Battery-swapping positioning method and system for battery-swapping facility, and battery-swapping facility

Abstract

The present invention relates to the technical field of battery-swapping facilities, and specifically provides a battery-swapping positioning method and system for a battery-swapping facility, and a battery-swapping facility. The present application aims to solve the problem that the existing positioning methods are difficult to ensure precise alignment between a locking / unlocking mechanism and a battery hole. To achieve this objective, according to the battery-swapping positioning method for a battery-swapping facility of the present application, when a positioning mechanism is aligned with a vehicle body hole, the offsets of a floating mechanism in different directions when the positioning mechanism is at an initial position and a final position are obtained by means of a measuring mechanism, the deviation between a locking / unlocking mechanism and a battery hole is determined, and on the basis of the deviation, a driving mechanism is controlled to drive the locking / unlocking mechanism to move, so that the locking / unlocking mechanism can be aligned with the battery hole, to achieve installation and removal of a battery on a battery-swap-pending vehicle, thereby solving the problem in existing visual positioning methods that precise alignment between the locking / unlocking mechanism and the battery hole is difficult to ensure due to outdoor factors such as dust, sand, water and light.

Description

Battery swap positioning method, system and battery swap facility

[0001] This application claims priority to Chinese patent application No. 202410253604.0 filed on March 5, 2024, with the invention name “Battery swap positioning method, system and battery swap facility for battery swap facilities”. The entire contents of the above Chinese patent application are incorporated into this application by reference. Technical Field

[0002] The present invention relates to the technical field of battery swapping facilities, and in particular to a battery swapping positioning method, system and battery swapping facilities. Background Art

[0003] In recent years, the electric vehicle industry has developed rapidly, and its charging methods have become increasingly diverse. Among them, battery replacement at charging and swapping stations has been favored by users for its high efficiency and convenience. Usually, the replacement of power batteries is completed by the RGV (Rail Guided Vehicle) in the charging and swapping station. The RGV removes the vehicle-side power battery from the electric vehicle and fixes the station-side power battery to the electric vehicle by moving back and forth between the battery swapping platform and the power battery storage device. During the entire battery swap, the locking and unlocking mechanism on the RGV needs to be aligned with the battery hole on the vehicle in order to lock or unlock the fasteners of the battery hole to ensure the smooth removal and installation of the battery pack. Therefore, the locking and unlocking mechanism on the RGV and the positioning of the battery hole are one of the key steps to achieve rapid replacement of power batteries. The accuracy and success rate of positioning directly determine the efficiency of battery swapping and the service quality of the service provider.

[0004] Currently, visual positioning methods are commonly used to align the locking and unlocking mechanism with the battery hole. However, visual positioning equipment is easily affected by outdoor factors such as dust, mud, water, and light, resulting in the inability of visual positioning equipment to accurately identify the battery hole.

[0005] Therefore, this field needs a new technical solution to solve the above problems. Summary of the Invention

[0006] In order to solve at least one problem in the prior art, that is, the current positioning method is difficult to ensure the precise alignment between the locking and unlocking mechanism and the battery hole position. The present application provides a battery replacement positioning method for a battery replacement facility, wherein the battery replacement facility includes a locking and unlocking mechanism, a floating positioning mechanism, a measuring mechanism and a driving mechanism, wherein the floating positioning mechanism includes a floating plate and a floating mechanism and a positioning mechanism arranged on the floating plate, wherein the positioning mechanism is configured to be able to move in different directions with the floating plate under the drive of the floating mechanism; the measuring mechanism is used to measure the offset of the floating mechanism in multiple directions; the driving mechanism is provided with the locking and unlocking mechanism, and the driving mechanism is configured to be able to drive the locking and unlocking mechanism to move according to the offset; the battery replacement positioning method for the battery replacement facility includes:

[0007] After the positioning mechanism is positioned with the hole position on the vehicle body to be replaced, the displacement of the floating mechanism in multiple different directions when the positioning mechanism is in the initial position and the final position is obtained by the measuring mechanism;

[0008] Based on the offset, determining the deviation between the locking and unlocking mechanism and the battery hole position on the vehicle to be replaced;

[0009] The driving mechanism is controlled to move according to the deviation amount so that the locking and unlocking mechanism can lock or unlock the battery on the vehicle to be replaced.

[0010] In the preferred technical solution of the above-mentioned battery swap positioning method, with the vehicle length direction as the first direction and the width direction as the second direction, the step of "obtaining the offset of the floating mechanism in multiple different directions when the positioning mechanism is in the initial position and the final position by the measuring mechanism" specifically includes:

[0011] The offsets of the floating mechanism in the first direction and the second direction when the positioning mechanism is in the initial position and the final position are obtained by the measuring mechanism.

