CN113895293A - Control method for taking and placing battery pack - Google Patents

Control method for taking and placing battery pack Download PDF

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Publication number
CN113895293A
CN113895293A CN202010643287.5A CN202010643287A CN113895293A CN 113895293 A CN113895293 A CN 113895293A CN 202010643287 A CN202010643287 A CN 202010643287A CN 113895293 A CN113895293 A CN 113895293A
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CN
China
Prior art keywords
battery
height
battery pack
image
bracket
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Pending
Application number
CN202010643287.5A
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Chinese (zh)
Inventor
张建平
周英富
文超
吉毅
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Aulton New Energy Automotive Technology Co Ltd
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Aulton New Energy Automotive Technology Co Ltd
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Priority to CN202010643287.5A priority Critical patent/CN113895293A/en
Priority to PCT/CN2021/104844 priority patent/WO2022007814A1/en
Publication of CN113895293A publication Critical patent/CN113895293A/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
    • 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 control method for taking and placing a battery pack, wherein the battery pack is provided with a first position and a second position, the first position is positioned on a battery bracket in a battery compartment or an electric automobile, and the second position is positioned on a battery replacing device, and the control method comprises the following steps: driving the battery pack to move to switch the position between a first position and a second position; and in the moving process of the battery pack, the height of the battery replacing equipment is adjusted according to the height of the battery bracket. The battery pack taking and placing device has the advantages that the battery pack taking and placing device is adaptive to the height of the battery bracket by adjusting the height of the battery replacing device, so that the battery pack can stably move, the battery pack is prevented from being clamped, and the battery pack can be smoothly taken and placed.

Description

Control method for taking and placing battery pack
Technical Field
The invention belongs to the technical field of battery replacement control, and particularly relates to a control method for taking and placing a battery pack.
Background
Electric vehicles are developed rapidly and are applied more and more widely. When the electric quantity is insufficient, a user can drive the electric automobile into the battery replacement station to replace the battery pack. In order to ensure the safety of the operation process, the battery pack is firmly locked on a battery bracket of the electric automobile; therefore, in the battery replacement process, the battery pack with the power shortage can be mounted only after the battery pack with the power shortage is detached.
When the battery pack is disassembled, the battery replacing device is usually moved to be located on the same horizontal plane with the battery bracket, then the battery pack is unlocked from the battery bracket of the electric automobile by the battery replacing device, and then the battery pack is horizontally pulled out. Due to the fact that the battery pack is large in mass, in the process of horizontally pulling out the battery pack, the pressure of the battery pack borne by the electric automobile is gradually reduced, and therefore the body of the electric automobile tends to rise. However, when the body (driving the battery bracket) of the electric vehicle rises, the battery bracket and the battery replacement device which are originally on the same horizontal plane are not on the same horizontal plane any more, and the battery bracket is slightly higher than the battery replacement device. This difference in height can make the battery pack being pulled horizontally jammed and difficult to remove. Similarly, during the process of installing the battery pack, since the electric vehicle is subjected to a gradual increase in the pressure of the battery pack, the vehicle body of the electric vehicle tends to be lowered, and a similar problem occurs.
Disclosure of Invention
The invention aims to overcome the defects that a battery pack is clamped and is difficult to take out in the battery replacement process of an electric vehicle in the prior art, and provides a control method for taking and placing the battery pack.
The invention solves the technical problems through the following technical scheme:
the invention provides a control method for taking and placing a battery pack, wherein the battery pack is provided with a first position and a second position, the first position is positioned on a battery bracket in a battery compartment or an electric automobile, and the second position is positioned on a battery replacing device, and the control method comprises the following steps:
driving the battery pack to move to switch the position between a first position and a second position;
and in the moving process of the battery pack, the height of the battery replacing equipment is adjusted according to the height of the battery bracket.
In the scheme, the height of the battery replacing equipment is adjusted according to the height of the battery bracket, so that the height of the battery replacing equipment is matched with the height of the battery bracket, and the problem that the battery pack is blocked and is difficult to take out or put in due to the change of the height of the electric automobile (namely the change of the height of the battery bracket) caused by the weighing change of the automobile body in the battery pack taking and putting process is effectively solved.
Preferably, the height of the battery replacing device is adjusted in real time in the moving process of the battery pack.
