Vehicle positioning method, equipment, storage medium, and battery exchange station for battery exchange station

Abstract

A vehicle positioning method for a battery exchange station, comprising the steps of: obtaining a first distance (L1) in a first direction (X) between the battery (100) of the vehicle (1) entering the station and its front axle (400); a second distance (L2) in a first direction between the center of the front wheel (500) and the center of the positioning rod when the positioning rod (21) and the vehicle's front wheel (500) come into contact; a third distance (L3) in a first direction between the center of the current position of the positioning rod and the groove wall (11) of the battery exchange groove (10); and a safety distance (Q) between the battery and the groove wall of the battery exchange groove; determining a distance value (W) that the positioning rod should move based on the first distance, second distance, third distance and safety distance; controlling the positioning rod to move by the distance value that it should move along the first direction; and controlling the vehicle to move along the first direction and come into contact with the positioning rod. The invention also includes a vehicle positioning device for a battery exchange station, a computer-readable storage medium, and a battery exchange station. The vehicle positioning method of the battery exchange station can satisfy the control requirements for the parking position of various types of vehicles, and is advantageous for battery replacement.

Description

[Technical Field]

[0001] (Cross-Reference to Related Applications) This application claims the priority of Chinese Patent Application No. 202311048142.0, filed on August 18, 2023, entitled "Vehicle positioning method for battery swapping station, apparatus, storage medium and battery swapping station", the entire content of which is incorporated herein by reference.

[0002] The present application relates to the battery field, and in particular to a vehicle positioning method for a battery swapping station, an apparatus, a storage medium and a battery swapping station. [Background Art]

[0003] Energy conservation and emission reduction are the keys to the sustainable development of the automobile industry. Electric vehicles have become an important part of the sustainable development of the automobile industry due to their advantages in energy conservation and environmental protection. For electric vehicles, battery technology is a key factor related to their development.

[0004] In the related art, due to deficiencies in the positioning method of the battery swapping station, it is difficult to control the parking positions of different types of vehicles after they enter the battery swapping station, which is disadvantageous for battery swapping. [Summary of the Invention]

[0005] In view of the above problems, the present application provides a vehicle positioning method for a battery swapping station, an apparatus, a storage medium and a battery swapping station, which can satisfy the control over parking positions of various types of vehicles and is favorable for battery swapping.

[0006] According to a first aspect, the present application provides a vehicle positioning method for a battery swapping station, the battery swapping station includes a battery swapping groove and a positioning device, the positioning device includes a positioning rod, and the vehicle positioning method includes: Steps include obtaining a first distance in a first direction between the battery of the vehicle entering the station and its front axle, a second distance in a first direction between the center of the front wheel and the center of the positioning rod when the positioning rod and the vehicle's front wheel come into contact, a third distance in a first direction between the center of the positioning rod's current position and the groove wall of the battery replacement groove, and a safety distance between the battery and the groove wall of the battery replacement groove. A step of determining the distance the positioning rod should move based on the first distance, second distance, third distance, and safety distance, A step of controlling the positioning rod to move by a distance value that should be moved along the first direction, The process includes the step of controlling the vehicle to move along a first direction and make contact with a positioning rod.

[0007] The vehicle positioning method for a battery exchange station according to the embodiment of this application acquires a first distance in a first direction between the battery of the vehicle entering the station and its front axle, a second distance in a first direction between the center of the front wheel and the center of the positioning rod when the positioning rod and the vehicle's front wheel come into contact, a third distance in a first direction between the center of the positioning rod's current position and the groove wall of the battery exchange groove, and a safety distance between the battery and the groove wall of the battery exchange groove. Based on the first distance, second distance, third distance and safety distance, the distance value to which the positioning rod should move is determined, and then the positioning rod is moved according to the distance to be moved, allowing the vehicle to enter the station and come into contact with the positioning rod. This enables positioning for any type of vehicle and guides the vehicle to the desired position. This facilitates battery replacement, avoids collisions between the battery and the groove wall of the battery exchange groove due to the vehicle traveling too far or too far past a predetermined position, and improves safety performance.

[0008] In some embodiments, the step of determining the distance the positioning rod should move based on a first distance, a second distance, a third distance, and a safety distance is: Based on the first distance and the safety distance, the vehicle moves along the first direction and comes into contact with the positioning rod, and the fourth distance is determined from the center of the front wheel to the groove wall of the battery replacement groove in the first direction. The process includes the step of determining the distance to be traveled based on the second distance, third distance, and fourth distance.

[0009] The vehicle positioning method according to the embodiment of this application first acquires a fourth distance, and then determines the distance value to which the positioning rod should move based on the fourth distance, the second distance, and the third distance. This reduces the difficulty of determining the distance value to be moved and ensures accurate performance.

[0010] In some embodiments, the first distance, the safety distance, and the fourth distance satisfy the equation: L4 = L1 - Q. The second distance, third distance, fourth distance, and the distance to be moved satisfy the formula: W = L3 - L2 - L4. Here, L1 is the first distance, L2 is the second distance, L3 is the third distance, L4 is the fourth distance, Q is the safe distance, and W is the distance that should be traveled.

[0011] The vehicle positioning method according to the embodiment of this application, with the above installation, allows for obtaining the fourth distance simply by directly inputting the first distance and safety distance into the formula model when a vehicle enters, and then obtaining the distance to be moved simply by inputting the fourth distance, second distance, and third distance into the corresponding formula model. This ensures constraints on the movement of the positioning rod and the stopping position of vehicles entering the station, resulting in a fast response speed and advantages in controlling the positioning rod.

[0012] In some examples, the range of the safe distance is 50mm to 100mm.

[0013] The vehicle positioning method according to the embodiment of this application reduces the probability of collision and friction between the vehicle and the groove wall of the battery replacement groove when the vehicle enters the station to insert or remove the battery, by using the above numerical range as the safety distance. At the same time, such an installation method makes it easy to insert, remove, and replace the battery in the vehicle.

