CN114132212A - Battery replacement control method - Google Patents
Battery replacement control method Download PDFInfo
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- CN114132212A CN114132212A CN202010917631.5A CN202010917631A CN114132212A CN 114132212 A CN114132212 A CN 114132212A CN 202010917631 A CN202010917631 A CN 202010917631A CN 114132212 A CN114132212 A CN 114132212A
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- 238000000034 method Methods 0.000 title claims abstract description 55
- 230000007246 mechanism Effects 0.000 claims description 37
- 238000001514 detection method Methods 0.000 claims description 33
- 230000000007 visual effect Effects 0.000 claims description 17
- 230000008569 process Effects 0.000 claims description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
- B60S5/06—Supplying batteries to, or removing batteries from, vehicles
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- 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
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a battery replacement control method, which comprises the following steps: controlling the battery replacement equipment to extend to a battery replacement position; the battery swapping device is adjusted in posture to align with a battery of the vehicle. According to the battery replacement control method, the position of the battery replacement equipment is controlled according to the vehicle information of the battery replacement vehicle to be adjusted to the position aligned with the battery of the battery replacement vehicle, so that the battery replacement control method is suitable for different vehicle types, the flexibility and the universality of the battery replacement equipment are improved, the accuracy of battery replacement and the battery replacement efficiency are improved, and the popularization and the application of a battery replacement station are facilitated.
Description
Technical Field
The invention belongs to the technical field of battery replacement control, and particularly relates to a battery replacement control method.
Background
The quick-change electric automobile can meet the power supply requirement of the quick-change electric automobile in a mode of replacing the battery pack. In the process of replacing the battery pack, a shuttle vehicle is generally required. The shuttle car is used for transporting the battery pack between the electric automobile and the battery compartment, and also has the functions of unlocking the old battery pack from the electric automobile and packaging the new battery pack into the electric automobile and locking the new battery pack. The electric automobile is provided with a lock base used for locking the battery pack, and in the battery pack unlocking process, the shuttle car needs to perform unlocking action to enable the lock base to unlock a lock shaft of the battery pack; in the process of locking the battery pack, the shuttle car also needs to perform locking action to lock the lock shaft of the battery pack in the lock base.
Shuttle vehicles of the prior art often only match a single vehicle model. That is, the shuttle car can only provide the battery replacement service for a single car model. In view of the difference of the sizes of different vehicle types, the installation positions of batteries and the shapes and the sizes of the batteries, the shuttle vehicle is difficult to provide accurate and effective battery replacement operation for different vehicle types.
Disclosure of Invention
The invention aims to overcome the defect that a shuttle vehicle cannot be compatible with different vehicle types in the prior art, and provides a battery replacement control method.
The invention solves the technical problems through the following technical scheme:
the invention provides a battery replacement control method, which comprises the following steps:
controlling the battery replacement equipment to extend to a battery replacement position;
the battery swapping device is adjusted in posture to align with a battery of the vehicle.
In the scheme, the position of the battery replacing equipment is controlled in different movement directions, so that the battery replacing equipment can adapt to battery alignment positions of different vehicle types, the flexibility and the universality of the battery replacing equipment are improved, and the accuracy and the battery replacing efficiency of the battery replacing are improved.
Preferably, before the step of controlling the battery replacement device to extend to the battery replacement position, the method further includes:
and acquiring vehicle information of the battery replacement vehicle, wherein the vehicle information at least comprises vehicle type information and battery position information.
In the scheme, the extending distance value matched with the vehicle can be obtained based on the acquisition of the vehicle information, so that the accuracy of position control of the battery replacement equipment is ensured.
Preferably, the step of controlling the battery replacement device to extend to the battery replacement position includes:
and acquiring a corresponding battery replacement device extension distance value according to the vehicle type information and the battery position information, and controlling the battery replacement device to extend to a battery replacement position according to the extension distance value.
In the scheme, the extending distance value matched with the vehicle can be obtained based on the acquisition of the vehicle information, so that the accuracy of position control of the battery replacement equipment is ensured.
Preferably, a stroke sensor is arranged on the battery replacing equipment, and a detection piece is arranged at a corresponding position on the vehicle carrying platform;
the step of controlling the battery replacement device to extend out to the battery replacement position further comprises: acquiring a corresponding stop adjustment amount according to the vehicle information;
in the extending process of the battery replacing equipment, when the stroke sensor detects the detection piece, the battery replacing equipment is controlled to stop moving according to the stop adjustment amount.