In the scheme, the height of the battery replacing equipment is adjusted in real time in the battery pack moving process, so that the battery pack is guaranteed to be in a stable state all the time in the battery pack moving process, and the battery pack is moved more smoothly.
Preferably, the height of the battery replacement device is controlled and adjusted according to at least one preset position between the first position and the second position.
In this scheme, according to at least one preset position between first position and the second position, the height of trading electrical equipment is adjusted in intermittent type nature control, under the prerequisite that guarantees that the battery package can smoothly move, can reduce the battery package and get the number of times of putting the adjustment of in-process height to trading electrical equipment to improve the efficiency that the battery package was got and was put.
Preferably, after the battery pack moves for a first preset stroke relative to the first position, the height of the battery replacement equipment is adjusted; or the like, or, alternatively,
and after the battery pack moves a second preset stroke relative to the second position, adjusting the height of the battery replacement equipment.
In the scheme, the height of the battery replacing equipment is adjusted according to the preset stroke after the battery pack moves, the battery pack is guaranteed to be smoothly and excessively moved from one position to another position, and the battery pack taking and placing efficiency is improved.
Preferably, in the moving process of the battery pack, the height of the battery replacing device is adjusted in real time to be matched with the height of the battery bracket according to the height change of the battery bracket.
In this scheme, according to the altitude variation of battery bracket adjust in real time trade the height of electric equipment to with the high phase-match of battery bracket, realized trading the follow-up between the height of electric equipment and the height of battery bracket, rise simultaneously or reduce promptly, the height that is nearly flushed makes the battery package be in steady state always, does benefit to the removal of battery package.
Preferably, when the battery pack moves to the preset position, the height of the battery replacement device is adjusted based on the first preset height.
In the scheme, the height of the battery replacing equipment is adjusted based on the first preset height, the height of the battery replacing equipment can be adjusted in stages according to different models and weights of battery packs or tire pressure conditions of electric vehicles by giving preset values, and the adjustment can be performed for multiple times, so that the height of the battery replacing equipment and the height of a battery bracket are kept within a preset range, and the movement of the battery packs cannot be influenced.
Preferably, when the battery pack moves by a first preset stroke or a second preset stroke, the height of the battery replacement device is adjusted based on a second preset height.
In this scheme, based on the height that the height adjustment trades electrical equipment was predetermine to the second, can carry out disposable height adjustment to trading electrical equipment after the battery package removes out the default stroke to the battery package of different models, weight, perhaps according to electric automobile's tire pressure situation, needn't set up the device that detects battery bracket altitude variation specially, simplified the structure of equipment.
Preferably, the step of adjusting the height of the battery replacing device according to the height of the battery bracket comprises:
acquiring a first image of a first part of the battery bracket; and/or
Acquiring a second image of a second part of the battery bracket;
performing image processing on the first image and/or the second image to acquire a vertical displacement amount;
and adjusting the height of the battery replacement equipment to be matched with the height of the battery bracket according to the vertical displacement.
In the scheme, the height of the battery replacement equipment is adjusted by acquiring the visual image and acquiring the vertical displacement in combination with the image processing mode, so that higher adjustment precision can be obtained, and the smooth taking and placing process of the battery pack is ensured.
Preferably, the vertical displacement comprises a first vertical displacement and a second vertical displacement;
the step of image processing the first image and/or the second image to obtain the vertical displacement amount comprises:
acquiring a first vertical displacement according to the first image and the first reference image, and acquiring a second vertical displacement according to the second image and the second reference image; the first reference image comprises a first local reference image when the height of the battery replacing device is matched with that of the battery bracket, and the second reference image comprises a second local reference image when the height of the battery replacing device is matched with that of the battery bracket.
In the scheme, two vertical displacement amounts are obtained by means of visual image acquisition and image processing, the heights of the battery replacing equipment are adjusted from two sides respectively, the battery replacing equipment can adapt to any postures of the battery bracket, such as the condition of inclination, the accuracy of adjustment is further improved, and the smooth taking and placing process of the battery pack is ensured.
Preferably, the battery replacement equipment is driven to move up and down by a first lifting mechanism and a second lifting mechanism which are arranged at two ends;
the first lifting mechanism drives the power conversion equipment to lift according to the first vertical displacement, and the second lifting mechanism drives the power conversion equipment to lift according to the second vertical displacement.
