CN114683952A - Electric automobile battery replacement positioning system and method - Google Patents

Electric automobile battery replacement positioning system and method Download PDF

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Publication number
CN114683952A
CN114683952A CN202210501973.8A CN202210501973A CN114683952A CN 114683952 A CN114683952 A CN 114683952A CN 202210501973 A CN202210501973 A CN 202210501973A CN 114683952 A CN114683952 A CN 114683952A
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China
Prior art keywords
battery replacement
battery
electric vehicle
positioning
image
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CN202210501973.8A
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Chinese (zh)
Inventor
张建平
黄春华
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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 CN202210501973.8A priority Critical patent/CN114683952A/en
Publication of CN114683952A publication Critical patent/CN114683952A/en
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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
    • 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
    • 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

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

The invention discloses a battery replacement positioning system and method for an electric vehicle. Electric automobile trades electric positioning system includes: the device comprises a control unit, a primary positioning unit, a secondary positioning unit, a driving unit and a battery replacing device, wherein the secondary positioning unit comprises a clamping plate which is arranged on a battery replacing platform of the battery replacing device and is provided with a groove part which is recessed downwards from the upper side; the battery replacing device is used for lifting the battery replacing platform after receiving a battery replacing signal, so that the clamping plate is clamped with a battery pack of the electric automobile. According to the battery pack disassembling device, the battery replacing equipment and the electric automobile can be accurately aligned through the primary positioning unit, and the battery pack can be smoothly taken down through the secondary positioning unit to further realize the accurate alignment of the clamping plate and the battery pack during battery pack disassembling.

Description

Electric automobile battery replacement positioning system and method
The application is a divisional application of an invention patent with application date of 2018, 9 and 30, application number of 201811160563.1 and name of 'electric vehicle battery replacement positioning system and method'.
Technical Field
The invention belongs to the field of electric automobiles, and particularly relates to an electric automobile battery replacement positioning system and method.
Background
At present, the emission of automobile exhaust is still an important factor of the problem of environmental pollution, and in order to treat the automobile exhaust, people develop natural automobiles, hydrogen fuel automobiles, solar automobiles and electric automobiles to replace fuel-oil automobiles. And among them, the most promising is the electric vehicle. The current electric automobile mainly comprises a direct charging type and a quick-change type.
When a battery of the quick-change electric automobile is replaced, the battery replacing equipment needs to travel to the position below the vehicle so as to take down an original battery pack on the vehicle, and the existing battery replacing equipment often cannot take down the battery pack due to the fact that the existing battery replacing equipment cannot be accurately positioned at the position of the battery pack, so that the battery pack replacement failure is caused, and even the associated structure of the battery pack is damaged.
Disclosure of Invention
The invention aims to overcome the defect that the replacement of a battery pack fails because the conventional battery replacement equipment cannot be accurately positioned at the position of the battery pack and cannot be taken down, and provides a battery replacement positioning system and a battery replacement positioning method for an electric vehicle.
The invention solves the technical problems through the following technical scheme:
the utility model provides an electric automobile trades electric positioning system, electric automobile trades electric positioning system includes: the device comprises a control unit, a primary positioning unit, a secondary positioning unit, a driving unit and a battery replacing device, wherein the secondary positioning unit comprises a clamping plate which is arranged on a battery replacing platform of the battery replacing device and is provided with a groove part which is recessed downwards from the upper side; the battery replacing device is used for lifting the battery replacing platform after receiving a battery replacing signal, so that the clamping plate is clamped with a battery pack of the electric automobile.
Optionally, the battery replacing platform comprises a fixing component and a moving component, wherein a clamping plate arranged on the fixing component is used for being clamped with the electric automobile and fixed relative to the electric automobile, and a clamping plate arranged on the moving component is clamped with the battery pack and drives the battery pack to move, so that the battery pack is detached from the electric automobile or mounted on the electric automobile.
Optionally, the clamping plate arranged on the fixed member moves upwards and is clamped with a lock base of the electric vehicle, and the clamping plate arranged on the movable member moves upwards and is clamped with a limiting block of the battery pack.
Optionally, the electric vehicle is provided with a battery mounting seat, the battery mounting seat is used for fixedly mounting a battery pack, the top end of the clamping plate is provided with a guide part, the guide part is chamfered inwards in the width and/or thickness direction of the clamping plate, when a battery is replaced, the clamping plate is inserted into a gap between the battery pack and the battery mounting seat, and the chamfered angle α of the guide part is set as: alpha is more than or equal to 12.68 degrees and less than or equal to 18.00 degrees.
Optionally, the thickness T of the card is set to: t is more than or equal to 15mm and less than 17.5 mm.
Optionally, the card has a groove portion recessed downward from the upper side, the height H of the groove portion, the width W of the card is set to: h is more than or equal to 55mm and less than or equal to 61mm, and W is more than 56.5mm and less than or equal to 58 mm.
Optionally, the primary positioning unit is configured to detect a relative position between the battery replacement device and the electric vehicle, and send the relative position to the control unit;
the control unit is used for judging whether the relative position is larger than a preset deviation threshold value or not, and if so, sending a driving signal to the driving unit;
the driving unit is used for driving the battery replacement equipment to move after receiving the driving signal so that the relative position between the battery replacement equipment and the electric automobile is not larger than the deviation threshold value;
the control unit is further configured to send a battery replacement signal to the battery replacement device after the relative position between the battery replacement device and the electric vehicle is not greater than the deviation threshold.