In the scheme, based on the matching of the stroke sensor and the detection piece, the accuracy of battery replacement control can be further improved, so that the battery replacement equipment can accurately reach the battery replacement position.
Preferably, the step of adjusting the posture of the battery swapping device includes: and controlling the battery replacement device to move back and forth along the length direction of the vehicle to be aligned with the battery of the vehicle.
In the scheme, the posture adjustment amount of the battery replacement device in the length direction of the vehicle is obtained based on the vehicle type information and the battery position information, so that the accuracy of battery replacement control can be further improved, and the battery replacement device can accurately reach the battery replacement position.
Preferably, the step of adjusting the posture of the battery swapping device further includes:
and acquiring the attitude adjustment quantity of the battery replacing equipment along the length direction of the vehicle based on the vehicle type information and the battery position information, and adjusting the battery replacing equipment to a corresponding position according to the attitude adjustment quantity.
In the scheme, the posture adjustment amount of the battery replacement device in the length direction of the vehicle is obtained based on the vehicle type information and the battery position information, so that the accuracy of battery replacement control can be further improved, and the battery replacement device can accurately reach the battery replacement position.
Preferably, the battery replacement equipment comprises an unlocking mechanism, a lower plate and an upper plate for installing the battery tray,
adjusting the battery replacement device to the corresponding position according to the posture adjustment amount comprises: and adjusting at least one of the unlocking mechanism, the lower plate and the upper plate to be aligned with the matching mechanism on the corresponding position of the vehicle.
In this scheme, adjust respectively release mechanism, lower plate, top plate, can improve the flexibility of trading the electricity to adapt to various different motorcycle types.
Preferably, the step of adjusting the posture of the battery swapping device includes:
and acquiring a visual image of the corresponding area in real time, obtaining an adjustment amount based on the standard image, and adjusting the battery replacement equipment to the corresponding position according to the adjustment amount.
In the scheme, the accuracy and the precision of the position adjustment of the battery replacement equipment are ensured by acquiring the visual images in real time and using the detection sensor.
Preferably, a detection sensor is arranged on the battery replacement equipment, and a detection block corresponding to the detection sensor is arranged at the bottom of the vehicle;
the step of adjusting the posture of the battery swapping device comprises the following steps: during the movement, the movement is stopped when the detection sensor senses the detection block.
Preferably, the preset position of the vehicle is provided with an unlocking groove, the lower layer plate is provided with a first guide fork, the bottom of the vehicle is provided with a guide piece, and the first guide fork is used for forking the guide piece; the battery is provided with a guide block, and the second guide fork is used for forking the guide block;
the step of adjusting the unlocking mechanism comprises: moving the position of the unlocking mechanism to align the unlocking mechanism with the unlocking groove;
the step of adjusting the lower plate comprises: moving the lower plate to align the first guide fork with the guide;
the step of adjusting the upper plate includes: the upper plate is moved to align the second guide fork with the guide block.
In this scheme, adjust respectively release mechanism, lower plate, top plate, can make release mechanism, lower plate, top plate align with the cooperation mechanism on the corresponding position of vehicle respectively, improve the flexibility of trading the electricity to adapt to various different motorcycle types.
The positive progress effects of the invention are as follows: according to the battery replacement control method, the position of the battery replacement equipment is controlled according to the vehicle information of the battery replacement vehicle to be adjusted to the position aligned with the battery of the battery replacement vehicle, so that the battery replacement control method is suitable for different vehicle types, the flexibility and the universality of the battery replacement equipment are improved, the accuracy of battery replacement and the battery replacement efficiency are improved, and the popularization and the application of a battery replacement station are facilitated
Drawings
Fig. 1 is a flowchart of a power swapping control method according to embodiment 1 of the present invention.
Fig. 2 is a schematic view of a vehicle parked on a vehicle-carrying platform according to the battery replacement control method in embodiment 1 of the present invention.
Fig. 3 is a schematic view of an overall structure of a battery swapping device in the battery swapping control method according to embodiment 1 of the present invention.
Fig. 4 is a schematic structural diagram of a part of a battery swapping device including a mobile platform according to the battery swapping control method in embodiment 1 of the present invention.
Fig. 5 is a schematic structural diagram of a part of a battery swapping device including an upper plate according to the battery swapping control method in embodiment 1 of the present invention.
Fig. 6 is a flowchart of a power swapping control method according to embodiment 2 of the present invention.