[0014] In some embodiments, the battery exchange station further includes a housing groove, and the positioning method further includes the step of controlling a positioning rod to move in a direction away from the battery exchange groove along a first direction and to house in the housing groove and avoid the vehicle before the vehicle leaves the battery exchange station.

[0015] The vehicle positioning method according to the embodiment of this application further includes a housing groove in the battery exchange station, and further includes a step in the positioning method to control the positioning rod so that, before the vehicle leaves the battery exchange station, it moves in a direction away from the battery exchange groove along a first direction and is housed in the housing groove, thereby avoiding the vehicle. This prevents the vehicle from being blocked by the blocking rod after battery exchange and being unable to leave the battery exchange station.

[0016] According to a second aspect, the present application provides a vehicle positioning device for a battery swapping station, the device comprising a processor and a memory in which computer program instructions are stored, When the processor executes computer program instructions, the above vehicle positioning method is implemented.

[0017] According to a third aspect, the present application provides a computer-readable storage medium on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the above-mentioned vehicle positioning method for a battery exchange station is realized.

[0018] According to a fourth aspect, the present application provides a battery swapping station, the battery swapping station is, Battery replacement groove, A positioning device including a positioning rod is installed on one side in the first direction of the battery replacement groove, Includes a control module for performing the vehicle positioning method of any one of claims 1 to 5.

[0019] The battery exchange station according to the embodiment of this application includes a battery exchange groove, a positioning device, and a control module, wherein the battery exchange groove is used to be installed opposite the battery area of ​​a vehicle, the positioning device can provide positioning and blocking after the vehicle enters the station, and the control module obtains a first distance in a first direction between the battery of the vehicle itself entering the station and the front axle, a second distance in a first direction between the center of the front wheel and the center of the positioning rod when the positioning rod and the front wheel of the vehicle come into contact, a third distance in a first direction between the center of the current position of the positioning rod and the groove wall of the battery exchange groove, and a safety distance between the battery and the groove wall of the battery exchange groove, and determines the distance the positioning rod should move based on the first distance, second distance, third distance and safety distance, and then moves the positioning rod according to the distance to be moved so that the vehicle enters the station and comes into contact with the positioning rod, thereby achieving positioning for any type of vehicle and guiding the vehicle to a desired position. This improves safety performance by facilitating battery replacement, preventing collisions between the battery and the groove wall of the battery replacement groove due to insufficient vehicle travel or exceeding the designated location.

[0020] In some embodiments, the positioning device further includes a drive member and a transmission member, the drive member being electrically connected to a control module, a positioning rod being mounted on the transmission member, and the control module being configured to control the drive member based on a distance value to be moved, so as to move the positioning rod by a distance value along a first direction.

[0021] The battery replacement station according to the embodiment of this application further includes a drive member and a transmission member in the positioning device, and by limiting the control module configured to control the drive member based on the distance to be moved, the distance traveled by the positioning rod can be precisely controlled based on the control signal of the control module. As a result, after a vehicle enters the station, makes contact with the positioning rod and stops moving, its battery can reach the position corresponding to the battery replacement groove and maintain a safe distance from the groove wall of the battery replacement groove. Various vehicle types can be guided to the desired position and battery replacement can be facilitated.

[0022] In some embodiments, the transmission member comprises a driving wheel, a transmission wheel and a traction member, the driving wheel and the transmission wheel are in transmission fit via the traction member, the positioning rod is arranged on the traction member, and the driving member is connected to the driving wheel.

[0023] The battery swapping station according to the embodiment of the present application adopts the above structural form as the transmission member, so that the driving member can drive the corresponding driving wheel to rotate, move the traction member through the driving wheel, and further drive the movement of the positioning rod connected to the traction member, so as to meet the requirement of position adjustment of the positioning rod in the first direction. And such a form can improve the accuracy of position adjustment of the positioning rod and ensure the traction requirement of the vehicle at the required position.

[0024] In some embodiments, the traction member comprises one of a transmission belt and a transmission chain, the transmission member further comprises an adapter plate, the adapter plate is arranged on the traction member, and the positioning rod is detachably connected to the adapter plate.

[0025] The battery swapping station according to the embodiment of the present application adopts the above structural form as the traction member, so that the requirement of transmission fit between the driving wheel and the transmission wheel can be ensured, and by arranging the adapter plate and detachably connecting the adapter plate to the positioning rod, it is favorable for the assembly and disassembly of the positioning rod, and when the positioning rod is worn, it can be repaired or replaced in a timely manner.

[0026] In some embodiments, a mated driving member and a mated transmission member are respectively connected to two ends of the positioning rod in a second direction, and the second direction and the first direction are arranged crosswise.

[0027] In the battery exchange station according to the embodiment of this application, because the positioning rod is long, a drive member and a transmission member are connected to both ends of the positioning rod in the second direction, respectively, thereby enabling support for both ends of the positioning rod in the longitudinal direction, and the positioning rod is driven synchronously to move along the first direction, thereby ensuring stability in the position adjustment of the positioning rod.

[0028] In some embodiments, the battery replacement station further includes a housing groove, which is located on the side of the positioning device away from the battery replacement groove in a first direction, and the shape of the housing groove matches the shape of the positioning rod and is used to house the positioning rod.

[0029] The battery exchange station according to the embodiment of this application is further equipped with a storage groove in the battery exchange station, and the positioning method further includes a step of controlling the positioning rod so that, before the vehicle leaves the battery exchange station, it moves in a direction away from the battery exchange groove along a first direction and is accommodated in the storage groove, thereby avoiding the vehicle. This prevents the vehicle from being blocked by the blocking rod after battery exchange and being unable to leave the battery exchange station.

[0030] In some embodiments, the positioning device further includes a sensor mounted on a positioning rod, the sensor configured to detect the pressure value being experienced by the positioning rod, and the control module is further configured to emit an alarm signal when the pressure value exceeds a preset threshold range.

[0031] The battery exchange station according to the embodiment of this application is configured to install a sensor, to detect the pressure value being received by the positioning rod, and to further configure a control module to emit an alarm signal when the pressure value exceeds a preset threshold range. This ensures that when a vehicle enters the station, is positioned by the positioning rod, and stops moving, the probability of the positioning rod being hit and damaged by a collision can be avoided. This ensures the accuracy of the vehicle entering the station and reaching the predetermined position, and improves the overall safety of the battery exchange station.

