CN114834296A - Battery pack replacement system and replacement method - Google Patents
Battery pack replacement system and replacement method Download PDFInfo
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- CN114834296A CN114834296A CN202210492318.0A CN202210492318A CN114834296A CN 114834296 A CN114834296 A CN 114834296A CN 202210492318 A CN202210492318 A CN 202210492318A CN 114834296 A CN114834296 A CN 114834296A
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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
- 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
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/37—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
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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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Abstract
The application provides a battery pack replacing system and a battery pack replacing method, and relates to the technical field of new energy. The replacing system comprises a line laser sensor, a control device and a battery replacement device; the line laser sensor is used for acquiring outline information of the power-shortage battery pack and determining a first relative position of the power-shortage battery pack relative to the line laser sensor according to the outline information; the control device is in signal connection with the line laser sensor and the battery replacement device respectively, and is used for determining the replacement position of the power-lack battery pack in the replacement area according to the first relative position and the second relative position of the line laser sensor relative to the replacement area; and determining a replacement route according to the replacement position, and controlling the battery replacement device to replace the power-lack battery pack according to the replacement route. By the method for acquiring the outline information of the power-shortage battery pack, determining the replacement position of the power-shortage battery pack according to the outline information and replacing the power-shortage battery pack, the defect that the positioning part is blocked is eliminated, and the battery replacement efficiency is improved.
Description
Technical Field
The application relates to the technical field of new energy, in particular to a battery pack replacement system and a battery pack replacement method.
Background
With the increasing development of economy, the number of automobile owners is increasing. However, gasoline or diesel oil, which is a main power source of automobiles, generates a large amount of substances polluting the environment when being combusted, and seriously affects the natural environment. Therefore, new energy automobiles are greatly popularized and developed, and electric automobiles in the new energy automobiles are widely applied.
In the electric vehicles in the related art, a part of the electric vehicles directly connect with an external power supply to charge the battery in the vehicle, but some vehicles have a large capacity of the battery, and the time required for direct charging is long, so that the working efficiency of the large vehicle is reduced. Therefore, the efficiency can be improved by directly replacing the automobile battery pack. In this type of power exchanging manner, the replacing system in the related art is configured to stop the vehicle carrying the power-shortage battery pack in a replacing area, and then grab and replace the power-shortage battery pack by the power exchanging device located at the top of the power-shortage battery pack. In the process, the vision camera is arranged on the battery replacing device, the information of the positioning part arranged at the top of the power-shortage battery pack is acquired through the vision camera, the replacement position of the power-shortage battery pack is further acquired according to the information of the positioning part, and then the battery replacing device moves to the upper side of the battery pack and replaces the battery pack.
However, in the above related art, during the replacement of the power shortage battery pack, the visual camera cannot acquire the complete information of the positioning portion, which results in the failure of power replacement, and reduces the success rate of positioning the power shortage battery pack, thereby reducing the power replacement efficiency.
Disclosure of Invention
In view of the above problems, embodiments of the present application provide a system and a method for replacing a battery pack of a battery pack, which can directly obtain a replacement position of an electric-shortage battery pack according to profile information of the electric-shortage battery pack, and replace the electric-shortage battery pack according to the replacement position, so that a defect that a positioning portion is blocked is eliminated, a success rate of positioning the electric-shortage battery pack is improved, and a battery replacement efficiency is further improved.
In order to achieve the above object, the embodiments of the present application provide the following technical solutions:
one aspect of the embodiments of the present application provides a replacement system for a battery pack, configured to replace an electricity-deficient battery pack located in a replacement area, where the replacement system includes a line laser sensor, a control device, and an electricity replacement device;
the line laser sensor is used for acquiring outline information of the power-shortage battery pack and determining a first relative position of the power-shortage battery pack relative to the line laser sensor according to the outline information;
the control device is in signal connection with the line laser sensor and the battery replacement device respectively, and is used for determining the replacement position of the power-lack battery pack in the replacement area according to the first relative position and the second relative position of the line laser sensor relative to the replacement area; and determining a replacement route for replacing the power-lack battery pack according to the replacement position, and controlling the power replacement device to replace the power-lack battery pack according to the replacement route.
Through adding line laser sensor in the change system at the power shortage battery package to come to fix a position the power shortage battery package in changing the region through line laser sensor, eliminated the defect that location portion is sheltered from, and avoided the influence to the location of other light, improved the success rate of fixing a position the power shortage battery package, and then improved and trade electric efficiency.
On the basis of the above technical solution, the embodiment of the present application may be further improved as follows.
Further, the line laser sensor is arranged obliquely above the power-shortage battery pack, so that the line laser emitted by the line laser sensor irradiates on the first side edge of the power-shortage battery pack, and the first side surface and the second side surface adjacent to the first side edge.