In the scheme, the first lifting mechanism and the second lifting mechanism are controlled to respectively lift the heights of the two sides of the battery replacing device based on the first vertical displacement and the second vertical displacement, so that the accuracy of height adjustment of the battery replacing device can be improved.
The positive progress effects of the invention are as follows: the battery pack taking and placing device has the advantages that the battery pack taking and placing device is adaptive to the height of the battery bracket by adjusting the height of the battery replacing device, so that the battery pack can stably move, the battery pack is prevented from being clamped, and the battery pack can be smoothly taken and placed.
Drawings
Fig. 1 is a flowchart of a control method for taking and placing a battery pack according to embodiment 1 of the present invention.
Fig. 2 is a flowchart of step S12 of the control method for taking and placing the battery pack according to embodiment 2 of the present invention.
Fig. 3 is a schematic diagram of a battery bracket and a battery replacement device in a control method for taking and placing a battery pack according to embodiment 2 of the invention.
Fig. 4 is a schematic view of a first reference image of a control method for taking and placing a battery pack according to embodiment 2 of the invention.
Fig. 5 is a schematic diagram of a first image of a control method for taking and placing a battery pack according to embodiment 2 of the invention.
Fig. 6 is a schematic view of a first lifting mechanism and a second lifting mechanism of a control method for taking and placing a battery pack according to embodiment 2 of the invention.
Detailed Description
The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.
Example 1
The embodiment provides a control method for taking and placing a battery pack. The battery pack has a first position located on a battery bracket in the battery compartment or in the electric vehicle and a second position located on the battery replacement device. Referring to fig. 1, the control method for taking and placing the battery pack includes the following steps:
and step S11, driving the battery pack to move so as to switch the position between the first position and the second position.
And step S12, adjusting the height of the battery replacing equipment according to the height of the battery bracket in the moving process of the battery pack.
In the process of moving the battery pack, taking the battery pack out of the battery bracket as an example, along with the movement of the battery pack, the weighing of the electric automobile is reduced, the gravity center of the electric automobile is moved upwards, the height of the automobile body is moved upwards, and the height of the battery bracket is increased. According to the control method for taking and placing the battery pack, in the moving process of the battery pack, the height of the battery replacing device is adjusted according to the height of the battery bracket, namely, the height of the battery replacing device is correspondingly moved upwards to be matched with the height of the battery bracket, so that the battery pack can be prevented from being clamped due to an overlarge included angle formed between the battery pack and the battery bracket, and the battery pack can be smoothly taken out.
Similarly, in the process of packaging the battery into the battery bracket, along with the movement of the battery pack, the weighing of the electric automobile is increased, the gravity center of the electric automobile moves downwards, the height of the automobile body moves downwards, and the height of the battery bracket falls. According to the control method for taking and placing the battery pack, in the moving process of the battery pack, the height of the battery replacing device is adjusted according to the height of the battery bracket, namely, the height of the battery replacing device is correspondingly moved downwards to be matched with the height of the battery bracket, so that the battery pack can be prevented from being clamped due to an overlarge included angle formed between the battery pack and the battery bracket, and the battery pack can be guaranteed to be smoothly loaded.
Therefore, the control method for taking and placing the battery pack can effectively avoid the problem that the battery pack is clamped and is difficult to take out or place due to the change of the height of the electric automobile (namely the change of the height of the battery bracket) caused by the weighing change of the automobile body in the process of taking and placing the battery pack.
Example 2
On the basis of embodiment 1, the present embodiment provides a control method for taking and placing a battery pack. In specific implementation, referring to fig. 2, step S12 includes the following steps:
step S121, acquiring a first image of a first part of the battery bracket; a second image of a second portion of the battery carrier is acquired.
And step S122, performing image processing on the first image and the second image to acquire a vertical displacement.
And S123, adjusting the height of the battery replacement equipment to be matched with the height of the battery bracket according to the vertical displacement.
As an alternative implementation, in step S121, referring to fig. 3, the first vision sensor 501 and the second vision sensor 502 provided on the battery swapping device 5 are used for implementation. The first vision sensor 501 is used to acquire a first image of a first part a of the battery carrier 7; the second vision sensor 502 is used to acquire a second image of a second part B of the battery carrier 7.