[0012] In the preferred technical solution of the above-mentioned battery swap positioning method, with the vehicle height direction as the third direction, the battery swap positioning method further includes:

[0013] The offset of the floating mechanism in the third direction when the positioning mechanism is in the initial position and the final position is obtained by the measuring mechanism.

[0014] In the preferred technical solution of the above-mentioned battery replacement positioning method, there is a positive correlation between the offset and the deviation.

[0015] The present application also provides a battery swap positioning system for a battery swap facility, the battery swap positioning system comprising:

[0016] Locking and unlocking mechanism;

[0017] A floating positioning mechanism, the floating positioning mechanism comprising a floating plate and a floating mechanism and a positioning mechanism provided on the floating plate, the positioning mechanism being configured to move in different directions along with the floating plate under the drive of the floating mechanism;

[0018] a measuring mechanism, the measuring mechanism being used to measure the displacement of the floating mechanism in different directions;

[0019] The driving mechanism is provided with the locking and unlocking mechanism, and the driving mechanism is configured to drive the locking and unlocking mechanism to move according to the offset, so that the locking and unlocking mechanism can lock or unlock the battery on the vehicle to be replaced.

[0020] In the preferred technical solution of the above-mentioned battery exchange positioning system, the floating mechanism includes first telescopic components respectively arranged on at least two different sides of the floating plate, and at least two of the first telescopic components are configured to drive the floating plate to move along the first direction and the second direction.

[0021] In the preferred technical solution of the above-mentioned battery swap positioning system, the measuring mechanism includes a plurality of first measuring mechanisms, and the plurality of first measuring mechanisms correspond one-to-one to the first telescopic components.

[0022] In the preferred technical solution of the above-mentioned battery swap positioning system, at least part of the first measuring mechanism is arranged on the floating plate; and / or

[0023] At least part of the first measuring mechanism is arranged in the first telescopic assembly.

[0024] In the preferred technical solution of the above-mentioned battery replacement positioning system, the floating mechanism also includes a second telescopic component arranged on the floating plate, and the second telescopic component is configured to drive the positioning mechanism to move along the third direction.

[0025] In the preferred technical solution of the above-mentioned battery exchange positioning system, the measuring mechanism includes a second measuring mechanism, and the second measuring mechanism is arranged on the floating plate or the second telescopic component.

[0026] In the preferred technical solution of the above-mentioned battery swap positioning system, the driving mechanism is a three-axis manipulator or a six-axis manipulator.

[0027] In the preferred technical solution of the above-mentioned battery swap positioning system, the measuring mechanism is a distance measuring sensor or a grating ruler.

[0028] In the preferred technical solution of the above-mentioned battery swap positioning system, the positioning mechanism is a positioning pin.

[0029] The present application also provides a battery swap facility, which includes the battery swap positioning method described in the preferred technical solution.

[0030] Those skilled in the art will understand that, after the positioning mechanism is positioned with the vehicle body hole, the battery swap positioning method of the battery swap facility of the present application obtains the offset of the floating mechanism in different directions when the positioning mechanism is in the initial position and the final position through a measuring mechanism, determines the deviation between the locking and unlocking mechanism and the battery hole, and controls the driving mechanism to move the locking and unlocking mechanism according to the deviation, so that the locking and unlocking mechanism can be aligned with the battery hole, thereby locking or unlocking the battery on the vehicle to be battery swapped, and solves the problem that the existing visual positioning method is easily affected by outdoor dust, mud, water, light and other factors and is difficult to ensure the precise alignment between the locking and unlocking mechanism and the battery hole.

[0031] Furthermore, by obtaining the offset of the floating mechanism in the first direction and the second direction when the positioning mechanism is in the initial position and the final position through a measuring mechanism, the deviation of the locking and unlocking mechanism from the battery hole position in the first direction and the second direction can be determined, so that the locking and unlocking mechanism can be aligned with the battery hole position.

[0032] Furthermore, by obtaining the offset of the floating mechanism in the third direction when the positioning mechanism is in the initial position and the final position through the measuring mechanism, the deviation of the locking and unlocking mechanism from the battery hole in the third direction can be determined, so that the locking and unlocking mechanism can be aligned with the battery hole to achieve locking or unlocking of the fastener of the battery hole.

[0033] Furthermore, by setting the offset to a positively correlated correspondence with the deviation, it is convenient to determine the deviation, align the locking and unlocking mechanism with the battery hole, and lock or unlock the fastener of the battery hole.