[0032] The above description is merely an outline of the proposed technology of this application. In order to provide a clearer understanding of the technical means of this application, to enable implementation in accordance with the specifications, and to provide a clearer and easier understanding of the above and other objectives, features, and advantages of this application, specific embodiments of this application are given below. [Brief explanation of the drawing]

[0033] By reading the detailed description of the following preferred embodiments, various other advantages and benefits will become apparent to those skilled in the art. The drawings are used solely to illustrate the preferred embodiments and are not intended to limit this application. Throughout the drawings, the same components are represented by the same reference numerals. In the drawings, [Figure 1] This is a schematic diagram of the structure of a vehicle according to an embodiment of this application. [Figure 2] This is a schematic diagram of the battery structure according to an embodiment of this application. [Figure 3] This is a flowchart of the vehicle positioning method for a battery exchange station according to an embodiment of this application. [Figure 4] This is a structural principle diagram corresponding to the vehicle positioning method for a battery exchange station according to an embodiment of this application. [Figure 5] This is a schematic diagram of the structure of a vehicle positioning device for a battery exchange station according to an embodiment of this application. [Figure 6] This is a schematic diagram of the structure of a battery exchange station in one state according to one embodiment of the present application. [Figure 7] This is a schematic diagram of the structure of a battery exchange station in another state according to one embodiment of the present application. The reference numerals in the embodiments for carrying out the invention are as follows:

[0034] 1000 battery swapping stations, 10 battery replacement grooves, 11 groove walls, 20 Positioning device, 21 Positioning rod, 22 Drive member, 23 Transmission member, 231 Drive wheel, 232 Transmission wheel, 233 Traction device, 234 Adapter plate, 30 housing grooves, 40 sensors, 1 vehicle, 100 Battery, 110 Housing, 110a First Housing Section, 110b Second Housing Section, 120 Battery Cell, 200 Controller, 300 Motor, 400 Front Axle, 500 Front Wheel, L1: First distance, L2: Second distance, L3: Third distance, L4: Fourth distance, Q: Safe distance, W: Distance to move. X 1st direction, Y 2nd direction, 501 Memory, 502 Processor, 503 Communication interface, 504 Bus. [Modes for carrying out the invention]

[0035] The following describes in detail embodiments of the technical proposal of this application, accompanied by drawings. The following embodiments are provided solely to illustrate the technical proposal of this application more clearly and are therefore illustrative only and do not limit the scope of protection of this application.

[0036] Unless otherwise specified, the technical or scientific terms used in the embodiments of this application are to be understood in the ordinary sense as understood by those skilled in the art to which the embodiments of this application belong.

[0037] In the description of the embodiments of this application, the orientations or positional relationships indicated by technical terms such as "center," "vertical," "horizontal," "length," "width," "thickness," "top," "bottom," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inside," "outside," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" are based on the orientations or positional relationships shown in the drawings and are merely for the purpose of facilitating and simplifying the explanation of the embodiments of this application. They do not indicate or imply that the mentioned devices or elements have a specific orientation or must be constructed and operated in a specific orientation, and should not be understood as limiting the embodiments of this application.

[0038] Furthermore, technical terms such as "first," "second," etc., are merely descriptive and should not be understood as explicitly indicating or suggesting relative importance, or implicitly indicating the number of technical features to be shown. In the description of embodiments of this application, unless otherwise clearly and specifically limited, "multiple" means two or more.

[0039] In the description of the embodiments of this application, unless otherwise explicitly stated and limited, technical terms such as “attachment,” “connection,” “connection,” and “fixing” should be understood in a broad sense, and may include, for example, a fixed connection, a removable connection, or an integrated connection; a mechanical connection, an electrical connection, a direct connection, an indirect connection via an intermediate medium, an internal communication between two elements, or an interaction relationship between two elements. Those skilled in the art will be able to understand the specific meaning of the above terms in the embodiments of this application, depending on the specific circumstances.

[0040] In the description of the embodiments of this application, unless otherwise explicitly stated or limited, the presence of a first feature "above" or "below" a second feature may mean that the first and second features are in direct contact, or that they are indirectly in contact via an intermediate medium. Furthermore, the presence of a first feature "above," "above," and "upper side" of a second feature may simply mean that the first feature is directly above or diagonally above the second feature, or that the horizontal height of the first feature is greater than that of the second feature. The presence of a first feature "below," "below," and "below side" a second feature may simply mean that the first feature is directly below or diagonally below the second feature, or that the horizontal height of the first feature is lower than that of the second feature.

[0041] With the development of new energy technologies, the number of devices using batteries is increasing. When power consumption devices run low, power is generally replenished by connecting to a charging station. For example, electric vehicles can be charged by connecting to a charging station. Charging takes a long time, which affects the user experience. Compared to charging, battery replacement can replenish power more quickly. When replacing batteries, the power consumption device must be moved to a battery replacement station, and the battery must be removed in the designated area, enabling quick battery replacement.

[0042] The power-consuming devices referred to in the embodiments of this application may be vehicles. The vehicles may be fuel-oil vehicles, gas vehicles, or new energy vehicles, and the new energy vehicles may be pure electric vehicles, hybrid vehicles, or range-extender vehicles, etc.

[0043] The following explanation will use a vehicle as an example of a power-consuming device.

[0044] As shown in Figure 1, a battery 100 is installed in the vehicle 1, and the battery 100 may be installed at the bottom, front, or rear of the vehicle 1. The battery 100 can be used to supply power to the vehicle 1, and for example, the battery 100 may be used as the operating power source for the vehicle 1.

[0045] Vehicle 1 may further include a controller 200, a motor 300, a front axle 400, and front wheels 500 connected to the front axle 400, the controller 200 being used to control a battery 100 to supply power to the motor 300, and for example, to meet the operating power demands of starting, navigating, and driving Vehicle 1.

