CN114851906A - New energy commercial vehicle hoisting and battery replacement vision auxiliary positioning method and device - Google Patents
New energy commercial vehicle hoisting and battery replacement vision auxiliary positioning method and device Download PDFInfo
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- CN114851906A CN114851906A CN202210637860.0A CN202210637860A CN114851906A CN 114851906 A CN114851906 A CN 114851906A CN 202210637860 A CN202210637860 A CN 202210637860A CN 114851906 A CN114851906 A CN 114851906A
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000005611 electricity Effects 0.000 claims abstract description 7
- 238000003860 storage Methods 0.000 claims description 8
- 238000005299 abrasion Methods 0.000 claims description 7
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 230000003014 reinforcing effect Effects 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 abstract description 9
- 238000010586 diagram Methods 0.000 description 4
- 238000009826 distribution Methods 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000004806 packaging method and process Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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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- 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
- B60L53/60—Monitoring or controlling charging stations
- B60L53/65—Monitoring or controlling charging stations involving identification of vehicles or their battery types
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
Abstract
The invention provides a new energy commercial vehicle hoisting and electricity exchanging visual auxiliary positioning method and device, which comprises the following steps that an X-axis moving assembly on a vehicle hoisting and electricity exchanging station drives a vehicle position acquisition camera to move, when the vehicle position acquisition camera moves to the midpoint position of the vehicle hoisting and electricity exchanging station, the position of a new energy vehicle is photographed through the vehicle position acquisition camera, a first image of the vehicle is acquired and recorded into a terminal system, and meanwhile the first image of the vehicle is compared with a vehicle model recorded in advance in the terminal system to determine the first pose of the vehicle and calculate the error of the parking pose of the vehicle. The invention realizes the accurate positioning of the moving position and the parking position of the vehicle, acquires the first pose and the second pose, is convenient for accurately disassembling and assembling the battery pack of the new energy automobile, and improves the success rate and the positioning accuracy of the visual positioning.
Description
Technical Field
The invention relates to the technical field of visual positioning, in particular to a new-energy commercial vehicle hoisting and battery replacement visual auxiliary positioning method and device.
Background
When the battery is replaced by the existing new energy automobile, the battery is replaced manually by a person, so that the workload of the person is large, the battery pack is large in size and weight, the difficulty of the person in replacing the battery pack is large, the battery pack is disassembled from top to bottom, the danger of the person in the disassembling process is high, and the disassembling efficiency is low.
Disclosure of Invention
The invention aims to provide a new energy commercial vehicle hoisting and electricity exchanging visual auxiliary positioning method and device, which overcome the problems or at least partially solve the problems.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
the invention provides a vision-aided positioning method for hoisting and replacing a new energy commercial vehicle, which comprises the following steps of:
step one, a new energy automobile drives into a gate channel, is intercepted by a gate on the front side, collects and inputs license plate information of the new energy automobile through a camera on the gate, and transmits the license plate information to a terminal system;
step two, a voice broadcasting system on the gate broadcasts voice, and inquires whether a vehicle owner replaces a battery pack, if the battery pack is not replaced, the gate does not respond, if the battery pack is not replaced, the gate responds and is started, and then the new energy automobile drives to a vehicle hoisting and replacing station;
thirdly, a vehicle information acquisition camera on the vehicle hoisting battery replacement station takes a picture of the new energy vehicle, the new energy vehicle is recorded into a terminal system, the appearance and the model of the vehicle are compared with the original license plate information in the terminal system, if the new energy vehicle does not correspond to the original license plate information, the new energy vehicle is informed to drive away, the vehicle information is stored, and if the new energy vehicle does not correspond to the original license plate information, the battery replacement operation is carried out;