Optionally, the deviation threshold includes an image deviation threshold, the primary positioning unit includes a photographing device, and the photographing device is configured to photograph an actual image and send the actual image to the control unit;
the control unit is further used for comparing the actual image with a standard image, wherein the standard image is an image shot by the shooting device when the relative position between the battery replacement equipment and the electric vehicle is not greater than the image deviation threshold;
the control unit is further configured to determine whether an image deviation between the actual image and the standard image is greater than the image deviation threshold through the comparison, and if so, send the driving signal to the driving unit.
Optionally, the actual image and the standard image include the same reference object, and the control unit determines the image deviation between the actual image and the standard image by comparing the position of the reference object in the actual image with the position of the reference object in the standard image.
Optionally, the deviation threshold includes a position deviation threshold, the primary positioning unit includes a positioning instrument, and the positioning instrument is configured to position a spatial position of the electric vehicle and a spatial position of the battery replacement device, and send the spatial position of the electric vehicle and the spatial position of the battery replacement device to the control unit;
the control unit is further configured to compare the spatial position of the electric vehicle with the spatial position of the battery replacement device, determine whether a position deviation between the spatial position of the electric vehicle and the spatial position of the battery replacement device is greater than a position deviation threshold, and send the driving signal to the driving unit if the position deviation is greater than the position deviation threshold.
Optionally, the position deviation threshold includes a distance threshold, and the positioning instrument includes a distance sensor, where the distance sensor is configured to detect a horizontal distance between the electric vehicle and the battery replacement device, and send the horizontal distance to the control unit;
the control unit is further configured to determine whether the horizontal distance is greater than the distance threshold, and if so, send the driving signal to the driving unit.
Optionally, the electric vehicle battery replacement positioning system further includes a third-level positioning unit, the driving unit is configured to drive the battery replacement device to move, the third-level positioning unit is configured to position whether the battery replacement device moves into a designated area and send a positioning result to the control unit, and the designated area is located below the electric vehicle;
the control unit is further configured to send a stop signal to the driving unit and then start the primary positioning unit when the battery replacement device moves into the designated area;
the driving unit is further used for stopping driving the battery replacement equipment to move after receiving the stop signal.
Optionally, the tertiary positioning unit includes a proximity switch, the proximity switch is disposed at a boundary of the designated area, and the proximity switch is triggered when the battery replacement device moves into a sensing area of the proximity switch, and sends a positioning result signal to the control unit;
and the control unit is also used for sending the stop signal to the driving unit and then starting the primary positioning unit after receiving the positioning result signal.
The second aspect of the present invention provides an electric vehicle battery replacement positioning method, which is implemented by using the electric vehicle battery replacement positioning system according to the first aspect, and the electric vehicle battery replacement positioning method includes a secondary positioning step:
the secondary positioning step comprises: and controlling the battery replacing equipment to lift the battery replacing platform after receiving the battery replacing signal so as to enable the clamping plate to be clamped with a battery pack of the electric automobile.
Optionally, before the step of secondary positioning, the electric vehicle battery replacement positioning method further includes a step of primary positioning;
the primary positioning step comprises:
detecting a relative position between a battery replacement device and an electric automobile, judging whether the relative position is greater than a preset deviation threshold value, if so, driving the battery replacement device to move so that the relative position between the battery replacement device and the electric automobile is not greater than the deviation threshold value;
and executing the secondary positioning after the relative position between the battery replacement equipment and the electric automobile is not greater than the deviation threshold value.
Optionally, the deviation threshold comprises an image deviation threshold;
detecting a relative position between the battery replacement equipment and the electric vehicle, and judging whether the relative position is greater than a preset deviation threshold value, including:
shooting an actual image;
comparing the actual image with a standard image, wherein the standard image is an image shot when the relative position between the battery replacement equipment and the electric automobile is not greater than the image deviation threshold value;
and judging whether the image deviation of the actual image and the standard image is greater than the image deviation threshold value or not through the comparison, if so, driving the battery replacement equipment to move so that the image deviation is not greater than the image deviation threshold value.
Optionally, the actual image and the standard image include the same reference object, and the image deviation between the actual image and the standard image is determined by comparing the position of the reference object in the actual image with the position of the reference object in the standard image.
Optionally, the deviation threshold comprises a position deviation threshold;
detecting a relative position between the battery replacement equipment and the electric vehicle, and judging whether the relative position is greater than a preset deviation threshold value, including:
positioning the spatial position of the electric automobile and the spatial position of the battery replacement equipment;
comparing the spatial position of the electric automobile with the spatial position of the battery replacing device, judging whether the position deviation between the spatial position of the electric automobile and the spatial position of the battery replacing device is larger than the position deviation threshold value, and if so, driving the battery replacing device to move so that the position deviation is not larger than the position deviation threshold value.
Optionally, the location deviation threshold comprises a distance threshold;
positioning the spatial position of the electric automobile and the spatial position of the battery replacement equipment; comparing the spatial position of the electric automobile with the spatial position of the battery replacing device, and judging whether the position deviation between the spatial position of the electric automobile and the spatial position of the battery replacing device is greater than the position deviation threshold value or not, including:
detecting the horizontal distance between the electric automobile and the battery replacement equipment;
and judging whether the horizontal distance is greater than the distance threshold value, if so, driving the battery replacement equipment to move so that the horizontal distance is not greater than the distance threshold value.