Another aspect of the embodiments of the present application provides a method for replacing a battery pack, where the method includes:
when the line laser sensor detects that the power-lack battery pack exists in the replacement area, the line laser sensor acquires the profile information of the power-lack battery pack;
the line laser sensor determines a first relative position of the power-lack battery pack relative to the sensor position of the line laser sensor according to the profile information;
the control device determines the replacement position of the power-lack battery pack in the replacement area according to the first relative position and the second relative position of the line laser sensor relative to the replacement area, determines a replacement route for replacing the power-lack battery pack according to the replacement position, and sends the replacement route to the power-changing device;
and the battery replacing device replaces the power-lack battery pack according to the replacing route.
Further, the step of acquiring the profile information of the power-shortage battery pack by the line laser sensor comprises the following steps:
the line laser sensor emits line laser to the first side edge, the first side surface and the second side surface of the power-shortage battery pack so as to form a first contour line on the first side surface and a second contour line on the second side surface, the first contour line and the second contour line are intersected on the first side edge, and the first side edge is formed in the intersection area of the first side surface and the second side surface;
the line laser sensor acquires a plurality of first coordinates of a plurality of points on the first contour line relative to the line laser sensor and acquires a plurality of second coordinates of a plurality of points on the second contour line relative to the line laser sensor;
and the line laser sensor acquires the outline information of the power-lack battery pack according to the first coordinates and the second coordinates.
Further, the step of obtaining the profile information of the power-shortage battery pack by the line laser sensor according to the plurality of first coordinates and the plurality of second coordinates comprises:
the line laser sensor judges whether the position deviation of the power-lack battery pack relative to the position of the sensor exists or not according to the first coordinates and the second coordinates, if not, the line laser sensor acquires contour information according to the first coordinates and the second coordinates, and if yes, the following steps are executed;
adjusting the position of the power-lack battery pack in the replacement area according to the position deviation;
the line laser sensor acquires the plurality of first coordinates and the plurality of second coordinates again, and re-judges whether a position deviation exists according to the plurality of first coordinates and the plurality of second coordinates acquired again.
Further, the step of judging whether the power-lack battery pack has a position deviation relative to the position of the sensor by the line laser sensor according to the first coordinates and the second coordinates comprises the following steps:
the line laser sensor determines a deviation value for judging the magnitude of the position deviation according to the first coordinates, the second coordinates and a deviation formula; the deviation formula is:
θ＝tan -1 (α，β)
the line laser sensor judges whether the position deviation exists in the power-lack battery pack or not according to the deviation value, if the deviation value is zero, the position deviation does not exist in the power-lack battery pack, and if the deviation value is not zero, the position deviation exists in the power-lack battery pack;
where θ is the deviation value, β is the absolute value of the difference between the ordinates of the two first coordinates on the first contour line when α is the absolute value of the difference between the abscissas of the two first coordinates on the first contour line, and β is the absolute value of the difference between the ordinates of the two second coordinates on the second contour line when α is the absolute value of the difference between the ordinates of the two second coordinates on the second contour line.
Further, the replacement route includes a removal route for removing the power-shortage battery pack, and an installation route for installing a backup battery pack for replacing the power-shortage battery pack.
Further, the step of replacing the power-lack battery pack by the power replacement device according to the replacement route comprises the following steps:
the battery replacement device takes the battery pack with short power from the replacement area according to the disassembly route;
and the battery replacement device transfers the standby battery pack to a replacement area according to the installation route.
Further, the irradiation angle of the line laser emitted from the line laser sensor ranges from 10 ° to 30 °.
Further, the wavelength of the line laser emitted by the line laser sensor ranges from 400nm to 700 nm.
The embodiment of the application provides a battery pack replacing method and a battery replacing station, profile information of an electricity-shortage battery pack is directly acquired by adopting a line laser sensor, a replacing position of the electricity-shortage battery pack is determined according to the profile information, and the electricity-shortage battery pack is replaced according to the replacing position, so that the defect that a positioning part is blocked is overcome, the success rate of positioning the electricity-shortage battery pack is improved, and the battery replacing efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flow chart illustrating a replacement process of a battery pack according to an embodiment of the present disclosure;
fig. 2 is a perspective view of a power-shortage battery pack in the related art;
fig. 3 is a flowchart of the line laser sensor in fig. 1 acquiring the profile information of the power-deficient battery pack;
fig. 4 is a flowchart of the determination of whether there is a positional deviation of the power-deficient battery pack with respect to the sensor position in fig. 3;
fig. 5 is a schematic diagram of a line laser sensor provided in an embodiment of the present application, where a first contour line and a second contour line are formed on a power-shortage battery pack;
fig. 6 is a schematic structural diagram of a battery pack replacement system according to another embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of a battery pack grabbed by a battery replacing device in the replacing system of fig. 6.
Description of reference numerals:
100. a power-deficient battery pack;
110. a first side edge; 120. a first side surface; 130. a second side surface; 140. a positioning part;
141. identifying a frame; 142. identifying a hole;
200. a line laser sensor;
210. a first contour line; 220. a second contour line;
300. a control device;
400. a battery replacement device;
500. a track;
600. and (6) replacing the area.
Detailed Description
As described in the background art, in the battery replacing process in the related art, the battery replacing device mounted with the visual camera is moved to the upper side of the power-shortage battery pack, the visual camera captures the position of the positioning part mounted at the top of the power-shortage battery pack, and the position of the power-shortage battery pack is obtained through the position of the positioning part.