driving a vehicle position acquisition camera to move through an X-axis moving assembly on the vehicle hoisting and replacing station, photographing the position of the new energy automobile through the vehicle position acquisition camera when the vehicle position acquisition camera moves to the midpoint position of the vehicle hoisting and replacing station, acquiring a first image of the vehicle, recording the first image into a terminal system, and comparing the first image of the vehicle with a vehicle model recorded in advance in the terminal system to determine a first pose of the vehicle and calculate the error of the parking pose of the vehicle;
driving a vehicle supporting plate to move upwards through a Z-axis lifting assembly on the vehicle hoisting battery replacing station, further driving a new energy automobile to move upwards, measuring the moving-up height of the vehicle through a laser calibration unit on the right side of the vehicle hoisting battery replacing station, and determining the height required by replacing battery packs of vehicles of different types through a terminal system;
step six, photographing positions of a bottom battery pack and a bottom cover of the new energy automobile through a vehicle battery pack position acquisition camera on the left side of the vehicle hoisting battery replacement station, acquiring first images of the battery pack and the bottom cover, inputting a terminal system, and comparing the first images of the battery pack and the bottom cover with a vehicle battery pack and bottom cover model which are input in advance in the terminal system to determine position errors of the battery pack and the bottom cover and abrasion conditions of the bottom cover;
controlling a Y-axis moving assembly on the vehicle hoisting and replacing station to drive the gantry support to move through a terminal system, and synchronously moving the vehicle supporting plate and the new energy automobile to move so as to reduce the error of the vehicle;
and step eight, adjusting the positions of the battery pack assembling frame and the battery pack disassembling frame on the left side and the right side of the vehicle hoisting and replacing station respectively through the terminal system so as to meet the requirement that the battery pack assembling frame and the battery pack disassembling frame are aligned with the bottom cover of the new energy automobile.
Further comprising the steps of: the battery pack disassembling frame on the right side of the vehicle hoisting and replacing station is controlled to move to the lower side of the new energy automobile along the guide rail through the terminal system, the bottom cover and the battery pack of the new energy automobile are sequentially disassembled through the disassembling frame, and the battery pack disassembling frame moves to the battery pack disassembling bin on the right side of the vehicle hoisting and replacing station;
controlling a robot in a battery pack distribution bin on the left side of a vehicle hoisting and replacing station to place a corresponding battery pack on a battery pack distribution frame through a terminal system, moving the battery pack distribution frame along a guide rail, moving the battery pack to the lower part of a new energy automobile, and packaging the new battery pack into the new energy automobile through the battery pack distribution frame;
the new energy automobile bottom cover is installed into the new energy automobile through the battery pack disassembling frame on the right side;
and finally, the new energy automobile drives away from the vehicle hoisting and replacing station.
The auxiliary positioning device comprises a vehicle hoisting and battery replacing visual positioning device, wherein the vehicle hoisting and battery replacing visual positioning device comprises a vehicle hoisting and battery replacing station, the vehicle hoisting and battery replacing station comprises a gantry support, a guide groove and a vehicle supporting plate, the gantry support is positioned on the upper side of the guide groove and is in sliding connection with the guide groove through a Y axial moving assembly, the vehicle supporting plate is arranged at the bottom in the gantry support and is in sliding connection with the gantry support through a Z axial lifting assembly, a vehicle information acquisition camera and a vehicle position acquisition camera are connected onto the gantry support, the vehicle information acquisition camera and the vehicle position acquisition camera are both in sliding connection with the gantry support through an X axial moving assembly, and a laser calibration unit and a vehicle battery pack position acquisition camera are respectively arranged on the vehicle supporting plate;
the vehicle information acquisition camera is used for photographing the new energy automobile and comparing the photographed new energy automobile with the pre-input license plate information;
the vehicle battery pack position acquisition camera is used for acquiring position information of a battery pack and a bottom cover in the new energy automobile and evaluating the abrasion condition of the bottom cover;
the laser calibration unit is used for measuring the upward moving height of the new energy automobile and meeting the replacement requirements of different models of automobiles on the battery pack through different upward moving heights;
the vehicle position acquisition camera is used for acquiring a first image of the new energy automobile and determining a first pose and pose errors of the new energy automobile.