Optionally, the electric vehicle battery replacement positioning method further includes a third-level positioning step;
the step of tertiary positioning comprises:
driving the battery replacement equipment to move;
positioning whether the battery replacement equipment moves into a designated area, wherein the designated area is positioned below the electric automobile;
and when the battery swapping device moves into the designated area, stopping driving the battery swapping device to move, and then executing the primary positioning step.
On the basis of the common knowledge in the field, the above preferred conditions can be combined randomly to obtain the preferred embodiments of the invention.
The positive progress effects of the invention are as follows: according to the invention, the accurate alignment between the battery replacing equipment and the electric automobile can be realized through the primary positioning unit, and the accurate alignment between the clamping plate and the battery pack during battery unloading is further realized through the secondary positioning unit on the basis that the battery replacing equipment is aligned with the electric automobile, so that the clamped battery pack can be smoothly taken down, and the success rate of battery replacement is ensured.
Drawings
Fig. 1 is a schematic block diagram of an electric vehicle battery replacement positioning system according to embodiment 1 of the present invention.
Fig. 2 is a schematic block diagram of an electric vehicle battery replacement positioning system in embodiment 2 of the present invention.
Fig. 3 is a schematic block diagram of an electric vehicle battery replacement positioning system according to embodiment 3 of the present invention.
Fig. 4 is a schematic perspective view of a card board according to embodiment 4 of the present invention.
Fig. 5 is a front view of a card board according to embodiment 4 of the present invention, wherein the card board is engaged with the lock base.
FIG. 6 is a schematic side view of a card board according to embodiment 4 of the present invention.
Fig. 7 is a schematic perspective view of a battery swapping device in embodiment 4 of the present invention.
Fig. 8 is a schematic block diagram of an electric vehicle battery replacement positioning system according to embodiment 5 of the present invention.
Fig. 9 is a flowchart of an electric vehicle battery replacement positioning method according to embodiment 6 of the present invention.
Fig. 10 is a flowchart of an electric vehicle battery replacement positioning method according to embodiment 7 of the present invention.
Fig. 11 is a flowchart of an electric vehicle battery replacement positioning method according to embodiment 8 of the present invention.
Fig. 12 is a flowchart of an electric vehicle battery replacement positioning method according to embodiment 9 of the present invention.
Detailed Description
The invention is further illustrated by the following examples, which are not intended to limit the invention thereto.
Example 1
Fig. 1 shows an electric vehicle battery replacement positioning system of the embodiment. Electric automobile trades electric positioning system includes: the device comprises a control unit 11, a primary positioning unit 12, a secondary positioning unit 13, a driving unit 14 and a battery replacement device 15. The secondary positioning unit 13 comprises a clamping plate, and the clamping plate is arranged on a battery replacing platform of the battery replacing device 15.
The primary positioning unit 12 is configured to detect a relative position between the battery replacement device 15 and the electric vehicle, and send the relative position to the control unit 11.
The control unit 11 is configured to determine whether the relative position is greater than a preset deviation threshold, and if so, send a driving signal to the driving unit 14. The deviation threshold value is determined according to the battery replacement requirement, the requirement of the battery replacement equipment 15 on the alignment precision of the electric vehicle and the like.
The driving unit 14 is configured to drive the battery swapping device 15 to move after receiving the driving signal, so that a relative position between the battery swapping device 15 and the electric vehicle is not greater than the deviation threshold.
The control unit 11 is further configured to send a battery swapping signal to the battery swapping device 15 after the relative position between the battery swapping device 15 and the electric vehicle is not greater than the deviation threshold.
The battery replacing device 15 is used for raising the battery replacing platform after receiving the battery replacing signal, so that the clamping plate is clamped with a battery pack of the electric automobile. After clamping, the battery pack can be separated from the electric automobile and stays on the battery replacing platform, and the battery replacing equipment 15 descends the battery replacing platform to finish the battery unloading operation. After the battery discharge operation is completed, the battery replacement device 15 may further mount a fully charged battery pack to the electric vehicle.
In this embodiment, electric automobile trades electric positioning system passes through one-level positioning unit 12 realizes trade electric equipment 15 with accurate counterpoint between the electric automobile, but this accurate counterpoint does not require trade electric equipment 15 with electric automobile aligns completely, but allows to exist the deviation threshold value, through second grade positioning unit 13 can be in accurate counterpoint of cardboard and battery package when further realizing unloading the battery package on one-level positioning unit 12's the basis, utilize the structure of cardboard to increase the fault-tolerant range, improve the reliability, the security of trading the electricity for the battery package by the joint can be taken off smoothly, guarantees to trade the electric success rate.
Example 2
The present embodiment is a further improvement on embodiment 1, and mainly lies in that in the present embodiment, the primary positioning unit 12 implements detection of a relative position between the battery swapping device 15 and the electric vehicle by using an image analysis technology.
Specifically, as shown in fig. 2, the deviation threshold includes an image deviation threshold, the primary positioning unit 12 includes a photographing device 121, and the photographing device 121 may be installed on the battery replacement device 15, or may be installed at a position other than the battery replacement device 15, such as a parking platform of an electric vehicle. The photographing device 121 is configured to photograph an actual image and send the actual image to the control unit 11.
