CN112009301A - Battery pack position visual detection and adjustment system for electric automobile battery replacement station - Google Patents

Battery pack position visual detection and adjustment system for electric automobile battery replacement station Download PDF

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Publication number
CN112009301A
CN112009301A CN202011018248.2A CN202011018248A CN112009301A CN 112009301 A CN112009301 A CN 112009301A CN 202011018248 A CN202011018248 A CN 202011018248A CN 112009301 A CN112009301 A CN 112009301A
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CN
China
Prior art keywords
battery
electric automobile
battery pack
adjusting
chain plate
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Pending
Application number
CN202011018248.2A
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Chinese (zh)
Inventor
钱玉峰
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Jiangsu Billion Amperex Technology Ltd
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Jiangsu Billion Amperex Technology Ltd
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Application filed by Jiangsu Billion Amperex Technology Ltd filed Critical Jiangsu Billion Amperex Technology Ltd
Priority to CN202011018248.2A priority Critical patent/CN112009301A/en
Publication of CN112009301A publication Critical patent/CN112009301A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/80—Exchanging energy storage elements, e.g. removable batteries
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors

Abstract

The invention discloses a visual detection and adjustment system for the position of a battery pack of an electric automobile battery changing station, which comprises an electric automobile, a battery changing platform, an adjustment chain plate arranged on the battery changing platform and a camera used for capturing the position of a battery of the electric automobile; the cameras comprise 3 groups, including a first positioning camera, a second positioning camera and a third positioning camera; the number of the adjusting chain plates is 4, and the adjusting chain plates comprise a first adjusting chain plate, a second adjusting chain plate, a third adjusting chain plate and a fourth adjusting chain plate; the middle positions of the 4 groups of adjusting chain plates are provided with central shafts; each group of adjusting chain plates is driven by 1 servo electric cylinder and 1 auxiliary servo electric cylinder in a matching way; the visual detection and adjustment system for the position of the battery pack of the electric automobile battery replacement station can achieve the purpose of improving the battery replacement efficiency and accuracy of the electric automobile.