As a further scheme of the invention, a storage cavity for placing the vehicle battery pack position acquisition camera and the laser calibration unit is formed in the vehicle supporting plate, a telescopic plate is placed on the storage cavity, the vehicle battery pack position acquisition camera and the laser calibration unit are respectively fixed on the telescopic plate, a pushing unit for pushing the telescopic plate is fixedly embedded on the outer side surface of the vehicle supporting plate, the telescopic plate is driven to move along the storage cavity by the operation of the telescopic unit, the vehicle battery pack position acquisition camera and the laser calibration unit are further driven, the vehicle battery pack position acquisition camera and the laser calibration unit are convenient to adjust the position of the battery pack collecting bottom cover of the new energy automobile, and meanwhile, the vehicle battery pack position acquisition camera and the laser calibration unit are also convenient to be retracted and placed.
As a further scheme of the invention, the two car supporting plates are fixedly connected with each other through the reinforcing rods, so that the supporting strength of the car supporting plates is improved, and the car supporting plates are prevented from deforming.
As a further scheme of the invention, a guide rail convenient for a battery pack disassembling frame and a battery pack assembling frame is laid below the vehicle supporting plate, a battery pack disassembling bin for placing an old battery pack and a battery pack assembling bin for placing a new battery pack are respectively arranged at two sides of the guide rail, the battery pack disassembling frame is close to the battery pack disassembling bin, and the battery pack assembling frame is close to the battery pack assembling bin, so that the old battery pack of the new energy vehicle can be conveniently disassembled and the new battery pack can be conveniently assembled through the battery pack disassembling frame and the battery pack assembling frame.
As a further scheme of the invention, the gantry support comprises a gantry top frame used for connecting the vehicle information acquisition camera and the vehicle position acquisition camera and a gantry bottom frame for facilitating the battery pack disassembly frame and the battery pack assembly frame to pass through, and the gantry top frame is welded and fixed on the upper surface of the gantry bottom frame, so that the battery pack disassembly frame and the battery pack assembly frame can move to the lower part of the new energy automobile conveniently.
As a further scheme of the invention, the limiting plates are fixedly welded on the lower parts of the two side surfaces of the gantry underframe, the limiting plates are positioned on the outer sides of the guide grooves, and the upper parts of the limiting plates cover the outer parts of the Y-axis moving assemblies, so that the gantry underframe can be conveniently guided and limited in movement, and the Y-axis moving assemblies can be conveniently protected by the limiting plates.
As a further scheme of the invention, a gate is arranged on the front side of the guide groove, a camera and a voice broadcasting system are respectively connected to the gate, and a display screen for displaying license plates is connected to the gate, so that license plate information can be conveniently displayed.
As a further scheme of the invention, the vehicle information acquisition camera, the voice broadcasting system, the vehicle battery pack position acquisition camera, the laser calibration unit, the pushing unit, the vehicle position acquisition camera, the X axial movement assembly, the Y axial movement assembly and the Z axial lifting assembly are all in communication connection with the terminal system.
The invention provides a vision-assisted positioning method and a vision-assisted positioning device for hoisting and replacing a new energy commercial vehicle, which have the beneficial effects that: through carrying out primary and secondary data acquisition to the vehicle of coming and going, both guaranteed the accuracy and the efficiency that the car traded the electricity, avoided the production of useless work, also be convenient for simultaneously gather and contrast the information of car and license plate, avoided the emergence of fake plate condition, the security has been improved, and through vehicle information acquisition camera, vehicle battery package position acquisition camera and laser calibration unit realized carrying out accurate location to the mobile position and the berth position of vehicle, and gather first position appearance and second position appearance, conveniently carry out accurate dismantlement and assembly to the battery package of new energy automobile, the success rate and the positioning accuracy of visual location have been improved, also improved and trade electric efficiency and security, excellent in use effect.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
Fig. 1 is a block diagram of the working principle of the present invention.
Fig. 2 is a schematic structural diagram of the present invention.
FIG. 3 is a schematic view of the gate of the present invention.
Fig. 4 is a schematic structural diagram of a laser calibration unit according to the present invention.
