WO2020224616A1 - 电动车的换电设备以及换电设备的定位方法 - Google Patents

电动车的换电设备以及换电设备的定位方法 Download PDF

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Publication number
WO2020224616A1
WO2020224616A1 PCT/CN2020/089008 CN2020089008W WO2020224616A1 WO 2020224616 A1 WO2020224616 A1 WO 2020224616A1 CN 2020089008 W CN2020089008 W CN 2020089008W WO 2020224616 A1 WO2020224616 A1 WO 2020224616A1
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WO
WIPO (PCT)
Prior art keywords
lock
battery
image
quick
lock base
Prior art date
Application number
PCT/CN2020/089008
Other languages
English (en)
French (fr)
Inventor
张建平
黄春华
Original Assignee
奥动新能源汽车科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 奥动新能源汽车科技有限公司 filed Critical 奥动新能源汽车科技有限公司
Priority to KR1020217040098A priority Critical patent/KR20220006099A/ko
Priority to JP2021564236A priority patent/JP7372986B2/ja
Priority to SG11202112321SA priority patent/SG11202112321SA/en
Priority to US17/609,201 priority patent/US20220203860A1/en
Priority to EP20801649.3A priority patent/EP3967560A4/en
Publication of WO2020224616A1 publication Critical patent/WO2020224616A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/80—Exchanging energy storage elements, e.g. removable batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
    • 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
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
    • B60L50/66—Arrangements of batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
    • B60S5/06—Supplying batteries to, or removing batteries from, vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
    • B60K2001/0405—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion characterised by their position
    • B60K2001/0438—Arrangement under the floor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
    • B60K2001/0455—Removal or replacement of the energy storages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
    • B60K2001/0455—Removal or replacement of the energy storages
    • B60K2001/0472—Removal or replacement of the energy storages from below
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
    • B60K2001/0455—Removal or replacement of the energy storages
    • B60K2001/0488—Removal or replacement of the energy storages with arrangements for pivoting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
    • B60K2001/0455—Removal or replacement of the energy storages
    • B60K2001/0494—Removal or replacement of the energy storages with arrangements for sliding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/90—Vehicles comprising electric prime movers
    • B60Y2200/91—Electric vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors

Definitions

  • the invention relates to the field of battery swap control, and in particular to a battery swap device of an electric vehicle and a positioning method of the battery swap device.
  • the battery swapping device drives to the designated position after the vehicle parks in the designated area, and then corrects the vehicle position under the action of the guide fork to realize the accurate positioning of the battery swapping device and realize the normal battery swapping function.
  • the closed-loop control cannot be realized by the positioning method, and there is the possibility of power replacement failure caused by inaccurate positioning of the power replacement equipment.
  • the technical problem to be solved by the present invention is to overcome the defect in the prior art that the positioning of the battery swapping device does not realize closed-loop control, and to provide a battery swapping device for an electric vehicle and a method for positioning the battery swapping device.
  • a battery swapping device for an electric vehicle including:
  • An image acquisition module for acquiring the first actual image including the lock base during the unlocking process of the battery pack
  • a storage module configured to store the first standard image including the lock base collected by the image acquisition module when the power replacement device is at the power replacement position;
  • the positioning judgment module is used for judging whether the power swapping device is located at the power swapping position according to the first actual image and the first standard image; if not, generating a first movement instruction according to the judgment result and combining The first movement instruction is sent to the movement mechanism;
  • the moving mechanism is used for moving according to the first moving instruction.
  • the battery swapping device receives the second movement instruction from the swap station;
  • the moving mechanism of the battery swapping device moves to the parking area according to the second moving instruction.
  • the positioning judgment module is specifically configured to judge whether the position of the outer contour of the lock base in the first actual image and the first standard image is the same;
  • the power swapping device is located at the power swapping position
  • the power swapping device is not located at the power swapping position.
  • the outer contour includes a first contour of the lock base adjacent to the battery pack in the first actual image and the first standard image, and a second contour intersecting the first contour.
  • the quick-change bracket further includes a lock link movably connected to the lock base, and the power swap device further includes a lock judgment module;
  • the image acquisition module is also used to acquire a second actual image including the lock base and the lock link during the locking process of the battery pack;
  • the storage module is also used to store a second standard image including the lock base and the lock connecting rod collected by the image acquisition module when the battery pack is locked in place on the quick-change bracket.
  • the lock base and the lock link are in the standard locking position;
  • the lock judgment module is used to judge whether the battery pack is locked in place on the quick-change bracket according to the second actual image and the second standard image;
  • the lock determination module sends a lock confirmation signal.
  • the lock determining module is specifically configured to determine whether the difference between the relative distance in the second actual image and the relative distance in the second standard image is within a preset range, wherein the relative distance is The distance between the plane where the end of the lock link is located and the side of the lock base closest to the end;
  • the lock determination module determines that the battery pack is locked in place on the quick-change bracket.
  • the image acquisition module is arranged at a position opposite to the lock base adjacent to the end of the lock link.
