WO2020052567A1

WO2020052567A1 - Positioning method and system for battery compartment

Info

Publication number: WO2020052567A1
Application number: PCT/CN2019/105195
Authority: WO
Inventors: 张建平; 陈志浩; 陆文成
Original assignee: 奥动新能源汽车科技有限公司
Priority date: 2018-09-10
Filing date: 2019-09-10
Publication date: 2020-03-19
Also published as: CN113932714A; CN110887437A; CN113932713A; CN113932714B; CN110887437B

Abstract

A positioning method for a battery compartment, comprising: a battery transfer device (40) is provided thereon with a positioning element (20), and a battery compartment (30) is provided thereon with a reference object (10); the battery transfer device (40) moves toward the battery compartment (30) along the traveling direction of an electric vehicle at a first speed; the positioning element (20), when detecting the reference object (10), acquires first standard position data indicating the position of the reference object (10) relative to the positioning element (20) and sends a first signal to the battery transfer device (40); the battery transfer device (40) stops moving when receiving the first signal; the battery transfer device acquires first instantaneous position data representing the instantaneous position of the positioning element (20); and the battery transfer device (40) moves in the opposite direction according to the first standard position data and the first instantaneous position data so as to approach the battery compartment (30) until the distance along the traveling direction of the electric vehicle between the positioning element (20) and the reference object (10) is within a range for error allowance. The present positioning method may more reliably position the battery compartment (30), and is beneficial to improving the reliability of power exchange. Also provided is a positioning system for the battery compartment.

Description

Positioning method and positioning system of battery compartment

This application claims priority from Chinese patent application 2018110513524, filed on September 10, 2018. This application cites the full text of the aforementioned Chinese patent application.

Technical field

The invention relates to the field of electric vehicle electric replacement, and in particular to a positioning method and a positioning system for a battery compartment.

Background technique

Electric vehicles replace oil with electricity, which can achieve zero emissions and low noise, and is an important means to solve energy and environmental problems. With the shortage of petroleum resources and the development of battery technology, electric vehicles have approached or even surpassed traditional fuel vehicles in terms of performance and economics, and have begun to gradually promote their application worldwide. The new generation of energy-saving and environmentally-friendly vehicles represented by electric vehicles is an inevitable trend in the development of the automotive industry. As an important premise and basis for the large-scale promotion and application of electric vehicles, the development of electric vehicle charging and replacing technologies and the construction of electric vehicle charging and replacing facilities have attracted widespread attention from all sides.

For electric vehicles of the exchange type, the battery needs to be replaced periodically or irregularly. Generally speaking, the power exchange equipment is fixed at a specified position, and the electric vehicle is stopped near the power exchange equipment for battery replacement under control. The steps for battery replacement generally include the following process: the replacement device removes the old battery from the battery compartment of the electric car and places the old battery on the charging stand; the replacement device removes the new battery from the charging stand and installs the new battery Go to the battery compartment. In order to ensure the reliability of the power exchange, it is necessary to ensure the accurate positioning of the battery compartment.

However, in the prior art, when the electric vehicle is changed, it often occurs that the battery compartment cannot be accurately positioned, which affects the reliability of the change.

Summary of the Invention

The technical problem to be solved by the present invention is to overcome the defect that the battery compartment often cannot be reliably positioned in the prior art, and provides a battery compartment positioning method and a positioning system.

The present invention solves the above technical problems through the following technical solutions:

A positioning method of a battery compartment is used for positioning between a battery transfer device and a battery compartment, and is characterized in that a positioning element is provided on an end of the battery transfer device facing the battery compartment, and the battery compartment is facing toward A reference object is provided at one end of the battery transfer device;

The positioning method includes the following steps:

S1. The battery transfer device moves along the running direction of the electric vehicle toward the battery compartment at a first speed, and when the positioning element detects the reference object, acquiring and indicating a position of the reference object relative to the positioning element. Position data of the first standard, and send a first signal to the battery transfer device, and the battery transfer device stops moving when receiving the first signal;

S2. Acquire first instantaneous position data indicating the instantaneous position of the positioning element;

S3. The battery transfer device moves backwards according to the first standard position data and the first instantaneous position data to approach the battery compartment until the positioning element and the reference object move along the electric motor. The distance in the direction of travel of the car is within the tolerance range.

In this solution, when positioning, the positioning element on the battery transfer device and the reference object on the battery compartment are used to quickly drive through the battery transfer device so that the positioning element acts on the reference object to achieve rough positioning of the battery compartment. Then, the battery transfer device is moved backward to make the positioning element gradually approach the reference object until the distance between the positioning element and the reference object in the driving direction of the electric vehicle is within a tolerance range, and the battery compartment is precisely positioned. By the above method, the battery compartment can be positioned relatively reliably, which is beneficial to improving the reliability of power replacement.

Preferably, step S3 includes steps:

S31. The battery transfer device moves backward to approach the battery compartment according to the first standard position data and the first instantaneous position data, and acquires and indicates the reference when the positioning element detects the reference object. The second standard position data of the position of the object relative to the positioning element, and sends a second signal to the battery transfer device, and the battery transfer device stops moving when receiving the second signal;

S32. Acquire second instantaneous position data indicating the instantaneous position of the positioning element.

S33. According to the second standard position data and the second instantaneous position data, determine whether a distance between the positioning element and the reference object in a driving direction of the electric vehicle is within a range allowed by the error. If no, go to step S31.