Taking the battery pack out as an example, the battery pack is initially in a first position on a battery tray in an electric vehicle. Firstly, the battery replacing device is moved to be aligned with the position of the battery bracket. At this time, the first vision sensor 501 is used to acquire an image of the battery tray 7 as a first reference image; the second vision sensor 502 acquires an image of the battery tray 7 as a second reference image. That is, the first reference image includes a first local reference image when the height of the battery swapping device is matched with the height of the battery bracket, and the second reference image includes a second local reference image when the height of the battery swapping device is matched with the height of the battery bracket.
Fig. 4 gives an illustration of the first reference image G1. The first reference image G1 includes a first portion a on the battery carriage 7. By analyzing the first reference image G1, the position acquisition unit obtains the position of the corresponding pixel of the first part a on the battery holder 7 in the first reference image G1 in the first reference image G1 as a reference for positioning, which is referred to as a "target position" for convenience of explanation. The process of obtaining the target position by the position obtaining unit may be implemented by using algorithms already disclosed in the art, which can be implemented by those skilled in the art and will not be described herein again.
After the battery replacing device is matched with the battery bracket in position, a tray pushing box of the battery replacing device stretches out and adsorbs a battery pack, and then the tray pushing box is slowly retracted to slowly pull out the battery pack. As an alternative embodiment, an electromagnet on the tray pushing box adsorbs a corresponding target device on the battery pack. In the whole process of taking out the battery pack, the adsorption connection judgment unit judges whether the electromagnet on the cartridge and the corresponding target device on the battery pack are in an adsorption state. If the adsorption state is kept, the adsorption of the two is good, and the battery pack can be pulled; if the battery pack is in a non-adsorption state, the battery pack is separated, and the adsorption connection judgment unit sends out an alarm signal.
In the process of moving the battery pack, the first vision sensor 501 acquires a first image of the first part a of the battery bracket 7 in real time; the second vision sensor 502 acquires a second image of the second part B of the battery carriage 7 in real time. After the first image and the second image are acquired, a first vertical shift amount is acquired from the first image and the first reference image, and a second vertical shift amount is acquired from the second image and the second reference image.
Fig. 5 gives an illustration of the first image G11. The first image G11 includes a first position a on the battery carrier 7. By analyzing the first image G11, the position obtaining unit obtains the position in the first image G11 of the corresponding pixel of the first position a on the battery tray 7 in the first image G11, referred to as a real-time position for convenience of explanation. The process of obtaining the target position by the position obtaining unit may be implemented by using algorithms already disclosed in the art, which can be implemented by those skilled in the art and will not be described herein again.
According to an image processing algorithm, the position acquisition unit acquires a first vertical displacement amount according to the target position and the real-time position. By moving the battery replacement device by the first vertical displacement amount, the height of the battery replacement device can be made consistent with the height of the battery bracket. The process of obtaining the first vertical displacement by the position obtaining unit can be implemented by using algorithms already disclosed in the art, which can be implemented by those skilled in the art and will not be described herein again. By moving the corresponding vertical displacement amount, the corresponding vertical displacement can be realized, so that the height of the battery replacement equipment is matched with the height of the battery bracket. The matching refers to a state that the height of the battery replacing equipment and the height of the battery bracket are matched in the battery replacing process, for example, the heights are consistent or have a slight difference, so that the battery pack is prevented from being clamped in the moving process, the purpose of achieving a stable and smooth moving effect is achieved, and the matching is not limited to a state that the heights are completely consistent in the point replacing process.
Similarly, the position acquisition unit obtains a second vertical displacement amount from the second image and the second reference image.
In an alternative embodiment, referring to fig. 6, the battery replacing device 5 is driven by a first lifting mechanism 706 and a second lifting mechanism (arranged on the opposite side of the first lifting mechanism 706, and not shown in the figure because it is hidden) arranged at both ends to move up and down. The battery replacement device 5 includes a cartridge 802. The first lifting mechanism 706 drives the power conversion device 5 to lift according to the first vertical displacement, and the second lifting mechanism drives the power conversion device 5 to lift according to the second vertical displacement. Based on first vertical displacement volume and second vertical displacement volume, control first elevating system and second elevating system respectively and trade electrical equipment and carry out the lift operation, can improve the stability of lift process.