[0046] In some embodiments of this application, the battery 100 can be used not only as an operating power source for the vehicle 1, but also as a driving power source for the vehicle 1, providing driving power to the vehicle 1 in place of or in place of fuel oil or natural gas.

[0047] In some embodiments, the battery 100 may be engaged with the chassis of the vehicle 1 via a buckle structure.

[0048] As shown in Figure 2, the battery 100 may refer to a single physical module containing one or more battery cells 110 to provide higher voltage and capacity.

[0049] In some embodiments, the battery 100 may be a battery pack.

[0050] For example, battery 100 includes a housing 110 and a battery cell 120, the battery cell 120 being housed within the housing 110.

[0051] The housing 110 may be a component that houses the battery cell 120. The housing 110 provides a housing space for the battery cell 120, and the housing 110 may use various structures.

[0052] In some embodiments, the housing 110 may include a first housing portion 110a and a second housing portion 110b, the first housing portion 110a and the second housing portion 110b overlap each other, and the first housing portion 110a and the second housing portion 110b jointly define a housing space for housing the battery cell 120. The second housing portion 110b may be a hollow structure with one end open, and the first housing portion 110a is a plate-like structure, with the first housing portion 110a overlapping the open side of the second housing portion 110b to form a housing 110 having a housing space. The first housing portion 110a and the second housing portion 110b may both be hollow structures with one side open, with the open side of the first housing portion 110a overlapping the open side of the second housing portion 110b to form a housing 110 having a housing space. Of course, the first housing portion 110a and the second housing portion 110b may have various shapes, such as a cylinder or a rectangular parallelepiped.

[0053] When the first housing portion 110a is placed over the top of the second housing portion 110b, the first housing portion 110a may be called the upper lid, and the second housing portion 110b may be called the lower housing 110.

[0054] In battery 100, there may be one battery cell 120 or multiple battery cells 120. If there are multiple battery cells 120, the connections between the multiple battery cells 120 may be in series, in parallel, or in series-parallel, and series-parallel connection means that the multiple battery cells 120 may be connected in series or in parallel.

[0055] Multiple battery cells 120 may be directly connected in series, in parallel, or in series-parallel before the entire assembly composed of multiple battery cells 120 is housed in the housing 110. Alternatively, multiple battery cells 120 may first be connected in series, in parallel, or in series-parallel to form a battery module, and then multiple battery modules may be connected in series, in parallel, or in series-parallel to form a single whole, which is then housed in the housing 110.

[0056] Conventional battery swapping stations cannot rationally plan and secure vehicles of different dimensions and specifications in the desired positions, making the insertion, removal, and replacement of batteries inconvenient.

[0057] In view of this, the embodiments of this application provide a vehicle positioning method, equipment, storage medium, and battery replacement station for a battery replacement station that can satisfy the control of parking positions for various types of vehicles and is advantageous for replacing the battery 100.

[0058] As shown in Figures 3 and 4, the vehicle positioning method for a battery exchange station according to the embodiment of this application is used in a battery exchange station 1000, the battery exchange station 1000 includes a battery exchange groove 10 and a positioning device 20, the positioning device 20 includes a positioning rod 21, and the positioning method is S100 obtains the first distance L1 in a first direction X between the battery 100 of the vehicle 1 entering the station and the front axle 400, the second distance L2 in a first direction X between the center of the front wheel 500 and the center of the positioning rod 21 when the positioning rod 21 and the front wheel 500 of the vehicle 1 come into contact, the third distance L3 in a first direction X between the center of the current position of the positioning rod 21 and the groove wall 11 of the battery exchange groove 10, and the safety distance Q between the battery 100 and the groove wall 11 of the battery exchange groove 10. S200 determines the distance W to which the positioning rod 21 should move based on the first distance L1, the second distance L2, the third distance L3, and the safety distance Q. S300 controls the positioning rod 21 to move by a distance value W along the first direction X, The system includes S400, which controls the vehicle 1 to move along a first direction X and to contact the positioning rod 21.

[0059] In step S100, for a vehicle 1 entering the battery exchange station 1000, the first distance L1 in a first direction X between the battery 100 and the front axle 400 is known data based on the model of the vehicle 1. The first distance L1 may be understood as the distance between the battery 100 of the vehicle 1 and the front axle 400 of the vehicle 1, or it may be the vertical distance in a first direction X between the end face of the battery 100 facing the front axle 400 and the axis of the front axle 400.

[0060] The radial dimension of the front wheel 500 of vehicle 1 entering the station is obtained based on the type of vehicle 1 entering the station and is known, and the distance from the center of the positioning rod 21 to its outer surface can be obtained in advance. The positioning rod 21 may be cylindrical, and the distance from the center of the positioning rod 21 to its outer surface may be understood as the radial dimension of the positioning rod 21, thereby obtaining the second distance L2.

[0061] The current position of the positioning rod 21 can be obtained from the controller that controls its movement, meaning that the third distance L3 may be determined based on the current position of the positioning rod 21.

[0062] The safety distance Q may be a predetermined fixed value, and regardless of the vehicle type or model, it is necessary to ensure this safety distance Q between the battery 100 and the groove wall 11 of the battery replacement groove 10.

[0063] The groove wall 11 of the battery replacement groove 10 may be understood as the wall surface closer to the side where the positioning rod 21 is located in the first direction X.

[0064] In step S200, first, the distance in the first direction X between the center of the front wheel 500 and the groove wall 11 of the battery replacement groove 10 is obtained based on the first distance L1 and the safety distance Q, and then the distance value W to which the positioning rod 21 should move is determined based on the difference between the third distance L3 and the distance in the first direction X between the center of the front wheel 500 and the groove wall 11 of the battery replacement groove 10 and the second distance L2.

[0065] In step S300, the positioning rod 21 may be moved by manual control, or it may be driven by a drive device, for example, its movement may be controlled by a drive device such as a drive motor or a telescopic cylinder.

[0066] In step S400, the vehicle 1 is controlled to move along the first direction X, and when it comes into contact with the positioning rod 21, the vehicle 1 should be stopped. At this time, the distance between the battery of the vehicle 1 and the groove wall 11 of the battery replacement groove 10 is the safety distance Q.