In this solution, the battery compartment is precisely positioned by repeatedly acquiring and comparing the second standard position data and the second instantaneous position data, and the positioning reliability is high, which is beneficial to further improve the reliability of the battery compartment positioning.

Preferably, the positioning element is a locator, the reference object is a reflector, and the detection range of the locator is a circle or a rectangular area, and the diameter of the circle or the size of the long side of the rectangular area is Defined as a detection amplitude, the step S31 is: the battery transfer device moves backward at a second speed to approach the battery compartment according to the first standard position data and the first instantaneous position data, so When the locator detects the reflective plate, it obtains second standard position data indicating the position of the reflective plate relative to the locator, and sends the second signal to the battery transfer device. The battery transfer device Stop moving after receiving the second signal;

The step S32 is: acquiring second instantaneous position data indicating the instantaneous position of the locator;

Or the step S31 is: the battery transfer device reversely moves one of the detection amplitude values to approach the battery compartment at a second speed according to the first standard position data and the first instantaneous position data, and detects Whether the reflector falls within the detection range of the locator; if not, the battery transfer device moves one of the detection amplitudes in the reverse direction at the second speed; if so, the locator acquires and indicates that the The second standard position data of the position of the reflector with respect to the positioner, and sending the second signal to the battery transfer device, and the battery transfer device stops moving after receiving the second signal;

The first speed is greater than the second speed.

In this solution, a positioning device is used as the positioning element, and a reflective plate is used as the reference object, which is convenient for detection and has high detection reliability, which is beneficial to improving the positioning reliability of the battery compartment. In the process of reverse positioning of the battery transfer device to achieve precise positioning, the battery transfer device moves in two ways. One of them is that the battery transfer device moves with a fixed detection amplitude. If the reflector does not fall into the positioner at this time, Within the detection range, the battery transfer device moves the next detection amplitude until the reflector falls within the detection range of the locator; the other is that the battery transfer device approaches the battery compartment at a certain speed (second speed), and the battery transfers The reference standard when the device stops moving is that the reflector detects the reflector.

Preferably, the positioner is a laser generator, and the diameter of the circle ranges from 100 to 300 mm, or the rectangular area is a square, and the side length of the rectangular area ranges from 100 to 300 mm.

Preferably, the positioning element is a camera, and the step S31 is: the battery transfer device moves in a reverse direction to approach the second speed according to the first standard position data and the first instantaneous position data. A battery compartment, when the camera captures the reference object, obtains second standard position data indicating a position of the reference object relative to the camera, and sends the second signal to the battery transfer device, the battery The transfer device stops moving after receiving the second signal;

The step S32 is: acquiring second instantaneous position data indicating the instantaneous position of the reference object;

The first speed is greater than the second speed.

Preferably, before step S1, the positioning method further includes steps:

S0. Dock the electric vehicle to a power exchange area, and adjust the vertical distance of the battery transfer device relative to the ground according to the height of the battery compartment.

Preferably, the power exchange area is provided with: a positioning pile; a sensor, the sensor is electrically connected to the positioning pile; a controller, the controller is electrically connected to the sensor; wherein the electric vehicle runs to When the positioning pile is located, the sensor generates an in-position signal and sends the in-position signal to a controller; when the controller receives the in-position signal, the controller sends to the electric vehicle A stop signal, the electric vehicle stops traveling after receiving the stop signal.

In this solution, the setting of the above-mentioned power exchange area is conducive to improving the reliability of docking of the electric vehicle in the power exchange area, facilitating the positioning of the battery compartment, and further improving the positioning reliability of the battery compartment.

Preferably, the number of the positioning elements and the number of the reference objects are both;

The battery transfer device includes a battery tray and a battery tray base. The battery tray is mounted on the battery tray base. The battery tray base is provided with an outlet for the battery tray to extend, and the two positioning elements are opposite to each other. Fixed on both sides of the battery tray base;

The battery compartment is installed on the side of the electric vehicle. The side of the battery compartment is provided with a mounting opening for the battery box to enter and exit. The two reference objects are oppositely attached to the surface of the battery compartment with the mounting opening. on;

Wherein, the two positioning elements and the two reference objects are arranged one by one respectively;

The battery transfer device further includes a position adjustment mechanism installed below the battery tray base, and the position adjustment mechanism is used to drive the battery tray base to tilt so that the battery tray base and the battery tray base are inclined. The horizontal plane is at an angle and is used to drive the battery tray base to rotate to adjust the relative angle between the battery tray base and the battery compartment;

Wherein, after step S3, the positioning method further includes steps:

S4. Compare whether the difference between the two third standard position data indicating the position of the reference object with respect to the positioning elements corresponding to the two positioning elements exceeds a tolerance range, and if so, detect the The angle between the battery tray and the battery compartment and sends angle measurement data to the position adjustment mechanism, and the position adjustment mechanism adjusts the position of the battery tray according to the angle measurement data until the battery tray is directly opposite A mounting opening of the battery compartment.

In this solution, the number of positioning elements and reference objects are both two, which is convenient for improving the reliability of the position adjustment mechanism for adjusting the position of the battery tray, and it is beneficial to ensure that the battery tray is directly facing the installation opening of the battery compartment, thereby further improving the replacement. Electrical reliability and accuracy.

Preferably, in step S4, the allowable error between the distance between the positioning element and the reference object along the running direction of the electric vehicle is ± 2 mm.