When the height of the battery replacing device 5 is matched with the height of the battery bracket again, the first vision sensor 501 acquires an image of the battery bracket 7 as a new first reference image; the second vision sensor 502 acquires an image of the battery carriage 7 as a new second reference image to be used as a reference for the next adjustment.
Accordingly, according to the image acquired in real time, the corresponding vertical adjustment amount can be acquired in real time, and the height of the battery replacing equipment is adjusted in real time, so that the height of the battery replacing equipment is changed along with the height of the battery bracket, and the battery pack is guaranteed to be taken out smoothly. In the moving process of the battery pack, the height of the battery replacing equipment is adjusted in real time, the follow-up between the height of the battery replacing equipment and the height of the battery bracket is realized, namely the battery pack is raised or lowered at the same time, the battery pack is always in a stable state due to the approximately flush height, and the battery pack is moved conveniently
When the battery pack is moved to the battery bracket, the tray pushing box 802 of the battery replacing device 5 adsorbs the battery pack and moves to a preset position matched with the battery bracket. Acquiring an image of the battery carriage 7 as a first reference image using the first vision sensor 501; the second vision sensor 502 acquires an image of the battery tray 7 as a second reference image.
Then, the cartridge 802 pushes the battery pack to synchronously extend toward the battery tray, so that the battery pack moves from the second position to the first position. In the process of moving the battery pack, the first vision sensor 501 acquires a first image of the first part a of the battery bracket 7 in real time; the second vision sensor 502 acquires a second image of the second part B of the battery carriage 7 in real time. After the first image and the second image are acquired, a first vertical shift amount is acquired from the first image and the first reference image, and a second vertical shift amount is acquired from the second image and the second reference image.
And then, adjusting the height of the battery replacement equipment according to the first vertical displacement and the second vertical displacement so as to match the height of the battery replacement equipment with the height of the battery bracket.
In the whole moving process, the height adjustment operation is repeated, the battery pack is stably pushed into the battery bracket, and the battery pack is moved to the first position on the battery bracket in the electric automobile.
The vertical displacement is obtained by the visual image acquisition and the image processing, so that higher precision can be obtained, and the smooth taking and placing process of the battery pack is ensured.
In another alternative embodiment, after the first image and the second image are acquired, the first vertical shift amount is acquired from the first image and the first reference image, or the second vertical shift amount is acquired from the second image and the second reference image. Then, the height of the battery replacement device is adjusted according to any one of the first vertical displacement amount or the second vertical displacement amount so that the height of the battery replacement device matches the height of the battery bracket.
In an alternative embodiment, when the height of the battery replacing device is matched with that of the battery bracket, the height of the battery replacing device is the same as that of the battery bracket.
In other alternative embodiments, when the height of the battery replacement device matches the height of the battery bracket, the difference between the heights of the battery replacement device and the battery bracket is within a preset range. The difference of the heights of the battery pack and the battery bracket is small enough, so that the angle between the battery pack and the battery bracket is small enough, and the battery pack cannot be taken or placed due to jamming.
In another alternative embodiment, upon removal of the battery pack, the battery pack is initially in a first position in which the battery pack has been positioned within the battery compartment. Referring to the control method for taking and placing the battery pack in this embodiment, a person skilled in the art can take out and place the battery pack, and details are not described here.
Example 3
The embodiment provides a control method for taking and placing a battery pack. The method for controlling the taking and placing of the battery pack in this embodiment is the same as the method for controlling the taking and placing of the battery pack in embodiment 2. The difference is that in the present embodiment, instead of adjusting the height of the battery swapping device from the beginning of the movement of the battery pack, the height of the battery swapping device is controlled to be adjusted according to at least one preset position between the first position and the second position. That is, when the battery pack moves to the preset position, the height of the battery replacement device starts to be adjusted.
In the process of taking out the battery pack, the battery replacing device is firstly moved to be matched with the position of the battery bracket. At this time, the first vision sensor 501 is used to acquire an image of the battery tray 7 as a first reference image; the second vision sensor 502 acquires an image of the battery tray 7 as a second reference image.
After the battery replacing device is matched with the battery bracket in position, a tray pushing box of the battery replacing device stretches out and adsorbs a battery pack, and then the tray pushing box is slowly retracted to slowly pull out the battery pack.