Description

Battery pack position visual detection and adjustment system for electric automobile battery replacement station
Technical Field
The invention relates to the field of electric automobile charging, in particular to a visual detection and adjustment system for the position of a battery pack of an electric automobile battery replacement station.
Background
At present, electric automobiles have two charging modes, namely charging through a charging pile and replacing batteries through a power replacing station. The battery replacement of the battery replacement station is similar to the refueling of the automobile, and the electric automobile enters the battery replacement station, is replaced by a fully charged battery and continues to run normally.
The existing power exchanging station is designed in such a way that an electric automobile enters the power exchanging station, a power exchanging platform is driven on, an original battery is automatically disassembled by a manipulator, the original battery is moved out and sent to a charging station, and a fully charged battery is loaded on the electric automobile to finish power exchanging work. In the above working process, the key point is that the consistency of the position of the electric automobile on the battery replacing platform is high, that is, the position of the battery panel can be obtained when the manipulator replaces the battery, and it is critical to accurately detach (install) the battery. At present, the design of a battery replacement station is mainly to control the operation precision of a manipulator assembly so as to improve the battery replacement success rate, a battery replacement station only ensures the operation precision of the manipulator module, no battery position feedback exists, the battery replacement station is open-loop control, and the battery replacement success rate is low.
Disclosure of Invention
The invention aims to provide a visual detection and adjustment system for the position of a battery pack of an electric automobile battery replacement station aiming at the defects in the prior art.
The technical scheme for solving the problems comprises the following steps: the utility model provides an electric automobile trades power station battery pack position visual detection, adjustment system, includes electric automobile, trades the electric platform, sets up the adjustment link joint on trading the electric platform for catch the camera of electric automobile battery position.
The camera has 3 groups, including first location camera, second location camera, third location camera.
The first positioning camera is arranged at the left side position in front of the battery replacing platform, and the first positioning camera is arranged right in front of the left side of the battery pack of the electric automobile.
The second positioning camera is arranged at the right side position in front of the battery replacing platform, and the second positioning camera is arranged right in front of the right of the battery pack of the electric automobile.
The third positioning camera is arranged at the middle position behind the battery replacing platform, and the third positioning camera is arranged right opposite to the middle position behind the battery pack of the electric automobile.
The adjusting chain plates comprise 4 groups, and the adjusting chain plates comprise a first adjusting chain plate, a second adjusting chain plate, a third adjusting chain plate and a fourth adjusting chain plate.
The first adjusting chain plate is arranged at the position in the front right of the battery replacement platform. The second adjusting chain plate is arranged at the position in front of the left side of the battery replacing platform. And the third adjusting chain plate is arranged at the left rear position of the battery replacing platform. And the fourth adjusting chain plate is arranged at the rear right position of the battery replacing platform.
The middle of the first adjusting chain plate is provided with a first backward driving servo electric cylinder, and the first adjusting chain plate is bilaterally symmetrically provided with a first backward driving servo electric cylinder and a first auxiliary backward driving servo electric cylinder.
The middle of the second adjusting chain plate is provided with a first backward driving servo electric cylinder, and the second adjusting chain plate is bilaterally symmetrically provided with a second backward driving servo electric cylinder and a second auxiliary backward driving servo electric cylinder.
And a second forward-right driving servo electric cylinder is arranged in the middle of the third adjusting chain plate, and a first forward driving servo electric cylinder and a first auxiliary forward driving servo electric cylinder are symmetrically arranged on the third adjusting chain plate in the left-right direction.
And a second forward left driving servo electric cylinder is arranged in the middle of the fourth adjusting chain plate, and a second forward driving servo electric cylinder and a second auxiliary forward driving servo electric cylinder are symmetrically arranged on the fourth adjusting chain plate in the left-right direction.
Preferably, the 4 groups of adjusting chain plates are provided with central shafts at the middle positions.
Preferably, each group of adjusting chain plates is driven by 1 servo electric cylinder and 1 auxiliary servo electric cylinder in a matching manner.
A visual detection and adjustment system for the position of a battery pack of an electric automobile battery replacement station comprises the following operation steps:
and S1, driving the electric automobile into the battery replacement platform, and enabling the front wheels and the rear wheels to enter 4 groups of adjusting chain plates of the platform to initially position the automobile.
S2, when the electric automobile drives into the battery replacing platform, 3 groups of cameras, a first positioning camera, a second positioning camera and a third positioning camera are arranged on the battery replacing platform; the first positioning camera faces to the left front position of the battery pack of the electric automobile, the second positioning camera faces to the right front position of the battery pack of the electric automobile, and the third positioning camera faces to the rear middle position of the battery pack of the electric automobile; and starting a first positioning camera, a second positioning camera and a third positioning camera below the battery pack at the bottom of the electric automobile, shooting the position of a battery panel at the bottom of the electric automobile, and calculating and comparing the obtained images by the system to obtain X, Y value deviation of the coordinates of the battery pack. And correspondingly adjusting according to the obtained deviation value.