However, the above-mentioned related art power-deficient battery pack has a drawback that the positioning portion cannot be positioned during the replacement process. The inventor researches and discovers that the problem is caused by the fact that in the actual use process, because the positioning portion at the top of the power-shortage battery pack is exposed in the external environment, the positioning portion can be partially or completely covered by a shielding object, and the visual camera cannot acquire complete information of the positioning portion, so that the power replacement failure is caused, the success rate of positioning the power-shortage battery pack is reduced, and the power replacement efficiency is further reduced.
In order to solve the technical problems, the embodiment of the application provides a battery pack replacement method and a battery replacement station, by directly acquiring profile information of an electricity-deficient battery pack by using a line laser sensor, determining a replacement position of the electricity-deficient battery pack according to the profile information, and replacing the electricity-deficient battery pack, the defect that a positioning part is blocked is eliminated, the success rate of positioning the electricity-deficient battery pack is improved, and the battery replacement efficiency is further improved.
In order to make the aforementioned objects, features and advantages of the embodiments of the present application more comprehensible, embodiments of the present application are described in detail below with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Example one
Referring to fig. 1 and 6, an aspect of an embodiment of the present application provides a method of replacing a battery pack, which may include:
in step S101, when the line laser sensor 200 detects that the power-shortage battery pack 100 exists in the replacement area 600, the line laser sensor 200 acquires the profile information of the power-shortage battery pack 100.
Referring to fig. 6, in some embodiments, the replacement area 600 may be a marked area on the ground, so that a driver can directly drive a car with the power-shortage battery pack 100 installed in the replacement area 600, and then the line laser sensor 200 starts to acquire the profile information of the power-shortage battery pack 100 while the line laser sensor 200 detects that the power-shortage battery pack 100 exists in the replacement area 600. The replacement area 600 may further include a track 500 for moving the vehicle, a portion of the track 500 extends out of the replacement area 600, when the vehicle is about to enter the replacement area 600, a driver drives the vehicle into the track 500 first, and then transports the vehicle into the replacement area 600 through the track 500, at this time, the line laser sensor 200 detects that the short-circuit battery pack 100 exists in the replacement area 600, and simultaneously obtains the profile information of the short-circuit battery pack 100.
In step S102, the line laser sensor 200 determines a first relative position of the power-deficient battery pack 100 with respect to the sensor position according to the profile information.
In some embodiments, the first relative position of the power-deficient battery pack 100 with respect to the sensor position is determined by the position of the line laser sensor 200 and the position of the power-deficient battery pack 100, that is, the position of the power-deficient battery pack 100 with respect to the line laser sensor 200, that is, the first relative position, may be obtained by using the position of the line laser sensor 200 as an origin, when the line laser is emitted onto the power-deficient battery pack 100.
In step S103, the control device 300 determines a replacement position of the power-shortage battery pack 100 in the replacement area 600 based on the first relative position and the second relative position of the line laser sensor 200 with respect to the replacement area 600, determines a replacement route for replacing the power-shortage battery pack 100 based on the replacement position, and transmits the replacement route to the power replacement device 400.
In a specific implementation, the second relative position may be determined based on the replacement area 600, and a certain orientation of the line laser sensor 200 in the replacement area 600 is determined, for example, when the replacement area 600 is square, the line laser sensor 200 is located at a position diagonally above a certain top corner of the replacement area 600, and the position diagonally above the certain top corner relative to the replacement area 600 is the second relative position, and when the position of the line laser sensor 200 is determined, the second relative positions are also determined successively.
Specifically, when the first relative position and the second relative position are obtained, the control device 300 may calculate the replacement position of the short-of-battery pack 100 in the replacement area 600 according to a predetermined algorithm, generate a replacement route for replacing the short-of-battery pack 100 according to the replacement position, and further transmit the replacement route to the battery replacement device 400.
In step S104, the battery replacement device 400 replaces the power-shortage battery pack 100 according to the replacement route.
In some embodiments, after receiving the replacement route sent by the control device, the power swapping device 400 replaces the power-shortage battery pack 100 according to the replacement route.
According to the method for replacing the battery pack, the outline information of the power-shortage battery pack 100 is directly acquired by the line laser sensor 200, the replacement position of the power-shortage battery pack 100 is determined according to the outline information, the power-shortage battery pack 100 is replaced according to the replacement position, the defect that the positioning portion is blocked is overcome, the success rate of positioning the power-shortage battery pack 100 is improved, and the battery replacement efficiency is improved.
Referring to fig. 2, in some embodiments, in a battery pack replacement method in the related art, it is necessary to install a positioning part 140 on the top of the power-deficient battery pack 100, the positioning part 140 including an identification frame 141, and an identification hole 142 provided on the identification frame 141. In order to be able to obtain the replacement position of the power-deficient battery pack 100, the vision camera needs to obtain the information of the complete positioning part 140. The information of the positioning part may be information of the structure or shape of the recognition frame 141 or the recognition hole 142.