  • the quick-change bracket includes two lock linkages
  • the power-swap device includes two image acquisition modules
  • the two image acquisition modules are respectively provided on the lock base adjacent to the ends of the two lock linkages. Seat relative position.
  • the lock determination module determines yes, it also calls the image acquisition module to acquire a third actual image including the lock base and the lock link, and calls the storage module to store the In the third actual image, in the third actual image, the lock base and the lock link are located at the actual locking position.
  • a battery swapping device for an electric vehicle including:
  • An unlocking mechanism for unlocking the battery pack locked on the quick-change bracket of the electric vehicle includes a lock base, and the quick-change bracket further includes a lock link movably connected to the lock base;
  • An image acquisition module for acquiring a second actual image including the lock base and the lock connecting rod during the locking process of the battery pack;
  • the storage module is used to store the second standard image including the lock base and the lock connecting rod collected by the image acquisition module when the battery pack is locked in place on the quick-change bracket, in the second standard image ,
  • the lock base and the lock link are located in a standard locking position;
  • a locking judgment module configured to judge whether the battery pack is locked in place on the quick-change bracket according to the second actual image and the second standard image
  • the lock determination module sends a lock confirmation signal.
  • a method for positioning a battery swapping device comprising an unlocking mechanism and a moving mechanism, the unlocking mechanism being used to unlock a battery pack locked on a quick-change bracket of an electric vehicle, the quick-change bracket including a lock base seat;
  • the positioning method includes:
  • the moving mechanism moves according to the first movement instruction.
  • the positioning method before the step of acquiring the first actual image including the lock base by the image acquisition module, the positioning method further includes:
  • the switching station When the electric vehicle is parked in the parking area, the switching station sends a second movement instruction to the switching equipment;
  • the moving mechanism of the battery swapping device moves to the parking area according to the second moving instruction.
  • the step of determining whether the power swapping device is located at the power swapping position includes:
  • the power swapping device is located at the power swapping position
  • the power swapping device is not located at the power swapping position.
  • the outer contour includes a first contour of the lock base adjacent to the battery pack in the first actual image and the first standard image, and a second contour intersecting the first contour.
  • the quick-change bracket further includes a lock link movably connected with the lock base;
  • the positioning method further includes: storing a second standard image including the lock base and the lock connecting rod collected when the battery pack is locked in place on the quick-change bracket.
  • the second standard image the The lock base and the lock connecting rod are in the standard locking position;
  • the positioning method further includes:
  • the step of judging whether the battery pack is locked in place on the quick-change bracket according to the second actual image and the second standard image includes:
  • the positioning method further includes:
  • the lock base and the lock link are located at the actual lock position.
  • a method for positioning a battery swapping device includes an unlocking mechanism for unlocking a battery pack locked on a quick-change bracket of an electric vehicle, the quick-change bracket includes a lock base, and The quick-change bracket also includes a lock link movably connected with the lock base;
  • the positioning method includes:
  • the second actual image including the lock base and the lock link is collected, and the storage battery pack is collected when the quick-change bracket is locked in place, including the lock base and A second standard image of the lock link, in the second standard image, the lock base and the lock link are in a standard lock position;
  • the positive progress effect of the present invention is that: the battery exchange device in the present invention is provided with an image acquisition module, which can collect the actual image of the lock base as a positioning reference during the positioning process of the battery exchange device, and then can be based on the collected lock
  • the actual image of the base and the standard image of the lock base collected when the lock base is in the power-swap position are used to generate a movement instruction to control the movement of the mobile device of the power-swap device until the power-swap device moves to the power-swap position. Closed-loop control of the positioning of the replacement equipment.
  • Fig. 1 is a schematic diagram of a module of a battery replacement device for an electric vehicle according to Embodiment 1 of the present invention.
  • Fig. 2 is a schematic diagram of the position of the image acquisition module in the battery replacement device of the electric vehicle according to the first embodiment of the present invention.
  • FIG. 3 is a schematic diagram of the first actual image in Embodiment 1 of the present invention.
  • Fig. 4 is a partial enlarged view of the first actual image in Fig. 3.
  • Fig. 5 is a schematic diagram of modules of a battery replacement device for an electric vehicle according to Embodiment 2 of the present invention.
  • FIG. 6 is a schematic diagram of a second actual image in Embodiment 2 of the present invention.
  • Figure 7 is a schematic diagram of the relative positions of the lock link and the lock base when the battery pack is not locked in place in Embodiment 2 of the present invention.
  • FIG. 8 is a schematic diagram of the relative positions of the lock link and the lock base when the battery pack is locked in place in Embodiment 2 of the present invention.
  • Fig. 9 is a partial enlarged view of the second actual image in Fig. 6.
  • Fig. 10 is a flowchart of a method for locating a power exchange device according to Embodiment 3 of the present invention.
  • Fig. 11 is a partial flowchart of a method for locating a battery swapping device according to Embodiment 4 of the present invention.
  • R 1 first contour R 2 second contour
  • R 3 The side of the lock base;
  • R 4 The plane where the end of the lock connecting rod is located;
  • FIG. 1 shows a schematic diagram of modules in this embodiment.