Fig. 7 is a schematic diagram of the arrangement of the stroke sensor and the detection element in the power change control method according to embodiment 3 of the present invention.
Fig. 8 is a schematic diagram of obtaining an attitude adjustment amount by the battery swap control method according to embodiment 4 of the present invention.
Fig. 9 is a schematic view of a visual image acquired in real time according to the battery swapping control method in embodiment 5 of the present invention.
Fig. 10 is a schematic diagram of a standard image of the power swapping control method according to embodiment 5 of the present invention.
Fig. 11 is a schematic diagram of the arrangement of the detection sensor and the detection block in the battery replacement control method according to embodiment 6 of the present 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 battery swapping control method. The battery locking mechanism, the battery replacement device (shuttle car) and the stacker crane used in the battery replacement control method of the embodiment are respectively described by taking the chinese patent application nos. 2016110412204, 2017112442213 and 2017100524087 as examples, but the control method of the present invention is not limited to the specific structure in the above prior art, and can also be applied to the control of mechanisms of other bottom battery replacement modes.
Referring to fig. 1, the battery replacement control method includes the following steps:
and step S1, controlling the battery replacement equipment to extend to a battery replacement position.
And step S2, adjusting the posture of the battery replacement device to be aligned with the battery of the vehicle.
When the method is specifically implemented, the battery swapping control method is used for controlling the battery swapping equipment to move to the bottom of the vehicle so as to implement the battery swapping operation.
In an alternative embodiment, the battery swapping device is implemented by using a shuttle car as shown in fig. 2 and 3. The battery replacement equipment 100 is arranged on the vehicle carrying platform 190. Taking an application scenario shown in fig. 2 as an example, after the vehicle 200 is parked in a parking space of the vehicle platform 190, the lifting mechanism 191 of the vehicle platform 190 lifts the vehicle 200 upward. And then, controlling the battery replacement device to extend to the battery replacement position according to the step S1. In an alternative embodiment shown in fig. 2, for convenience of explanation, the longitudinal direction of the vehicle is taken as the X-axis direction, and the width direction of the vehicle is taken as the Y-axis direction. The battery replacement device moves a preset distance from the side of the vehicle to the lower part of the vehicle along the Y-axis direction to reach a battery replacement position, and the battery replacement position is matched with the position of the battery in the Y-axis direction. The preset distance for controlling the vehicle to move can be reasonably set according to requirements.
Then, in step S2, the position of the battery replacement device is adjusted in the X-axis direction to align with the battery of the vehicle based on the parking position of the vehicle.
Referring to fig. 3, 4 and 5, the battery replacing device comprises a mobile platform 1, a traveling mechanism 2 and a controller (not shown in the figure), wherein the mobile platform 1 is located on the traveling mechanism 2; the controller is used for controlling the travelling mechanism 2 to travel; the controller is also used for controlling the mobile platform 1 to move relative to the travelling mechanism 2; the controller is also used for controlling the mobile platform 1 to lift relative to the walking mechanism 2.
The controller controls the travelling mechanism 2 to travel, so that the battery replacement equipment can move to the bottom of the vehicle 200; the controller can control the mobile platform 1 to move, so that the mobile platform 1 can correspond to the lock base at the bottom of the vehicle 200; the controller lifts the mobile platform 1, so that the battery 210 can be lifted and installed in the lock base at the bottom of the vehicle 200, or the battery 210 in the lock base of the vehicle 200 can be supported; the controller can also control the mobile platform 1 to move, so that the battery 210 on the mobile platform 1 is locked in the lock base or separated after being unlocked from the lock base.
Wherein, moving platform 1 includes lower plate 11 and upper plate 12, and the controller can control lower plate 11, upper plate 12 to remove respectively. The lower plate 11 is provided with the unlocking mechanism 4, the upper plate 12 is used for bearing the battery, and the unlocking mechanism 4 and the battery can respectively move by respectively moving the lower plate 11 and the upper plate 12, so that the mobile platform 1 can realize the locking and unlocking of the battery.
And, be equipped with first guide fork 5 on the moving platform 1, the bottom of vehicle 200 is equipped with the setting element, and first guide fork 5 is used for with setting element looks adaptation. The mobile platform 1 is provided with a second guide fork 6, the battery is provided with a positioning block, and the second guide fork 6 is used for being matched with the positioning block. The first guide fork 5 and the second guide fork 6 are used for positioning the relative positions of the mobile platform 1, the lock base and the battery. Specifically, the first guide fork 5 is located on the lower plate 11 to position the relative position between the lower plate 11 and the lock base, and the second guide fork 6 is located on the upper plate 12 to position the relative position between the upper plate 12 and the battery.