Fig. 5 is a schematic structural diagram of a vehicle battery pack position acquisition camera according to the present invention.
Fig. 6 is a schematic view of a connection structure of the vehicle information collecting camera and the vehicle position collecting camera according to the present invention.
Fig. 7 is a schematic view of the structure of the guide groove of the present invention.
Fig. 8 is a schematic structural view of a disassembly frame of the battery pack of the invention.
Fig. 9 is a schematic structural view of a battery pack assembling frame in the invention.
In the figure: 1. a gantry support; 2. a vehicle information acquisition camera; 3. a battery pack disassembling bin; 4. a guide rail; 5. A guide groove; 6. a vehicle supporting plate; 7. a gate machine; 8. battery packaging and warehousing; 9. a camera; 10. a voice broadcast system; 11. a vehicle battery pack position acquisition camera; 12. a laser calibration unit; 13. a retractable plate; 14. a pushing unit; 15. a vehicle position acquisition camera; 16. disassembling the frame of the battery pack; 17. the battery pack is assembled on the frame; 18. A limiting plate; 21. an X-axis moving assembly; 51. a Y-axis moving assembly; 61. a Z-axis lifting assembly; 62. A storage chamber.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Referring to fig. 1 and 2, the auxiliary positioning method for the hoisting and battery replacement of the new energy commercial vehicle provided by the embodiment of the invention comprises the following steps:
step one, a new energy automobile drives into a gateway 7 channel, is intercepted by the gateway 7 on the front side, and acquires and inputs license plate information of the new energy automobile through a camera 9 on the gateway 7 and transmits the license plate information to a terminal system;
step two, the voice broadcasting system 10 on the gate 7 broadcasts voice and inquires whether a vehicle owner replaces a battery pack, if the battery pack is not replaced, the gate 7 does not respond, if the battery pack is not replaced, the gate 7 responds and is started, and then the new energy vehicle drives to a vehicle hoisting and replacing station;
thirdly, a vehicle information acquisition camera 2 on the vehicle hoisting battery replacement station takes a picture of the new energy vehicle, the new energy vehicle is input into a terminal system, the appearance and the model of the vehicle are compared with the original license plate information in the terminal system, if the new energy vehicle does not correspond to the original license plate information, the new energy vehicle is informed to drive away, the vehicle information is stored, and if the new energy vehicle does not correspond to the original license plate information, the battery replacement operation is carried out;
driving the vehicle position acquisition camera 15 to move through an X-axis moving assembly 21 on the vehicle hoisting and replacing station, photographing the position of the new energy vehicle through the vehicle position acquisition camera 15 when the vehicle position acquisition camera 15 moves to the midpoint position of the vehicle hoisting and replacing station, acquiring a first image of the vehicle, recording the first image into a terminal system, and comparing the first image of the vehicle with a vehicle model recorded in advance in the terminal system to determine a first pose of the vehicle and calculate an error of a parking pose of the vehicle;
driving the vehicle supporting plate 6 to move upwards through a Z-axis lifting assembly 61 on the vehicle hoisting battery replacing station, further driving the new energy vehicle to move upwards, measuring the upwards moving height of the vehicle through a laser calibration unit 12 on the right side of the vehicle hoisting battery replacing station, and determining the height required by replacing battery packs of vehicles of different types through a terminal system;
step six, photographing positions of a bottom battery pack and a bottom cover of the new energy automobile through a vehicle battery pack position acquisition camera 11 on the left side of the vehicle hoisting battery replacement station, acquiring first images of the battery pack and the bottom cover, inputting the first images into a terminal system, and comparing the first images of the battery pack and the bottom cover with a vehicle battery pack and bottom cover model which are input in advance in the terminal system to determine position errors of the battery pack and the bottom cover and abrasion conditions of the bottom cover;
controlling a Y-axis moving component 51 on the vehicle hoisting and replacing station to drive the gantry support 1 to move through a terminal system, and synchronously driving the vehicle supporting plate 6 and the new energy automobile to move so as to reduce the error of the new energy automobile;
and step eight, respectively adjusting the positions of the battery pack assembling frame 17 and the battery pack disassembling frame 16 on the left side and the right side of the vehicle hoisting and replacing station through the terminal system so as to meet the requirement that the battery pack assembling frame 17 and the battery pack disassembling frame 16 are aligned with the bottom cover of the new energy automobile.
