Vehicle and ship battery replacement positioning system

Abstract

The utility model provides a vehicle and ship battery replacement positioning system, and relates to the field of ship battery replacement. The system is characterized in that a first position collector and a lifting appliance are arranged on a battery replacing vehicle; the second position collector is arranged on the power conversion ship; the battery replacing vehicle and the battery replacing ship are both provided with battery replacing communication equipment; the controller is arranged on the battery replacing vehicle or the battery replacing ship; the transmitting end of the power conversion communication equipment is in communication connection with the receiving end of the power conversion communication equipment; and the controller is respectively in communication connection with the first position collector, the second position collector, the power conversion communication equipment and the lifting appliance. According to the invention, an RTK positioning mode is adopted, the problem that visual and laser positioning cannot effectively work in an outdoor environment is solved, and the efficiency of vehicle and ship battery replacement is further improved.

Description

Technical Field

[0001] This application relates to the field of ship battery swapping, and more specifically, to a vehicle-ship battery swapping positioning system. Background Technology

[0002] When swapping batteries for ships, ships cannot drive into the battery swapping station like vehicles. Battery swapping sites are generally located at docks or ports. Conventional vehicle battery swapping positioning methods (such as 2D cameras, 3D cameras, displacement sensors, laser sensors, etc.) are limited by the outdoor environment. Outdoor sunlight, rain, dust, etc. will cause such positioning methods to fail to work effectively. Utility Model Content

[0003] The purpose of this application is to provide a vehicle and vessel battery swapping positioning system to solve the above-mentioned problems in the prior art, and to accurately locate the position of battery swapping vehicles and vessels, thereby improving battery swapping efficiency.

[0004] In one aspect, this application provides a vehicle and vessel battery swapping positioning system, which includes: a controller, a first position acquisition device, a second position acquisition device, battery swapping communication equipment, and a lifting device;

[0005] The first location acquisition device and the hoist are both mounted on the battery swapping vehicle; the second location acquisition device is mounted on the battery swapping boat; the battery swapping vehicle and the battery swapping boat are both equipped with the battery swapping communication equipment; the controller is mounted on the battery swapping vehicle or the battery swapping boat.

[0006] The transmitting end and the receiving end of the battery swapping communication device are connected in communication.

[0007] The controller is communicatively connected to the first position collector, the second position collector, the battery swapping communication device, and the lifting device.

[0008] In one possible implementation, the system further includes: a shore-based reference station;

[0009] The shore-based reference station is fixed at the shore end and is used to provide position reference data.

[0010] In one possible implementation, the battery swapping vessel is equipped with a fully charged battery box and / or a depleted battery box.

[0011] In one possible implementation, the battery swapping vehicle is equipped with a fully charged battery box and a depleted battery box.

[0012] In one possible implementation, the lifting device is a battery-swapping robotic arm.

[0013] In one possible implementation, the battery swapping robotic arm is used to automatically lift fully charged battery boxes from the battery swapping vehicle and depleted battery boxes from the battery swapping boat to perform battery swapping operations.

[0014] In one possible implementation, the second position collector is mounted on the battery swapping robotic arm.

[0015] In one possible implementation, the first location collector is mounted on the base of the battery box of the battery swapping boat.

[0016] In one possible implementation, the first location collector and the second location collector are RTK locators.

[0017] This application provides a vehicle-to-vehicle (V2V) battery swapping positioning system. The system includes a first location acquisition unit and a lifting device both mounted on the V2V vehicle; a second location acquisition unit mounted on the V2V vessel; battery swapping communication equipment installed on both the V2V vehicle and the V2V vessel; a controller mounted on either the V2V vehicle or the V2V vessel; and a transmitter and receiver of the battery swapping communication equipment communicatively connected. The controller is communicatively connected to the first location acquisition unit, the second location acquisition unit, the battery swapping communication equipment, and the lifting device. This application employs RTK positioning, solving the problem that visual and laser positioning methods are ineffective in outdoor environments, thus further improving the efficiency of vehicle-to-vehicle battery swapping. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 An architecture diagram of a vehicle / ship battery swapping positioning system provided in this application embodiment;

[0020] Figure 2 This is a schematic diagram of the battery swapping vehicle and battery swapping boat provided in the embodiments of this application. Detailed Implementation

[0021] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0022] Current vehicle battery swapping methods typically involve driving the vehicle into the swapping station and parking it at a designated swapping location. A 2D or 3D camera on the underside of the vehicle is used to locate the battery pack, and then position compensation is used to disassemble and install the battery pack. However, this operation usually takes place inside the swapping station, in an indoor environment.