The invention also provides a positioning system for a battery compartment, which is used for positioning between the battery transfer device and the battery compartment, and is characterized in that the positioning system includes:

A reference object, the reference object is provided on an end of the battery compartment facing the battery transfer device;

A positioning element disposed on an end of the battery transfer device facing the battery compartment, and the positioning element is configured to move the battery transfer device toward the battery compartment at a first speed along a driving direction of the electric vehicle Acquiring the first standard position data indicating the position of the reference object relative to the positioning element when the reference object is detected in the case of movement, and sending a first signal to the battery transfer device;

A first control module, configured to stop the battery transfer device from moving when the battery transfer device receives the first signal;

A data acquisition module, configured to acquire first instantaneous position data indicating the instantaneous position of the positioning element when the battery transfer device stops moving;

A second control module for controlling the battery transfer device to move backward to approach the battery compartment according to the first standard position data and the first instantaneous position data until the positioning element and the reference object The distance between them in the running direction of the electric vehicle is within a tolerance range.

Preferably, the positioning element is further configured to, when the battery transfer device moves backward to approach the battery compartment according to the first standard position data and the first instantaneous position data, when the battery transfer device is detected, Acquiring second standard position data indicating a position of the reference object relative to the positioning element when referring to the object, and sending a second signal to the battery transfer device;

The first control module is further configured to stop the battery transfer device from moving when the battery transfer device receives the second signal;

The data acquisition module is further configured to acquire second instantaneous position data indicating the instantaneous position of the positioning element when the battery transfer device stops moving;

The positioning system further includes a judging module, which is configured to judge between the positioning element and the reference object along the electric vehicle based on the second standard position data and the second instantaneous position data. Whether the distance in the driving direction is within the tolerance range.

Preferably, the positioning element is a locator, the reference object is a reflector, and the detection range of the locator is a circle or a rectangular area, and the diameter of the circle or the size of the long side of the rectangular area is Defined as a detection amplitude;

The locator is further configured to, when the battery transfer device moves backward at a second speed to approach the battery compartment according to the first standard position data and the first instantaneous position data, when the battery transfer device is detected, Acquiring the second standard position data indicating the position of the reflective plate relative to the locator when the reflective plate, and sending a second signal to the battery transfer device;

Or, the positioning system further includes a detection module, and the detection module is configured to reversely move one of the detections at a second speed according to the first standard position data and the first instantaneous position data in the battery transfer device. When the amplitude is close to the battery compartment, detecting whether the reflective plate falls within the detection range of the locator;

When the detection module detects that the reflecting plate does not fall within the detection range of the locator, the second control module is further configured to control the battery transfer device to move one of the batteries in reverse at the second speed. Detection amplitude

When the detection module detects that the reflecting plate falls into the detection range of the locator, the locator is further configured to obtain second standard position data indicating a position of the reflecting plate relative to the locator, And sending the second signal to the battery transfer device;

The first speed is greater than the second speed.

Preferably, the positioning element is a camera, and the camera is further configured to move the battery transfer device in a reverse direction at a second speed according to the first standard position data and the first instantaneous position data to approach the camera. When the battery compartment is captured, the second standard position data indicating the position of the reference object relative to the camera is acquired when the reference object is photographed, and the second signal is sent to the battery transfer device;

The first speed is greater than the second speed.

Preferably, the positioning system further includes an adjustment module for adjusting the battery transfer device relative to the ground according to the height of the battery compartment when the electric vehicle is parked in a power exchange area. vertical distance.

Preferably, the number of the positioning elements and the number of the reference objects are two. The battery transfer device includes a battery tray and a battery tray base, and the battery tray is mounted on the battery tray base. The battery tray base is provided with an outlet for the battery tray to protrude. The two positioning elements are relatively fixed on both sides of the battery tray base. The battery compartment is installed on the side of the electric vehicle. The side of the bin is provided with a mounting opening for the battery box to enter and exit. The two reference objects are oppositely mounted on the surface of the battery compartment with the mounting opening. The two positioning elements and the two reference objects are one by one. Corresponding setting

The battery transfer device further includes a position adjustment mechanism installed under the battery tray base, and the position adjustment mechanism is used to drive the battery tray base to tilt so that the battery tray base and the horizontal plane At an angle and used to drive the battery tray base to rotate to adjust the relative angle between the battery tray base and the battery compartment;

The positioning system further includes: a rotation detection module, which is provided on the battery transfer device, and the rotation detection module is used for comparing the reference object corresponding to the two positioning elements with respect to Whether a difference between two third standard position data of the position of the positioning element exceeds an allowable range of errors, and is used to detect the difference between the two third standard position data when the difference exceeds an allowable range of errors The angle between the battery tray and the battery compartment and sending angle measurement data to the position adjustment mechanism;

A third control module for controlling the position adjustment mechanism to adjust the position of the battery tray according to the angle measurement data until the battery tray faces the mounting opening of the battery compartment.

On the basis of conforming to common knowledge in the art, the above-mentioned preferred conditions can be arbitrarily combined to obtain each preferred embodiment of the present invention.

The positive progress effect of the present invention lies in:

In this positioning method, the positioning element on the battery transfer device and the reference object on the battery compartment are used to quickly drive through the battery transfer device to make the positioning element act on the reference object to achieve rough positioning of the battery compartment, and then pass the The battery transfer device moves in the reverse direction to make the positioning element gradually approach the reference object until the distance between the positioning element and the reference object in the driving direction of the electric vehicle is within a tolerance range, and the battery compartment is precisely positioned. By the above method, the battery compartment can be positioned relatively reliably, which is beneficial to improving the reliability of power replacement. Correspondingly, the positioning system can more reliably realize the positioning of the battery compartment, which is beneficial to improving the reliability of power replacement.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic block diagram of a positioning system for a battery compartment according to Embodiment 1 of the present invention.