Due to the influence of the external environment, the recognition frame 141 or the recognition hole 142 may be covered by other shielding objects, and the visual camera cannot obtain the complete information of the positioning part 140, so that the positioning of the power-shortage battery pack 100 fails, and the success rate of positioning the power-shortage battery pack 100 is reduced. Therefore, the shielding object covering the positioning portion 140 needs to be cleaned before the visual camera acquires the position of the power-shortage battery pack 100, which leads to a complicated power replacement procedure and reduces the replacement efficiency of the power-shortage battery pack 100. Specifically, the blocking object may be snow, leaves, plastic, cloth, paper, or the like, which can partially or entirely cover the positioning part 140.
In the replacing method in the embodiment of the application, the profile information of the power-shortage battery pack 100 is directly obtained, the identification frame 141 and the identification hole 142 do not need to be installed at the top of the power-shortage battery pack 100, the production cost of the battery pack is reduced, the defect that the power-shortage battery pack 100 cannot be positioned due to the fact that the positioning part 140 is blocked is overcome, and the positioning success rate of the power-shortage battery pack 100 is improved. Further, since it is no longer necessary to acquire information of the positioning portion 140, the step of checking and cleaning the shielding object on the positioning portion 140 is omitted, thereby improving the battery replacement efficiency of the power-shortage battery pack 100.
In some embodiments, the line laser sensor 200 with higher positioning accuracy is used for positioning the power-shortage battery pack 100, the repeated positioning accuracy is less than or equal to 100 μm, the calibration times can be obviously reduced, and the battery replacement efficiency is improved.
The maturity of the visual identification algorithm in the related art has a great influence on the positioning accuracy of the power-shortage battery pack 100, and the program bugs need to be repaired continuously, so that the later maintenance cost is high. Compared with the identification algorithm in the related art, the linear laser sensor 200 in the embodiment of the present application has a processing algorithm integrated therein for the contour information of the detected object, and obtains the relative position according to the processing algorithm, thereby improving the detection precision and reducing the later maintenance cost of the device.
In some embodiments, when the position of the vehicle in the replacement area 600 needs to be adjusted, the vehicle needs to be driven to adjust, so that a large error exists between an actual result and a target, and the battery replacement efficiency is affected. And through set up track 500 that is used for conveying and adjusts the car position in change area 600, go the car to track 500, then adjust the position of car through control track 500, avoided the great error that manual operation produced, and then improved the trade electric efficiency of power shortage battery package 100.
Referring to fig. 3 and 5, in some embodiments, the step of the line laser sensor 200 acquiring profile information of the short battery pack 100 includes:
in step S301, the line laser sensor 200 emits line laser to the first side edge 110, the first side surface 120, and the second side surface 130 of the power-shortage battery pack 100 to form a first contour line 210 on the first side surface 120 and a second contour line 220 on the second side surface 130, the first contour line 210 intersects the second contour line 220 on the first side edge 110, and the intersection area of the first side surface 120 and the second side surface 130 forms the first side edge 110.
Referring to fig. 3 and 5, the shape of the power-deficient battery pack 100 in the embodiment of the present application is the same as that of the battery pack in the related art, and may be a rectangular parallelepiped. The line laser sensor 200 is disposed on a side surface of the power-deficient battery pack 100, a side edge of the power-deficient battery pack 100 close to the line laser sensor 200 is a first side edge 110, and two side surfaces adjacent to the first side edge 110 are a first side surface 120 and a second side surface 130. The line laser sensor 200 emits a line laser to the short battery pack 100, and forms a first contour line 210 on the first side surface 120 and a second contour line 220 on the second side surface 130, and the first contour line 210 and the second contour line 220 intersect on the first side edge 110.
In step S302, the line laser sensor 200 acquires a plurality of first coordinates of a plurality of points on the first contour line 210 with respect to the line laser sensor 200, and acquires a plurality of second coordinates of a plurality of points on the second contour line 220 with respect to the line laser sensor 200.
In some embodiments, the first contour line 210 is formed by converging a plurality of points, each point having a first coordinate formed by using the line laser sensor 200 as an origin, that is, the first contour line 210 includes a plurality of first coordinates of the plurality of points relative to the line laser sensor 200, and similarly, the second contour line 220 also includes a plurality of second coordinates of the plurality of points relative to the line laser sensor 200.
In step S303, the line laser sensor 200 obtains the profile information of the power-shortage battery pack 100 according to the plurality of first coordinates and the plurality of second coordinates.
In some embodiments, the line laser sensor 200 confirms the information of the first side 120, the second side 130, and the first side edge 110 of the power-deficient battery pack 100 irradiated by the line laser sensor 200, that is, the outline information of the power-deficient battery pack 100, according to the plurality of first coordinates and the plurality of second coordinates contained in the acquired first contour line 210 and the acquired second contour line 220.