[0034] Those skilled in the art will understand that the battery swap positioning system of the battery swap facility of the present application can determine the deviation between the locking and unlocking mechanism and the battery hole by using a measuring mechanism to measure the offset of the movement of the floating mechanism in different directions, and control the driving mechanism to move the locking and unlocking mechanism according to the deviation, so that the locking and unlocking mechanism can be aligned with the battery hole, thereby realizing the installation or removal of the battery on the battery swap vehicle, and solving the problem that the existing visual positioning method is easily affected by outdoor dust, mud, water, light and other factors and is difficult to ensure the precise alignment between the locking and unlocking mechanism and the battery hole.

[0035] Furthermore, by setting at least two first telescopic components to be able to drive the floating plate to move along the first direction and the second direction, the measuring mechanism determines the offset of the floating mechanism in the first direction and the second direction when the positioning mechanism is in the initial position and the final position according to the telescopic amount of the telescopic component, which is beneficial to aligning the locking and unlocking mechanism with the battery hole position, thereby realizing locking or unlocking the fastener of the battery hole position.

[0036] Furthermore, by arranging a one-to-one correspondence between the plurality of first measuring mechanisms and the first telescopic components, the first measuring mechanisms can measure the telescopic amount of the corresponding telescopic components.

[0037] Furthermore, the first measuring mechanism can be arranged on a floating plate or on a telescopic assembly, thereby improving the practicality of the present application.

[0038] Furthermore, by arranging a second telescopic assembly on the floating plate, the positioning mechanism can be aligned with the battery hole in the third direction.

[0039] Furthermore, by arranging a second measuring mechanism on the floating plate or the second telescopic assembly, the second measuring mechanism can measure the telescopic amount of the second telescopic assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The preferred embodiments of the present invention are described below with reference to the accompanying drawings, in which:

[0041] FIG1 is a structural diagram of a battery swap positioning system for a battery swap facility of the present invention;

[0042] FIG2 is a structural diagram of the floating positioning mechanism of the present invention;

[0043] FIG3 is a structural diagram of the floating positioning mechanism of the present invention from another angle;

[0044] FIG4 is a plan view of the floating positioning mechanism of the present invention;

[0045] FIG5 is a flow chart of the battery replacement positioning method of the present invention;

[0046] FIG6 is a logic diagram of a possible implementation of the battery replacement positioning method of the present invention.

[0047] List of reference numerals:

[0048] 1. Floating positioning mechanism; 11. Floating plate; 12. Floating mechanism; 121. First telescopic assembly; 13. Positioning mechanism; 131. Positioning pin; 132. Second telescopic assembly; 2. First measuring mechanism; 3. Driving mechanism; 4. Battery exchange platform. DETAILED DESCRIPTION

[0049] The preferred embodiments of the present application are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present application and are not intended to limit the scope of protection of the present application.

[0050] It should be noted that, in the description of this application, terms such as "upper", "lower", "inner", "bottom", "end" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on this application.

[0051] In addition, it should be noted that in the description of this application, unless otherwise specified, stipulated, or limited, the terms "disposed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections, direct connections, indirect connections through an intermediate medium, or internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0052] First, referring to Figures 1-4, the battery swap positioning system of the battery swap facility of the present application is described.

[0053] As shown in Figures 1-4, in order to solve the problem that the existing visual positioning method is easily affected by outdoor dust, mud, water, light and other factors and is difficult to ensure the precise alignment between the locking and unlocking mechanism and the battery hole. The battery swap positioning system of the battery swap facility of the present application includes a locking and unlocking mechanism, a floating positioning mechanism 1, a measuring mechanism and a driving mechanism 3. Among them, the floating positioning mechanism 1 includes a floating plate 11 and a floating mechanism 12 and a positioning mechanism 13 arranged on the floating plate 11. The positioning mechanism 13 is configured to be able to move in different directions with the floating plate 11 under the drive of the floating mechanism 12. The measuring mechanism is used to measure the offset of the floating mechanism 12 in different directions. A locking and unlocking mechanism is provided on the driving mechanism 3, and the driving mechanism 3 is configured to be able to drive the locking and unlocking mechanism to move according to the offset, so that the locking and unlocking mechanism can lock or unlock the battery on the vehicle to be battery swapped.

[0054] The present application uses a measuring mechanism to measure the offset of the movement of the floating mechanism 12 in different directions, so as to determine the deviation between the locking and unlocking mechanism and the battery hole position, and controls the driving mechanism 3 to drive the locking and unlocking mechanism to move according to the deviation, so that the locking and unlocking mechanism can be aligned with the battery hole position, thereby realizing the installation or removal of the battery on the vehicle to be replaced, and solving the problem that the existing visual positioning method is easily affected by outdoor dust, mud, water, light and other factors and is difficult to ensure the precise alignment between the locking and unlocking mechanism and the battery hole position.

