes at least two position sensors 111 disposed in the car 12.

[0057] In this embodiment, by pre-setting calibration points on the battery, when the battery pick-up and placement mechanism obtains the battery and brings it into the car, at least two position sensors arranged at intervals in the car respectively collect the position data of the calibration points to detect whether the battery is located in the standard position in the car, thereby determining whether the battery posture is normal, overcoming the problem that the prior art uses photoelectric sensors to determine whether the battery has entered the car and is easily disturbed by smoke, ensuring the accuracy and reliability of battery position detection, so that the battery can be accurately placed in the car, avoiding battery bumps, ensuring the safety performance of the battery, and ensuring that the electric vehicle can successfully complete the battery replacement. Further, when the two position sensors detect the calibration points at the same time, they determine that the battery is in the standard position. Using multiple position sensors for separate detection can avoid the situation where a single position sensor detects the calibration point, but the battery actually has an angle deviation and is not in the standard position, thereby improving the reliability of battery detection and ensuring that the battery is in the standard position.

[0058] Example 2

[0059] This embodiment provides a battery detection mechanism, which is a further improvement on the first embodiment.

[0060] In an practicable solution, the car 12 includes a bottom plate 121 and side plates 122 located on both sides of the bottom plate 121 , the battery access mechanism 14 is disposed at a first position on the bottom plate 121 , and the position sensor 111 is disposed at a second position on the bottom plate 121 ;

[0061] The first position and the second position are staggered with each other.

[0062] In this solution, the second position where the position sensor is set and the first position where the battery pick-up and placement mechanism is set are staggered, avoiding the influence of the battery pick-up and placement mechanism on the position data collection of the position sensor, and improving the accuracy and reliability of the battery position detection by the battery detection mechanism.

[0063] In an practicable solution, the standard position of the battery corresponds to the first projection area projected onto the bottom plate 121;

[0064] The battery access mechanism 14 further includes two extending arms 141 which are spaced apart by a preset distance and can be telescopically moved relative to the car 12. Correspondingly, the first position refers to the position where the extending arms 141 are located;

[0065] The space enclosed area between the two extending arms 141 corresponds to the second projection area projected onto the bottom plate 121;

[0066] The second projection area is included in the first projection area, and the second position is included in the second projection area.

[0067] In this solution, the second projection area is the projection area corresponding to the space enclosed area between the two extended arms of the battery pick-up and placement mechanism, and the spatial range is relatively large. Therefore, the second position where the position sensor is located is set in the second projection area, so that multiple position sensors have sufficient installation space, and at the same time, they will not interfere with the extended arms in the first position, further improving the accuracy and reliability of the battery position detection by the battery detection mechanism. In an implementable solution, the extended arm 141 of the battery pick-up and placement mechanism 14 is used to pick up and place the battery. When the extended arm 141 obtains the battery from the outside (such as a battery replacement device, a charging rack, etc.) and retracts it to a specified position in the car, the position sensor 111 is used to collect position data.

[0068] In this solution, after the extending arm of the battery picking and placing mechanism retracts to the specified position, the position sensor is used to collect position data to detect whether the battery is in the standard position, that is, the position data is collected after the extending arm brings the battery back into the car, thereby ensuring the timeliness and effectiveness of the battery position detection by the battery detection mechanism.

[0069] In one feasible solution, Figure 5 As shown, Figure 5 This is a schematic diagram of the first arrangement of the position sensor in the battery detection mechanism of this embodiment. There are two position sensors 111;

[0070] The two position sensors 111 are arranged on the bottom plate 121 at a first distance along the length direction of the second projection area, and the first distance is not less than half the length of the battery.

[0071] Figure 5 The two position sensors 111 shown in the figure are arranged on the bottom plate 121. The figure is a top view and the bracket 13 of the palletizer is not shown.

[0072] The first distance between the two position sensors can be adjusted or set according to actual needs.

[0073] In this solution, two position sensors are spaced apart along the length direction of the second projection area corresponding to the standard position in the car, so that the two position sensors can detect the calibration points of the battery at different positions in the length direction respectively, ensuring the reliability of the battery position determination.

[0074] In another feasible solution, Figure 6 As shown, Figure 6 The second arrangement diagram of the position sensor in the battery detection mechanism of this embodiment is shown in FIG. There are two position sensors 111; the two position sensors 111 are arranged on the bottom plate 121 at a second distance in the width direction of the second projection area, and the second distance is not less than half of the width of the battery.

[0075] The second distance between the two position sensors can be adjusted or set according to actual needs.

[0076] In this solution, the two position sensors are spaced apart in the width direction of the second projection area corresponding to the space enclosed area between the two extended arms, so that the two position sensors can detect the calibration points of the battery at different positions in the width direction, thereby ensuring the reliability of the battery position determination.