And S3, if the coordinate position of the front end of the battery pack is deviated to the left, driving the first right driving servo cylinder to make the front end of the electric automobile deviate to the right, and adjusting the position, wherein the deviation is the value obtained by the detection.
If the coordinate position of the front end of the battery pack is deviated to the right, the front end of the electric automobile is deviated to the left by driving the first leftward driving servo cylinder, and the deviation value is adjusted according to the value obtained by the detection.
And S4, if the position coordinate of the rear end of the battery pack is deviated to the left, driving a second right-direction driving servo electric cylinder to make the rear end of the electric automobile deviate to the right, and adjusting the position, wherein the deviation value is obtained by the detection.
And if the position coordinate of the rear end of the battery assembly is deviated to the right, driving a second leftward-rightward servo electric cylinder to make the rear end of the electric automobile deviate leftwards, and adjusting the position, wherein the deviation magnitude is the deviation value obtained by the detection.
And S5, if the left side position of the battery pack is deviated from the front position, driving a second backward driving servo electric cylinder and a first forward driving servo electric cylinder to be matched with each other to adjust the front and rear positions of the left side of the automobile. When the control system drives the second backward driving servo electric cylinder to eject outwards, the second auxiliary backward servo electric cylinder retracts in a matched mode, so that the second adjusting chain plate rotates backward, tires of automobiles in the chain plate are pushed to move backward, and the purpose of adjusting the parking space to shift backward is achieved.
If the right side position of the battery component deviates from the front, the front and rear positions of the left side of the automobile are adjusted through the matching of the first backward driving servo electric cylinder and the second forward driving servo electric cylinder.
And S6, dynamically measuring the position of the battery pack by the 3 groups of cameras in the adjusting process, and feeding back to the control system until the position of the battery pack is adjusted to meet the design requirement.
And S7, when the battery position is adjusted to meet the requirement, the battery is disassembled (installed).
The invention has the following beneficial effects:
the invention provides a visual detection and adjustment system for the position of a battery pack of an electric automobile battery changing station, which is provided with a camera for detecting the position of the battery pack of the electric automobile, respectively detects the positions of three points in the front left point, the front right point and the rear right point of the battery pack, feeds the detected battery position back to a control system, and can change the angle of an adjusting chain plate by arranging 4 groups of adjusting chain plates with adjustable angles so as to adjust the front position, the rear position, the left position and the right position of an electric automobile and ensure the success rate of battery changing. If the battery position can not meet the requirement through adjustment, the battery position is fed back to the control system, damage to the battery assembly or the electric automobile caused by inaccurate battery position is prevented, and the battery assembly position visual detection and adjustment system of the electric automobile battery replacement station forms closed-loop control through detection, feedback, adjustment, detection and feedback, so that the battery replacement efficiency and accuracy are improved.
Drawings
FIG. 1 is a schematic view of the present invention;
FIG. 2 is a schematic view of a second adjusting link plate;
in the figure: 1-battery changing platform, 2-first adjusting chain plate, 3-second adjusting chain plate, 4-second backward driving servo electric cylinder, 5-first forward driving servo electric cylinder, 6-first positioning camera, 7-electric automobile, 8-third adjusting chain plate, 9-second forward right driving servo electric cylinder, 10-first forward driving servo electric cylinder, 11-fourth adjusting chain plate, 12-second auxiliary backward servo electric cylinder and 13-central shaft.
Detailed Description
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
As shown in fig. 1-2, a visual detection and adjustment system for battery pack position of an electric vehicle battery replacement station includes an electric vehicle 7, a battery replacement platform 1, an adjustment chain plate disposed on the battery replacement platform 1, and a camera for capturing battery position of the electric vehicle.
The camera has 3 groups, including first location camera 6, second location camera (not drawn in the figure), third location camera (not drawn in the figure).
The first positioning camera 6 is arranged at the left side position in front of the battery replacing platform 1, and the first positioning camera 6 is arranged right in front of the left side of the battery pack of the electric automobile.
The second positioning camera is arranged at the right side position in front of the battery replacing platform 1, and the second positioning camera is arranged right in front of the right of the battery pack of the electric automobile.
The third positioning camera is arranged at the middle position behind the battery replacing platform 1, and the third positioning camera is arranged right opposite to the middle position behind the battery pack of the electric automobile.
The adjusting chain plates comprise 4 groups, and the adjusting chain plates comprise a first adjusting chain plate 2, a second adjusting chain plate 3, a third adjusting chain plate 8 and a fourth adjusting chain plate 11.
The 4 groups of adjusting chain plates are provided with central shafts 13 at the middle positions, and the adjusting chain plates can rotate around the central shafts 13, so that the front and rear positions of the electric automobile 7 can be adjusted. And each group of adjusting chain plates is driven by 1 servo electric cylinder and 1 auxiliary servo electric cylinder in a matching way.
The first adjusting chain plate 2 is arranged at the position in the front right of the battery replacing platform 1. And the second adjusting chain plate 3 is arranged at the position in front of the left side of the battery replacing platform 1. And the third adjusting chain plate 8 is arranged at the left rear position of the battery replacing platform 1. And the fourth adjusting chain plate 11 is arranged at the rear right position of the battery replacing platform 1.