Further comprising the steps of: the battery pack disassembling frame 16 on the right side of the vehicle hoisting battery replacing station is controlled to move to the lower side of the new energy automobile along the guide rail 4 through the terminal system, the bottom cover and the battery pack of the new energy automobile are sequentially disassembled through the disassembling frame, and the battery pack disassembling frame moves into the battery pack disassembling bin 3 on the right side of the vehicle hoisting battery replacing station;
a robot in a battery pack matching bin 8 on the left side of a vehicle hoisting and replacing station is controlled by a terminal system to place a corresponding battery pack on a battery pack matching frame 17, the battery pack matching frame moves along a guide rail 4, the battery pack moves to the lower part of a new energy automobile, and the new battery pack is loaded into the new energy automobile through the battery pack matching frame 17;
the bottom cover of the new energy automobile is installed into the new energy automobile through the battery pack disassembling frame 16 on the right side again;
and finally, the new energy automobile drives away from the vehicle hoisting and replacing station.
As shown in fig. 2-9, the new energy commercial vehicle hoisting and battery replacing visual auxiliary positioning device comprises a vehicle hoisting and battery replacing station, wherein the vehicle hoisting and battery replacing station comprises a gantry support 1, a guide groove 5 and a vehicle supporting plate 6, the gantry support is positioned on the upper side of the guide groove 5 and is in sliding connection with the guide groove 5 through a Y-axis moving assembly 51, the vehicle supporting plate 6 is arranged at the bottom in the gantry support 1 and is in sliding connection with the gantry support 1 through a Z-axis lifting assembly 61, the gantry support 1 is connected with a vehicle information collecting camera 2 and a vehicle position collecting camera 15, the vehicle information collecting camera 2 and the vehicle position collecting camera 15 are both in sliding connection with the gantry support 1 through an X-axis moving assembly 21, and the vehicle supporting plate 6 is respectively provided with a laser calibration unit 12 and a vehicle battery pack position collecting camera 11;
the vehicle information acquisition camera 2 is used for photographing the new energy automobile and comparing the photographed new energy automobile with the license plate information which is input in advance;
the vehicle battery pack position acquisition camera 11 is used for acquiring position information of a battery pack and a bottom cover in the new energy automobile and evaluating the abrasion condition of the bottom cover;
the laser calibration unit 12 is used for measuring the upward moving height of the new energy automobile and meeting the replacement requirements of different types of automobiles on the battery pack through different upward moving heights;
the vehicle position acquisition camera 15 is used for acquiring a first image of the new energy automobile and determining a first pose and pose errors of the new energy automobile.
Hold in the palm that sweep 6 is inside to be offered and to be used for carrying out the storage chamber 62 that places vehicle battery package position acquisition camera 11 and laser calibration unit 12, and placed expansion plate 13 on the storage chamber 62, be fixed with vehicle battery package position acquisition camera 11 and laser calibration unit 12 on the expansion plate 13 respectively, it inlays and is fixed with the promotion unit 14 that promotes to expansion plate 13 to hold in the palm 6 lateral surfaces of sweep.
The two car supporting plates 6 are arranged, and a reinforcing rod is fixedly connected between the two car supporting plates 6.
Hold in the palm the guide rail 4 that car board 6 below laid and make things convenient for battery package to dismantle frame 16 and battery package and join in marriage frame 17, and 4 both sides of guide rail are provided with respectively and dismantle storehouse 3 and join in marriage storehouse 8 to the battery package that new battery package was placed the battery package that old battery package was placed, the frame is dismantled near battery package and is dismantled storehouse 3 to the panel package, battery package joins in marriage frame 17 and is close to battery package and join in marriage storehouse 8.