The control unit 11 is further configured to compare the actual image with a standard image, where the standard image is an image captured by the photographing device 121 when the relative position between the battery replacement device 15 and the electric vehicle is not greater than the image deviation threshold. The control unit 11 is further configured to determine whether an image deviation between the actual image and the standard image is greater than the image deviation threshold through the comparison, and if so, send the driving signal to the driving unit 14.
The driving unit 14 drives the battery swapping device 15 to move after receiving the driving signal until the image deviation between the actual image photographed again and the standard image is not greater than the image deviation threshold. When the image deviation between the actual image and the standard image is not greater than the image deviation threshold, the control unit 11 sends a battery replacement signal to the battery replacement device 15, and after receiving the battery replacement signal, the battery replacement device 15 raises the battery replacement platform, so that the clamping plate is clamped with a battery pack of the electric vehicle.
In order to facilitate comparison of images, the actual image and the standard image include the same reference object, and the control unit 11 determines the image deviation between the actual image and the standard image by comparing the position of the reference object in the actual image with the position of the reference object in the standard image. The reference object may be a part of the electric vehicle or an object outside the electric vehicle (e.g., an environment).
In this embodiment, the positioning between the battery replacement device 15 and the electric vehicle is realized by using an image analysis technology, and the high precision of the positioning is ensured.
Example 3
The present embodiment is a further improvement on embodiment 1, and mainly lies in that in the present embodiment, the primary positioning unit 12 implements detection of a relative position between the battery replacement device 15 and the electric vehicle by using a spatial positioning principle.
Specifically, as shown in fig. 3, the deviation threshold includes a position deviation threshold, the primary positioning unit 12 includes a positioning instrument 122, and the positioning instrument 122 is configured to position a spatial position of the electric vehicle and a spatial position of the battery replacement device 15, and send the spatial position of the electric vehicle and the spatial position of the battery replacement device 15 to the control unit 11.
The control unit 11 is further configured to compare the spatial position of the electric vehicle with the spatial position of the battery replacement device 15, determine whether a position deviation between the spatial position of the electric vehicle and the spatial position of the battery replacement device 15 is greater than the position deviation threshold, and if yes, send the driving signal to the driving unit 14.
In this embodiment, the position deviation threshold may specifically include a distance threshold, and the position finder 122 specifically includes a distance sensor, where the distance sensor is configured to detect a horizontal distance between the electric vehicle and the battery replacement device 15, and send the horizontal distance to the control unit 11. The control unit 11 is further configured to determine whether the horizontal distance is greater than the distance threshold, and if so, send the driving signal to the driving unit 14.
After receiving the driving signal, the driving unit 14 drives the battery replacement device 15 to move until a position deviation between a spatial position of the electric vehicle and a spatial position of the battery replacement device 15 is not greater than the position deviation threshold. When the position deviation between the spatial position of the electric automobile and the spatial position of the battery replacing device 15 is not greater than the position deviation threshold value, the control unit 11 sends a battery replacing signal to the battery replacing device 15, and after receiving the battery replacing signal, the battery replacing device 15 raises the battery replacing platform, so that the clamping plate is clamped with a battery pack of the electric automobile.
The embodiment realizes the positioning of the battery replacement equipment 15 and the electric automobile by using a space positioning principle, and ensures the high positioning precision.
Example 4
The present embodiment is a further improvement on embodiment 1, and mainly lies in that a specific structure of the card board is given, but the card board structure of the present embodiment can also be applied to any electric vehicle battery replacement positioning system in embodiments 2 and 3.
As shown in fig. 4 to 6, the card 131 has a groove portion 1311 recessed downward from the upper side, and the tip of the card 131 has a guide portion 1312, the guide portion 1312 being chamfered inward in the width and/or thickness direction of the card 131. Inward here means toward the inside of the card 131 itself.
The angle α at which the guide 1312 is chamfered is preferably set to: alpha is more than or equal to 12.68 degrees and less than or equal to 18.00 degrees.
The guide 1312 guides the lock base when the locking plate 131 is locked with the lock base of the battery pack, so that the lock base can be smoothly locked into the locking plate 131. The angle α of the taper is within the above range, so that the lock base can be more smoothly caught in the catch plate 131.
The height h2 of the guide 1312 is preferably 20 mm. The distance h1 by which the guides 1312 taper inwards is preferably 4.5-6.5mm, depending on the angle a.
The card board 131 is mounted on the battery replacement device. The size of the clamping plate 131 has certain influence on the positioning accuracy of the battery replacement equipment during battery replacement, and for the influence, a plurality of groups of experiments are performed, and the experimental data refer to the following tables 1, 2 and 3.
TABLE 1
Figure BDA0003634705910000101
Figure BDA0003634705910000111
TABLE 2
Figure BDA0003634705910000112
TABLE 3
Figure BDA0003634705910000113
Figure BDA0003634705910000121
Tables 1, 2, and 3 are tests of the influence of the height H of the groove 1311, the width W of the groove 1311, and the thickness T of the card 131 on the positioning accuracy of the card 131. The positioning accuracy of the card board 131 is constantly changing with the height H of the groove portion 1311, the width W of the groove portion 1311, and the thickness T of the card board 131.
Preferably, the thickness T of the card 131 is set to: t is more than or equal to 15mm and less than 17.5 mm.
At this time, the positioning error is less than 1 mm.