In some embodiments, the related art vision camera needs to obtain the information of the positioning portion by means of an external light source, which may be sunlight, light, and a supplementary light source provided on the power-shortage battery pack 100. Therefore, the recognition function of the visual camera is susceptible to the influence of the intensity of the external light, and specifically, when the light emitted by the external light source is weak, the light at the positioning part is relatively dark, and the visual camera cannot acquire clear information of the positioning part, so that the positioning of the power-shortage battery pack 100 fails; when the light is strong, the recognition process of the visual camera is also interfered. Therefore, in the replacing process, in order to clearly obtain the information of the positioning portion, the brightness of the light source needs to be continuously adjusted according to the brightness of the light in the battery replacing environment, so that the battery replacing efficiency of the power-shortage battery pack 100 is reduced.
The line laser sensor 200 of the embodiment of the present application has the characteristics of light resistance, high resolution, high measurement accuracy, and the like, and can be used in the fields of product size detection, robot motion guidance, component equipment detection, and the like. Because the reflected light received by the line laser sensor 200 is formed by the line laser emitted by the line laser sensor, the interference of external light to the positioning process is eliminated, the positioning accuracy is improved, and the step of adjusting the light of the environment where the power-lack battery pack 100 is located is omitted, so that the battery replacement process is simplified, and the battery replacement efficiency of the power-lack battery pack 100 is improved.
Referring to fig. 4, the step of obtaining the profile information of the short battery pack 100 by the line laser sensor 200 according to the plurality of first coordinates and the plurality of second coordinates includes:
in step S401, the line laser sensor 200 determines whether the power-shortage battery pack 100 has a positional deviation with respect to the sensor position based on the plurality of first coordinates and the plurality of second coordinates, and if not, the line laser sensor 200 acquires profile information based on the plurality of first coordinates and the plurality of second coordinates at that time, and if so, executes the following steps S402 and S403.
Referring to fig. 4, in some embodiments, when the position of the power-off battery pack 100 deviates, the line laser sensor 200 may issue an alarm, such as a light, an alarm, etc. When the position of the short-of-battery pack 100 needs to be adjusted, the vehicle can be moved by the rail 500 in the replacement area 600, so as to adjust the position of the short-of-battery pack 100 on the vehicle. After the position is adjusted, the above steps S301 to S303 are repeated to obtain the contour information again, and the steps S401 and S402 are repeated to judge the position deviation again. Through the detection to the position deviation of lack of electricity battery package 100, can judge this moment lack of electricity battery package 100 the position whether accord with and trade the electric requirement, when lack of electricity battery package 100 the position does not accord with and trade the electric requirement, can in time adjust lack of electricity battery package 100 the position to improve and trade the electric success rate, and then improved and trade electric efficiency.
In step S402, the position of the short-of-battery pack 100 in the replacement area 600 is adjusted based on the positional deviation.
In some embodiments, adjusting the position of the short-of-battery pack 100 is mainly achieved by adjusting the position of the vehicle carrying the short-of-battery pack 100 in the replacement area 600. The position of the car in the replacement area 600 can be adjusted by the driver driving the car, and when the track 500 is provided in the replacement area, the position of the car in the replacement area 600 can be adjusted by the track 500.
In step S403, the line laser sensor 200 acquires the plurality of first coordinates and the plurality of second coordinates again, and determines whether there is a positional deviation again according to the plurality of first coordinates and the plurality of second coordinates that are acquired again.
The line laser sensor 200 re-acquires the plurality of first coordinates and the plurality of second coordinates by repeating the above-described steps S301 and S302, and then performs step S401 using the re-acquired plurality of first coordinates and second coordinates.
In some embodiments, the step of determining whether the power-shortage battery pack 100 has a positional deviation with respect to the sensor position based on the plurality of first coordinates and the plurality of second coordinates by the line laser sensor 200 includes:
in step S501, the line laser sensor 200 determines a deviation value for determining the magnitude of the position deviation according to the plurality of first coordinates and the plurality of second coordinates and according to a deviation formula, where the deviation formula is as follows:
θ＝tan -1 (α，β)
where θ is the deviation value, β is the absolute value of the difference between the ordinates of the two first coordinates on the first contour 210 when α is the absolute value of the difference between the abscissas of the two first coordinates on the first contour 210, and β is the absolute value of the difference between the ordinates of the two second coordinates on the second contour 220 when α is the absolute value of the difference between the ordinates of the two second coordinates on the second contour 220.
In some embodiments, a formula for calculating the position deviation and a program for applying the deviation formula are preset in the line laser sensor 200, and parameters in the deviation formula may be adjusted as needed, for example, the adjustment of relevant parameters may be performed according to the sensor position, the relative position of the line laser sensor 200 and the power-shortage battery pack 100, and the like.
In some embodiments, the line laser sensor 200 automatically calculates a deviation value corresponding to the position information at that time by substituting the position information into a deviation formula.
Step S502, the line laser sensor 200 judges whether the power-shortage battery pack 100 has position deviation according to the deviation value, if the deviation value is zero, the power-shortage battery pack 100 does not have position deviation, and if the deviation value is not zero, the power-shortage battery pack 100 has position deviation;
in some embodiments, the line laser sensor 200 identifies and determines the deviation value when obtaining the deviation value. Specifically, when the deviation value is equal to 0, it indicates that there is no positional deviation in the short-of-battery pack 100, and when the deviation value is not equal to 0, it indicates that there is a positional deviation in the short-of-battery pack 100 at this time. The line laser sensor 200 may be provided with a display device capable of displaying the magnitude of the offset value corresponding to the positional information at that time.