[0067] The vehicle 1 positioning method for a battery exchange station 1000 according to the embodiment of this application obtains a first distance L1 in a first direction X between the battery 100 of the vehicle 1 itself entering the station and the front axle 400, a second distance L2 in a first direction X between the center of the front wheel 500 and the center of the positioning rod 21 when the positioning rod 21 and the front wheel 500 of the vehicle 1 come into contact, a third distance L3 in a first direction X between the center of the current position of the positioning rod 21 and the groove wall 11 of the battery exchange groove 10, and a safety distance Q between the battery 100 and the groove wall 11 of the battery exchange groove 10. Based on the first distance L1, the second distance L2, the third distance L3 and the safety distance Q, the distance value W to which the positioning rod 21 should move is determined, and then the positioning rod 21 is moved according to the distance to be moved, allowing the vehicle 1 to enter the station and come into contact with the positioning rod 21. This enables positioning for any type of vehicle 1 and guides the vehicle 1 to a desired position. The battery 100 is made easier to replace, and safety performance is improved by preventing collision between the battery 100 and the groove wall 11 of the battery replacement groove 10 due to the vehicle 1 traveling too far or too far past a designated location.

[0068] In some optional embodiments, the vehicle positioning method for the battery exchange station 1000 according to the embodiments of this application may specifically include the following as step S200, which determines the distance value W to which the positioning rod 21 should move based on a first distance L1, a second distance L2, a third distance L3, and a safety distance Q.

[0069] Based on the first distance L1 and the safety distance Q, when the vehicle 1 moves along the first direction X and comes into contact with the positioning rod 21, the fourth distance L4 is determined from the center of the front wheel 500 to the groove wall 11 of the battery replacement groove 10 in the first direction X.

[0070] The distance value W to be moved is determined based on the second distance L2, the third distance L3, and the fourth distance L4.

[0071] In the first direction X, the fourth distance L4 from the center of the front wheel 500 to the groove wall 11 of the battery replacement groove 10 may be understood as the distance in the first direction X between the groove wall 11 of the battery replacement groove 10 that is closer to the side where the positioning rod 21 is located in the first direction X, and the center of the front wheel 500.

[0072] The fourth distance L4 may be obtained by the difference between the first distance L1 and the safety distance Q.

[0073] The vehicle positioning method according to the embodiment of this application first acquires a fourth distance L4, and then determines the distance value W to which the positioning rod 21 should move based on the fourth distance L4, the second distance L2, and the third distance L3. This reduces the difficulty of determining the distance value W to be moved and ensures accurate performance.

[0074] In some optional embodiments, the vehicle positioning method according to the embodiments of this application satisfies the equation: L4 = L1 - Q for the first distance L1, safety distance Q, and fourth distance L4.

[0075] The second distance L2, the third distance L3, the fourth distance L4, and the distance to be moved W satisfy the equation: W = L3 - L2 - L4.

[0076] Here, L1 is the first distance L1, L2 is the second distance L2, L3 is the third distance L3, L4 is the fourth distance L4, Q is the safe distance Q, and W is the distance W to be moved.

[0077] The vehicle 1 positioning method according to the embodiment of this application, with the above installation, allows for obtaining the fourth distance L4 simply by directly inputting the first distance L1 and safety distance Q into the formula model when vehicle 1 enters, and then obtaining the distance value W to be moved by simply inputting the fourth distance L4, second distance L2, and third distance L3 into the corresponding formula model. This ensures the movement of the positioning rod 21 and limits the stopping position of vehicle 1 entering the station, resulting in a fast response speed and advantages in controlling the positioning rod 21.

[0078] In some optional embodiments, the range of the value of the safe distance Q in the vehicle positioning method according to the embodiment of this application is 50 mm to 100 mm.

[0079] The safety distance Q may be any value between 50mm and 100mm, including the two endpoint values ​​of 50mm and 100mm. Optionally, it may be any number between 60mm and 90mm, including 70mm and 80mm.

[0080] The vehicle positioning method according to the embodiment of this application reduces the probability of collision and friction between the vehicle 1 and the groove wall 11 of the battery replacement groove 10 when the vehicle 1 enters the station and the battery is attached or detached, by using the above numerical range as the safety distance Q. At the same time, this installation method makes it easy to attach, detach, and replace the battery of the vehicle 1.

[0081] In some optional embodiments, as a vehicle 1 positioning method according to embodiments of the present application, the battery exchange station 1000 further includes a housing groove 30, and the positioning method further includes the step of controlling a positioning rod 21 so that, before the vehicle 1 leaves the battery exchange station 1000, it moves in a direction away from the battery exchange groove 10 along a first direction X and is housed in the housing groove 30 to avoid the vehicle 1.

[0082] The shape of the housing groove 30 may match the shape of the positioning rod 21 and be used to house the positioning rod 21. Of course, the dimensions of the housing groove 30 may be larger than the dimensions of the positioning rod 21 in order to ensure that the positioning rod 21 is housed therein.

[0083] The accommodating groove 30 may be installed in a support area for supporting the positioning rod 21, or a recessed groove may be installed in the support area to form the accommodating groove 30.

[0084] The vehicle 1 positioning method according to the embodiment of this application further includes a housing groove 30 in the battery exchange station 1000, and further includes a step of controlling the positioning rod 21 so that, before the vehicle 1 leaves the battery exchange station 1000, it moves in a direction away from the battery exchange groove 10 along a first direction X and is accommodated in the housing groove 30, thereby avoiding the vehicle 1.

[0085] As shown in Figure 5, a second aspect of the present application further provides a positioning device for a vehicle 1 of a battery exchange station 1000. The positioning device includes a memory 501, a processor 502, and a computer program stored in the memory 501 and operable by the processor 502.

[0086] In some examples, the processor 502 may include a central processing unit (CPU) or an application-specific integrated circuit (ASIC), or it may be configured as one or more integrated circuits implementing embodiments of this application.