More preferably, the height H of the groove portion 1311, the width W of the card board 131 are set to: h is more than or equal to 55mm and less than or equal to 61mm, and W is more than 56.5mm and less than or equal to 58 mm.
At this time, the positioning error is less than 0.7 mm.
More preferably, the height H of the groove portion 1311, the width W of the groove portion 1311, the thickness T of the card board 131 are set to: h is more than or equal to 57mm and less than or equal to 61mm, W is more than or equal to 57mm, and T is more than or equal to 16mm and less than or equal to 16.5 mm.
At this time, the positioning error is less than 0.5 mm.
Most preferably, the height H of the groove portion 1311, the width W of the groove portion 1311, the thickness T of the card board 131 are set to: h57 mm, W57 mm, T16 mm.
At this time, the positioning error is small and is basically less than 0.3mm, that is, the positioning accuracy is high, and the influence of the size of the clamping plate 131 on the total height of the equipment is considered.
The card 131 of this embodiment is adapted to a standard size lock base, i.e. the lock base has a height Sh of 33mm and a width Sw of 56 mm.
The lower end of the clamping plate 131 is provided with a connecting part 1313, and the connecting part 1313 is provided with a plurality of mounting holes. The clamping plate 131 is in threaded engagement with the battery replacement device through the mounting hole.
Fig. 7 illustrates a swapping device 15 according to the present embodiment. The battery replacement device 15 includes: a battery replacement platform; and a plurality of clamping plates 131A and 131B, wherein the clamping plates 131A and 131B are arranged on the battery replacement platform.
The battery replacement platform comprises a fixed member 151 and a movable member 152, wherein the movable member 152 is arranged above the fixed member 151 and can move in the horizontal direction relative to the fixed member 151; the catch plate 131A is provided on the fixed member 151, and the catch plate 131B is provided on the movable member 152.
In use, the clamping plate 131A on the fixing member 151 is clamped with and fixed relative to the vehicle, and the clamping plate 131B on the moving member 152 is clamped with and moves the battery pack, so that the battery pack is detached from or mounted on the vehicle.
The electric automobile is provided with a battery mounting seat, the battery mounting seat is used for fixedly mounting a battery pack, a gap between the battery pack and the battery mounting seat is S, and when the battery is replaced, the clamping plate is inserted into the gap between the battery pack and the battery mounting seat. The thickness T of the clamping plate and the gap S have the following relation: and S is T +2 x r, wherein r is more than 0mm and less than 3 mm. Preferably, r is 1 mm.
In one embodiment, the vehicle chassis is provided with a concave accommodating space for accommodating a battery, two sides of the accommodating space are provided with a quick-change bracket (namely a battery mounting seat) for fixing the battery pack on the vehicle, the quick-change bracket is provided with a plurality of lock bases for matching with lock pieces on two sides of the battery pack, and two sides of the battery pack are also provided with limit blocks. In the battery replacing and unlocking process, the clamping plate on the fixing component moves upwards and is clamped with the lock base of the vehicle, the clamping plate on the moving component moves upwards and is clamped with the limiting block of the battery pack, and the battery pack is driven to move so that the locking piece and the lock base are in an unlocking state. The thickness of the lock base roughly defines a gap between the quick-change support and the battery pack, and the clamping plate moves upwards through the gap to clamp the lock base and the limiting block. The cardboard inserts back cardboard both sides and quick change support, battery package and has adjustable gap r, and adjustable gap r allows the micro-adjustment when a plurality of cardboards get into this clearance simultaneously, avoids the part damage that the rigidity inserted the cause to realize the ascending location of cardboard lateral direction in the battery replacement process.
The thickness of the clamping plates, the gaps between the guide parts and the battery mounting seat are set according to the relational expression, so that all the clamping plates can be smoothly inserted into the gaps, the lock base and the limiting blocks can be clamped accurately through the gaps of the battery mounting seat, and interference with a battery pack or positioning error cannot be caused. Preferably, the cardboard guide part sets up to cut to one side so that joint lock base and stopper, the thickness direction setting of cardboard guide part cuts to one side so that the cardboard inserts this clearance.
Example 5
The present embodiment is a further improvement on embodiment 1, and mainly includes that as shown in fig. 8, the electric vehicle battery replacement positioning system of the present embodiment further includes a three-stage positioning unit 16, where the driving unit 14 is configured to drive the battery replacement device 15 to move, and the three-stage positioning unit 16 is configured to position whether the battery replacement device 15 moves into a specified area and send a positioning result to the control unit 11, where the specified area is located below the electric vehicle. The control unit 11 is further configured to send a stop signal to the driving unit 14 and then start the primary positioning unit 12 when the battery swapping device 15 moves into the designated area. The driving unit 14 is further configured to stop driving the battery swapping device 15 to move after receiving the stop signal.
In this embodiment, the tertiary positioning unit 16 may specifically include a proximity switch, where the proximity switch is disposed at a boundary of the designated area, and the proximity switch is triggered when the battery replacement device 15 moves into a sensing area of the proximity switch, and sends a positioning result signal to the control unit 11. The control unit 11 is further configured to send the stop signal to the driving unit 14 after receiving the positioning result signal, and then start the primary positioning unit 12.