The gantry support 1 comprises a gantry top frame used for connecting the vehicle information acquisition camera 2 and the vehicle position acquisition camera 15 and a gantry bottom frame through which the battery pack disassembly frame 16 and the battery pack assembly frame 17 can pass conveniently, and the gantry top frame is welded and fixed on the upper surface of the gantry bottom frame.
Limiting plates 18 are fixedly welded on the lower portions of two side faces of the gantry underframe, the limiting plates 18 are located on the outer sides of the guide grooves 5, and the upper portions of the limiting plates 18 cover the outer portions of the Y-axis moving assemblies 51.
5 front sides of guide slot are provided with floodgate machine 7, and are connected with camera 9 and voice broadcast system 10 on the floodgate machine 7 respectively, be connected with the display screen that is used for showing the license plate on the floodgate machine 7.
Vehicle information gathers camera 2, camera 9, voice broadcast system 10, vehicle battery package position and gathers camera 11, laser calibration unit 12, pushing unit 14, vehicle position and gathers camera 15, X axial displacement subassembly 21, Y axial displacement subassembly 51 and Z axial lift subassembly 61 and all with terminal system communication connection.
In the using process of the invention, a driving new energy automobile is intercepted through a gate 7, a license plate is recorded through a camera 9, a voice broadcasting system 10 reminds a vehicle owner and determines whether the battery is replaced, then a vehicle information acquisition camera 2 carries out secondary shooting on the new energy automobile driving into a vehicle hoisting and replacing station, the vehicle model and the license plate are compared to avoid the generation of fake plate conditions, then a vehicle position acquisition camera 15 is driven to acquire the position information of the vehicle through an X axial moving assembly 21 in sequence, comparison is carried out through a terminal system to determine errors, then a vehicle supporting plate 6 and the new energy automobile are driven to move upwards through a Z axial lifting assembly 61, the upward moving height of the new energy automobile is determined through a laser calibration unit 12 to meet the replacing requirements of battery packs of different models, the bottom cover abrasion condition and the battery pack position of the bottom of the new energy automobile are collected through a vehicle battery pack position collecting camera 11, then a Y-axis moving assembly 51 is controlled through a terminal system to drive a gantry bottom frame and the new energy automobile to move, so that the error is reduced preliminarily, then a battery pack disassembling frame 16 and a battery pack assembling frame 17 are controlled to steer, so that the battery pack disassembling frame 16 and the battery pack assembling frame 17 are aligned with the bottom cover of the new energy automobile and the position of the battery pack, and then the battery pack disassembling frame 16 and the battery pack assembling frame 17 are used for disassembling the bottom cover of the new energy automobile and an old battery pack and replacing a new battery pack.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. The auxiliary positioning method for hoisting and battery replacement of the new energy commercial vehicle is characterized by comprising the following steps of:
step one, a new energy automobile drives into a gateway (7) channel, is intercepted by the gateway (7) on the front side, collects and inputs license plate information of the new energy automobile through a camera (9) on the gateway (7), and transmits the license plate information into a terminal system;
step two, a voice broadcasting system (10) on the gate (7) broadcasts voice and inquires whether a vehicle owner replaces a battery pack, if the vehicle owner does not replace the battery pack, the gate (7) does not respond, if the vehicle owner replaces the battery pack, the gate (7) responds and is started, and then the new energy vehicle drives to a vehicle hoisting and replacing station;
thirdly, a vehicle information acquisition camera (2) on the vehicle hoisting battery replacement station takes a picture of the new energy automobile, the new energy automobile is input into a terminal system, the appearance and the model of the vehicle are compared with the original license plate information in the terminal system, if the new energy automobile does not correspond to the original license plate information, the new energy automobile is informed of driving away, the vehicle information is stored, and if the new energy automobile does not correspond to the original license plate information, the battery replacement operation is carried out;
driving a vehicle position acquisition camera (15) to move through an X-axis moving assembly (21) on the vehicle hoisting power exchanging station, photographing the position of the new energy automobile through the vehicle position acquisition camera (15) when the vehicle position acquisition camera (15) moves to the midpoint position of the vehicle hoisting power exchanging station, acquiring a first image of the vehicle, recording the first image into a terminal system, and comparing the first image of the vehicle with a vehicle model recorded in advance in the terminal system to determine the first pose of the vehicle and calculate the error of the parking pose of the vehicle;