A first backward driving servo electric cylinder (not shown in the figure) and a first auxiliary backward driving servo electric cylinder (not shown in the figure) are symmetrically arranged on the left and right of the first adjusting chain plate 2. The first leftward driving servo cylinder can enable the front end of the electric automobile 7 to move leftward.
A first backward driving servo electric cylinder 5 is arranged in the middle of the second adjusting chain plate 3, and a second backward driving servo electric cylinder 4 and a second auxiliary backward driving servo electric cylinder (not shown in the figure) are symmetrically arranged on the left and right of the second adjusting chain plate 3. The first right-hand drive servo electric cylinder 5 can drive the front end of the electric automobile 7 to move rightwards.
A second forward-right driving servo electric cylinder 9 is arranged in the middle of the third adjusting chain plate 8, and a first forward driving servo electric cylinder 10 and a first auxiliary forward driving servo electric cylinder (not shown in the figure) are symmetrically arranged on the left and right of the third adjusting chain plate 8. The second right-hand driving servo electric cylinder 9 can drive the rear end of the electric automobile 7 to move rightwards.
A second forward left driving servo electric cylinder (not shown in the figure) is arranged in the middle of the fourth adjusting chain plate 11, and a second forward driving servo electric cylinder (not shown in the figure) and a second auxiliary forward driving servo electric cylinder (not shown in the figure) are symmetrically arranged on the left and right of the fourth adjusting chain plate 11. The second leftward driving servo cylinder can enable the rear end of the electric automobile 7 to move leftward.
The second backward driving servo electric cylinder 4 is matched with the first forward driving servo electric cylinder 10, and the front and rear positions of the left side of the automobile can be adjusted.
The first backward driving servo electric cylinder is matched with the second forward driving servo electric cylinder, so that the front and rear positions of the right side of the automobile can be adjusted.
A visual detection and adjustment system for the position of a battery pack of an electric automobile 7 battery changing station comprises the following operation steps:
and S1, driving the electric automobile 7 into the battery replacement platform 1, and enabling front wheels and rear wheels to enter 4 groups of adjusting chain plates of the platform to initially position the automobile.
S2, when the electric automobile 7 drives into the battery replacing platform 1, 3 groups of cameras, namely a first positioning camera 6, a second positioning camera and a third positioning camera, are arranged on the battery replacing platform 1; the first positioning camera 6 faces to the left front position of the battery pack of the electric automobile, the second positioning camera faces to the right front position of the battery pack of the electric automobile, and the third positioning camera faces to the rear middle position of the battery pack of the electric automobile; and starting a first positioning camera 6, a second positioning camera and a third positioning camera below the battery pack at the bottom of the electric automobile 7, shooting the position of a battery panel at the bottom of the electric automobile 7, and calculating and comparing the obtained images by the system to obtain X, Y value deviation of the coordinates of the battery pack. And correspondingly adjusting according to the obtained deviation value.
And S3, if the coordinate position of the front end of the battery pack is deviated to the left, driving the first right driving servo cylinder 5 to make the front end of the electric automobile 7 deviate to the right, and adjusting the position, wherein the deviation magnitude is the value obtained by the detection.
If the coordinate position of the front end of the battery pack is deviated to the right, the front end of the electric automobile 7 is deviated to the left by driving the first leftward driving servo electric cylinder, and the deviation value is adjusted according to the value obtained by the detection.
And S4, if the position coordinate of the rear end of the battery pack deviates to the left, driving the second right-direction driving servo electric cylinder 9 to make the rear end of the electric automobile 7 deviate to the right, and adjusting the position, wherein the deviation value is obtained by the detection.
And if the position coordinate of the rear end of the battery assembly is deviated to the right, driving a second leftward servo electric cylinder to make the rear end of the electric automobile 7 deviate leftwards, and adjusting the position, wherein the deviation magnitude is the deviation value obtained by the detection.
And S5, if the left position of the battery pack is deviated from the front position, driving the second backward driving servo electric cylinder 4 and the first forward driving servo electric cylinder 10 to be matched with each other to adjust the front and rear positions of the left side of the automobile. When the control system drives the second backward driving servo electric cylinder 4 to eject outwards, the second auxiliary backward servo electric cylinder 12 retracts in a matching way, so that the second adjusting chain plate 3 rotates backwards, tires of automobiles in the chain plate are pushed to move backwards, and the purpose of adjusting the parking space to shift backwards is achieved.
If the right side position of the battery component deviates from the front, the front and rear positions of the left side of the automobile are adjusted through the matching of the first backward driving servo electric cylinder and the second forward driving servo electric cylinder.
And S6, dynamically measuring the position of the battery pack by the 3 groups of cameras in the adjusting process, and feeding back to the control system until the position of the battery pack is adjusted to meet the design requirement.
And S7, when the battery position is adjusted to meet the requirement, the battery is disassembled (installed).
The above description is only a preferred embodiment of the present invention, and not intended to limit the present invention in other forms, and any person skilled in the art may apply the above modifications or changes to the equivalent embodiments with equivalent changes, without departing from the technical spirit of the present invention, and any simple modification, equivalent change and change made to the above embodiments according to the technical spirit of the present invention still belong to the protection scope of the technical spirit of the present invention.