When the battery swapping device 15 is parked in the designated area, the battery swapping device 15 is basically located below a battery pack of the electric vehicle, and the accurate alignment between the battery swapping device 15 and the electric vehicle can be realized by further adjusting the battery swapping device 15 through the primary positioning unit 12, and the primary positioning unit 12 in this embodiment may adopt any one of the primary positioning units 12 in embodiments 2 and 3. After the relative position between the battery replacing device 15 and the electric automobile is not greater than the deviation threshold value, the fault-tolerant range of the clamping plate is further utilized, the reliability and the safety of battery replacement are improved, the clamped battery pack can be smoothly taken down, and the success rate of battery replacement is ensured.
Example 6
Fig. 9 shows an electric vehicle battery replacement positioning method of the embodiment. The electric automobile battery replacement positioning method comprises the following steps: a step 21 of primary positioning and a step 22 of secondary positioning.
The step 21 of primary positioning comprises:
step 211, detecting a relative position between the battery replacement equipment and the electric automobile;
step 212, determining whether the relative position is greater than a preset deviation threshold, if so, executing step 213;
step 213, driving the battery replacement device to move so that the relative position between the battery replacement device and the electric vehicle is not greater than the deviation threshold value;
and 22, executing the secondary positioning after the relative position between the battery swapping device and the electric vehicle is not greater than the deviation threshold (including the case that the relative position is not greater than the deviation threshold in step 212, and the case that the relative position between the battery swapping device and the electric vehicle is not greater than the deviation threshold after the battery swapping device is moved in step 213).
The step 22 of secondary positioning comprises:
and 221, controlling the battery replacing equipment to lift a battery replacing platform of the battery replacing equipment so that a clamping plate arranged on the battery replacing platform is clamped with a battery pack of the electric automobile. Wherein, the card board can adopt the structure of the card board described in the embodiment 4.
After clamping, the battery pack can be separated from the electric automobile and stays on the battery replacing platform, and the battery replacing equipment 15 descends the battery replacing platform to finish the battery unloading operation. After the battery unloading operation is completed, the battery replacing device can further mount a fully charged battery pack to the electric vehicle.
In this embodiment, the electric vehicle battery replacement positioning method may be implemented by using the battery replacement positioning system in embodiment 1, and the accurate alignment between the battery replacement device and the electric vehicle is implemented in step 21 of the primary positioning, but the accurate alignment does not require the complete alignment between the battery replacement device and the electric vehicle, but allows the deviation threshold to exist, and the accurate alignment between the clamping plate and the battery pack when the battery pack is unloaded may be further implemented in step 22 of the secondary positioning based on step 21 of the primary positioning.
Example 7
The present embodiment is a further improvement on embodiment 6, and mainly lies in that in the present embodiment, the primary positioning step implements detection of a relative position between the battery replacement device and the electric vehicle by using an image analysis technology.
In particular, the deviation threshold comprises an image deviation threshold; as shown in fig. 10, the step 21 of primary positioning includes:
step 211', shooting an actual image;
step 212', comparing the actual image with a standard image, wherein the standard image is an image shot when the relative position between the battery replacement equipment and the electric vehicle is not greater than the image deviation threshold value;
step 213 ', judging whether the image deviation between the actual image and the standard image is greater than the image deviation threshold value through the comparison, if so, executing step 214';
step 214', driving the swapping device to move so that the image deviation is not greater than the image deviation threshold.
And a step 22 of performing the secondary positioning after the image deviation between the actual image and the standard image is not greater than the image deviation threshold (including a case that the image deviation is not greater than the deviation threshold in the step 213 'and a case that the image deviation between the actual image and the standard image which are photographed again after the battery replacement device is moved in the step 214' is not greater than the image deviation threshold).
In order to facilitate comparison of images, the actual image and the standard image comprise the same reference object, and the image deviation of the actual image and the standard image is determined by comparing the position of the reference object in the actual image with the position of the reference object in the standard image. The reference object may be a part of the electric vehicle or an object outside the electric vehicle (e.g., an environment).
In the embodiment, the positioning of the battery replacement equipment and the electric automobile is realized by using an image analysis technology, and the high positioning precision is ensured.
Example 8
The embodiment is a further improvement on embodiment 6, and mainly lies in that in this embodiment, the primary positioning step implements detection of a relative position between the battery replacement device 15 and the electric vehicle by using a spatial positioning principle.
In particular, the deviation threshold comprises a position deviation threshold; as shown in fig. 11, the step 21 of primary positioning includes:
step 211', locating the spatial position of the electric automobile and the spatial position of the battery replacement equipment;
step 212', comparing the spatial position of the electric automobile with the spatial position of the battery replacement equipment;
step 213 ", determining whether a position deviation between the spatial position of the electric vehicle and the spatial position of the battery replacement device is greater than the position deviation threshold, if so, executing step 214";
step 214 ″, driving the battery replacement device to move so that the position deviation is not greater than the position deviation threshold value.
And a step 22 of executing the secondary positioning after the position deviation is not greater than the position deviation threshold (including a case that the position deviation is not greater than the position deviation threshold in the step 213 ″, and a case that the position deviation between the spatial position of the electric vehicle and the spatial position of the battery replacement device after the battery replacement device is moved is not greater than the position deviation threshold in the step 214 ″).
In this embodiment, the position deviation threshold may specifically include a distance threshold, and steps 211 "to 214" may specifically include:
detecting the horizontal distance between the electric automobile and the battery replacement equipment;
and judging whether the horizontal distance is greater than the distance threshold value, if so, driving the battery replacement equipment to move so that the horizontal distance is not greater than the distance threshold value.