[0055] The following further introduces a preferred embodiment of the battery swap positioning system of the battery swap facility of the present application with reference to Figures 1-4. Those skilled in the art will understand that the implementation methods introduced below are only used to illustrate the principles of the present application and are not intended to limit the scope of protection of the present application. On the premise that the battery swap positioning system at least includes a locking and unlocking mechanism, a floating positioning mechanism 1, a measuring mechanism and a driving mechanism 3, those skilled in the art can adjust the following settings so that the present application can be applied to more specific application scenarios.

[0056] Referring to Figure 1, the battery swap positioning system includes a battery swap platform 4, a locking and unlocking mechanism, a floating positioning mechanism 1, a measuring mechanism, and a driving mechanism 3. The floating positioning mechanism 1 and the driving mechanism 3 are both arranged on the battery swap platform 4, the locking and unlocking mechanism is arranged on the driving mechanism 3, and the measuring mechanism is arranged on the floating positioning mechanism 1.

[0057] It should be noted that the present application does not limit the specific form of the drive mechanism 3, as long as the drive mechanism 3 can drive the locking and unlocking mechanism to move according to the deviation amount. For example, the drive mechanism 3 can be a three-axis manipulator. Alternatively, the drive mechanism 3 can be a six-axis manipulator.

[0058] 2-4, the floating positioning mechanism 1 is used to align with the body hole position on the vehicle to be replaced by the battery, and includes a floating plate 11 and a floating mechanism 12 and a positioning mechanism 13 arranged on the floating plate 11. Among them, the floating plate 11 is square, and a floating mechanism 12 is arranged on its side wall, and a positioning mechanism 13 is arranged on its end face away from the battery replacement platform 4. The floating mechanism 12 includes a first telescopic component 121 respectively arranged on the four side walls of the floating plate 11, and two first telescopic components 121 are arranged on each side wall of the floating plate 11. The fixed end of the first telescopic component 121 is arranged on the side wall of the floating plate 11, and the movable end is arranged on the table top of the battery replacement platform 4, so that the floating plate 11 can move in the first direction (the Y direction as shown in Figure 1) and the second direction (the X direction as shown in Figure 1) under the action of the first telescopic component 121, so as to realize the alignment of the positioning mechanism 13 on the floating plate 11 with the body hole position on the vehicle to be replaced by the battery.

[0059] It should be noted that the initial position is when the positioning mechanism 13 is not moved by the floating mechanism 12 , and the final position is when the positioning mechanism 13 is aligned with the body hole.

[0060] Of course, the present application does not have a fixed shape for the floating plate 11, and those skilled in the art can adjust it according to the needs of the setting. For example, the shape of the floating plate 11 can also be a regular or irregular shape such as a rectangle or a circle. In addition, the present application does not have a fixed number and position of the first telescopic components 121, and those skilled in the art can adjust it according to the needs of the setting. For example, two first telescopic components 121 are set on one side wall in the first direction and one side wall in the second direction of the floating plate 11. Alternatively, one or another number of telescopic components are set on each of the four side walls of the floating plate 11. It should be noted that the number of first telescopic components 121 on each side wall of the floating plate 11 can be the same or different.

[0061] In addition, the present application does not fix the installation form of the first telescopic component 121, and those skilled in the art can adjust it according to the specific application scenario. For example, the movable end of the first telescopic component 121 is set on the side wall of the floating plate 11, the end surface of the floating plate 11 away from the battery exchange platform 4, or the end surface of the floating plate 11 close to the battery exchange platform 4, and the fixed end is set on the table top of the battery exchange platform 4. Alternatively, the fixed end of the first telescopic component 121 is set on the side wall of the floating plate 11, the end surface of the floating plate 11 away from the battery exchange platform 4, or the end surface of the floating plate 11 close to the battery exchange platform 4, and the movable end is set on the table top of the battery exchange platform 4. Alternatively, a mounting seat can be set on the table top of the battery exchange platform 4, and the fixed end of the first telescopic component 121 is set on the side wall of the floating plate 11, the end surface of the floating plate 11 away from the battery exchange platform 4, or the end surface of the floating plate 11 close to the battery exchange platform 4, and the movable end is set on the mounting seat. Alternatively, a mounting seat can be set on the table top of the battery exchange platform 4, and the movable end of the first telescopic component 121 is set on the side wall of the floating plate 11, the end face of the floating plate 11 away from the battery exchange platform 4, or the end face of the floating plate 11 close to the battery exchange platform 4, and the fixed end is set on the mounting seat.