When the moving distance of the battery pack is small, the height change of the battery bracket of the electric automobile is very small, the battery pack is not easy to be clamped, and the battery pack can not be adjusted.
After the battery pack moves by a first preset stroke relative to the first position, the first vision sensor 501 acquires a first image of the first part a of the battery bracket 7; the second vision sensor 502 acquires a second image of the second part B of the battery carrier 7. After the first image and the second image are acquired, a first vertical shift amount is acquired from the first image and the first reference image, and a second vertical shift amount is acquired from the second image and the second reference image.
And then, adjusting the height of the battery replacement equipment according to the first vertical displacement and the second vertical displacement so as to match the height of the battery replacement equipment with the height of the battery bracket.
Next, the first vision sensor 501 acquires an image of the battery tray 7 as a new first reference image; the second vision sensor 502 acquires an image of the battery carriage 7 as a new second reference image to be used as a reference for the next adjustment.
Then, the cartridge continues to pull the battery pack outward. And after the battery pack moves for the first preset stroke again, adjusting the height of the battery replacing equipment again to enable the height of the battery replacing equipment to be matched with the height of the battery bracket again.
In the moving process, the height adjusting operation is repeated, the battery pack is taken out step by step, and the battery pack reaches a second position on the battery replacement equipment.
In the process of putting the battery pack in, the pushing tray box of the battery replacing device adsorbs the battery pack and moves to a preset position matched with the battery bracket. Acquiring an image of the battery carriage 7 as a first reference image using the first vision sensor 501; the second vision sensor 502 acquires an image of the battery tray 7 as a second reference image.
Then, the tray pushing box pushes the battery pack to synchronously extend towards the battery bracket, so that the battery pack moves from the second position to the first position. At the initial stage that the battery package is pushed into the battery bracket, when the battery package displacement is less, the battery bracket's of electric automobile altitude variation still is very little, is difficult for taking place the phenomenon that the battery package blocks yet, can not adjust earlier.
After the battery pack moves a second preset stroke relative to the second position, the first vision sensor 501 acquires a first image of the first part a of the battery bracket 7; the second vision sensor 502 acquires a second image of the second part B of the battery carrier 7. After the first image and the second image are acquired, a first vertical shift amount is acquired from the first image and the first reference image, and a second vertical shift amount is acquired from the second image and the second reference image.
And then, adjusting the height of the battery replacement equipment according to the first vertical displacement and the second vertical displacement so as to match the height of the battery replacement equipment with the height of the battery bracket.
Next, the first vision sensor 501 acquires an image of the battery tray 7 as a new first reference image; the second vision sensor 502 acquires an image of the battery carriage 7 as a new second reference image to be used as a reference for the next adjustment.
Then, the cartridge pushes the battery pack into the battery holder. And after the battery pack moves for the first preset stroke again, adjusting the height of the battery replacing equipment again to enable the height of the battery replacing equipment to be matched with the height of the battery bracket again.
In the whole moving process, the height adjusting operation is repeated, the battery pack is gradually pushed into the battery bracket, and the battery pack reaches a first position on the battery bracket in the electric automobile.
After the battery pack moves for the first preset stroke relative to the first position or the second preset stroke relative to the second position, the height of the battery replacing device is adjusted, the number of times of adjusting the height of the battery replacing device in the battery pack taking and placing process can be reduced, and the efficiency of taking and placing the battery pack is improved.
Example 4
On the basis of embodiment 1, the present embodiment provides a control method for taking and placing a battery pack. During specific implementation, when the battery pack moves to a preset position, the height of the battery replacement device is adjusted based on a first preset height.
In an optional implementation manner, the corresponding relation between the battery packs of different models and weights and the first preset height is generated by acquiring and analyzing the moving stroke of the battery packs of different models and weights in the taking and placing process of the battery packs and the experimental data of the corresponding vertical adjustment amount. In the process of adjusting the height of the battery replacing equipment, based on the corresponding relation, the first preset height can be reasonably set according to the model and the weight of the battery pack, and the height of the battery replacing equipment can be adjusted through one or more times of adjustment. Based on the embodiment, a device for detecting the height change of the battery bracket does not need to be specially arranged in the process of taking and placing the battery pack, so that the structure of the equipment is simplified; moreover, the adaptability can be set for the battery packs with different models and weights, so that the adjustment precision is convenient to improve, and the applicability of the scheme to different scenes is improved.