FIG. 2 is a schematic diagram of a relative position of a reference object in a battery bin and a battery bin positioning system according to Embodiment 1 of the present invention.

FIG. 3 is a schematic diagram of the relative positions of the positioning elements in the battery transfer device and the positioning system of the battery compartment according to Embodiment 1 of the present invention.

4 is a schematic block diagram of a positioning system for a battery compartment according to Embodiment 2 of the present invention.

5 is a schematic block diagram of a positioning system for a battery compartment according to Embodiment 3 of the present invention.

FIG. 6 is a flowchart of a battery compartment positioning method according to Embodiment 5 of the present invention.

1 positioning system; 10 reference objects; 20 positioning elements; 30 battery compartment; 301 installation port; 40 battery transfer equipment; 401 battery tray base; 402 battery tray

detailed description

The following describes the present invention more clearly and completely by way of embodiments in combination with the accompanying drawings, but the present invention is not limited to the scope of the embodiments.

Example 1

This embodiment discloses a positioning system 1 for a battery compartment, which is used for positioning between the battery transfer device and the battery compartment, and is understood with reference to FIGS. 1-3. The positioning system 1 includes a reference object 10, a positioning element 20, and a first control. Module, data acquisition module and second control module. The reference object 10 is disposed on an end of the battery compartment 30 facing the battery transfer device 40, and the positioning element 20 is disposed on the end of the battery transfer device 40 facing the battery compartment 30. The positioning element 20 is used when the battery transfer device 40 is along the driving direction of the electric vehicle When the reference object 10 is detected when moving toward the battery compartment 30 at the first speed, first standard position data indicating the position of the reference object 10 relative to the positioning element 20 is acquired, and a first signal is sent to the battery transfer device 40. The first control module is configured to stop the battery transfer device 40 from moving when the battery transfer device 40 receives the first signal. The data acquisition module is configured to acquire first instantaneous position data indicating the instantaneous position of the positioning element 20 when the battery transfer device 40 stops moving. The second control module is configured to control the battery transfer device 40 to move backward to approach the battery compartment 30 according to the first standard position data and the first instantaneous position data, until the position between the positioning element 20 and the reference object 10 along the driving direction of the electric vehicle. The distance is within the tolerance range.

In this embodiment, when the positioning system is used to locate the battery compartment, the positioning element provided on the battery transfer device and the reference object provided on the battery compartment are used to quickly drive through the battery transfer device to make the positioning element act on The reference object can realize the rough positioning of the battery compartment, and then make the positioning device gradually approach the reference object by moving the battery transfer device in the reverse direction until the distance between the positioning element and the reference object in the driving direction of the electric vehicle is within the allowable error. Within the range, the battery compartment can be precisely positioned. Therefore, the positioning system can be used to relatively reliably locate the battery compartment, which is beneficial to improving the reliability of power exchange.

In this embodiment, the positioning system further includes an adjustment module (not shown in the figure). The adjustment module is used to adjust the verticality of the battery transfer device relative to the ground according to the height of the battery compartment when the electric vehicle is parked in the power exchange area. distance.

It is understood with reference to FIGS. 2 and 3 that the number of positioning elements and the number of reference objects are two. The battery transfer device includes a battery tray 402 and a battery tray base 401. The battery tray 402 is mounted on the battery tray base 401, and the battery tray base The 401 is provided with an outlet for the battery tray 402 to extend. The two positioning elements 20 are relatively fixed on both sides of the battery tray base 401. The battery compartment 30 is installed on the side of the electric vehicle. The side of the battery compartment 30 is provided for the battery box to enter and exit. In the mounting port 301 of FIG. 2, the two reference objects 10 are oppositely mounted on the surface of the battery compartment with the mounting port, and the two positioning elements and the two reference objects are correspondingly arranged one by one.

In addition, the battery transfer device also includes a position adjustment mechanism (not shown in the figure). The position adjustment mechanism is installed below the battery tray base. The position adjustment mechanism is used to drive the battery tray base to tilt so that the battery tray base is at an angle with the horizontal plane. And used to drive the battery tray base to rotate to adjust the relative angle between the battery tray base and the battery compartment. The positioning system further includes a rotation detection module and a third control module (not shown in the figure). The rotation detection module is provided on the battery transfer device. The rotation detection module is used to compare the reference object corresponding to the two positioning elements with respect to the positioning element. Whether the difference between the two third standard position data of the position exceeds the allowable range of the error, and is used to detect the difference between the battery tray and the battery compartment when the difference between the two third standard position data exceeds the allowable range of the error And send the angle measurement data to the position adjustment mechanism. The third control module is used to control the position adjustment mechanism to adjust the position of the battery tray according to the angle measurement data until the battery tray faces the installation opening of the battery compartment.

Among them, the number of positioning elements and reference objects are two. The use of the rotation detection module and the third control module facilitates the reliability of the position adjustment mechanism to adjust the position of the battery tray, which is beneficial to ensure that the battery tray faces the installation opening of the battery compartment. , Which is conducive to further improve the reliability and accuracy of power exchange.