In some embodiments, through calculation of the deviation value of the deviation formula, it can be determined whether the power-shortage battery pack 100 has a position deviation relative to the position of the sensor, so that the positioning accuracy of the power-shortage battery pack 100 is improved, and the battery replacement efficiency is improved.
Referring to fig. 5, in some embodiments, the deviation value θ is the angle at which the power-deficient battery pack 100 is deflected with respect to the line laser sensor 200. The larger this angle, the larger deviation value θ, and the larger deviation of the position of the short-of battery pack 100.
Referring to fig. 6, in some embodiments, a rectangular plane coordinate system is established with the position of the line laser sensor 200 as an origin, the abscissa direction being the X-axis direction, and the ordinate direction being the Y-axis direction. The short battery pack 100 may be located in the first quadrant, the second quadrant, the third quadrant, or the fourth quadrant of the cartesian coordinate system. In some embodiments, there is no positional offset of the power-deficient battery pack 100 when the first side 120 of the power-deficient battery pack 100 is parallel to the Y-axis, or there is no positional offset of the power-deficient battery pack 100 when the second side 130 of the power-deficient battery pack 100 is parallel to the X-axis.
Referring to fig. 6, in some embodiments, the short-of-power battery pack 100 may be located in the first quadrant with a (x) on the first contour 210 1 ，y 1 ) Points and B (x) 2 ，y 2 ) The deviation values are calculated by taking points as examples. Specifically, the absolute value α of the difference between the distances of the point a and the point B in the abscissa direction is | x 1 -x 2 I, the absolute value β of the difference between the distances of the point a and the point B in the ordinate direction is y 1 -y 2 The angle at which the deviation value θ is obtained by substituting α and β into the above deviation equation is as follows:
when θ is equal to zero, the difference between the distances of the points a and B in the X-axis direction is equal to 0, i.e., the first side surface 120 of the short-circuited battery pack 100 is parallel to the Y-axis direction, which indicates that there is no positional deviation of the short-circuited battery pack 100 in the replacement area 600.
Referring to fig. 5, in some embodiments, the line laser sensors 200 may be disposed near other side edges of the rectangular parallelepiped-shaped power-deficient battery pack 100, and by disposing a plurality of line laser sensors 200, the positioning accuracy of the power-deficient battery pack 100 can be further improved, and the battery replacement efficiency can be further improved.
In some embodiments, the replacement route includes a removal route for removing the short-of-battery pack 100, and an installation route for installing a spare battery pack for replacing the short-of-battery pack 100.
In some embodiments, the process of replacing the low-powered battery pack 100 includes the steps of removing the low-powered battery pack 100 from the vehicle in the replacement area 600 and installing a backup battery pack on the vehicle. Therefore, after the control device 300 determines the replacement position of the short-of-battery pack 100 in the replacement area 600, the control device 300 further determines the replacement route, along which the replacement device 400 needs to replace the short-of-battery pack 100, based on the replacement position. The replacement route includes at least a removal route for removing the short-of-battery pack 100 and an installation route for installing the spare battery pack.
In some embodiments, the step of replacing the power-shortage battery pack 100 by the power replacement device 400 according to the replacement route includes:
in step S601, the battery replacement device 400 takes the power-shortage battery pack 100 from the replacement area 600 according to the detachment route.
In some embodiments, the battery replacing device 400 may be a mechanical arm, which removes the power-deficient battery pack 100 from the vehicle by grabbing the top of the power-deficient battery pack 100, and places the removed power-deficient battery pack 100 in a storage section for storing the battery pack, and the storage section may also store a spare battery pack for replacing the power-deficient battery pack 100.
In step S602, the battery swapping device 400 transfers the backup battery pack to the replacement area 600 according to the installation route. In some embodiments, the battery replacing device 400 places the detached power-lack battery pack 100 behind the storage portion, then picks up the spare battery pack in the storage portion, and installs the spare battery pack on the position of the original power-lack battery pack 100 on the automobile according to the installation route.
Referring to fig. 5, in some embodiments, the line laser sensor 200 emits line laser light having a radiation angle γ in a range including 10 ° -30 °. The wavelength of the line laser light emitted from the line laser sensor 200 is in a range of 400nm to 700 nm. Specifically, the wavelength of the line laser emitted by the line laser sensor 200 is within the wavelength range of visible light, and the line laser sensor 200 only receives the reflected light formed by the line laser emitted by itself, so that interference of other external light on the positioning process of the power-shortage battery pack 100 can be avoided, and the practicability of the replacement method is improved.