Claims (8)

1. The utility model provides an electric automobile trades power station battery pack position visual detection, adjustment system which characterized in that: the device comprises an electric automobile (7), a battery replacing platform (1), an adjusting chain plate arranged on the battery replacing platform (1), and a camera for capturing the position of a battery of the electric automobile;
the cameras comprise 3 groups, including a first positioning camera (6), a second positioning camera and a third positioning camera;
the number of the adjusting chain plates is 4, and the adjusting chain plates comprise a first adjusting chain plate (2), a second adjusting chain plate (3), a third adjusting chain plate (8) and a fourth adjusting chain plate (11); the middle positions of the 4 groups of adjusting chain plates are all provided with central shafts (13); and each group of adjusting chain plates is driven by 1 servo electric cylinder and 1 auxiliary servo electric cylinder in a matching way.
2. The system for visually detecting and adjusting the position of the battery pack of the electric automobile battery changing station as claimed in claim 1, wherein: the first positioning camera (6) is arranged at the left side position in front of the battery replacing platform (1), and the first positioning camera (6) is arranged right opposite to the left front position of the battery pack of the electric automobile;
the second positioning camera is arranged at the right side position in front of the battery replacing platform (1), and the second positioning camera is arranged right opposite to the right front position of the battery pack of the electric automobile;
the third positioning camera is arranged at the middle position behind the battery replacing platform (1), and the third positioning camera is arranged right opposite to the middle position behind the battery pack of the electric automobile.
3. The system for visually detecting and adjusting the position of the battery pack of the electric automobile battery changing station as claimed in claim 1, wherein: the first adjusting chain plate (2) is arranged at the position in front of the right of the battery replacing platform (1); the second adjusting chain plate (3) is arranged at the position in front of the left side of the battery replacing platform (1); the third adjusting chain plate (8) is arranged at the left rear position of the battery replacing platform (1); the fourth adjusting chain plate (11) is arranged at the rear right position of the battery replacing platform (1).
4. The system for visually detecting and adjusting the position of the battery pack of the electric automobile battery changing station as claimed in claim 1, wherein: the left-hand drive servo electric cylinder is arranged in the middle of the first adjusting chain plate (2), and the first backward-drive servo electric cylinder and the first auxiliary backward-drive servo electric cylinder are symmetrically arranged on the left and right of the first adjusting chain plate (2).
5. The system for visually detecting and adjusting the position of the battery pack of the electric automobile battery changing station as claimed in claim 1, wherein: the middle of the second adjusting chain plate (3) is provided with a first backward driving servo electric cylinder (5), and the second adjusting chain plate (3) is bilaterally symmetrically provided with a second backward driving servo electric cylinder (4) and a second auxiliary backward driving servo electric cylinder.
6. The system for visually detecting and adjusting the position of the battery pack of the electric automobile battery changing station as claimed in claim 1, wherein: a second forward right driving servo electric cylinder (9) is arranged in the middle of the third adjusting chain plate (8), and a first forward driving servo electric cylinder (10) and a first auxiliary forward driving servo electric cylinder are symmetrically arranged on the left side and the right side of the third adjusting chain plate (8).
7. The system for visually detecting and adjusting the position of the battery pack of the electric automobile battery changing station as claimed in claim 1, wherein: a second forward left driving servo electric cylinder is arranged in the middle of the fourth adjusting chain plate (11), and a second forward driving servo electric cylinder and a second auxiliary forward driving servo electric cylinder are symmetrically arranged on the fourth adjusting chain plate (11) in the left-right direction.
8. The system for visually detecting and adjusting the position of the battery pack of the electric automobile battery changing station as claimed in claim 1, wherein: the method comprises the following operation steps:
s1, driving the electric automobile (7) into the battery replacing platform (1), and enabling front wheels and rear wheels to enter 4 groups of adjusting chain plates of the platform to initially position the automobile;