The alignment of the first guide fork 5 with the positioning member of the bottom of the vehicle 200 can be achieved by moving the lower plate 11 in the X-axis direction; moving the upper plate 12 in the X-axis direction such that the second guide fork is aligned with the guide block on the battery; the unlocking mechanism can be aligned with the unlocking groove by moving the unlocking mechanism along the X-axis direction.
According to the battery replacement control method, the position of the battery replacement equipment is controlled in different movement directions, so that the battery replacement equipment can adapt to battery alignment positions of different vehicle types, the flexibility and the universality of the battery replacement equipment are improved, and the accuracy and the battery replacement efficiency of the battery replacement are improved.
Example 2
On the basis of embodiment 1, this embodiment provides a power swapping control method. Referring to fig. 6, before step S1, the power swapping control method further includes the steps of:
and S0, acquiring vehicle information of the battery replacement vehicle. The vehicle information includes at least vehicle type information and battery position information.
In an alternative embodiment, the license plate number of the vehicle is identified, and the vehicle type information and the battery position information of the vehicle are inquired according to the license plate number. In another alternative embodiment, an image of a vehicle is acquired, vehicle type information of the vehicle is identified according to the image of the vehicle, and battery position information of the vehicle is obtained according to the vehicle type information.
In step S1, a corresponding battery swapping device extension distance value is obtained according to the vehicle type information and the battery position information, and the battery swapping device is controlled to extend to the battery swapping position according to the extension distance value. Because the sizes of different vehicle models are different, the installation positions of the batteries, the shapes and the sizes of the batteries can also be different. Therefore, after the vehicle type information and the battery position information are acquired, the mounting position of the battery of the vehicle in the Y-axis direction (namely the corresponding distance value of the battery replacement device needing to be extended) can be acquired according to the vehicle type information and the battery position information, and the battery replacement device is controlled to extend out by the corresponding distance according to the extending distance value, so that the battery replacement device can be moved to the battery replacement position.
Based on the acquisition of the vehicle information, the extending distance value matched with the vehicle can be obtained, so that the accuracy of position control of the battery replacement equipment is ensured.
Example 3
On the basis of embodiment 2, this embodiment provides a power swapping control method.
In order to improve the accuracy of the battery replacement control, referring to fig. 7, a stroke sensor 882 is arranged on the battery replacement device 100, and a detection piece 881 is arranged on a corresponding position on the vehicle carrying platform 190.
As an alternative embodiment, the detecting member 881 includes a magnetic stripe, and the magnetic stripe is disposed at a predetermined position on the vehicle platform 190. When the vehicle is parked on the lift 191, the edge of the vehicle is aligned with the detector 881. A travel sensor 882 senses the magnetic field of the magnetic strip.
The step S1 of controlling the battery swapping device to extend to the battery swapping position further includes: acquiring a corresponding stop adjustment amount according to the vehicle information; in the extending process of the battery replacing equipment, when the stroke sensor detects the detection piece, the battery replacing equipment is controlled to stop moving according to the stop adjustment amount.
In specific implementation, according to the vehicle information, the location where the battery 210 of the vehicle 200 is installed, that is, the distance D1 between the battery 210 and the edge of the vehicle 200 may be obtained by querying, and the distance D1 is used as the stop adjustment amount. In the process of controlling the movement of the battery replacement device, when the stroke sensor 882 senses the detection element 881, it represents that the battery replacement device 100 has reached the edge of the vehicle 200, and continues to move by the adjustment stopping amount (i.e., the distance D1), and then the battery replacement device 100 reaches the battery replacement position, and then the battery replacement device is controlled to stop moving.
Based on the cooperation of the stroke sensor and the detection part, the accuracy of battery replacement control can be further improved, so that the battery replacement equipment can accurately reach the battery replacement position.
Example 4
On the basis of any one of embodiments 1 to 3, the present embodiment provides a power swapping control method.
In this embodiment, in step S2, an attitude adjustment amount of the battery swapping device in the vehicle length direction is acquired based on the vehicle type information and the battery position information, and the battery swapping device is adjusted to a corresponding position according to the attitude adjustment amount.