[0062] In addition, the present application has no limitation on the specific form of the first telescopic component 121, as long as the first telescopic component 121 can drive the floating plate 11 to move in the first direction and the second direction. For example, the first telescopic component 121 can be a spring or a telescopic rod.

[0063] Next, referring to Figures 2-4, the floating mechanism 12 also includes a second telescopic component 132, which is arranged on the end face of the floating plate 11 away from the battery exchange platform 4. The second telescopic component 132 is a lifting mechanism, and a positioning pin 131 is provided at the output end of the lifting mechanism. The positioning pin 131 can move along the third direction (the Z direction shown in Figure 1) under the action of the lifting mechanism to achieve the positioning of the positioning pin 131 and the vehicle body hole in the third direction. Laser sensors are provided on the four side walls of the floating plate 11 and the end face of the floating plate 11 away from the battery exchange platform 4, and two laser sensors are provided on each side wall. Each laser sensor corresponds to a first telescopic component 121, so that the laser sensor can measure the telescopic amount of the corresponding first telescopic component 121 in the first direction and the second direction. The laser sensor (not shown in the figure) on the end face of the floating plate 11 away from the battery exchange platform 4 can measure the telescopic amount of the lifting mechanism. Specifically, the offset of the first telescopic assembly 121 in the first and second directions is determined based on the difference between the length of the first telescopic assembly 121 in the first and second directions when the positioning pin 131 is in the final position and the length of the first telescopic assembly 121 in the first and second directions when the positioning pin 131 is in the initial position. The offset of the lifting mechanism in the third direction is determined based on the difference between the length of the lifting assembly in the third direction when the positioning pin 131 is in the final position and the length of the lifting assembly in the third direction when the positioning pin 131 is in the initial position.

[0064] Of course, the setting position of the second telescopic component 132 in this application is not fixed, and those skilled in the art can adjust it according to the specific application scenario. For example. The fixed end of the second telescopic component 132 can be set on the battery exchange platform 4, and the movable end is set on the side of the floating plate 11 close to the battery exchange platform 4, so that the floating plate 11 can be lifted and lowered along the third direction under the action of the telescopic component. In order to obtain the offset of the second telescopic component 132 in the third direction, a second measuring mechanism can be set on the battery exchange platform 4 and the floating plate 11, and the offset of the positioning pin 131 in the third direction can be obtained by the second measuring mechanism.

[0065] Furthermore, the specific configurations of the first measuring mechanism 2 and the second measuring mechanism are not fixed in this application and can be adjusted by those skilled in the art based on their specific needs. For example, the first measuring mechanism 2 can also be a grating ruler or other distance measuring sensor. And / or, the second measuring mechanism can also be a grating ruler or other distance measuring sensor.

[0066] Furthermore, the specific placement of the first measuring mechanism 2 is not fixed in this application and can be adjusted by those skilled in the art based on specific application scenarios. For example, the first measuring mechanism 2 can also be placed on the telescopic assembly. Alternatively, part of the first measuring mechanism 2 can be placed on the telescopic assembly, while the remaining part can be placed on the floating plate 11.

[0067] The working principle of the battery swap positioning system of this application is explained with reference to Figures 1-4:

[0068] When a vehicle uses a battery swap facility for battery swapping, there is a deviation between the locating pin 131 and the hole in the vehicle body, and between the locking and unlocking mechanism and the battery hole. The first measuring mechanism 2 measures the length of the first telescopic assembly 121 in the first and second directions when the locating pin 131 is in the initial position, and the second measuring mechanism measures the length of the second telescopic assembly 132 in the third direction when the locating pin 131 is in the initial position. The locating pin 131 is aligned with the hole in the vehicle body under the action of the first telescopic assembly 121 and the second telescopic assembly 132. The first measuring mechanism 2 measures the length of the first telescopic assembly 121 in the first and second directions when the locating pin 131 is in the final position, and calculates the difference between the length of the first telescopic assembly 121 in the first and second directions when the locating pin 131 is in the final position and the initial position to obtain the offset of the first telescopic assembly 121 in the first and second directions. The second measuring mechanism measures the difference between the length of the second telescopic assembly 132 in the third direction when the locating pin 131 is in the final position and the initial position to obtain the offset of the second telescopic assembly 132 in the third direction.

[0069] The deviation between the locking and unlocking mechanism and the battery hole in the first, second, and third directions is determined based on the offset in the first, second, and third directions. The driving mechanism 3 is controlled to drive the locking and unlocking mechanism to move according to the offset in the first, second, and third directions, so that the locking and unlocking mechanism can lock or unlock the battery on the vehicle to be swapped.

[0070] Next, referring to FIG5 , the battery swap positioning method of the present application is described.