[0077] In an practicable solution, the second projection area has a central axis perpendicular to the telescopic movement direction of the extension arm 141;

[0078] The two position sensors 111 are located on the central axis.

[0079] In this solution, two position sensors are arranged on the central axis of the second projection area, corresponding to the center position, so that the position sensors can accurately collect the battery position.

[0080] In one feasible solution, Figure 7 As shown, Figure 7 Schematic diagram of the third arrangement of the position sensors in the battery detection mechanism of this embodiment. There are three position sensors 111, and the three position sensors 111 are not in a straight line.

[0081] Figure 7 The three position sensors 111 shown in FIG. 1 are all arranged on the bottom plate 121 . The figure is a top view and the bracket 13 of the palletizer is not shown.

[0082] In this solution, three position sensors that are not in a straight line are set to collect position data to determine whether the battery posture is normal, thereby achieving accurate detection of the battery position.

[0083] In another feasible solution, Figure 8 As shown, Figure 8This is a schematic diagram of a fourth arrangement of the position sensors in the battery detection mechanism of this embodiment. There are four position sensors 111, and the four position sensors 111 are respectively located at the edge or the vertex of the second projection area.

[0084] In this solution, four position sensors are set at the edge or top corner of the second projection area to collect position data. More position sensors are used to collect position data of calibration points at different locations, which further improves the accuracy of battery position judgment and can accurately determine whether the battery's posture is normal, thereby achieving accurate detection of the battery position.

[0085] In one feasible solution, the position sensor 111 is a proximity switch and / or a micro switch.

[0086] Specifically, a proximity switch is a position switch that can be operated without direct mechanical contact with moving parts. When an object approaches the sensing surface of the switch to the action distance, the switch can be activated without mechanical contact or any pressure, thereby driving a DC appliance or providing control instructions to a computer (PLC) device. In this solution, a proximity switch is used as a position sensor. When the battery obtained by the battery pick-up and place mechanism enters the car and the battery approaches the sensing surface of the switch to the action distance, the proximity switch sends a preset signal, thereby being able to detect whether the battery is located at the standard position in the car after entering the car.

[0087] A micro switch is a switch with a small contact spacing and a quick-action mechanism. It uses a specified stroke and a specified force to perform a switching action. It is covered with a shell and has a driving rod on the outside. Because the contact spacing of the switch is relatively small, it is called a micro switch, also known as a sensitive switch. External mechanical force acts on the action reed through a transmission element (pin, button, lever, roller, etc.). When the action reed is displaced to the critical point, an instantaneous action is generated, causing the moving contact at the end of the action reed to quickly connect or disconnect with the fixed contact. In this solution, a micro switch is used as a position sensor. When the battery obtained by the battery pick-up and place mechanism enters the car, the battery applies force to the action reed through the transmission element, causing the moving contact at the end of the action reed to quickly connect or disconnect with the fixed contact. The micro switch sends a preset signal, thereby being able to detect whether the battery is located in the standard position in the car after entering the car.

[0088] In this solution, proximity switches and micro switches are used to collect the position data of the calibration points, which overcomes the problem that the prior art uses photoelectric sensors to determine whether the battery has entered the car and is easily disturbed by smoke, thereby ensuring the accuracy and reliability of battery position detection.

[0089] In one feasible solution, Fig. 9 As shown, the battery detection mechanism 11 further includes: an alarm unit 113;

[0090] The alarm unit 113 is electrically connected to the position sensor 111;

[0091] The alarm unit 113 is configured to send out an alarm signal when the battery taking and placing mechanism 14 takes the battery and places it in the car 12 and does not receive a preset signal from the position sensor 111 .

[0092] Specifically, the preset signal can be a signal corresponding to the battery being located in the standard position in the car, and the alarm signal can be output in a variety of ways, such as sound, light, etc. The alarm unit can also be linked with smart devices (for example, mobile phones), and the alarm signal can be displayed on the smart devices of the staff in the battery swap station in the form of application messages, so that the staff can receive it in time.

[0093] In this solution, an alarm unit is provided to send out an alarm signal when the battery picking and placing mechanism obtains the battery and is located in the car but does not receive the preset signal of the position sensor, so as to promptly and accurately remind the staff that the battery position is abnormal, so as to facilitate the staff to check and handle it in time, avoid battery bumps, and ensure the safety performance of the battery.