In specific implementation, referring to fig. 8, according to the acquired vehicle information, the distance D3 of the battery 210 of the vehicle 200 in the X-axis direction with respect to the vehicle head can be obtained. In addition, in an alternative embodiment, according to the setting of the vehicle loading platform 190, when the vehicle 200 is parked at the target position of the vehicle loading platform 190, the position of the head of the vehicle 200 on the vehicle loading platform 190 is determined, and the initial position of the battery swapping device 100 is also determined, that is, the distance D2 in the X-axis direction of the initial position of the battery swapping device 100 relative to the head of the vehicle 200 is determined. The posture adjustment amount of the battery replacing equipment along the length direction of the vehicle can be obtained according to the distance D3 and the distance D2 (D3-D2). And then, adjusting the battery replacement equipment to a corresponding position according to the posture adjustment quantity, so that the battery replacement equipment can reach a position where battery replacement can be accurately realized.
Fig. 8 illustrates the distance relationship with the battery replacement device 100 as a whole. In specific implementation, the unlocking mechanism 4, the lower plate 11 and the upper plate 12 of the power exchanging device 100 can be moved respectively. That is, a first posture adjustment amount corresponding to the unlocking mechanism 4, a second posture adjustment amount corresponding to the lower plate 11, and a third posture adjustment amount corresponding to the upper plate 12 are obtained respectively according to the vehicle information; the unlocking mechanism 4 is adjusted according to the first posture adjustment amount, the lower plate 11 is adjusted according to the second posture adjustment amount, and the upper plate 12 is adjusted according to the third posture adjustment amount. Thus, the vehicle can adapt to various vehicles of different models.
Example 5
On the basis of any one of embodiments 1 to 4, this embodiment provides a power swapping control method.
In this embodiment, in step S2, a visual image of the corresponding area is acquired in real time, an adjustment amount is obtained based on the standard image, and the battery replacement device is adjusted to the corresponding position according to the adjustment amount.
During specific implementation, a visual positioning device is arranged on the upper surface of the battery replacing equipment, faces upwards, collects visual images of corresponding areas in real time, and obtains adjustment quantity based on the standard images. In an alternative embodiment, referring to fig. 9, a positioning mark a is provided at a corresponding area of the bottom of the vehicle as a reference mark for positioning. The visual positioning device collects the visual image G11 in real time (as shown in fig. 9), compares the visual image G11 with the pre-stored standard image G1 (as shown in fig. 10), and obtains a corresponding adjustment amount based on an image processing algorithm. Then, the battery replacement equipment is moved according to the adjustment amount, so that the battery replacement equipment can reach the corresponding position, and accurate battery replacement operation is realized.
According to the battery replacement control method, the accuracy and the precision of the position adjustment of the battery replacement equipment are ensured by acquiring the visual image in real time and detecting the use of the sensor.
In an alternative embodiment, the unlocking mechanism 4 of the power converter, the lower plate 11 and the upper plate 12 can be moved separately. That is, a first visual alignment device corresponding to the unlocking mechanism 4, a second visual alignment device corresponding to the lower plate 11, and a third visual alignment device corresponding to the upper plate 12 are provided, respectively. The first visual positioning device obtains a first posture adjustment amount corresponding to the unlocking mechanism 4, the second visual positioning device obtains a second posture adjustment amount corresponding to the lower plate 11, and the third visual positioning device obtains a third posture adjustment amount corresponding to the upper plate 12. Then, adjusting the unlocking mechanism 4 according to the first posture adjustment amount respectively to align the unlocking mechanism 4 with an unlocking groove on the vehicle so as to unlock; adjusting the lower plate 11 according to the second posture adjustment amount to align the first guide fork 5 with a positioning member at the bottom of the vehicle 200; and adjusting the upper plate 12 according to the third posture adjustment amount to align the second guide fork with the guide block on the battery. Thus, the vehicle can adapt to various vehicles of different models.
Example 6
On the basis of any one of embodiments 1 to 4, this embodiment provides a power swapping control method.
In the present embodiment, referring to fig. 11, a detection sensor 886 is disposed on the battery replacement device 100, and a detection block 885 corresponding to the detection sensor is disposed at the bottom of the vehicle 200. In step S2, during the movement, the movement is stopped when the detection sensor senses the detection block. The position of the detection block 885 represents the corresponding position required for battery replacement, and when the detection sensor 886 senses the detection block 885, the representation battery replacement equipment reaches the corresponding position required for battery replacement.
The detection sensor and the detection block are combined, so that the accuracy of battery replacement positioning can be improved, and the accuracy of battery replacement control is improved, so that the battery replacement equipment is suitable for various different vehicle types.