[0023] When swapping batteries for ships, ships cannot drive into the battery swapping station like vehicles. Battery swapping sites are generally located at docks or ports. Conventional vehicle battery swapping positioning methods (such as 2D cameras, 3D cameras, displacement sensors, laser sensors, etc.) are limited by the outdoor environment. Outdoor sunlight, rain, dust, etc. will cause such positioning methods to fail to work effectively.

[0024] Therefore, this application provides a vehicle and vessel battery swapping positioning system to solve the above-mentioned problems in the prior art, which can accurately locate the position of battery swapping vehicles and vessels to improve battery swapping efficiency.

[0025] The preferred embodiments of this application are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit this application. Furthermore, the embodiments and features in the embodiments of this application can be combined with each other without conflict.

[0026] like Figure 1 As shown, this application provides a vehicle and vessel battery swapping positioning system, which includes: a controller 3, a first position collector 11, a second position collector 21, battery swapping communication equipment, and a lifting device;

[0027] Among them, the battery swapping vehicle 1 is equipped with a first position acquisition device 11, a battery swapping communication device 12 and a lifting device;

[0028] The battery swapping boat 2 is equipped with a second location acquisition device 21 and a battery swapping communication device 22; that is to say, both the battery swapping vehicle and the battery swapping boat are equipped with battery swapping communication devices.

[0029] The controller 3 is installed on the battery swapping vehicle 1 or the battery swapping boat 2.

[0030] The transmitting end and the receiving end of the battery swapping communication equipment are connected for communication.

[0031] The controller 3 is connected to the first position acquisition device 11, the second position acquisition device 21, the battery swapping communication device, and the lifting device.

[0032] The battery swapping boats are equipped with fully charged battery boxes and / or depleted battery boxes. The battery swapping vehicles are equipped with fully charged battery boxes and depleted battery boxes.

[0033] In some embodiments, the lifting device can be a battery swapping robotic arm, which is used to automatically lift fully charged battery boxes from battery swapping vehicles and depleted battery boxes from battery swapping boats to perform battery swapping operations.

[0034] Combination Figure 2 As shown, the system also includes a shore-based reference station 4; the shore-based reference station 4 is fixed at the shore and is used to provide position reference data.

[0035] The battery swapping communication equipment can be understood as a vehicle-to-ship communication system, used for data exchange between battery swapping vehicles and ships. The battery swapping vehicle carries the transmitter of the communication equipment, while the ship carries the receiver. When the ship enters the working area of ​​the battery swapping vehicle, it will automatically connect. The current effective communication distance is 100 meters.

[0036] The first location data collector can also be understood as a ship-side rover station, which is set on the base of the battery box; it uses data provided by the shore-side base station 4 for precise RTK positioning.

[0037] The second location data collector can also be understood as a vehicle-mounted mobile station, installed on the top of the spreader, and uses data provided by the shore-based base station 4 for precise RTK positioning.

[0038] The system also includes an RTK data receiving device, which is communicatively connected to the first and second position data collectors, and is used to receive RTK data (relative coordinates of the battery swapping boat and the battery swapping vehicle) collected by the first and second position data collectors. It can be understood that the first and second position data collectors collect the corresponding (X, Y, H) coordinates.

[0039] In some embodiments, the controller can also be understood as the controller of the vehicle control system, mounted on the battery swapping vehicle, for managing the battery swapping communication equipment, RTK data receiving equipment and battery swapping robotic arm through electrical signals.

[0040] The working process of the vehicle / ship battery swapping positioning system provided in this application is as follows:

[0041] After the battery swapping boat enters the battery swapping area, the WIFI communication device on the battery swapping boat receives the signal from the WIFI communication device on the battery swapping vehicle. At this time, the transmitter and receiver of the battery swapping communication equipment will detect the corresponding signal, that is, automatically detect the communication status.

[0042] When the controller receives a battery swapping order from the crew via a terminal on the battery swapping vessel, the controller acquires RTK data of the battery swapping vehicle and the battery swapping vessel through the first and second location acquisition devices; and uses the corresponding RTK data to determine the relative distance between the battery swapping vessel and the battery swapping vehicle through the RTK data receiving device.

