Camera horizontal calibration device, battery replacement RGV and battery replacement system

Abstract

The utility model discloses a camera level calibration device, battery swap RGV and battery swap system.The camera level calibration device comprises a first calibration assembly and a second calibration assembly, the first calibration assembly comprises a first support arm, a second support arm, a calibration substrate and a mounting base, the length direction of the calibration substrate is arranged along the first direction, and the mounting base is arranged along the second direction. The first end of the first supporting arm is connected with the first end, in the first direction, of the calibration substrate through a first adjusting piece, the first end of the second supporting arm is connected with the second end, in the first direction, of the calibration substrate through a second adjusting piece, and the second end of the first supporting arm and the second end of the second supporting arm are connected to the two ends, in the first direction, of the installation base. The first adjusting piece and the second adjusting piece are used for adjusting gaps between the two ends of the calibration substrate and the first supporting arm and the second supporting arm, so that the upper surface and the lower surface of the calibration substrate are horizontally arranged; the second calibration assembly is used for carrying out horizontal calibration on the first calibration assembly.

Description

Technical Field

[0001] The utility model relates to the field of battery swapping, in particular to a camera horizontal calibration device, a battery swapping RGV and a battery swapping system. Background Art

[0002] Installing the power battery pack at the chassis is a common installation method for heavy truck battery packs. However, the position where the vehicle stops is random and not fixed. This requires using a 3D line scan camera to scan the bottom of the vehicle for photographing and positioning. Since the camera installation cannot ensure a horizontal state, to obtain an accurate positioning result, the camera needs to be calibrated horizontally first. Summary of the Utility Model

[0003] The technical problem to be solved by the embodiments of the present utility model is to provide a camera horizontal calibration device, a battery swapping RGV and a battery swapping system, which can horizontally calibrate the 3D line scan camera.

[0004] To solve the above technical problem, the present utility model provides a camera horizontal calibration device. The camera horizontal calibration device includes a first calibration component and a second calibration component. The first calibration component includes: a first support arm, a second support arm, a calibration substrate and a mounting seat. Among them, the length direction of the calibration substrate is arranged along a first direction. The first end of the first support arm is connected to the first end of the calibration substrate along the first direction through a first adjusting member. The first end of the second support arm is connected to the second end of the calibration substrate along the first direction through a second adjusting member. The second ends of the first support arm and the second support arm are connected to both ends of the mounting seat along the first direction. The first adjusting member and the second adjusting member are used to adjust the gap between both ends of the calibration substrate and the first support arm and the second support arm, so that the upper and lower surfaces of the calibration substrate are horizontally arranged; the second calibration component is used to horizontally calibrate the first calibration component.

[0005] In a feasible implementation manner, the first support arm is L-shaped, including a first part along a second direction and a second part along the first direction, and the first direction is perpendicular to the second direction.

[0006] In a feasible implementation manner, the first adjusting member is a bolt.

[0007] In a feasible implementation manner, the second calibration component includes a right-angle ruler and a laser emitting device. The calibration substrate is sequentially provided with three calibration positions along the first direction, and each calibration position is used to accommodate the right-angle ruler. The laser emitting device is used to emit laser to the right-angle ruler on the calibration position, and the right-angle ruler reads the scale of the laser emitted by the laser emitting device.

[0008] In a feasible implementation, a number of adjustment holes are respectively provided on the first support arm and the second support arm, positioning holes corresponding to the adjustment holes are provided at both ends of the calibration substrate along the first direction, and the first calibration assembly further includes a fastener, and the fastener passes through the adjustment holes and the positioning holes to fixedly connect the first support arm and the second support arm to the calibration substrate.

[0009] Correspondingly, the present utility model further provides a battery swapping RGV, which is characterized by including the camera horizontal calibration device described in any one of the above.

[0010] In a feasible implementation, the battery swapping RGV further includes a frame and a lifting device, the first calibration assembly of the camera horizontal calibration device is installed on the lifting device, and the lifting device is used to drive the first calibration assembly to lift below the line scan camera.

[0011] In a feasible implementation, the first calibration assembly is detachably connected to the lifting device.

[0012] Correspondingly, the present utility model further provides a battery swapping system, including the battery swapping RGV described in any one of the above.