[0087] Memory 501 may include large-capacity memory for data or instructions. Non-limiting examples include a hard disk drive (HDD), a floppy disk drive, flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a Universal Serial Bus (USB) drive, or two or more combinations thereof.

[0088] Memory 501 may include read-only memory (ROM), random access memory (RAM), magnetic disk storage media devices, optical storage media devices, flash memory devices, and electrical, optical, or other physical / tangible memory storage devices. Generally, memory includes one or more tangible (non-temporary) computer-readable storage media (e.g., memory devices) that code software containing computer-executable instructions, and when such software is executed (e.g., by one or more processors), it can be operated to perform operations described with reference to the model release method in the distributed system of the embodiments of this application.

[0089] The processor 502 is used to implement the model release method in the distributed system of the above embodiment by reading the executable program code stored in the memory 501 and executing the computer program corresponding to the executable program code.

[0090] In some examples, the positioning equipment of vehicle 1 may further include a communication interface 503 and a bus 504. Here, the memory 501, the processor 502, and the communication interface 503 are connected via the bus 504 and complete communication between them.

[0091] The communication interface 503 is primarily used to enable communication between each module, device, unit, and / or equipment in the embodiments of this application. Input devices and / or output devices may be accessed via the communication interface 503.

[0092] Bus 504 includes hardware, software, or both, and couples the components of the positioning equipment of vehicle 1 with each other. To give non-limiting examples, bus 504 may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-E) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other appropriate buses, or two or more combinations thereof. Where appropriate, bus 504 may include one or more buses. While the embodiments of this application describe a specific bus, this application considers any suitable bus or interconnection.

[0093] A third aspect of this application further provides a computer-readable storage medium in which computer program instructions are stored, and when these computer program instructions are executed by a processor, the vehicle positioning method of the above embodiment can be realized and the same technical effects can be achieved, and to avoid repetition of the description, it will not be described further here. Here, the computer-readable storage medium may include, but is not limited to, a non-temporary computer-readable storage medium, such as read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk.

[0094] It should be made clear that each embodiment in this specification is described progressively, and identical or similar parts between embodiments may be referenced to one another, while the emphasis in each embodiment is on the differences from the other embodiments. For embodiments of apparatus, apparatus, and computer-readable storage media, relevant parts may refer to the description of the method embodiments. This application is not limited to the specific steps and structures described and illustrated above. Those skilled in the art may, after understanding the spirit of this application, make various changes, modifications and additions, or change the order of the steps. And, for the sake of brevity, a detailed description of known method art is omitted here.

[0095] The embodiments of this application have been described above with reference to flowcharts and / or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of this application. It should be understood that each block in a flowchart and / or block diagram, and each combination of blocks in a flowchart and / or block diagram, may be implemented by computer program instructions. These computer program commands may be provided to a processor of a general-purpose computer, a dedicated computer, or other programmable data processing device to form a machine, thereby enabling the implementation of the functions / operations specified in one or more blocks in a flowchart and / or block diagram by these instructions executed by the processor of the computer or other programmable data processing device. Such a processor may be, but is not limited to, a general-purpose processor, a dedicated processor, a special application processor, or a field-programmable circuit. Further understanding is that each block in a block diagram and / or flowchart, and each combination of blocks in a block diagram and / or flowchart, may be implemented by dedicated hardware that performs the specified function or operation, or by a combination of dedicated hardware and computer instructions.

[0096] As shown in Figures 6 and 7, a fourth aspect of the present application further provides a battery replacement station 1000 including a battery replacement groove 10, a positioning device 20, and a control module (not shown), wherein the positioning device 20 is installed on one side of the battery replacement groove 10 in a first direction X, and the positioning device 20 includes a positioning rod 21. The control module is used to perform the above-described vehicle positioning method.

[0097] The battery replacement groove 10 may be an open groove formed by the battery replacement station 1000 using methods such as excavation in a predetermined area. The battery replacement groove 10 may be a polygonal groove, or a rectangular groove may be optionally used.

[0098] The battery replacement groove 10 is used to be installed opposite the battery of the vehicle 1, so that after the vehicle 1 enters the battery replacement station 1000, the orthographic projection of the battery is positioned just within the battery replacement groove 10.

[0099] The positioning device 20 is used to position the vehicle 1 and to enable the vehicle 1 to stop at a predetermined position.

[0100] The control module may be installed in a control cabinet or the like. It is used to perform the vehicle positioning method according to the above-described arbitrary embodiment.

[0101] The battery exchange station 1000 according to the embodiment of this application includes a battery exchange groove 10, a positioning device 20, and a control module, the battery exchange groove 10 being used to be installed opposite the battery area of ​​the vehicle 1, the positioning device 20 being able to provide positioning and blocking after the vehicle 1 enters the station, and the control module determining a first distance L1 in a first direction X between the battery 100 of the vehicle 1 itself entering the station and the front axle 400, and a second distance L2 in a first direction X between the center of the front wheel 500 and the center of the positioning rod 21 when the positioning rod 21 comes into contact with the front wheel 500 of the vehicle 1. The system obtains the third distance L3 in a first direction X between the center of the current position of the positioning rod 21 and the groove wall 11 of the battery replacement groove 10, and the safety distance Q between the battery 100 and the groove wall 11 of the battery replacement groove 10. Based on the first distance L1, second distance L2, third distance L3, and safety distance Q, the distance W to which the positioning rod 21 should move is determined. The positioning rod 21 is then moved according to the distance to be moved, allowing the vehicle 1 to enter the station and make contact with the positioning rod 21. This enables positioning for any type of vehicle 1 and guides the vehicle 1 to the desired position. This facilitates the replacement of the battery 100, prevents collision between the battery 100 and the groove wall 11 of the battery replacement groove 10 due to the vehicle 1 traveling too far or too far past a predetermined position, and improves safety performance.

[0102] In some optional embodiments, as a battery exchange station 1000 according to an embodiment of the present application, the positioning device 20 further includes a drive member 22 and a transmission member 23, wherein the drive member 22 is electrically connected to a control module, and a positioning rod 21 is mounted on the transmission member 23, and the control module is configured to control the drive member 22 based on a distance value W to be moved, so as to move the positioning rod 21 by a distance value W along a first direction X.