[0043] The RTK data mainly includes the (X, Y, H) coordinate information based on the base station, the coordinate information of the battery swapping boat, and the coordinate information of the battery swapping vehicle. For example, the base station is (0, 0, 0), the battery swapping boat is (-3, 6, -10), and the battery swapping vehicle is (5, -20, 50), with the unit being cm.

[0044] Then, the controller determines whether the relative distance is within the working range of the battery swapping robotic arm.

[0045] If not, the battery swapping vehicle or vessel will be moved (vehicle movement will be prioritized, and vessel movement will only be carried out if vehicles cannot be moved).

[0046] If so, the relative angular deviation between the battery swapping vehicle and the battery swapping boat is calculated using the calculation rules (Pythagorean theorem) set in the controller.

[0047] The controller controls the battery swapping robotic arm to rotate to the position of the battery swapping boat according to the relative angle deviation through corresponding signals. Then, it controls the battery swapping robotic arm to extend to the appropriate length according to the relative distance through corresponding signals. Finally, it controls the battery swapping robotic arm to extend the cable according to the relative height deviation between the battery swapping vehicle and the battery swapping boat through corresponding signals to carry out battery lifting operations.

[0048] This application provides a vehicle-to-vehicle battery swapping positioning system, comprising: a first position acquisition device and a lifting device both mounted on the battery swapping vehicle; a second position acquisition device mounted on the battery swapping vessel; battery swapping communication equipment installed on both the battery swapping vehicle and the battery swapping vessel; a controller mounted on either the battery swapping vehicle or the battery swapping vessel; a transmitter and a receiver of the battery swapping communication equipment communicatively connected; and the controller communicatively connected to the first position acquisition device, the second position acquisition device, the battery swapping communication equipment, and the lifting device. This application employs RTK positioning, solving the problem that visual and laser positioning cannot function effectively in outdoor environments, further improving the efficiency of vehicle-to-vehicle battery swapping.

[0049] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0050] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the utility model is in use. They are used only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0051] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0052] Although preferred embodiments of the present application have been described, those skilled in the art, once they have learned the basic inventive concept, can make other changes and modifications to these embodiments.

[0053] Obviously, those skilled in the art can make various modifications and variations to the embodiments of this application without departing from the spirit and scope of the embodiments of this application. Therefore, if these modifications and variations to the embodiments of this application fall within the scope of their equivalents in the embodiments of this application, then these modifications and variations are also intended to be included in the embodiments of this application.

Claims

1. A vehicle / ship battery swapping positioning system, characterized in that, The system includes: a controller, a first position acquisition device, a second position acquisition device, a battery swapping communication device, a lifting device, a shore-based reference station, and an RTK data receiving device; The first location acquisition device and the hoist are both mounted on the battery swapping vehicle; the second location acquisition device is mounted on the battery swapping boat; the battery swapping vehicle and the battery swapping boat are both equipped with the battery swapping communication equipment; the controller is mounted on the battery swapping vehicle or the battery swapping boat; the shore-based reference station is fixed at the shore end and is used to provide location reference data. The transmitting end and the receiving end of the battery swapping communication device are connected in communication. The RTK data receiving device is communicatively connected to the first location collector and the second location collector, respectively, and is used to receive RTK positioning data collected by the first location collector and the second location collector; The controller is communicatively connected to the RTK data receiving device, the battery swapping communication device, and the lifting device.

2. The system as described in claim 1, characterized in that, The battery swapping vessel is equipped with a fully charged battery box and / or a depleted battery box.

3. The system as described in claim 2, characterized in that, The battery swapping vehicle is equipped with a fully charged battery box and a depleted battery box.

4. The system as described in claim 3, characterized in that, The lifting device is a battery swapping robotic arm.

5. The system as described in claim 4, characterized in that, The battery swapping robotic arm is used to automatically lift fully charged battery boxes from the battery swapping vehicle and depleted battery boxes from the battery swapping boat for battery swapping operations.

6. The system as described in claim 5, characterized in that, The second position acquisition device is mounted on the battery swapping robotic arm.

7. The system as described in claim 1, characterized in that, The first location data collector is mounted on the base of the battery box of the battery swapping boat.

8. The system as described in claim 1, characterized in that, The first location collector and the second location collector are RTK locators.

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