[0013] In a feasible implementation, the battery swapping system further includes a 3D line scan camera, the shooting range of the 3D line scan camera is 900 mm - 2300 mm, the lifting stroke of the lifting device of the battery swapping RGV is 0 - 1600 mm, and the distance between the calibration substrate of the first calibration assembly of the camera horizontal calibration device and the light outlet of the 3D line scan camera along the vertical direction is 1200 mm.

[0014] Implementing the present utility model has the following beneficial effects:

[0015] The camera horizontal calibration device provided by the embodiment of the present application includes a first calibration assembly and a second calibration assembly, and the first calibration assembly is horizontally calibrated by the second calibration assembly. The first calibration assembly includes a first support arm, a second support arm, a calibration substrate and a mounting seat, and has a simple structure; the first calibration assembly can be directly installed on the device, removed after calibration, is convenient to operate, can be reused, and reduces costs.

[0016] The battery swapping RGV and the battery swapping system provided by the embodiment of the present application can horizontally calibrate the camera and improve the battery swapping effect.

[0017] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. Description of the Drawings

[0018] The accompanying drawings here are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with this application, and are used together with the specification to explain the principles of this application, and do not constitute an improper limitation of this application.

[0019] Figure 1 is a schematic perspective view of a camera horizontal calibration device shown in some embodiments of this application;

[0020] Figure 2 is a schematic perspective view of a battery-changing RGV shown in some embodiments of this application.

[0021] Reference numerals in the figures:

[0022] 10 - First calibration assembly, 11 - First support arm, 111 - First part, 112 - Second part, 12 - Second support arm, 121 - Third part, 122 - Fourth part, 13 - Calibration substrate, 14 - Mounting seat; 15 - Adjusting hole,

[0023] 200 - Battery-changing RGV, 210 - First calibration assembly, 220 - Frame, 230 - Lifting device,

[0024] X - First direction, Y - Second direction. Detailed implementation manners

[0025] To make the above objects, features, and advantages of the present utility model more obvious and understandable, the following will describe the detailed implementation manners of the present utility model in conjunction with the accompanying drawings. Many specific details are set forth in the following description to fully understand the present utility model. However, the present utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present utility model. Therefore, the present utility model is not limited by the specific embodiments disclosed below.

[0026] In the description of the present utility model, it should be understood that for orientation descriptions, such as up, down, front, back, left, right, etc., the orientation or positional relationship indicated is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present utility model.

[0027] In the description of the present utility model, the meaning of several is more than one, the meaning of multiple is more than two, and understandings such as greater than, less than, exceeding, etc. do not include the present number, and understandings such as above, below, within, etc. include the present number. If there is a description of first and second, it is only for the purpose of distinguishing technical features and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0028] In the description of the present utility model, unless otherwise clearly defined, terms such as "set", "installed", "connected", etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present utility model in combination with the specific content of the technical solution.

[0029] In the description of the present utility model, the description with reference to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0030] Please refer to Figures 1 to 2 , an embodiment of the present application provides a camera horizontal calibration device for horizontally calibrating a camera. The camera horizontal calibration device includes a first calibration component 10 and a second calibration component. The first calibration component 10 includes: a first support arm 11, a second support arm 12, a calibration substrate 13, and a mounting seat 14. Wherein, the length direction of the calibration substrate 13 is set along the first direction X. The first end of the first support arm 11 is connected to the first end of the calibration substrate 13 along the first direction X through a first adjusting member. The first end of the second support arm 12 is connected to the second end of the calibration substrate 13 along the first direction X through a second adjusting member. The second ends of the first support arm 11 and the second support arm 12 are connected to both ends of the mounting seat 14 along the first direction X. The first adjusting member and the second adjusting member are used to adjust the gap between both ends of the calibration substrate 13 and the first support arm 11 and the second support arm 12, so that the upper and lower surfaces of the calibration substrate 13 are horizontally arranged. The second calibration component is used to horizontally calibrate the first calibration component 10.

[0031] The camera horizontal calibration device provided by the embodiment of the present application includes a first calibration component 10 and a second calibration component, and the first calibration component 10 is horizontally calibrated by the second calibration component. The first calibration component 10 includes a first support arm 11, a second support arm 12, a calibration substrate 13, and a mounting seat 14, with a simple structure; the first calibration component 10 can be directly installed on the device, removed after calibration, is convenient to operate, can be reused, and reduces costs.