driving a vehicle supporting plate (6) to move upwards through a Z-axis lifting assembly (61) on the vehicle hoisting battery replacing station, further driving the new energy automobile to move upwards, measuring the moving-up height of the vehicle through a laser calibration unit (12) on the right side of the vehicle hoisting battery replacing station, and determining the height required by replacing battery packs of vehicles of different models through a terminal system;
step six, photographing positions of a battery pack at the bottom of the new energy automobile and a bottom cover through a vehicle battery pack position acquisition camera (11) on the left side of the vehicle hoisting battery replacement station, acquiring first images of the battery pack and the bottom cover, inputting a terminal system, and comparing the first images of the battery pack and the bottom cover with a vehicle battery pack and bottom cover model which is input in advance in the terminal system to determine position errors of the battery pack and the bottom cover and abrasion conditions of the bottom cover;
controlling a Y-axis moving assembly (51) on a vehicle hoisting and replacing station through a terminal system to drive a gantry support (1) to move, and synchronously moving a vehicle supporting plate (6) and the new energy vehicle to move so as to reduce the error of the new energy vehicle;
and step eight, the positions of the battery pack assembling frame (17) on the left side and the right side of the vehicle hoisting and replacing station and the positions of the battery pack disassembling frame (16) are respectively adjusted through the terminal system, so that the battery pack assembling frame (17) and the battery pack disassembling frame (16) are aligned to a battery pack and a bottom cover at the bottom of the new energy automobile.
2. The vision-assisted positioning method for hoisting and replacing the new-energy commercial vehicle as claimed in claim 1, further comprising the steps of:
the battery pack disassembling frame (16) on the right side of the vehicle hoisting and replacing station is controlled to move to the lower side of the new energy automobile along the guide rail (4) through the terminal system, the bottom cover and the battery pack of the new energy automobile are sequentially disassembled through the disassembling frame, and the battery pack disassembling frame moves into the battery pack disassembling bin (3) on the right side of the vehicle hoisting and replacing station;
a robot in a battery package matching bin (8) on the left side of a vehicle hoisting and replacing station is controlled by a terminal system to place a corresponding battery package on a battery package matching frame (17), the battery package matching frame moves along a guide rail (4), the battery package is moved to the position below a new energy automobile, and the new battery package is packaged into the new energy automobile through the battery package matching frame (17);
the bottom cover of the new energy automobile is installed into the new energy automobile through the battery pack disassembling frame (16) on the right side;
and finally, the new energy automobile drives away from the vehicle hoisting and replacing station.
3. The auxiliary positioning device for hoisting and replacing the battery vision of the new-energy commercial vehicle according to any one of claims 1 or 2, which comprises a vehicle hoisting and replacing station, wherein the vehicle hoisting and replacing station comprises a gantry support (1), a guide groove (5) and a vehicle supporting plate (6), the gantry support is positioned on the upper side of the guide groove (5) and is in sliding connection with the guide groove (5) through a Y-axis moving assembly (51), the vehicle supporting plate (6) is arranged at the bottom in the gantry support (1) and is in sliding connection with the gantry support (1) through a Z-axis lifting assembly (61), the gantry support (1) is connected with a vehicle information acquisition camera (2) and a vehicle position acquisition camera (15), and the vehicle information acquisition camera (2) and the vehicle position acquisition camera (15) are both in sliding connection with the gantry support (1) through an X-axis moving assembly (21), the vehicle supporting plate (6) is respectively provided with a laser calibration unit (12) and a vehicle battery pack position acquisition camera (11);
the vehicle information acquisition camera (2) is used for photographing the new energy automobile and comparing the photographed new energy automobile with the license plate information which is input in advance;
the vehicle battery pack position acquisition camera (11) is used for acquiring position information of a battery pack and a bottom cover in the new energy automobile and evaluating the abrasion condition of the bottom cover;
the laser calibration unit (12) is used for measuring the upward moving height of the new energy automobile and meeting the replacement requirements of different models of automobiles on the battery pack through different upward moving heights;
the vehicle position acquisition camera (15) is used for acquiring a first image of the new energy automobile and determining a first pose and pose errors of the new energy automobile.