Example 2

This embodiment is a further improvement on Embodiment 1. It is understood with reference to FIG. 4 that the positioning element is further used when the battery transfer device moves backward to approach the battery compartment according to the first standard position data and the first instantaneous position data. When the reference object is detected, second standard position data indicating the position of the reference object relative to the positioning element is acquired, and a second signal is sent to the battery transfer device. The first control module is further configured to stop the battery transfer device from moving when the battery transfer device receives the second signal. The data acquisition module is further configured to acquire second instantaneous position data representing the instantaneous position of the positioning element when the battery transfer device stops moving. The positioning system further includes a judging module, which is configured to judge whether the distance between the positioning element and the reference object along the driving direction of the electric vehicle is within an error tolerance according to the second standard position data and the second instantaneous position data in Embodiment 1. Within range.

In this embodiment, the positioning element is a locator, the reference object is a reflector, the detection range of the locator is a rectangular area, and the size of the long side of the rectangular area is defined as a detection amplitude. In this embodiment, the rectangular The area is square, and the side length of the rectangular area is 200mm, that is, the detection amplitude is 200mm. In other alternative embodiments, the side length of the rectangular region can take any other value between 100 and 300 mm.

In other alternative implementations, the detection range of the locator may also be a circle, and the size of the diameter of the circle may be defined as a detection amplitude. The diameter of the circle ranges from 100 to 300 mm.

The locator is also used to obtain a signal indicating that the reflector is relative to the locator when the battery transfer device moves backward at a second speed to approach the battery compartment according to the first standard position data and the first instantaneous position data. The second standard position data of the position and sends a second signal to the battery transfer device. The first speed is greater than the second speed.

Example 3

This embodiment is basically the same as Embodiment 2, except that a detection module (understand with reference to FIG. 5) is added in this embodiment. The detection module is used for the battery transfer device according to the first standard position data and the first instant. When the position data moves a detection amplitude in the opposite direction at a second speed to approach the battery compartment, it is detected whether the reflective plate falls within the detection range of the positioner. When the detection module detects that the reflective plate does not fall into the detection range of the locator, the second control module is further configured to control the battery transfer device to move a detection amplitude in a reverse direction at a second speed. When the detection module detects that the reflective plate falls into the detection range of the locator, the locator is further configured to obtain second standard position data indicating the position of the reflective plate relative to the locator, and send a second signal to the battery transfer device; wherein, The first speed is greater than the second speed.

Example 4

This embodiment is basically the same as Embodiment 2, except that the structure of the positioning element is different. In this embodiment, the positioning element is a camera, and the camera is further configured to move the battery transfer device in a reverse direction at a second speed (the first speed is greater than the second speed) according to the first standard position data and the first instantaneous position data. When approaching the battery compartment, when the reference object is photographed, second standard position data indicating the position of the reference object relative to the camera is acquired, and a second signal is sent to the battery transfer device.

Example 5

This embodiment discloses a method for positioning a battery compartment, which is used for positioning between a battery transfer device and a battery compartment. A positioning element is provided on the end of the battery transfer device facing the battery compartment, and the end of the battery compartment is provided on the end facing the battery transfer device. There are reference objects. It is understood with reference to FIG. 6 that the positioning method includes the following steps:

Step 100: Dock the electric vehicle to the power exchange area, and adjust the vertical distance of the battery transfer device relative to the ground according to the height of the battery compartment;

Step 101: The battery transfer device moves along the running direction of the electric vehicle toward the battery compartment at a first speed. When the positioning element detects the reference object, it acquires first standard position data indicating the position of the reference object relative to the positioning element, and sends the first standard position data. Signal to battery transfer device, the battery transfer device stops moving when it receives the first signal;

Step 102: Obtain first instantaneous position data indicating the instantaneous position of the positioning element.

Step 103: The battery transfer device moves backward to approach the battery compartment according to the first standard position data and the first instantaneous position data, until the distance between the positioning element and the reference object in the driving direction of the electric vehicle is within a tolerance range;

Step 104: Compare whether the difference between the two third standard position data indicating the position of the reference object with respect to the positioning elements corresponding to the two positioning elements exceeds the allowable range of errors. If yes, detect between the battery tray and the battery compartment. And the angle measurement data is sent to the position adjustment mechanism, and the position adjustment mechanism adjusts the position of the battery tray according to the angle measurement data until the battery tray faces the installation opening of the battery compartment; if not, the positioning step is ended.

The number of positioning elements and the number of reference objects are two. The battery transfer device includes a battery tray and a battery tray base. The battery tray is mounted on the battery tray base. The battery tray base is provided with an outlet for the battery tray to extend. The two positioning elements are relatively fixed on both sides of the battery tray base; the battery compartment is installed on the side of the electric vehicle, and the side of the battery compartment is provided with a mounting opening for the battery box to enter and exit, and the two reference objects are oppositely mounted on the battery compartment with mounting openings. On the surface; two positioning elements and two reference objects are arranged one by one respectively. The battery transfer device also includes a position adjustment mechanism. The position adjustment mechanism is installed below the battery tray base. The position adjustment mechanism is used to drive the battery tray base to incline so that the battery tray base is at an angle with the horizontal plane, and is used to drive the battery tray base to rotate. Adjust the relative angle between the battery tray base and the battery compartment.

In this embodiment, when positioning is performed, the positioning element on the battery transfer device and the reference object on the battery compartment are used to quickly drive through the battery transfer device to make the positioning element act on the reference object to realize the rough positioning of the battery compartment. , And then make the battery transfer device move backwards so that the positioning element gradually approaches the reference object, until the distance between the positioning element and the reference object in the driving direction of the electric vehicle is within the tolerance range, and the battery compartment is precisely positioned. . By the above method, the battery compartment can be positioned relatively reliably, which is beneficial to improving the reliability of power replacement.