[0032] In a feasible implementation, the first support arm 11 is L-shaped, including a first part 111 along the second direction Y and a second part 112 along the first direction X, where the first direction X is perpendicular to the second direction Y. One end of the first part 111 away from the first part 111 is fixedly connected to one end of the calibration substrate 13, and one end of the second part 112 away from the first part 111 is fixedly connected to the mounting base 14. The first support arm 11 having such a structural design has the following advantages: good structural stability and not easily deformed; the flatness of the camera horizontal calibration device is uniform and not easily deformed.

[0033] In a feasible implementation, the first adjusting member is a bolt. By adjusting the tightening degree of the bolt, precise alignment between devices or structural components can be achieved, which is very important for ensuring smooth operation of the machine, reducing wear, and extending the service life. Correct adjustment of the bolt can ensure the safety of the connecting components, and appropriate bolt torque is crucial. Appropriate adjustment of the bolt can reduce vibrations caused by looseness or over-tightening, thereby reducing the noise level and improving the stability of the mechanical system. The correct bolt pre-tightening force can significantly improve its overall performance, including efficiency and reliability. Regularly checking and adjusting the bolt tightening when necessary helps prevent failures and facilitates quick location and solution of problems during maintenance. Correct adjustment of the bolt can help avoid material fatigue caused by over-tightening or under-tightening, thereby extending the service life of the device or structure. By avoiding damage or failures caused by improper adjustment of the bolt, maintenance costs and downtime can be reduced, thus saving the overall operating costs. Using standard tools and techniques to adjust the bolt can ensure consistency.

[0034] In a feasible implementation, the structure of the second support arm 12 is the same as or similar to that of the first support arm 11. Here, "the same as or similar to" means that the second support arm 12 is also L-shaped, including a third part 121 along the second direction Y and a fourth part 122 along the first direction X, where the first direction X is perpendicular to the second direction Y. At the same time, the fourth part 122 is connected to the mounting base 14, and the third part 121 is connected to the calibration substrate 13.

[0035] In a feasible implementation, the second adjusting member can also be a bolt. Such a design has all the aforementioned advantages, and at the same time, it can increase the flexibility of the horizontal adjustment of the camera horizontal calibration device. It is not limited to the horizontal adjustment on one side. The two adjusting members can be adjusted together, increasing the operability of the horizontal adjustment of the camera horizontal calibration device.

[0036] In a feasible implementation, the second calibration component includes a square and a laser emission device. The calibration substrate 13 is provided with three calibration positions in sequence along the first direction X. Each calibration position is used to accommodate the square, and the laser emission device is used to emit laser to the square on the calibration position. The square reads the scale of the laser emitted by the laser emission device. By selecting three reference points for calibration, the position of the straight line can be determined more accurately, thereby ensuring a more accurate final result. Calibrating by selecting three reference points can reduce error accumulation: in the case of long-distance measurement or multi-segment alignment, using three-point correction can help reduce cumulative errors because each correction point is independently verified. Calibrating by selecting three reference points can simplify the complex alignment process: for large structures or devices that require precise alignment (such as machine tools, conveyor belts, optical instruments, etc.), three-point correction can simplify the complex alignment process and make it more efficient. Calibrating by selecting three reference points can enhance stability and reliability: for systems that need to maintain the aligned state for a long time, three-point correction can provide additional stability and reduce offsets that may occur due to environmental changes or use. Calibrating by selecting three reference points can easily detect and correct deviations: if any point in the system deviates from the expected position, the problem can be more easily identified by checking the other two points, and corresponding measures can be taken to correct it. Calibrating by selecting three reference points can improve work efficiency.

[0037] Further, when the difference between the scales of the laser emitted by the laser emission device to the squares on the three calibration positions is less than 1 mm, the calibration substrate 13 is in a horizontal position.