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 battery replacement control method is characterized by comprising the following steps:
controlling the battery replacement equipment to extend to a battery replacement position;
adjusting a pose of the battery swapping device to align with a battery of a vehicle.
2. The battery swapping control method of claim 1, further comprising, before the step of controlling the battery swapping device to extend to the battery swapping position:
the method comprises the steps of obtaining vehicle information of a battery replacement vehicle, wherein the vehicle information at least comprises vehicle type information and battery position information.
3. The battery replacement control method as claimed in claim 2, wherein the step of controlling the battery replacement device to extend to the battery replacement position comprises:
and acquiring a corresponding battery replacement device extension distance value according to the vehicle type information and the battery position information, and controlling the battery replacement device to extend to the battery replacement position according to the extension distance value.
4. The battery replacement control method according to claim 3, wherein a stroke sensor is arranged on the battery replacement equipment, and a detection piece is arranged at a corresponding position on the vehicle carrying platform;
the step of controlling the battery replacement device to extend out to the battery replacement position further comprises: acquiring a corresponding stop adjustment amount according to the vehicle information;
in the process of extending the battery replacement equipment, when the stroke sensor detects the detection piece, controlling the battery replacement equipment to stop moving according to the stop adjustment amount.
5. The battery swapping control method of claim 4, wherein the step of adjusting the posture of the battery swapping device comprises: controlling the battery swapping device to move back and forth along the length direction of the vehicle to be aligned with a battery of the vehicle.
6. The battery swapping control method of claim 5, wherein the step of adjusting the posture of the battery swapping device further comprises:
and acquiring the attitude adjustment quantity of the battery replacing equipment along the length direction of the vehicle based on the vehicle type information and the battery position information, and adjusting the battery replacing equipment to a corresponding position according to the attitude adjustment quantity.
7. The battery replacement control method as claimed in claim 6, wherein the battery replacement equipment comprises an unlocking mechanism, a lower plate and an upper plate for mounting a battery tray,
adjusting the battery replacement device to a corresponding position according to the posture adjustment amount comprises: adjusting at least one of the unlocking mechanism, the lower plate and the upper plate to be aligned with a matching mechanism on a corresponding position of the vehicle.
8. The battery swapping control method of claim 5, wherein the step of adjusting the posture of the battery swapping device comprises:
and acquiring a visual image of the corresponding area in real time, obtaining an adjustment amount based on a standard image, and adjusting the battery replacement equipment to the corresponding position according to the adjustment amount.
9. The battery replacement control method according to claim 6, wherein a detection sensor is arranged on the battery replacement device, and a detection block corresponding to the detection sensor is arranged at the bottom of the vehicle;
the step of adjusting the posture of the battery swapping device comprises the following steps: in the moving process, the movement is stopped when the detection sensor senses the detection block.
10. The battery replacement control method according to claim 7, wherein an unlocking groove is formed at a predetermined position of the vehicle, the lower plate is provided with a first guide fork, and a guide member is arranged at the bottom of the vehicle, and the first guide fork is used for forking the guide member; the upper plate is provided with a second guide fork, the battery is provided with a guide block, and the second guide fork is used for forking the guide block;
the step of adjusting the unlocking mechanism comprises: moving the position of the unlocking mechanism to align the unlocking mechanism with the unlocking groove;
the step of adjusting the lower plate comprises: moving the lower plate to align the first guide fork with the guide;
the step of adjusting the upper deck includes: moving the upper plate to align the second guide fork with the guide block.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010917631.5A CN114132212A (en) | 2020-09-03 | 2020-09-03 | Battery replacement control method |
| PCT/CN2021/116303 WO2022048607A1 (en) | 2020-09-03 | 2021-09-02 | Battery swapping control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010917631.5A CN114132212A (en) | 2020-09-03 | 2020-09-03 | Battery replacement control method |
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| CN114132212A true CN114132212A (en) | 2022-03-04 |
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| CN202010917631.5A Pending CN114132212A (en) | 2020-09-03 | 2020-09-03 | Battery replacement control method |
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| CN (1) | CN114132212A (en) |
| WO (1) | WO2022048607A1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115497319A (en) * | 2022-08-02 | 2022-12-20 | 上海融青新能源科技有限公司 | Battery replacement guiding method, system, equipment and storage medium for battery replacement vehicle |
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| CN117325823B (en) * | 2023-11-28 | 2024-05-07 | 宁德时代新能源科技股份有限公司 | Power conversion method for commercial vehicle |
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