In another optional implementation manner, the corresponding relationship between the tire pressure of the electric vehicle and the first preset height is generated by acquiring and analyzing the moving stroke of the corresponding battery pack in the taking and placing process of the battery pack, the corresponding vertical adjustment amount and the corresponding experimental data of the tire pressure of the electric vehicle. In the process of adjusting the height of the battery replacing equipment, based on the corresponding relation, the first preset height can be reasonably set according to the real-time tire pressure of the electric automobile, and the height of the battery replacing equipment can be adjusted through one or more times of adjustment. Based on the embodiment, a device for detecting the height change of the battery bracket does not need to be specially arranged in the process of taking and placing the battery pack, so that the structure of the equipment is simplified; moreover, the adaptive setting can be carried out aiming at the real-time tire pressure of the electric automobile in the battery pack taking and placing process, so that the adjustment precision is convenient to improve, and the applicability of the scheme to different scenes is improved.
Example 5
On the basis of embodiment 1, the present embodiment provides a control method for taking and placing a battery pack. During specific implementation, after the battery pack moves for a first preset stroke relative to the first position, the height of the battery replacement device is adjusted based on a second preset height.
In an optional implementation manner, through obtaining and analyzing the experimental data of the movement stroke and the corresponding vertical adjustment amount of the battery pack of different types and weights in the process of taking the battery pack out of the battery bracket, the corresponding relationship between the battery pack of different types and weights, the corresponding movement stroke and the second preset height is generated. In the process of adjusting the height of the battery replacing equipment, based on the corresponding relation, a second preset height can be reasonably set according to the moving stroke aiming at the model and the weight of the battery pack, and the height of the battery replacing equipment is adjusted through one-time adjustment according to the moving stroke. Based on the embodiment, a device for detecting the height change of the battery bracket does not need to be specially arranged in the process of taking and placing the battery pack, so that the structure of the equipment is simplified; moreover, the adaptability can be set for the battery packs with different models and weights, so that the adjustment precision is convenient to improve, and the applicability of the scheme to different scenes is improved.
In another alternative embodiment, the corresponding relationship between the tire pressure of the electric vehicle, the moving stroke and the second preset height is generated by acquiring and analyzing the moving stroke of the corresponding battery pack in the process of taking out the battery pack from the battery bracket, the corresponding vertical adjustment amount and the corresponding experimental data of the tire pressure of the electric vehicle. In the process of adjusting the height of the battery replacing equipment, based on the corresponding relation, the second preset height can be reasonably set according to the real-time tire pressure and the moving stroke of the electric automobile, and the height of the battery replacing equipment can be adjusted through one-time adjustment according to the moving stroke. Based on the embodiment, a device for detecting the height change of the battery bracket does not need to be specially arranged in the process of taking and placing the battery pack, so that the structure of the equipment is simplified; moreover, the adaptive setting can be carried out aiming at the real-time tire pressure of the electric automobile in the battery pack taking and placing process, so that the adjustment precision is convenient to improve, and the applicability of the scheme to different scenes is improved.
Example 6
On the basis of embodiment 1, the present embodiment provides a control method for taking and placing a battery pack. During specific implementation, after the battery pack moves for a second preset stroke relative to the second position, the height of the battery replacement device is adjusted based on the second preset height.
In an optional implementation manner, through obtaining and analyzing the experimental data of the movement stroke and the corresponding vertical adjustment amount of the battery pack of different types and weights in the process of placing the battery pack into the battery bracket, the corresponding relationship between the battery pack of different types and weights, the corresponding movement stroke and the second preset height is generated. In the process of adjusting the height of the battery replacing equipment, based on the corresponding relation, the second preset height can be reasonably set according to the moving stroke aiming at the model and the weight of the battery pack, so that the height of the battery replacing equipment is adjusted. Based on the embodiment, a device for detecting the height change of the battery bracket does not need to be specially arranged in the process of taking and placing the battery pack, so that the structure of the equipment is simplified; moreover, the adaptability can be set for the battery packs with different models and weights, so that the adjustment precision is convenient to improve, and the applicability of the scheme to different scenes is improved.