[0038] In a feasible implementation, a number of adjustment holes 15 are respectively provided on the first support arm 11 and the second support arm 12. Positioning holes corresponding to the adjustment holes 15 are provided at both ends of the calibration substrate 13 along the first direction X. The first adjusting member and the second adjusting member pass through the adjustment holes 15 and the positioning holes to fixedly connect the first support arm 11 and the second support arm 12 to the calibration substrate 13. In this way, the distance between the calibration substrate 13 and the mounting seat 14 can be adjusted in the horizontal direction. Furthermore, without adjusting the position of the mounting seat 14 or the device (such as the battery-changing RGV) for installing and fixing the first calibration component 10, the position of the calibration substrate 13 in the horizontal direction can be adjusted so that the calibration light of the camera to be horizontally calibrated can shine on the calibration substrate 13.

[0039] Correspondingly, an embodiment of the present application further provides a battery-changing RGV 200 for heavy truck chassis battery changing. Please refer to Figure 2 . The battery-changing RGV 200 provided by the embodiment of the present application includes the camera horizontal calibration device described in any one of the foregoing items.

[0040] The battery-changing RGV200 provided by the embodiment of the present application has all the advantages of the foregoing camera horizontal calibration device, can perform horizontal calibration on the 3D line-scan camera, and also has the following advantages: Improving efficiency: The battery-changing RGV200 can move quickly on a predetermined track, thereby reducing the time for material handling and accelerating the speed of the production or logistics process. Reducing costs: Compared with manual operation, the automated system can reduce labor costs, and due to its high-precision operation, it can also reduce losses caused by human errors. Flexibility: According to different requirements, the configuration of the RGV system can be adjusted or expanded to adapt to different working environments or task changes. Safety: The automated system reduces the chance of direct contact between workers and dangerous equipment, reducing the risk of workplace accidents. Reliability: The RGV system is usually designed to have high reliability and a long service life, and can operate continuously and stably in various environments. Environmental protection and energy saving: Modern battery-changing technology can achieve rapid battery replacement, maintaining the uninterrupted operation of the vehicle while reducing the charging waiting time and improving energy utilization efficiency. Easy integration: The battery-changing RGV200 can be easily integrated with the existing production line or warehouse management system to achieve overall optimization management through the central control system. Further, the battery-changing RGV200 can also provide data tracking and analysis. The automated system can provide detailed operation data to help managers conduct data analysis and further optimize the operation process.

[0041] In a feasible implementation manner, the battery-changing RGV200 includes a camera horizontal calibration device, and also includes a frame 220 and a lifting device 230. The first calibration component 210 of the camera horizontal calibration device is installed on the lifting device 230. The lifting device 230 is used to drive the first calibration component 210 to lift below the line-scan camera.

[0042] In a feasible implementation manner, the first calibration component 210 is detachably connected to the lifting device 230. In this way, the first calibration component 210 can be directly installed on the device, removed after calibration, with convenient operation and reusable. In addition, the detachable connection also facilitates transportation: With a detachable design, it can be disassembled into smaller parts during transportation, thereby reducing the volume and lowering the transportation cost and difficulty. Further, the detachable connection can be achieved by bolts, which is a common means and will not be elaborated here.

[0043] Correspondingly, the embodiment of the present application also provides a battery-changing system for heavy truck chassis battery-changing. The battery-changing system provided by the embodiment of the present application includes the battery-changing RGV described in any one of the foregoing. The battery-changing system provided by the embodiment of the present application has all the benefits of the foregoing camera horizontal calibration device and battery-changing RGV. In this way, it can provide accurate photographing before battery-changing, facilitate battery-changing, and improve the quality and efficiency of battery-changing.

[0044] In a feasible implementation, the battery swapping system further includes a 3D line scanning camera. The shooting range of the 3D line scanning camera is 900 mm - 2300 mm, the lifting stroke of the lifting device is 0 - 1600 mm, and the distance between the calibration substrate of the first calibration component and the light outlet of the 3D line scanning camera in the vertical direction is 1200 mm. In this way, the laser line of the 3D line scanning camera can shine on the horizontal calibration reference plate, and the horizontal calibration effect is the best.