Example two
Referring to fig. 6 and 7, another aspect of the embodiments of the present application provides a replacement system for a battery pack, for replacing a power-deficient battery pack 100 located in a replacement area 600, the replacement system including a line laser sensor 200, a control device 300, and a power replacement device 400. The line laser sensor 200 is used for acquiring outline information of the power-shortage battery pack 100 and determining a first relative position of the power-shortage battery pack 100 relative to the line laser sensor 200 according to the outline information. The control device 300 is in signal connection with the line laser sensor 200 and the battery replacement device 400 respectively, and the control device 300 is used for determining the replacement position of the power-lack battery pack 100 in the replacement area 600 according to the first relative position and the second relative position of the line laser sensor 200 relative to the replacement area 600; and determining a replacement route for replacing the power-shortage battery pack 100 according to the replacement position, and controlling the power replacement device 400 to replace the power-shortage battery pack 100 according to the replacement route.
In some embodiments, the line laser sensor 200 may be a line laser gauge, a laser displacement meter using a triangular reflectometry method, and in particular, may be a 2-dimensional or 3-dimensional line laser gauge. By irradiating a band-shaped laser beam onto the surface of a target and receiving the change of the reflected light by using a CMOS, the profile such as height, height difference, width, etc. can be measured in a non-contact manner. The 3D shape of the target object is obtained by processing the continuously acquired contour data, and high-precision measurement and detection are realized.
In some embodiments, the control device 300 is capable of processing the relative position and the replacement position, and a function of transmitting the replacement position information to the battery replacement device. For example, the control device 300 may be a PLC (Programmable Logic Controller). The data information of the area position is preset in the control device 300, and after the control device 300 receives the data information of the relative position, the control device 300 performs fitting processing on the data information of the area position and the relative position, calculates the replacement position of the power-shortage battery pack 100 relative to the area position after fitting, and finally transmits the data information of the replacement position to the power replacement device 400. By data processing of the region position and the relative position.
In other embodiments, the battery pack replacement system may further include a rail 500 for transporting the power-deficient battery pack 100 into the replacement area 600, and the rail 500 may extend outside the replacement area 600. When not specifically realized, the vehicle carrying the short-of-battery pack 100 is driven onto the rail 500 outside the replacement area 600, and then the rail 500 conveys the vehicle into the replacement area 600, and the short-of-battery pack 100 on the vehicle is replaced.
Referring to fig. 6 and 7, in a specific implementation, the battery replacement device 400 may be located above the replacement area 600, and may be removed from the vehicle and removed from the replacement area 600 by grasping the top of the short-of-battery pack 100.
With continued reference to fig. 6 and 7, in some embodiments, the line laser sensor 200 is disposed diagonally above the power-deficient battery pack 100 such that the line laser emitted by the line laser sensor 200 impinges on the first side edge 110 of the power-deficient battery pack 100 and on the first and second side surfaces 120, 130 adjacent to the first side edge 110.
In some embodiments, the line laser sensor 200 is fixed to the upper side of the power-deficient battery pack 100, and in particular, the line laser sensor 200 can emit line laser to the first side edge 110 of the rectangular parallelepiped-shaped power-deficient battery pack 100, perpendicular to the first side edge 110, and can emit line laser toward the first side surface 120 and the second side surface 130 adjacent to the first side edge 110.
Compared with the power exchange station which adopts a visual camera to position the positioning part 140 on the power-shortage battery pack 100 in the prior art so as to replace the power-shortage battery pack 100, the power exchange station which adopts the embodiment of the application directly acquires the outline information of the power-shortage battery pack 100 and acquires the position information of the power-shortage battery pack 100 through the outline information omits the process of installing the identification frame 141 and the identification hole 142 on the top of the power-shortage battery pack 100 and reduces the production cost of the battery pack; the defect that the power-lack battery pack 100 cannot be positioned due to the fact that the positioning part 140 is shielded is eliminated, and the positioning success rate of the power-lack battery pack 100 is improved; the information of the positioning part 140 is not required to be acquired, so that the step of checking and cleaning the shielding object on the positioning part 140 is omitted, and the battery replacement efficiency of the power-shortage battery pack 100 is improved.
The embodiments or implementation modes in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other.
It should be noted that references in the specification to "one embodiment," "an example embodiment," "some embodiments," etc., indicate that the embodiment described may include a particular feature, structure, or characteristic, but every embodiment may not necessarily include the particular feature, structure, or characteristic. Moreover, such phrases are not necessarily referring to the same embodiment. Further, when a particular feature, structure, or characteristic is described in connection with an embodiment, it is within the knowledge of one skilled in the art to effect such feature, structure, or characteristic in connection with other embodiments whether or not explicitly described.
In general, terms should be understood at least in part by their use in context. For example, the term "one or more" as used herein may be used to describe any feature, structure, or characteristic in the singular or may be used to describe a combination of features, structures, or characteristics in the plural, depending, at least in part, on the context. Similarly, terms such as "a" or "the" may also be understood to convey a singular use or to convey a plural use, depending at least in part on the context.