[0071] As shown in FIG5 , the battery swap positioning method of the battery swap facility of the present application includes:

[0072] S101, after the positioning mechanism 13 is positioned with the hole position on the body of the vehicle to be replaced, the offset of the floating mechanism 12 in multiple different directions when the positioning mechanism 13 is in the initial position and the final position is obtained by a measuring mechanism. For example, the measuring mechanism can be a laser sensor configured on the floating plate 11, which measures the lengths of the floating mechanism 12 in the first, second, and third directions when the positioning mechanism 13 is in the initial position, and the lengths of the floating mechanism 12 in the first, second, and third directions when the positioning mechanism 13 is in the final position by the laser sensor, and the offsets of the floating mechanism 12 in the first, second, and third directions can be obtained based on the difference between the lengths of the floating mechanism 12 in the first, second, and third directions when the positioning mechanism 13 is in the final position and the lengths of the floating mechanism 12 in the first, second, and third directions when the positioning mechanism 13 is in the initial position.

[0073] S102. Determine the deviation between the locking and unlocking mechanism and the battery hole position on the vehicle to be replaced based on the offset. For example, when the offset is obtained, the deviation between the locking and unlocking mechanism and the battery hole position can be determined based on a comparison relationship between the offset and the deviation, such as a formula.

[0074] S103: Control the drive mechanism 3 to move the locking and unlocking mechanism according to the deviation amount, so that the locking and unlocking mechanism can lock or unlock the battery on the vehicle to be battery-swapped. For example, after obtaining the deviation amount, the drive mechanism 3 is controlled to move according to the deviation amounts in the first, second, and third directions, so that the locking and unlocking mechanism can align with the battery hole to lock or unlock the battery on the vehicle to be battery-swapped.

[0075] The present application obtains the offset of the floating mechanism 12 in different directions when the positioning mechanism 13 is in the initial position and the final position through a measuring mechanism, determines the deviation between the locking and unlocking mechanism and the battery hole, and controls the driving mechanism 3 to move the locking and unlocking mechanism according to the deviation, so that the locking and unlocking mechanism can be aligned with the battery hole, thereby realizing the installation or removal of the battery on the vehicle to be replaced, and solves the problem that the existing visual positioning method is easily affected by outdoor dust, mud, water, light and other factors and is difficult to ensure the precise alignment between the locking and unlocking mechanism and the battery hole.

[0076] The following introduces the preferred implementation of the battery swap positioning method of the battery swap facility of the present application.

[0077] In one embodiment, with the length direction of the vehicle to be replaced as the first direction and the width direction as the second direction, the step of "obtaining the offset of the floating mechanism 12 in multiple different directions when the positioning mechanism 13 is in the initial position and the final position by a measuring mechanism" specifically includes:

[0078] The offsets of the floating mechanism 12 in the first direction and the second direction when the positioning mechanism 13 is in the initial position and the final position are acquired by the measuring mechanism.

[0079] For example, the positioning mechanism 13 is a positioning pin 131, and the floating mechanism 12 includes a first telescopic component 121. When the positioning pin 131 is in the initial position, the length of the first telescopic component 121 on the first side wall of the floating plate 11 in the first direction (the front side as shown in Figure 4) is 10 cm, and the length of the first telescopic component 121 on the second side wall in the first direction (the rear side as shown in Figure 4) is 12 cm. The length of the first telescopic component 121 on the first side wall in the second direction of the floating plate 11 (the left side as shown in Figure 4) is 12 cm, and the length of the first telescopic component 121 on the second side wall in the second direction (the right side as shown in Figure 4) is 8 cm. When the positioning pin 131 is aligned with the hole position of the vehicle body in the first direction and the second direction under the action of the first telescopic component 121, the length of the first telescopic component 121 located on the first side wall of the floating plate 11 in the first direction is 15 cm, the length of the first telescopic component 121 on the second side wall in the first direction is 7 cm, the length of the first telescopic component 121 located on the first side wall in the second direction is 15 cm, and the length of the first telescopic component 121 on the second side wall in the second direction is 5 cm. When the final position of the positioning pin 131 is relative to the initial position, the offset of the telescopic component in the first direction (from front to rear as shown in Figure 4) is 5 cm, and the offset in the second direction (from right to left as shown in Figure 4) is 3 cm.

[0080] Furthermore, with the height direction of the vehicle to be battery swapped as the third direction, the battery swap positioning method further includes:

[0081] The offset of the floating mechanism 12 in the third direction when the positioning mechanism 13 is in the initial position and the final position is obtained by the measuring mechanism.