In another optional implementation manner, the corresponding relation between the tire pressure of the electric vehicle and the moving stroke and the second preset height is generated by acquiring and analyzing the moving stroke of the corresponding battery pack in the process of placing the battery pack into the battery bracket, the corresponding vertical adjustment amount and the corresponding experimental data of the tire pressure of the electric vehicle. In the process of adjusting the height of the battery replacing equipment, based on the corresponding relation, the second preset height can be reasonably set according to the real-time tire pressure and the moving stroke of the electric automobile, and the height of the battery replacing equipment can be adjusted through one or more times of adjustment. Based on the embodiment, a device for detecting the height change of the battery bracket does not need to be specially arranged in the process of taking and placing the battery pack, so that the structure of the equipment is simplified; moreover, the adaptive setting can be carried out aiming at the real-time tire pressure of the electric automobile in the battery pack taking and placing process, so that the adjustment precision is convenient to improve, and the applicability of the scheme to different scenes is improved.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.

Claims (10)

1. A control method for taking and placing a battery pack is characterized in that the battery pack is provided with a first position located on a battery bracket in a battery compartment or an electric automobile and a second position located on a battery replacing device, and the control method comprises the following steps:
driving the battery pack to move to switch positions between the first position and the second position;
and in the moving process of the battery pack, the height of the battery replacing equipment is adjusted according to the height of the battery bracket.
2. The control method for taking and placing the battery pack according to claim 1, wherein the height of the battery replacing device is adjusted in real time in the moving process of the battery pack.
3. The method as claimed in claim 1, wherein the height of the battery replacing device is controlled and adjusted according to at least one preset position between the first position and the second position.
4. The control method for taking and placing the battery pack according to claim 1, wherein after the battery pack moves for a first preset stroke relative to the first position, the height of the battery replacing device is adjusted; or the like, or, alternatively,
and after the battery pack moves a second preset stroke relative to the second position, adjusting the height of the battery replacement equipment.
5. The control method for taking and placing the battery pack as claimed in claim 2, wherein the height of the battery replacing device is adjusted to match the height of the battery bracket in real time according to the height change of the battery bracket in the moving process of the battery pack.
6. The method as claimed in claim 3, wherein when the battery pack moves to the predetermined position, the height of the battery replacing device is adjusted based on a first predetermined height.
7. The method as claimed in claim 4, wherein the height of the battery replacing device is adjusted based on a second preset height when the battery pack moves the first preset stroke or the second preset stroke.
8. The method as claimed in claim 1, wherein the step of adjusting the height of the battery replacing device according to the height of the battery bracket comprises:
acquiring a first image of a first part of the battery bracket; and/or
Acquiring a second image of a second part of the battery carrier;
performing image processing on the first image and/or the second image to acquire a vertical displacement amount;
and adjusting the height of the battery replacement equipment to be matched with the height of the battery bracket according to the vertical displacement.
9. The method as claimed in claim 8, wherein the vertical displacement comprises a first vertical displacement and a second vertical displacement;
the step of image processing the first image and/or the second image to obtain a vertical displacement amount comprises:
acquiring the first vertical displacement according to the first image and a first reference image, and acquiring the second vertical displacement according to the second image and a second reference image; the first reference image is a reference image including the first local part when the heights of the battery swapping device and the battery bracket are matched, and the second reference image is a reference image including the second local part when the heights of the battery swapping device and the battery bracket are matched.
10. The control method for taking and placing the battery pack as claimed in claim 9, wherein the battery replacement device is driven to move up and down by a first lifting mechanism and a second lifting mechanism arranged at two ends;
the first lifting mechanism drives the battery replacement equipment to lift according to the first vertical displacement, and the second lifting mechanism drives the battery replacement equipment to lift according to the second vertical displacement.
CN202010643287.5A 2020-07-06 2020-07-06 Control method for taking and placing battery pack Pending CN113895293A (en)

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PCT/CN2021/104844 WO2022007814A1 (en) 2020-07-06 2021-07-06 Battery pack removal control method and battery pack mounting control method

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CN110884386A (en) * 2018-09-10 2020-03-17 奥动新能源汽车科技有限公司 Battery taking and placing method and system
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CN108128132A (en) * 2017-04-01 2018-06-08 上海电巴新能源科技有限公司 Battery locking system for unlocking, electric vehicle change electric control system and its control method
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