In addition, here, the number of the positioning elements and the reference object are both two, which is convenient for improving the reliability of the position adjustment mechanism to adjust the position of the battery tray. Electrical reliability and accuracy.

Wherein, the power exchange area is provided with a positioning pile, a sensor and a controller. The sensor is electrically connected to the positioning pile, and the controller is electrically connected to the sensor. Among them, when the electric vehicle travels to the position of the positioning pile, the sensor generates an in-position signal and sends the in-position signal to the controller; when the controller receives the in-position signal, the controller sends a stop signal to the electric vehicle, and the electric vehicle is receiving Stop after the stop signal. The setting of the above-mentioned power exchange area is beneficial to improving the reliability of docking of the electric vehicle in the power exchange area, facilitating the positioning of the battery compartment, and further improving the positioning reliability of the battery compartment.

Further, step 103 includes steps:

Step 1031: The battery transfer device moves backward to approach the battery compartment according to the first standard position data and the first instantaneous position data. When the positioning element detects the reference object, it obtains second standard position data indicating the position of the reference object relative to the positioning element. And send a second signal to the battery transfer device, and the battery transfer device stops moving when it receives the second signal;

Step 1032: Obtain second instantaneous position data indicating the instantaneous position of the positioning element.

Step 1033: According to the second standard position data and the second instantaneous position data, determine whether the distance between the positioning element and the reference object in the driving direction of the electric vehicle is within a range allowed by the error. If not, go to step 1031; if yes, then Go to step 104.

Among them, the battery compartment is precisely positioned by repeatedly obtaining and comparing the second standard position data and the second instantaneous position data, and the positioning reliability is high, which is conducive to further improving the battery compartment positioning reliability.

In this embodiment, the positioning element is a locator, the reference object is a reflector, the detection range of the locator is a rectangular area, and the size of the long side of the rectangular area is defined as a detection amplitude. The above step 1031 is: a battery transfer device According to the first standard position data and the first instantaneous position data, it moves backward at a second speed to approach the battery compartment. When the locator detects the reflective plate, it obtains the second standard position data indicating the position of the reflective plate relative to the locator, and A second signal is sent to the battery transfer device, and the battery transfer device stops moving after receiving the second signal. The first speed is greater than the second speed. Step 1032 is: acquiring second instantaneous position data representing the instantaneous position of the locator.

In this embodiment, the positioner is a laser generator, the rectangular area is a square, and the side length of the rectangular area is 200 mm. In other alternative embodiments, the side length of the rectangular region can take any other value between 100 and 300 mm.

It should be noted that the first speed is the running speed of the electric vehicle during coarse positioning, and the second speed is the running speed of the electric vehicle during fine positioning. Setting the first speed to be greater than the second speed is beneficial to improve the The positioning efficiency is also conducive to improving the positioning reliability during precise positioning.

In other alternative embodiments, the detection range of the locator may be a circle. The diameter of the circle is defined as a detection amplitude. The diameter of the circle may take any other value between 100 and 300 mm.

It should be noted that, in step 104, the allowable error between the distance between the positioning element and the reference object in the running direction of the electric vehicle is ± 2 mm.

Example 6

This embodiment is basically the same as Embodiment 5, except that steps 1031 and 1032 are different. In this embodiment, step 1031 is: the battery transfer device reversely moves a detection amplitude at a second speed to approach the battery compartment according to the first standard position data and the first instantaneous position data, and detects whether the reflective plate has fallen into the positioner. Within the detection range; if not, the battery transfer device moves a detection amplitude in reverse at the second speed; if so, the locator obtains the second standard position data indicating the position of the reflector relative to the locator, and sends a second signal to Battery transfer device. The battery transfer device stops moving after receiving the second signal. However, similarly, the first speed is greater than the second speed. Step 1032 is: acquiring second instantaneous position data representing the instantaneous position of the locator.

The positioning element uses a locator and the reference object uses a reflective plate, which is convenient to detect and has high detection reliability, which is conducive to improving the positioning reliability of the battery compartment. In the process of reverse positioning of the battery transfer device to achieve precise positioning, the battery transfer device moves in two ways. One of them is that the battery transfer device moves with a fixed detection amplitude. If the reflector does not fall into the positioner at this time, Within the detection range, the battery transfer device moves the next detection amplitude until the reflector falls within the detection range of the locator; the other is that the battery transfer device approaches the battery compartment at a certain speed (second speed), and the battery transfers The reference standard when the device stops moving is that the reflector detects the reflector. The battery transfer device in Embodiment 5 uses the former movement method, and the battery transfer device in Embodiment 6 uses the latter movement mode.

Example 7

This embodiment is basically the same as Embodiment 5, except that the positioning elements are different, so that step 1031 is different. In this embodiment, step 1031 is: the battery transfer device uses the first standard position data and the first instantaneous position data to The second speed moves backward to approach the battery compartment. When the camera captures the reference object, it acquires second standard position data indicating the position of the reference object relative to the camera, and sends a second signal to the battery transfer device. Stop moving after two signals. However, similarly, the first speed is greater than the second speed. Step 1032 is: acquiring second instantaneous position data indicating the instantaneous position of the reference object.

Although the specific embodiments of the present invention are described above, those skilled in the art should understand that this is only an example, and the protection scope of the present invention is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principle and essence of the present invention, but these changes and modifications all fall into the protection scope of the present invention.