[0082] For example, the positioning mechanism 13 is a positioning pin 131, and the floating mechanism 12 includes a first telescopic component 121 and a second telescopic component 132. When the positioning pin 131 is in the initial position, the length of the first telescopic component 121 on the first side wall in the first direction of the floating plate 11 (the upper side as shown in Figure 4) is 10 cm, the length of the first telescopic component 121 on the second side wall in the first direction (the lower side as shown in Figure 4) is 12 cm, the length of the first telescopic component 121 on the first side wall in the second direction of the floating plate 11 (the left side as shown in Figure 4) is 12 cm, the length of the first telescopic component 121 on the second side wall in the second direction (the right side as shown in Figure 4) is 8 cm, and the length of the second telescopic component 132 in the third direction of the floating plate 11 is 13 cm. When the positioning pin 131 is aligned with the hole position of the vehicle body in the first, second and third directions under the action of the first telescopic component 121 and the second telescopic component 132, the length of the first telescopic component 121 on the first side wall of the floating plate 11 in the first direction is 15 cm, the length of the first telescopic component 121 on the second side wall in the first direction is 7 cm, the length of the first telescopic component 121 on the first side wall in the second direction is 15 cm, the length of the first telescopic component 121 on the second side wall in the second direction is 5 cm, and the length of the second telescopic component 132 is 18 cm. When the final position of the positioning pin 131 is relative to the initial position, the offset of the telescopic component in the first direction (from top to bottom as shown in Figure 4) is 5 cm, the offset in the second direction (from right to left as shown in Figure 4) is 3 cm, and the offset in the third direction (from back to front as shown in Figure 4) is 5 cm.

[0083] In one embodiment, the offset and the deviation are in a positively correlated relationship.

[0084] It should be noted that the offset and deviation are positively correlated. That is, when the offset of the floating mechanism 12 in the first, second, and third directions is large, the deviation is also large, and when the offset is small, the deviation is also small. For example, the offset of the floating mechanism 12 in the first direction is equal to the deviation between the locking and unlocking mechanism and the battery hole in the first direction, the offset of the floating mechanism 12 in the second direction is equal to the deviation between the locking and unlocking mechanism and the battery hole in the second direction, and the offset of the floating mechanism 12 in the third direction is equal to 0.6 times the deviation between the locking and unlocking mechanism and the battery hole in the second direction. When the offset of the first telescopic component 121 in the first direction (from top to bottom as shown in Figure 4) is 5 cm and the offset in the second direction (from right to left as shown in Figure 4) is 3 cm, and the offset of the second telescopic component 132 in the third direction (from back to front as shown in Figure 4) is 5 cm, the deviation between the locking and unlocking mechanism and the battery hole in the first direction (from top to bottom as shown in Figure 4) is 5 cm, the deviation in the second direction (from right to left as shown in Figure 4) is 3 cm, and the deviation in the third direction (from back to front as shown in Figure 4) is 3 cm.

[0085] A possible operation process of the battery swap positioning method of the present application is briefly described below in conjunction with Figure 6. Figure 6 is a logic diagram of a possible implementation method of the battery swap positioning method of the present application.

[0086] S201. Obtain the lengths of the first telescopic mechanism in the first direction and the second direction respectively when the positioning pin 131 is in the initial position through the first measuring mechanism 2, and obtain the length of the second telescopic mechanism in the third direction when the positioning pin 131 is in the initial position through the second measuring mechanism, and then execute S202.

[0087] S202, after the positioning pin 131 is positioned with the body hole on the vehicle to be replaced, the first measuring mechanism 2 obtains the lengths of the floating mechanism 12 in the first direction and the second direction respectively when the positioning pin 131 is in the final position, and the second measuring mechanism obtains the length of the floating mechanism 12 in the third direction when the positioning pin 131 is in the final position, and then executes S203.

[0088] S203, respectively calculating the difference between the first telescopic mechanism in the first direction and the second direction and the difference between the second telescopic mechanism in the third direction when the positioning pin 131 is in the final position and the initial position, to obtain the offset of the positioning pin 131 in the first, second, and third directions, and then executing S204.

[0089] S204. Based on the positive correlation between the offset and the deviation in the first, second and third directions, determine the deviation between the locking and unlocking mechanism and the battery hole on the vehicle to be replaced in the first, second and third directions, and then execute S205.

[0090] S205 . Based on the deviations in the first, second, and third directions, control the driving mechanism 3 to drive the locking and unlocking mechanism to move, and then execute S206 .

[0091] S206: Control the locking and unlocking mechanism to lock or unlock the fastener on the battery hole.

[0092] In addition, the present invention also provides a battery swap facility, which is a battery swap positioning method for the battery swap facility described in any of the above embodiments.

