Wheel Positioning by Torque Feedback for Battery Swap Alignment
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Solution Overview
Problem
Existing four-wheel positioning methods for battery charging and swapping stations are not universally applicable to vehicles with modified wheel hubs, leading to issues such as vehicle skewing, excessive torque, and tire or suspension damage.
Innovation Solution
A wheel positioning method that uses torque as a determining criterion for positioning, involving two stages of positioning with different torque thresholds to ensure accurate alignment without complex calculations, and includes overload protection to prevent damage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If the existing positioning method using servo motor encoders is applied to vehicles with modified wheel hubs, then the positioning system can operate automatically, but the vehicle body becomes skewed and positioning accuracy deteriorates
Solution Approach 1:
The patent changes the positioning criterion from encoder position values to real-time torque values. By monitoring torque changes during push rod movement, the system dynamically determines positioning completion based on torque threshold values, adapting to different wheel hub modifications without requiring pre-programmed position parameters for each vehicle type.
2Ease of manufacture
If push rods are used to position wheels based on encoder position values, then the positioning process is simple to implement, but excessive torque is applied causing tire or suspension damage
Solution Approach 1:
The system implements feedback control by continuously monitoring real-time torque values during the positioning process. When the torque change rate falls below a threshold or the absolute torque exceeds a safety threshold, the system automatically stops the positioning action, preventing excessive force from damaging tires or suspension components.
3Manufacturing precision
If positioning parameters are customized for specific wheel hub modifications, then positioning accuracy improves for those specific cases, but the system complexity increases and cannot handle diverse modifications
Solution Approach 1:
The patent creates a universal positioning method that works across all wheel hub modification types. By using torque as the positioning criterion rather than pre-programmed position values, the system automatically adapts to any vehicle configuration, eliminating the need for separate parameter sets for different modification types while maintaining high positioning accuracy.
4Productivity
If one-time positioning is performed using fixed position parameters, then the positioning process is fast, but the vehicle cannot be accurately centered for battery swapping
Solution Approach 1:
The system performs positioning in multiple periodic stages: first positioning to bring the vehicle near the correct position, then a second positioning phase to achieve precise centering. This multi-stage periodic approach maintains high productivity while achieving the accuracy needed for proper battery swapping alignment.
Data Source
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AI summary
The disclosure relates to the field of battery charging and swapping technologies, and specifically, to a wheel positioning method and system, a medium, an apparatus, and a battery charging and swapping station. The disclosure aims to resolve the problem of poor applicability of an existing four-wheel positioning method for a battery charging and swapping station. In view of this, the wheel positioning method of the disclosure includes: controlling all wheel push members to move laterally from their respective initial positions and obtaining a first real-time torque of each wheel push member; when each first real-time torque reaches the first preset torque threshold, controlling all the wheel push members to return to their respective initial positions; controlling all the wheel push members to move laterally again from their respective initial positions and obtaining a second real-time torque of each wheel push member; when each second real-time torque reaches the second preset torque threshold, controlling all the wheel push members to stop moving. The disclosure may improve applicability of the wheel positioning method, making the positioning method applicable to all types of wheel hubs.