Furthermore, spatially relative terms, such as "below," "lower," "above," "upper," and the like, may be used herein for ease of description to describe one element or feature's illustrated relationship to another element or feature. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. The device may have other orientations (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly as well.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (10)
1. The system for replacing the battery pack is characterized by being used for replacing the battery pack in the short of electricity in a replacement area, and comprising a line laser sensor, a control device and a battery replacement device;
the line laser sensor is used for acquiring outline information of the power-shortage battery pack and determining a first relative position of the power-shortage battery pack relative to the line laser sensor according to the outline information;
the control device is in signal connection with the line laser sensor and the battery replacement device respectively, and the control device is used for determining the replacement position of the power-lack battery pack in the replacement area according to the first relative position and the second relative position of the line laser sensor relative to the replacement area; and determining a replacement route for replacing the power-shortage battery pack according to the replacement position, and controlling the power replacement device to replace the power-shortage battery pack according to the replacement route.
2. The replacement system according to claim 1, wherein the line laser sensor is disposed obliquely above the short-circuit battery pack so that the line laser emitted from the line laser sensor is irradiated on the first side edge of the short-circuit battery pack and on the first side surface and the second side surface adjacent to the first side edge.
3. A method of replacing a battery pack, the method comprising:
when detecting that a power-lack battery pack exists in a replacement area, a line laser sensor acquires outline information of the power-lack battery pack;
the line laser sensor determines a first relative position of the power-lack battery pack relative to a sensor position of the line laser sensor according to the profile information;
the control device determines a replacement position of the power-lack battery pack in the replacement area according to the first relative position and a second relative position of the line laser sensor relative to the replacement area, determines a replacement route for replacing the power-lack battery pack according to the replacement position, and sends the replacement route to a power-changing device;
and the battery replacing device replaces the power-lack battery pack according to the replacing route.
4. The replacement method according to claim 3, wherein the step of the line laser sensor acquiring the profile information of the short-circuit battery pack includes:
the line laser sensor emits line laser to a first side edge, a first side surface and a second side surface of the power-shortage battery pack so as to form a first contour line on the first side surface and a second contour line on the second side surface, the first contour line and the second contour line are intersected on the first side edge, and the first side edge is formed in the intersection area of the first side surface and the second side surface;
the line laser sensor acquires a plurality of first coordinates of a plurality of points on the first contour line relative to the line laser sensor, and acquires a plurality of second coordinates of a plurality of points on the second contour line relative to the line laser sensor;
and the line laser sensor acquires the outline information of the power-shortage battery pack according to the first coordinates and the second coordinates.
5. The replacing method according to claim 4, wherein the step of obtaining the profile information of the short battery pack by the line laser sensor based on the plurality of first coordinates and the plurality of second coordinates comprises:
the line laser sensor judges whether the power-lack battery pack has position deviation relative to the position of the sensor according to the first coordinates and the second coordinates, if not, the line laser sensor acquires the contour information according to the first coordinates and the second coordinates, and if so, the following steps are executed;
adjusting the position of the power-lack battery pack in the replacement area according to the position deviation;
the line laser sensor acquires the first coordinates and the second coordinates again, and re-judges whether the position deviation exists according to the acquired first coordinates and second coordinates.
6. The replacement method according to claim 5, wherein the step of determining whether the short battery pack has a positional deviation from the sensor position based on the plurality of first coordinates and the plurality of second coordinates by the line laser sensor comprises:
the line laser sensor determines a deviation value for judging the position deviation according to a plurality of first coordinates, a plurality of second coordinates and a deviation formula; the deviation formula is:
θ＝tan -1 (α，β)
the line laser sensor judges whether the position deviation exists in the power-lack battery pack or not according to the deviation value, if the deviation value is zero, the position deviation does not exist in the power-lack battery pack, and if the deviation value is not zero, the position deviation exists in the power-lack battery pack;
where θ is a deviation value, β is an absolute value of a difference between ordinate of the two first coordinates on the first contour line when α is an absolute value of a difference between abscissa of the two first coordinates on the first contour line, and β is an absolute value of a difference between abscissa of the two second coordinates on the second contour line when α is an absolute value of a difference between ordinate of the two second coordinates on the second contour line.
7. The replacement method according to claim 6, wherein the replacement route includes a removal route for removing the short-of-battery pack, and an installation route for installing a spare battery pack for replacing the short-of-battery pack.
8. The replacement method according to claim 7, wherein the step of replacing the short-of-battery pack by the battery replacement device according to the replacement route comprises:
the battery replacing device takes the power-lack battery pack from the replacing area according to the disassembling route;
and the battery replacement device transfers the standby battery pack to the replacement area according to the installation route.
9. The changing method according to any one of claims 3 to 8, wherein the irradiation angle of the line laser light emitted by the line laser sensor is in the range of 10 ° -30 °.
10. The replacement method according to any one of claims 3 to 8, wherein the wavelength of the line laser light emitted by the line laser sensor is in a range of 400nm to 700 nm.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115248069A (en) * | 2022-09-22 | 2022-10-28 | 江苏智慧优视电子科技有限公司 | Heavy truck battery replacement vehicle positioning method and system based on image measurement technology |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115248069A (en) * | 2022-09-22 | 2022-10-28 | 江苏智慧优视电子科技有限公司 | Heavy truck battery replacement vehicle positioning method and system based on image measurement technology |
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