s2, when the electric automobile (7) drives into the battery replacing platform (1), 3 groups of cameras, namely a first positioning camera (6), a second positioning camera and a third positioning camera, are arranged on the battery replacing platform (1); the first positioning camera (6) faces to the left front position of the battery pack of the electric automobile, the second positioning camera faces to the right front position of the battery pack of the electric automobile, and the third positioning camera faces to the rear middle position of the battery pack of the electric automobile; starting a first positioning camera (6), a second positioning camera and a third positioning camera below a battery pack at the bottom of the electric automobile (7), shooting the position of a battery panel at the bottom of the electric automobile (7), and calculating and comparing the obtained images by a system to obtain the X, Y value deviation of the coordinates of the battery pack; correspondingly adjusting according to the obtained deviation value;
s3, if the coordinate position of the front end of the battery pack is deviated to the left, the first right driving servo cylinder (5) is driven to make the front end of the electric automobile (7) deviate to the right, the position is adjusted, and the deviation value is the value obtained by the detection;
if the coordinate position of the front end of the battery pack is deviated to the right, the front end of the electric automobile (7) is deviated to the left by driving the first leftward driving servo electric cylinder, and the position is adjusted, wherein the deviation magnitude is the value obtained by the detection;
s4, if the position coordinate of the rear end of the battery pack is deviated to the left, driving a second right-direction driving servo electric cylinder (9) to make the rear end of the electric automobile (7) deviate to the right, and adjusting the position, wherein the deviation value is obtained by the detection;
if the position coordinate of the rear end of the battery assembly is deviated to the right, the rear end of the electric automobile (7) is deviated to the left by driving a second leftward-rightward servo electric cylinder, the position is adjusted, and the deviation magnitude is the deviation value obtained by the detection;
s5, if the left side position of the battery pack is deviated from the front, driving a second backward driving servo electric cylinder (4) and a first forward driving servo electric cylinder (10) which are matched to adjust the front and rear positions of the left side of the automobile; when the control system drives the second backward driving servo electric cylinder (4) to eject outwards, the second auxiliary backward servo electric cylinder (12) retracts in a matching way, so that the second adjusting chain plate (3) rotates backwards, the tires of the automobiles in the chain plate are pushed to move backwards, and the purpose of adjusting the backward deviation of the parking space is achieved;
if the right side position of the battery assembly deviates from the front, the front and rear positions of the left side of the automobile are adjusted through the cooperation of the first backward driving servo electric cylinder and the second forward driving servo electric cylinder;
s6, dynamically measuring the position of the battery pack by the 3 groups of cameras in the adjusting process, and feeding back to the control system until the position of the battery pack is adjusted to meet the design requirement;
and S7, when the battery position is adjusted to meet the requirement, the battery is disassembled (installed).
CN202011018248.2A 2020-09-24 2020-09-24 Battery pack position visual detection and adjustment system for electric automobile battery replacement station Pending CN112009301A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011018248.2A CN112009301A (en) 2020-09-24 2020-09-24 Battery pack position visual detection and adjustment system for electric automobile battery replacement station

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Application Number Priority Date Filing Date Title
CN202011018248.2A CN112009301A (en) 2020-09-24 2020-09-24 Battery pack position visual detection and adjustment system for electric automobile battery replacement station

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023060511A1 (en) * 2021-10-14 2023-04-20 宁德时代新能源科技股份有限公司 Method for determining position of battery box and method for disassembling and replacing battery box
WO2023098712A1 (en) * 2021-11-30 2023-06-08 奥动新能源汽车科技有限公司 Chassis battery swapping method suitable for electric vehicle

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023060511A1 (en) * 2021-10-14 2023-04-20 宁德时代新能源科技股份有限公司 Method for determining position of battery box and method for disassembling and replacing battery box
WO2023098712A1 (en) * 2021-11-30 2023-06-08 奥动新能源汽车科技有限公司 Chassis battery swapping method suitable for electric vehicle

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