The embodiment realizes the positioning of the battery replacement equipment and the electric automobile by using a space positioning principle, and ensures the high positioning precision.
Example 9
The embodiment is a further improvement on embodiment 1, and mainly lies in that the electric vehicle battery replacement positioning method further includes a step 20 of three-level positioning. As shown in fig. 12, the step 20 of tertiary positioning includes:
step 201, driving the battery replacement equipment to move;
step 202, positioning whether the battery replacement equipment moves into a specified area, wherein the specified area is positioned below the electric automobile;
step 203, when the battery swapping device moves into the designated area, stopping driving the battery swapping device to move, and then executing the step 21 of primary positioning.
When the battery swapping device is parked in the designated area, the battery swapping device is basically located below a battery pack of the electric vehicle, and then the battery swapping device is further adjusted through the step 21 of primary positioning, so that the battery swapping device and the electric vehicle can be accurately aligned, and the step 21 of primary positioning in this embodiment may adopt any one of the steps of primary positioning in embodiments 7 and 8. After the relative position between the battery replacement equipment and the electric automobile is not larger than the deviation threshold value, the fault-tolerant range of the clamping plate is further utilized, the reliability and the safety of battery replacement are improved, the clamped battery pack can be smoothly taken down, and the success rate of battery replacement is ensured.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that these are 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 (20)

1. The utility model provides an electric automobile trades electric positioning system which characterized in that, electric automobile trades electric positioning system includes: the device comprises a control unit, a primary positioning unit, a secondary positioning unit, a driving unit and a battery replacing device, wherein the secondary positioning unit comprises a clamping plate which is arranged on a battery replacing platform of the battery replacing device and is provided with a groove part which is recessed downwards from the upper side; the battery replacing device is used for lifting the battery replacing platform after receiving a battery replacing signal, so that the clamping plate is clamped with a battery pack of the electric automobile.
2. The electric vehicle battery replacement positioning system as claimed in claim 1, wherein the battery replacement platform comprises a fixing member and a moving member, wherein a clamping plate arranged on the fixing member is used for clamping with the electric vehicle and fixing relative to the electric vehicle, and a clamping plate arranged on the moving member is used for clamping with the battery pack and driving the battery pack to move so as to detach the battery pack from the electric vehicle or mount the battery pack on the electric vehicle.
3. The electric vehicle battery replacement positioning system as claimed in claim 2, wherein the clamping plate arranged on the fixed member moves upward and is clamped with a lock base of the electric vehicle, and the clamping plate arranged on the movable member moves upward and is clamped with a limit block of the battery pack.
4. The electric automobile battery replacement positioning system as claimed in claim 1, wherein the electric automobile is provided with a battery mounting seat, the battery mounting seat is used for fixedly mounting a battery pack, the top end of the clamping plate is provided with a guide part, the guide part is inwardly beveled in the width and/or thickness direction of the clamping plate, the clamping plate is inserted into a gap between the battery pack and the battery mounting seat when a battery is replaced, and the angle α of the beveled guide part is set as: alpha is more than or equal to 12.68 degrees and less than or equal to 18.00 degrees.
5. The electric vehicle battery replacement positioning system as recited in claim 1, wherein the thickness T of the clamping plate is set to: t is more than or equal to 15mm and less than 17.5 mm.
6. The electric vehicle battery replacement positioning system as claimed in claim 1, wherein the clamping plate has a groove portion recessed downward from an upper side, the groove portion has a height H, and a width W of the clamping plate is set as: h is more than or equal to 55mm and less than or equal to 61mm, and W is more than 56.5mm and less than or equal to 58 mm.
7. The electric vehicle battery replacement positioning system as claimed in claim 1, wherein the primary positioning unit is configured to detect a relative position between the battery replacement device and the electric vehicle, and send the relative position to the control unit;
the control unit is used for judging whether the relative position is larger than a preset deviation threshold value or not, and if so, sending a driving signal to the driving unit;
the driving unit is used for driving the battery replacement equipment to move after receiving the driving signal so that the relative position between the battery replacement equipment and the electric automobile is not larger than the deviation threshold value;
the control unit is further configured to send a battery replacement signal to the battery replacement device after the relative position between the battery replacement device and the electric vehicle is not greater than the deviation threshold.
8. The electric vehicle battery replacement positioning system as claimed in claim 7, wherein the deviation threshold comprises an image deviation threshold, the primary positioning unit comprises a photographing device, and the photographing device is configured to photograph an actual image and send the actual image to the control unit;
the control unit is further used for comparing the actual image with a standard image, wherein the standard image is an image shot by the shooting device when the relative position between the battery replacement equipment and the electric vehicle is not greater than the image deviation threshold;
and the control unit is also used for judging whether the image deviation of the actual image and the standard image is greater than the image deviation threshold value or not through the comparison, and if so, sending the driving signal to the driving unit.
9. The electric vehicle battery replacement positioning system as claimed in claim 8, wherein an actual image and the standard image include the same reference object, and the control unit determines the image deviation between the actual image and the standard image by comparing the position of the reference object in the actual image with the position of the reference object in the standard image.