Claims

A positioning method for a battery compartment, characterized in that a positioning element is provided on an end of the battery transfer device facing the battery compartment, and a reference object is provided on an end of the battery transfer device facing the battery transfer device;

The positioning method includes the following steps:

S1. The battery transfer device moves along the running direction of the electric vehicle toward the battery compartment at a first speed, and when the positioning element detects the reference object, it acquires a position indicating the reference object relative to the positioning element. Position data of the first standard, and send a first signal to the battery transfer device, and the battery transfer device stops moving when receiving the first signal;

S2. Acquire first instantaneous position data indicating the instantaneous position of the positioning element;

S3. The battery transfer device moves backwards according to the first standard position data and the first instantaneous position data to approach the battery compartment until the positioning element and the reference object move along the electric motor. The distance in the direction of travel of the car is within the tolerance range.
The method for positioning a battery compartment according to claim 1, wherein step S3 includes the steps of:

S31. The battery transfer device moves backward to approach the battery compartment according to the first standard position data and the first instantaneous position data, and acquires and indicates the reference when the positioning element detects the reference object. The second standard position data of the position of the object relative to the positioning element, and sends a second signal to the battery transfer device, and the battery transfer device stops moving when receiving the second signal;

S32. Acquire second instantaneous position data indicating the instantaneous position of the positioning element.

S33. According to the second standard position data and the second instantaneous position data, determine whether a distance between the positioning element and the reference object in a driving direction of the electric vehicle is within a range allowed by the error. If no, go to step S31.
The method for positioning a battery compartment according to claim 2, wherein the positioning element is a locator, the reference object is a reflector, and a detection range of the locator is a circle or a rectangular area, the The diameter of the circle or the size of the long side of the rectangular area is defined as a detection amplitude, and the step S31 is: the battery transfer device is based on the first standard position data and the first instantaneous position data. Move at two speeds in the opposite direction to approach the battery compartment. When the locator detects the reflector, it obtains second standard position data indicating the position of the reflector relative to the locator, and sends the second standard position data. A signal to the battery transfer device, and the battery transfer device stops moving after receiving the second signal;

The step S32 is: acquiring second instantaneous position data indicating the instantaneous position of the locator;

Or the step S31 is: the battery transfer device reversely moves one of the detection amplitude values to approach the battery compartment at a second speed according to the first standard position data and the first instantaneous position data, and detects Whether the reflector falls within the detection range of the locator; if not, the battery transfer device moves one of the detection amplitudes in the reverse direction at the second speed; if so, the locator acquires and indicates that the The second standard position data of the position of the reflector with respect to the positioner, and sending the second signal to the battery transfer device, and the battery transfer device stops moving after receiving the second signal;

The step S32 is: acquiring second instantaneous position data indicating the instantaneous position of the locator;

The first speed is greater than the second speed.
The positioning method for a battery compartment according to claim 3, wherein the locator is a laser generator, the diameter of the circle ranges from 100 to 300 mm, or the rectangular area is a square, and the rectangle The side length of the region ranges from 100 to 300 mm.
The positioning method of a battery compartment according to claim 2, wherein the positioning element is a camera, and the step S31 is: the battery transfer device is based on the first standard position data and the first instant The position data moves backward at a second speed to approach the battery compartment, and when the camera captures the reference object, it acquires second standard position data indicating the position of the reference object relative to the camera, and sends the A second signal to the battery transfer device, and the battery transfer device stops moving after receiving the second signal;

The step S32 is: acquiring second instantaneous position data indicating the instantaneous position of the reference object;

The first speed is greater than the second speed.
The method for positioning a battery compartment according to at least one of claims 1-5, characterized in that before step S1, the method for positioning further comprises the steps of:

S0. Dock the electric vehicle to a power exchange area, and adjust the vertical distance of the battery transfer device relative to the ground according to the height of the battery compartment.
The method for positioning a battery compartment according to claim 6, wherein the power exchange area is provided with:

Positioning pile

A sensor electrically connected to the positioning pile;

A controller, which is electrically connected to the sensor;

Wherein, when the electric vehicle travels to a position where the positioning pile is located, the sensor generates an in-position signal, and sends the in-position signal to a controller;

When the controller receives the in-position signal, the controller sends a stop signal to the electric vehicle, and the electric vehicle stops driving after receiving the stop signal.
The positioning method of a battery compartment according to at least one of claims 1 to 7, wherein the number of the positioning elements and the number of the reference objects are both;

The battery transfer device includes a battery tray and a battery tray base. The battery tray is mounted on the battery tray base. The battery tray base is provided with an outlet for the battery tray to extend, and the two positioning elements are opposite to each other. Fixed on both sides of the battery tray base;

The battery compartment is installed on the side of the electric vehicle. The side of the battery compartment is provided with a mounting opening for the battery box to enter and exit. The two reference objects are oppositely attached to the surface of the battery compartment with the mounting opening. on;

Wherein, the two positioning elements and the two reference objects are arranged one by one respectively;

The battery transfer device further includes:

A position adjustment mechanism installed under the battery tray base, the position adjustment mechanism is used to drive the battery tray base to incline so that the battery tray base is at an angle with a horizontal plane, and is used to drive the battery tray base The battery tray base rotates to adjust the relative angle between the battery tray base and the battery compartment;

Wherein, after step S3, the positioning method further includes steps:

S4. Compare whether the difference between the two third standard position data indicating the position of the reference object with respect to the positioning elements corresponding to the two positioning elements exceeds a tolerance range, and if so, detect the The angle between the battery tray and the battery compartment and sends angle measurement data to the position adjustment mechanism, and the position adjustment mechanism adjusts the position of the battery tray according to the angle measurement data until the battery tray is directly opposite A mounting opening of the battery compartment.
The method for positioning a battery compartment according to claim 8, characterized in that, in step S4, an allowable error of a distance between the positioning element and the reference object in a running direction of the electric vehicle is ± 2 mm.
A positioning system for a battery compartment, characterized in that the positioning system includes:

A reference object, the reference object is provided on an end of the battery compartment facing the battery transfer device;

A positioning element disposed on an end of the battery transfer device facing the battery compartment, and the positioning element is configured to move the battery transfer device toward the battery compartment at a first speed along a driving direction of the electric vehicle Acquiring the first standard position data indicating the position of the reference object relative to the positioning element when the reference object is detected in the case of movement, and sending a first signal to the battery transfer device;

A first control module, configured to stop the battery transfer device from moving when the battery transfer device receives the first signal;

A data acquisition module, configured to acquire first instantaneous position data indicating the instantaneous position of the positioning element when the battery transfer device stops moving;

A second control module for controlling the battery transfer device to move backward to approach the battery compartment according to the first standard position data and the first instantaneous position data until the positioning element and the reference object The distance between them in the running direction of the electric vehicle is within a tolerance range.
The positioning system for a battery compartment according to claim 10, wherein the positioning element is further configured to move backward in the battery transfer device according to the first standard position data and the first instantaneous position data When approaching the battery compartment, when the reference object is detected, obtain second standard position data indicating the position of the reference object relative to the positioning element, and send a second signal to the battery transfer device;

The first control module is further configured to stop the battery transfer device from moving when the battery transfer device receives the second signal;

The data acquisition module is further configured to acquire second instantaneous position data indicating the instantaneous position of the positioning element when the battery transfer device stops moving;

The positioning system further includes a judging module, which is configured to judge between the positioning element and the reference object along the electric vehicle based on the second standard position data and the second instantaneous position data. Whether the distance in the driving direction is within the tolerance range.
The positioning system for a battery compartment according to claim 11, wherein the positioning element is a locator, the reference object is a reflector, and a detection range of the locator is a circle or a rectangular area, the The diameter of a circle or the size of the long side of the rectangular area is defined as a detection amplitude;

The locator is further configured to, when the battery transfer device moves backward at a second speed to approach the battery compartment according to the first standard position data and the first instantaneous position data, when the battery transfer device is detected, Acquiring the second standard position data indicating the position of the reflective plate relative to the locator when the reflective plate, and sending a second signal to the battery transfer device;

Or, the positioning system further includes a detection module, and the detection module is configured to reversely move one of the detections at a second speed according to the first standard position data and the first instantaneous position data in the battery transfer device. When the amplitude is close to the battery compartment, detecting whether the reflective plate falls within the detection range of the locator;

When the detection module detects that the reflecting plate does not fall within the detection range of the locator, the second control module is further configured to control the battery transfer device to move one of the batteries in reverse at the second speed. Detection amplitude

When the detection module detects that the reflecting plate falls into the detection range of the locator, the locator is further configured to obtain second standard position data indicating a position of the reflecting plate relative to the locator, And sending the second signal to the battery transfer device;

The first speed is greater than the second speed.
The positioning system for a battery compartment according to claim 11, wherein the positioning element is a camera, and the camera is further configured for the battery transfer device according to the first standard position data and the first instant When the time position data moves backward at a second speed to approach the battery compartment, when the reference object is photographed, the second standard position data indicating the position of the reference object relative to the camera is acquired and sent The second signal to the battery transfer device;

The first speed is greater than the second speed.
The positioning system for a battery compartment according to at least one of claims 10-13, wherein the positioning system further comprises:

An adjustment module configured to adjust a vertical distance of the battery transfer device relative to the ground according to the height of the battery compartment when the electric vehicle is docked in a power exchange area.
The battery compartment positioning system according to at least one of claims 10-13, wherein the number of the positioning elements and the number of the reference objects are two, and the battery transfer device includes a battery tray and A battery tray base, the battery tray is mounted on the battery tray base, the battery tray base is provided with an outlet for the battery tray to protrude, and the two positioning elements are relatively fixed on the battery tray base On both sides, the battery compartment is installed on the side of the electric vehicle. The side of the battery compartment is provided with a mounting opening for the battery box to go in and out, and the two reference objects are oppositely attached to the battery compartment. On the surface of the mouth, two of the positioning elements and two of the reference objects are correspondingly arranged one by one;

The battery transfer device further includes a position adjustment mechanism installed under the battery tray base, and the position adjustment mechanism is used to drive the battery tray base to tilt so that the battery tray base and the horizontal plane At an angle and used to drive the battery tray base to rotate to adjust the relative angle between the battery tray base and the battery compartment;

The positioning system further includes:

A rotation detection module provided on the battery transfer device, the rotation detection module is configured to compare two corresponding to the two positioning elements that indicate positions of the reference object with respect to the positioning element Whether the difference between the third standard position data exceeds an allowable range of errors and is used to detect the battery tray and the battery compartment when the difference between the two third standard position data exceeds an allowable range of errors The angle between them and sending the angle measurement data to the position adjustment mechanism;

A third control module for controlling the position adjustment mechanism to adjust the position of the battery tray according to the angle measurement data until the battery tray faces the mounting opening of the battery compartment.