[0094] The working principle of the battery detection mechanism of this embodiment is explained below with reference to specific examples:

[0095] During the battery replacement process of an electric vehicle, the battery replacement equipment removes the old battery from the vehicle, and the two extending arms 141 of the battery pick-up and placement mechanism 14 of the stacker extend toward the battery replacement equipment to receive the old battery from the battery replacement equipment. After receiving the old battery, the extending arms 141 retract into the cabin of the stacker, and the two or more position sensors 111 of the battery detection mechanism arranged in the cabin collect the position data of the calibration point. Based on the position data collected by each position sensor 111, it is determined whether the old battery is located in the standard position in the cabin, and then whether the posture of the old battery is normal is determined. If it is detected that the old battery is not located in the standard position in the cabin, the position sensor 111 does not send a preset signal, and the alarm unit 113 sends an alarm signal to remind the staff that the posture of the old battery is abnormal, and then perform subsequent operations to adjust the posture of the old battery. If it is detected that the old battery is located in the standard position in the cabin, it is determined that the posture of the old battery is normal. After determining that the posture of the old battery is normal, the stacker puts the old battery into the charging compartment of the charging room for charging. Subsequently, the palletizer takes the new battery from another charging compartment in the charging room and receives it. The working principle is similar to the above process and will not be repeated here. After the palletizer receives the new battery and determines that the position of the new battery is normal, it passes the new battery to the battery replacement equipment, which installs the new battery on the vehicle.

[0096] In this embodiment, the position data of the calibration point is collected by at least two position sensors arranged at intervals in the car, and the processor detects whether the battery is located in the standard position in the car, thereby determining whether the battery posture is normal. This overcomes the problem that the prior art uses photoelectric sensors to judge whether the battery has entered the car and is easily disturbed by smoke, thereby ensuring the accuracy and reliability of battery position detection, allowing the battery to be accurately placed in the car, avoiding battery bumps, ensuring the safety performance of the battery, and ensuring that the electric vehicle can successfully complete the battery replacement work.

[0097] Although the specific embodiments of the present disclosure are described above, those skilled in the art should understand that this is only an example, and the protection scope of the present disclosure is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present disclosure, but these changes and modifications all fall within the protection scope of the present disclosure.

Claims

1. A battery detection mechanism, applied to a palletizer, the palletizer having a car and a battery pick-up and placement mechanism arranged in the car, characterized in that: The battery detection mechanism comprises: at least two spaced-apart position sensors, each of which is disposed in the car; The two position sensors are used to respectively collect the position data of preset calibration points on the battery after the battery obtained by the battery picking and placing mechanism enters the car, and judge whether the battery is located at the standard position in the car, so as to determine whether the position of the battery is normal.

2. The battery detection mechanism according to claim 1, characterized in that: The car includes a bottom plate and side plates located on both sides of the bottom plate, the battery pick-up and placement mechanism is arranged at a first position on the bottom plate, and the position sensor is arranged at a second position on the bottom plate; The first position and the second position are staggered with each other.

3. The battery testing mechanism according to claim 2, characterized in that: The battery access mechanism also includes two extending arms which are spaced at a preset distance and can be telescopically moved relative to the car; The space enclosed area between the two extending arms is correspondingly projected onto the second projection area of ​​the bottom plate; The standard position corresponds to a first projection area projected onto the base plate; The second projection area is included in the first projection area, and the second position is included in the second projection area.

4. The battery testing mechanism according to claim 3, characterized in that: The extending arm is used to take and place the battery. When the extending arm obtains the battery from the outside and retracts to a specified position, the position sensor is used to collect the position data.

5. The battery testing mechanism according to claim 3, characterized in that: There are two position sensors; The two position sensors are arranged on the bottom plate at a first distance in the length direction of the second projection area, and the first distance is not less than half of the length of the battery; Alternatively, the two position sensors are arranged on the bottom plate at a second distance in a width direction of the second projection area, and the second distance is not less than half of the width of the battery.

6. The battery testing mechanism according to claim 5, characterized in that: The second projection area has a central axis perpendicular to the telescopic movement direction of the extension arm; The two position sensors are located on the central axis.

7. The battery testing mechanism according to claim 3, characterized in that: There are three position sensors, and the three position sensors are not in a straight line.

8. The battery testing mechanism according to claim 3, characterized in that: There are four position sensors, and the four position sensors are respectively located at edges or vertex corners of the second projection area.

9. The battery detection mechanism according to any one of claims 1 to 8, characterized in that: The position sensor is a proximity switch and / or a micro switch.

10. The battery detection mechanism according to any one of claims 1 to 8, characterized in that: The battery detection mechanism also includes: an alarm unit; The alarm unit is electrically connected to the position sensor; The alarm unit is configured to send out an alarm signal when the battery picking and placing mechanism obtains the battery and is located in the car and does not receive a preset signal from the position sensor.

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