[0103] The drive member 22 includes a drive motor, a telescopic cylinder, a screw nut, and a worm gear, and the drive member 22 can receive a control signal from the control module and, based on the control signal, drive the positioning rod 21 to move a preset distance along the first direction X.

[0104] The transmission member 23 includes a sprocket chain, rack and pinion, transmission wheels 232, and transmission belt, and is used to transmit power from the drive member 22 to the positioning rod 21.

[0105] The battery replacement station 1000 according to the embodiment of this application further includes a drive member 22 and a transmission member 23 in the positioning device 20, and by limiting the control module configured to control the drive member 22 based on the distance value W to be moved, the distance traveled by the positioning rod 21 can be precisely controlled based on the control signal of the control module. As a result, after the vehicle 1 enters the station, makes contact with the positioning rod 21 and stops moving, its battery can reach a position corresponding to the battery replacement groove 10, and the groove wall 11 of the battery replacement groove 10 can be kept within a safe distance Q. Various types of vehicles can be guided to the desired position and battery replacement can be facilitated.

[0106] In some optional embodiments, as a battery swapping station 1000 according to the embodiment of this application, the transmission member 23 includes a drive wheel 231, a transmission wheel 232, and a traction device 233, wherein the drive wheel 231 and the transmission wheel 232 are drive-fitted via the traction device 233, a positioning rod 21 is mounted on the traction device 233, and a drive member 22 is connected to the drive wheel 231.

[0107] The drive wheel 231 includes a wheel structure capable of performing a power transmission, such as gears, sprockets, and pulleys.

[0108] The transmission wheel 232 may also include wheel structures capable of performing transmission functions, such as gears, sprockets, and pulleys.

[0109] The traction device 233 includes a structure such as a toothed belt, chain, or belt so as to be driven-fitted to the drive wheel 231 and the transmission wheel 232.

[0110] The positioning rod 21 being installed on the towing device 233 can be understood as the positioning rod 21 being connected to the towing device 233, and the positioning rod 21 being moved when the drive wheels 231 drive the towing device 233 to operate it.

[0111] In the embodiment of this application, the battery exchange station 1000 uses the above-described structural form as the transmission member 23, so that the drive member 22 drives and rotates the corresponding drive wheel 231, thereby moving the towing device 233 by the drive wheel 231, and further drives the movement of the positioning rod 21 connected to the towing device 233, thereby ensuring the position adjustment requirement of the positioning rod 21 in the first direction X. This configuration improves the accuracy of the position adjustment of the positioning rod 21 and ensures the towing requirement for the vehicle 1 at the required position.

[0112] In some optional embodiments, as a battery swapping station 1000 according to an embodiment of the present application, the towing device 233 includes one of a transmission belt and a transmission chain, the transmission member 23 further includes an adapter plate 234, the adapter plate 234 is mounted on the towing device 233, and the positioning rod 21 is detachably connected to the adapter plate 234.

[0113] The traction device 233 may include a transmission belt, which may be a flat belt, V-belt, toothed belt, etc., and accordingly, the drive wheels 231 and transmission wheels 232 may use friction wheels, pulleys, gears, etc. Of course, the traction device 233 may also include a transmission chain, and accordingly, the drive wheels 231 and transmission wheels 232 may use sprockets.

[0114] The adapter plate 234 may be fastened with fasteners such as bolts, or it may be detachably connected to the positioning rod 21 by a method such as engagement.

[0115] The traction device 233 may extend along the first direction X and form a closed loop, and both the drive wheel 231 and the transmission wheel 232 may be distributed along the first direction X.

[0116] The battery exchange station 1000 according to the embodiment of this application, by using the above-described structural form as the towing device 233, can ensure the need for transmission fitting between the drive wheel 231 and the transmission wheel 232, and by installing the adapter plate 234 and connecting it detachably to the positioning rod 21, it is advantageous for attaching and detaching the positioning rod 21, and when the positioning rod 21 wears out, it can be repaired or replaced in a timely manner.

[0117] In some optional embodiments, as a battery exchange station 1000 according to the embodiment of this application, a fitted drive member 22 and a transmission member 23 are connected to both ends of the positioning rod 21 in the second direction Y, and the second direction Y and the first direction X are installed intersecting each other.

[0118] The second direction Y and the first direction X may be perpendicular to each other.

[0119] The positioning rod 21 may extend along the second direction Y. The drive member 22 and the transmission member 23 connected to both ends of the positioning rod 21 in the second direction Y may be installed symmetrically.

[0120] In the battery exchange station 1000 according to the embodiment of this application, because the positioning rod 21 is long, the drive member 22 and the transmission member 23 are connected to both ends of the positioning rod 21 in the second direction Y, respectively, thereby enabling support for both ends of the positioning rod 21 in the longitudinal direction, and the positioning rod 21 is driven synchronously to move along the first direction X, thereby ensuring stability in the position adjustment of the positioning rod 21.

[0121] In some optional embodiments, the battery exchange station 1000 according to the embodiments of the present application further includes a housing groove 30 located on the side of the positioning device 20 away from the battery exchange groove 10 in a first direction X, the shape of the housing groove 30 conforms to the shape of the positioning rod 21, and is used to accommodate the positioning rod 21.

[0122] The accommodating groove 30 may be installed in a support area for supporting the positioning rod 21, or a recessed groove may be installed in the support area to form the accommodating groove 30.

[0123] The battery exchange station 1000 according to the embodiment of this application is further equipped with a accommodating groove 30, and the positioning method further includes a step of controlling the positioning rod 21 so that before the vehicle 1 leaves the battery exchange station 1000, it moves in a direction away from the battery exchange groove 10 along the first direction X and is accommodated in the accommodating groove 30, thereby avoiding the vehicle 1.

[0124] In some optional embodiments, as a battery swapping station 1000 according to an embodiment of the present application, the positioning device 20 further includes a sensor 40 mounted on a positioning rod 21, the sensor 40 being configured to detect the pressure value being received by the positioning rod 21, and the control module being configured to emit an alarm signal when the pressure value exceeds a preset threshold range.