10. The electric vehicle battery replacement positioning system as claimed in claim 7, wherein the deviation threshold comprises a position deviation threshold, the primary positioning unit comprises a positioning instrument, and the positioning instrument is configured to position a spatial position of the electric vehicle and a spatial position of the battery replacement device and send the spatial position of the electric vehicle and the spatial position of the battery replacement device to the control unit;
the control unit is further configured to compare the spatial position of the electric vehicle with the spatial position of the battery replacement device, determine whether a position deviation between the spatial position of the electric vehicle and the spatial position of the battery replacement device is greater than a position deviation threshold, and send the driving signal to the driving unit if the position deviation is greater than the position deviation threshold.
11. The electric vehicle battery replacement positioning system as claimed in claim 10, wherein the position deviation threshold comprises a distance threshold, and the positioning instrument comprises a distance sensor for detecting a horizontal distance between the electric vehicle and the battery replacement device and sending the horizontal distance to the control unit;
the control unit is further configured to determine whether the horizontal distance is greater than the distance threshold, and if so, send the driving signal to the driving unit.
12. The electric vehicle battery replacement positioning system of claim 7, further comprising a tertiary positioning unit, wherein the driving unit is configured to drive the battery replacement device to move, the tertiary positioning unit is configured to position whether the battery replacement device moves into a designated area and send a positioning result to the control unit, and the designated area is located below the electric vehicle;
the control unit is further configured to send a stop signal to the driving unit and then start the primary positioning unit when the battery replacement device moves into the designated area;
the driving unit is further used for stopping driving the battery replacement equipment to move after receiving the stop signal.
13. The electric vehicle battery replacement positioning system as claimed in claim 12, wherein the tertiary positioning unit comprises a proximity switch disposed at a boundary of the designated area, the proximity switch being triggered when the battery replacement device moves into a sensing area of the proximity switch and sending a positioning result signal to the control unit;
and the control unit is also used for sending the stop signal to the driving unit and then starting the primary positioning unit after receiving the positioning result signal.
14. An electric vehicle battery replacement positioning method is realized by using the electric vehicle battery replacement positioning system as claimed in any one of claims 1 to 6, and the electric vehicle battery replacement positioning method comprises the steps of secondary positioning:
the secondary positioning step comprises: and controlling the battery replacing equipment to lift the battery replacing platform after receiving the battery replacing signal so as to enable the clamping plate to be clamped with a battery pack of the electric automobile.
15. The electric vehicle battery replacement positioning method as claimed in claim 14, wherein before the secondary positioning step, the electric vehicle battery replacement positioning method further comprises a primary positioning step;
the primary positioning step comprises:
detecting a relative position between a battery replacement device and an electric automobile, judging whether the relative position is greater than a preset deviation threshold value, if so, driving the battery replacement device to move so that the relative position between the battery replacement device and the electric automobile is not greater than the deviation threshold value;
and executing the secondary positioning after the relative position between the battery replacement equipment and the electric automobile is not greater than the deviation threshold value.
16. The electric vehicle battery replacement positioning method as claimed in claim 15, wherein the deviation threshold comprises an image deviation threshold;
detecting a relative position between the battery replacement equipment and the electric vehicle, and judging whether the relative position is greater than a preset deviation threshold value, including:
shooting an actual image;
comparing the actual image with a standard image, wherein the standard image is an image shot when the relative position between the battery replacement equipment and the electric automobile is not greater than the image deviation threshold value;
and judging whether the image deviation of the actual image and the standard image is greater than the image deviation threshold value or not through the comparison, if so, driving the battery replacement equipment to move so that the image deviation is not greater than the image deviation threshold value.
17. The electric vehicle battery replacement positioning method as claimed in claim 16, wherein a real image and the standard image include the same reference object, and the image deviation between the real image and the standard image is determined by comparing the position of the reference object in the real image with the position of the reference object in the standard image.
18. The electric vehicle battery replacement positioning method as claimed in claim 15, wherein the deviation threshold comprises a position deviation threshold;
detecting a relative position between the battery replacement equipment and the electric vehicle, and judging whether the relative position is greater than a preset deviation threshold value, including:
positioning the spatial position of the electric automobile and the spatial position of the battery replacement equipment;
comparing the spatial position of the electric automobile with the spatial position of the battery replacing device, judging whether the position deviation between the spatial position of the electric automobile and the spatial position of the battery replacing device is larger than the position deviation threshold value, and if so, driving the battery replacing device to move so that the position deviation is not larger than the position deviation threshold value.
19. The electric vehicle battery replacement positioning method as claimed in claim 18, wherein the position deviation threshold comprises a distance threshold;
positioning the spatial position of the electric automobile and the spatial position of the battery replacement equipment; comparing the spatial position of the electric automobile with the spatial position of the battery replacing device, and judging whether the position deviation between the spatial position of the electric automobile and the spatial position of the battery replacing device is greater than the position deviation threshold value or not, including:
detecting the horizontal distance between the electric automobile and the battery replacement equipment;
and judging whether the horizontal distance is greater than the distance threshold, if so, driving the battery replacement equipment to move so that the horizontal distance is not greater than the distance threshold.
20. The electric vehicle battery replacement positioning method as claimed in claim 15, further comprising a step of three-level positioning;
the step of tertiary positioning comprises:
driving the battery replacement equipment to move;
positioning whether the battery replacement equipment moves into a designated area, wherein the designated area is positioned below the electric automobile;
and when the battery swapping device moves into the designated area, stopping driving the battery swapping device to move, and then executing the primary positioning step.
CN202210501973.8A 2018-09-30 2018-09-30 Electric automobile battery replacement positioning system and method Pending CN114683952A (en)

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