4. The auxiliary positioning device for the hoisting and battery replacing vision of the new-energy commercial vehicle as claimed in claim 3, wherein a storage cavity (62) for placing a vehicle battery pack position acquisition camera (11) and a laser calibration unit (12) is formed in the vehicle supporting plate (6), a telescopic plate (13) is placed on the storage cavity (62), the vehicle battery pack position acquisition camera (11) and the laser calibration unit (12) are respectively fixed on the telescopic plate (13), and a pushing unit (14) for pushing the telescopic plate (13) is fixedly embedded on the outer side surface of the vehicle supporting plate (6).
5. The auxiliary positioning device for the hoisting and replacing of the new-energy commercial vehicle as claimed in claim 3, wherein two vehicle supporting plates (6) are provided, and a reinforcing rod is fixedly connected between the two vehicle supporting plates (6).
6. The auxiliary positioning device for the hoisting and electricity exchanging vision of the new-energy commercial vehicle as claimed in claim 3, wherein a guide rail (4) facilitating a battery pack disassembling frame (16) and a battery pack assembling frame (17) is laid below the vehicle supporting plate (6), a battery pack disassembling bin (3) for placing an old battery pack and a battery pack assembling bin (8) for placing a new battery pack are respectively arranged on two sides of the guide rail (4), the battery pack disassembling frame is close to the battery pack disassembling bin (3), and the battery pack assembling frame (17) is close to the battery pack assembling bin (8).
7. The auxiliary positioning device for the hoisting and electricity replacing vision of the new energy commercial vehicle as claimed in claim 3, wherein the gantry support (1) comprises a gantry top frame for connecting the vehicle information acquisition camera (2) and the vehicle position acquisition camera (15) and a gantry bottom frame for facilitating the battery pack disassembly frame (16) and the battery pack assembly frame (17) to pass through, and the gantry top frame is welded and fixed on the upper surface of the gantry bottom frame.
8. The auxiliary positioning device for hoisting and replacing the electric power of the new energy commercial vehicle as claimed in claim 7, wherein the limiting plates (18) are welded and fixed to the lower portions of the two side surfaces of the gantry underframe, the limiting plates (18) are located on the outer sides of the guide grooves (5), and the upper portions of the limiting plates (18) cover the outer portions of the Y-axis moving assemblies (51).
9. The auxiliary positioning device for the hoisting and replacing of the new energy commercial vehicle according to claim 3, characterized in that a gate (7) is arranged on the front side of the guide groove (5), a camera (9) and a voice broadcasting system (10) are respectively connected to the gate (7), and a display screen for displaying a license plate is connected to the gate (7).
10. The auxiliary positioning device for the hoisting and battery replacing vision of the new-energy commercial vehicle as claimed in claim 3, wherein the vehicle information acquisition camera (2), the camera (9), the voice broadcasting system (10), the vehicle battery pack position acquisition camera (11), the laser calibration unit (12), the pushing unit (14), the vehicle position acquisition camera (15), the X-axis movement assembly (21), the Y-axis movement assembly (51) and the Z-axis lifting assembly (61) are all in communication connection with a terminal system.
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| CN202210637860.0A CN114851906A (en) | 2022-06-07 | 2022-06-07 | New energy commercial vehicle hoisting and battery replacement vision auxiliary positioning method and device |
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| CN202210637860.0A CN114851906A (en) | 2022-06-07 | 2022-06-07 | New energy commercial vehicle hoisting and battery replacement vision auxiliary positioning method and device |
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