[0045] The process of the camera horizontal calibration device of the battery swapping RGV in the battery swapping system provided by the embodiments of the present application for horizontal calibration of the 3D line scanning camera is as follows:

[0046] (1) Install the first calibration component of the camera horizontal calibration device on the lifting device of the battery swapping RGV;

[0047] (2) The battery swapping RGV drives the first calibration component to the lower part of the device to be battery-swapped, and the lifting device lifts the first calibration component to a position 1200 mm away from the light outlet of the 3D line scanning camera;

[0048] (3) Turn on the 3D line scanning camera, and adjust the position of the calibration substrate in the horizontal direction to make the scanning light of the camera shine on the calibration substrate;

[0049] (4) Place the square of the second calibration component on the three calibration positions of the calibration substrate in sequence, shine the light of the laser level of the second calibration component on the scale of the square, read the scale value at the light position, and adjust the level of the reference plate by adjusting the fixing screws at both ends of the horizontal calibration reference plate. If the difference between any two of the scale values at the three calibration positions is less than or equal to 1 mm, it means that the calibration substrate is already in a horizontal state;

[0050] (5) The 3D line scanning camera performs horizontal calibration according to the height value of the calibrated and leveled calibration substrate obtained from the scanning light;

[0051] (6) Remove the first calibration component after calibration.

[0052] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0053] The above-described embodiments merely represent several implementation manners of the present utility model. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the utility model patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present utility model, several modifications and improvements can still be made, and these all fall within the protection scope of the present utility model. Therefore, the protection scope of the present utility model patent shall be subject to the appended claims.

Claims

1. A camera horizontal calibration device, characterized in that The camera horizontal calibration device includes a first calibration component and a second calibration component. The first calibration component includes: a first support arm, a second support arm, a calibration substrate, and a mounting seat. Among them, The length direction of the calibration substrate is set along a first direction. The first end of the first support arm is connected to the first end of the calibration substrate along the first direction through a first adjusting member. The first end of the second support arm is connected to the second end of the calibration substrate along the first direction through a second adjusting member. The second ends of the first support arm and the second support arm are connected to both ends of the mounting seat along the first direction. The first adjusting member and the second adjusting member are used to adjust the gaps between both ends of the calibration substrate and the first support arm and the second support arm, so that the upper and lower surfaces of the calibration substrate are horizontally arranged. The second calibration component is used to horizontally calibrate the first calibration component.

2. The camera horizontal calibration device according to claim 1, characterized in that The first support arm is L-shaped and includes a first part along a second direction and a second part along the first direction. The first direction is perpendicular to the second direction.

3. The camera horizontal calibration device according to claim 1, characterized in that The first adjusting member is a bolt.

4. The camera horizontal calibration device according to claim 1, wherein, The second calibration component includes a right-angle ruler and a laser emitting device. The calibration substrate is sequentially provided with three calibration positions along the first direction. Each calibration position is used to accommodate the right-angle ruler. The laser emitting device is used to emit laser to the right-angle ruler on the calibration position, and the right-angle ruler reads the scale of the laser emitted by the laser emitting device.

5. The camera horizontal calibration device according to claim 1, characterized in that, A number of adjusting holes are respectively provided on the first support arm and the second support arm. Positioning holes corresponding to the adjusting holes are provided at both ends of the calibration substrate along the first direction. The first calibration component further includes a fastening member. The fastening member passes through the adjusting holes and the positioning holes to fixedly connect the first support arm and the second support arm with the calibration substrate.

6. A battery-changing RGV, characterized in that Including the camera horizontal calibration device according to any one of claims 1-5.

7. The battery-changing RGV according to claim 6, wherein The battery-changing RGV further includes a frame and a lifting device. The first calibration component of the camera horizontal calibration device is installed on the lifting device. The lifting device is used to drive the first calibration component to lift below the line-scanning camera.

8. The battery swapping RGV according to claim 7, wherein The first calibration component is detachably connected to the lifting device.

9. An electricity replacement system, characterized in that, Including the battery-changing RGV according to any one of claims 6-8.

10. The battery swapping system according to claim 9, characterized in that, The battery-changing system further includes a 3D line-scanning camera. The shooting range of the 3D line-scanning camera is 900mm - 2300mm. The lifting stroke of the lifting device of the battery-changing RGV is 0 - 1600mm. The distance between the calibration substrate of the first calibration component and the light outlet of the 3D line-scanning camera along the vertical direction is 1200mm.

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