[0125] The sensor 40 includes, but is not limited to, a structure for detecting pressure, such as a pressure sensor 40.

[0126] The sensor 40 may be installed on the side of the positioning rod 21 facing the battery replacement groove 10.

[0127] The battery exchange station 1000 according to the embodiment of this application is configured to install a sensor 40, to detect the pressure value received by the positioning rod 21, and to further configure a control module to emit an alarm signal when the pressure value exceeds a preset threshold range. This ensures that when the vehicle 1 enters the station, is positioned by the positioning rod 21, and stops moving, the probability of the positioning rod 21 being hit and damaged by a collision due to overshooting the predetermined position can be avoided. This ensures the accuracy of the vehicle 1 entering the station and reaching the predetermined position, and improves the overall safety of the battery exchange station 1000.

[0128] Finally, it should be noted that the embodiments described above are merely illustrative of the technical concepts of this application and do not limit them. Although this application has been described in detail with reference to the embodiments described above, as will be understood by those skilled in the art, it is still possible to modify the technical concepts described in the embodiments described above, or to make equivalent substitutions for some or all of the technical features thereof, and such modifications or substitutions do not deviate the essence of the relevant technical concepts from the scope of the technical concepts of the embodiments of this application, and they should all be included within the scope of the claims and specification of this application. In particular, the technical features mentioned in each embodiment may be combined in any manner, provided that there is no structural inconsistency. This application is not limited to the specific embodiments disclosed herein, but includes all technical concepts within the scope of the claims.

Claims

1. A vehicle positioning method for a battery exchange station, wherein the battery exchange station includes a battery exchange groove and a positioning device, the positioning device includes a positioning rod, and the vehicle positioning method is Steps include obtaining a first distance in a first direction between the battery of the vehicle entering the station and its front axle, a second distance in the first direction between the center of the front wheel and the center of the positioning rod when the positioning rod and the front wheel of the vehicle come into contact, a third distance in the first direction between the center of the current position of the positioning rod and the groove wall of the battery replacement groove, and a safety distance between the battery and the groove wall of the battery replacement groove. A step of determining the distance value to which the positioning rod should move based on the first distance, the second distance, the third distance and the safety distance, A step of controlling the positioning rod to move along the first direction by the distance value to be moved, A method for positioning a vehicle at a battery exchange station, comprising the steps of controlling the vehicle to move along the first direction and contact the positioning rod.

2. The step of determining the distance value to which the positioning rod should move based on the first distance, the second distance, the third distance and the safety distance is as follows: Based on the first distance and the safety distance, the vehicle moves along the first direction and comes into contact with the positioning rod, and the steps include determining a fourth distance from the center of the front wheel to the groove wall of the battery replacement groove in the first direction, The vehicle positioning method according to claim 1, comprising the step of determining the distance to be moved based on the second distance, the third distance, and the fourth distance.

3. The first distance, the safety distance, and the fourth distance satisfy the formula: L4 = L1 - Q. The second distance, the third distance, the fourth distance, and the distance to be moved satisfy the formula: W = L3 - L2 - L4. The vehicle positioning method according to claim 2, wherein L1 is the first distance, L2 is the second distance, L3 is the third distance, L4 is the fourth distance, Q is the safe distance, and W is the distance to be traveled.

4. The vehicle positioning method according to any one of claims 1 to 3, wherein the range of the value of the safety distance is 50 mm to 100 mm.

5. The vehicle positioning method according to any one of claims 1 to 4, wherein the battery exchange station further includes a housing groove, and the positioning method further includes the step of controlling the positioning rod to move in a direction away from the battery exchange groove along the first direction and to be housed in the housing groove and avoid the vehicle before the vehicle leaves the battery exchange station.

6. A vehicle positioning device for a battery swapping station, comprising a processor and a memory in which computer program instructions are stored, A vehicle positioning device for a battery exchange station, which realizes the vehicle positioning method according to any one of claims 1 to 5 when the processor executes the computer program instructions.

7. A computer-readable storage medium, wherein computer program instructions are stored in the computer-readable storage medium, and when the computer program instructions are executed by a processor, a vehicle positioning method for a battery exchange station according to any one of claims 1 to 5 is realized.

8. It is a battery exchange station, Battery replacement groove, A positioning device including a positioning rod is installed on one side of the battery replacement groove in the first direction, A battery swapping station comprising a control module for performing the vehicle positioning method described in any one of claims 1 to 5.

9. The battery exchange station according to claim 8, wherein the positioning device further includes a drive member and a transmission member, the drive member being electrically connected to the control module, the positioning rod being installed on the transmission member, and the control module being configured to control the drive member based on the distance to be moved to move the positioning rod along the first direction by the distance to be moved.

10. The battery exchange station according to claim 9, wherein the transmission member includes a drive wheel, a transmission wheel, and a towing device, the drive wheel and the transmission wheel are drive-fitted via the towing device, the positioning rod is installed on the towing device, and the drive member is connected to the drive wheel.

11. The battery replacement station according to claim 10, wherein the traction device includes one of a transmission belt and a transmission chain, the transmission member further includes an adapter plate, the adapter plate is mounted on the traction device, and the positioning rod is detachably connected to the adapter plate.

12. The battery exchange station according to any one of claims 9 to 11, wherein the drive member and the transmission member, which are fitted to each other, are connected to both ends of the positioning rod in the second direction, and the second direction and the first direction are installed intersecting each other.

13. The battery replacement station according to any one of claims 8 to 12, further comprising a housing groove, the housing groove being installed on the side of the positioning device away from the battery replacement groove in the first direction, the shape of the housing groove conforming to the shape of the positioning rod, and used to house the positioning rod.

14. The battery replacement station according to any one of claims 8 to 13, wherein the positioning device further includes a sensor installed on the positioning rod, the sensor being configured to detect a pressure value being received by the positioning rod, and the control module being configured to emit an alarm signal when the pressure value exceeds a preset threshold range.

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