[0093] Those skilled in the art will appreciate that although some embodiments described herein include certain features included in other embodiments but not other features, combinations of features from different embodiments are intended to be within the scope of this application and to form different embodiments. For example, in the claims of this application, any of the claimed embodiments may be used in any combination.

[0094] Thus far, the technical solutions of the present application have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is readily understood by those skilled in the art that the scope of protection of the present application is obviously not limited to these specific embodiments. Without departing from the principles of the present application, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present application.

Claims

1. A battery swap positioning method for a battery swap facility, characterized in that: The battery swap facility includes a locking and unlocking mechanism, a floating positioning mechanism, a measuring mechanism, and a driving mechanism. The floating positioning mechanism includes a floating plate, a floating mechanism, and a positioning mechanism provided on the floating plate. The positioning mechanism is configured to move in different directions along with the floating plate under the drive of the floating mechanism. The measuring mechanism is used to measure the offset of the floating mechanism in multiple directions. The locking and unlocking mechanism is provided on the driving mechanism, and the driving mechanism is configured to drive the locking and unlocking mechanism to move according to the offset. The battery swap positioning method of the battery swap facility includes: After the positioning mechanism is positioned with the hole position on the vehicle body to be replaced, the displacement of the floating mechanism in multiple different directions when the positioning mechanism is in the initial position and the final position is obtained by the measuring mechanism; Based on the offset, determining the deviation between the locking and unlocking mechanism and the battery hole position on the vehicle to be replaced; The driving mechanism is controlled to move according to the deviation amount so that the locking and unlocking mechanism can lock or unlock the battery on the vehicle to be replaced.

2. The battery replacement positioning method according to claim 1, characterized in that: Taking the length direction of the battery-swap vehicle as the first direction and the width direction as the second direction, the step of "obtaining, by the measuring mechanism, the offset of the floating mechanism in multiple different directions when the positioning mechanism is in the initial position and the final position" specifically includes: The offsets of the floating mechanism in the first direction and the second direction when the positioning mechanism is in the initial position and the final position are obtained by the measuring mechanism.

3. The battery replacement positioning method according to claim 2, characterized in that: Taking the height direction of the battery swapping vehicle as the third direction, the battery swapping positioning method further includes: The offset of the floating mechanism in the third direction when the positioning mechanism is in the initial position and the final position is obtained by the measuring mechanism.

4. The battery replacement positioning method according to claim 1, characterized in that: There is a positive correlation between the offset and the deviation.

5. A battery swap positioning system for a battery swap facility, characterized in that: The battery swap positioning system includes: Locking and unlocking mechanism; A floating positioning mechanism, the floating positioning mechanism comprising a floating plate and a floating mechanism and a positioning mechanism provided on the floating plate, the positioning mechanism being configured to move in different directions along with the floating plate under the drive of the floating mechanism; a measuring mechanism, the measuring mechanism being used to measure the displacement of the floating mechanism in different directions; The driving mechanism is provided with the locking and unlocking mechanism, and the driving mechanism is configured to drive the locking and unlocking mechanism to move according to the offset, so that the locking and unlocking mechanism can lock or unlock the battery on the vehicle to be replaced.

6. The battery replacement positioning system according to claim 5, characterized in that: The floating mechanism includes first telescopic components respectively arranged on at least two different sides of the floating plate, and at least two of the first telescopic components are configured to drive the floating plate to move along a first direction and a second direction.

7. The battery replacement positioning system according to claim 6, characterized in that: The measuring mechanism includes a plurality of first measuring mechanisms, and the plurality of first measuring mechanisms correspond one-to-one to the first telescopic components.

8. The battery replacement positioning system according to claim 7, characterized in that: At least part of the first measuring mechanism is arranged on the floating plate; and / or At least part of the first measuring mechanism is arranged in the first telescopic assembly.

9. The battery replacement positioning system according to claim 6, characterized in that: The floating mechanism further includes a second telescopic assembly disposed on the floating plate, and the second telescopic assembly is configured to drive the positioning mechanism to move along a third direction.

10. The battery replacement positioning system according to claim 9, characterized in that: The measuring mechanism includes a second measuring mechanism, and the second measuring mechanism is arranged on the floating plate or the second telescopic assembly.

11. The battery replacement positioning system according to claim 5, characterized in that: The driving mechanism is a three-axis manipulator or a six-axis manipulator.

12. The battery replacement positioning system according to claim 5, characterized in that: The measuring mechanism is a distance measuring sensor or a grating ruler.

13. The battery replacement positioning system according to claim 5, characterized in that: The positioning mechanism is a positioning pin.

14. A battery replacement facility, characterized in that: The battery exchange facility includes the battery exchange positioning method described in claims 1-4.

Images