  • the power replacement device of this embodiment includes: a control unit, an unlocking mechanism 1, an image acquisition module 2, a storage module 3, a positioning judgment module 4, and a moving mechanism 5.
  • the switching station recognizes the specific location of the electric vehicle in the parking area, generates and sends a second movement instruction including the specific location to the power switching equipment,
  • the moving mechanism 5 moves to the specific position of the electric vehicle according to the above-mentioned second movement instruction to realize the coarse positioning of the battery swapping device, and the control unit of the battery swapping device calls the image acquisition module 2 after the moving mechanism 5 is moved into position.
  • the image acquisition module 2 may be arranged at a position close to the unlocking mechanism 1 on the power exchange device.
  • the unlocking mechanism 1 is used for unlocking the battery pack locked on the quick-change bracket of the electric vehicle.
  • the quick-change bracket includes a lock link and a lock base movably connected to the lock link.
  • the image acquisition module 2 is set at a position opposite to the lock base adjacent to the end of the lock link when the power replacement device is at the power replacement position, and is used to capture the unlocking process including the The first actual image of the lock base.
  • FIG. 3 shows a schematic diagram of the first actual image, in which the area A circled is the image of the lock base collected by the image collecting module 2.
  • the storage module 3 is used to store in advance that the replacement device is located at the replacement position, that is, when it is aligned with the quick-change bracket, the image acquisition module 2 collects the first standard including the lock base adjacent to the end of the lock link image. It should be understood that when the position of the battery replacement device relative to the quick-change bracket changes, the first actual image collected by the image acquisition module 2 will also change. In this embodiment, the first actual image can be compared with the first standard image. , To determine whether the replacement equipment is aligned with the quick-change bracket.
  • the positioning determination module 4 is used to determine whether the battery swapping device is located at the battery swapping position based on the first actual image and the first standard image. Specifically, the positioning judgment module 4 judges whether the position of the outer contour in the first actual image and the first standard image of the lock base adjacent to the end of the lock link is the same.
  • the unlocking mechanism 1 unlocks the battery pack for power replacement; if they are not the same, the power replacement device is not located at the power replacement position, and the positioning judgment module 4 analyzes the external contour of the lock base The position difference between the first actual image and the first standard image, generate and send a first movement instruction instructing the battery replacement device to move to the battery replacement position to the control unit of the battery replacement device, and the control unit sends the first movement instruction to The moving mechanism 5 moves according to the first moving instruction to realize the precise positioning of the battery replacement equipment.
  • control unit of the power exchange device may continue to call the image acquisition module 2 to collect the first actual image, until the positioning judgment module 4 judges the replacement The electrical equipment is located at the replacement position.
  • the above-mentioned outer contour as the judgment object may include a first contour adjacent to the battery pack and a second contour intersecting the first contour.
  • FIG. 4 shows the lock base circled in area A.
  • An enlarged view of the seat, where the outer contour may include a first contour R 1 and a second contour R 2 .
  • the quick-change bracket may include two lock linkages.
  • the power exchange device may correspondingly include two adjacent to the ends of the two lock linkages. The image acquisition module at the relative position of the lock base.
  • an image acquisition module is provided on the battery replacement device, which can collect the actual image of the lock base as a positioning reference during the positioning process of the battery replacement device, and then can be based on the collected actual image of the lock base and the lock
  • the standard image of the lock base collected when the base is in the battery replacement position is used to generate a movement instruction to control the movement of the mobile mechanism of the battery replacement device until the battery replacement device moves to the battery replacement position, realizing the closed-loop control of the battery replacement device positioning .
  • FIG. 5 shows a schematic diagram of modules in this embodiment.
  • the battery replacement device of this embodiment further includes a lock judgment module 6 for judging whether the battery pack is locked in place on the quick-change bracket during the locking process.
  • the image acquisition module 2 is also used to acquire a second actual image including the lock base and the lock link during the locking process of the battery pack.
  • FIG. 6 shows a schematic diagram of the second actual image.
  • the area B circled is the image of the lock base and the lock connecting rod collected by the image acquisition module 2.
  • the storage module 3 is also used to pre-store the second standard image including the lock base and the lock connecting rod collected by the image acquisition module 2 when the battery pack is locked in place on the quick-change bracket.
  • the lock base And the lock link is in the standard lock position.
  • the relative position of the lock link and the lock base in the second actual image collected by the image collection module 2 will change.
  • the above-mentioned change may be embodied in the relative distance between the plane where the end of the lock link is located and the side surface of the lock base closest to the end.
  • the battery pack is not locked in place, and the relative distance D 1 between the plane R 4 where the end of the lock link is located and the side surface R 3 of the lock base closest to the end is shown in Figure 8
  • the relative distance D 2 between the plane R 4 where the end of the lock link is located and the side surface R 3 of the lock base closest to the end it can be determined whether the battery pack is locked in place on the quick-change bracket by comparing the relative distance D 1 and the relative distance D 2 obtained from the second actual image and the second standard image.
  • the relative distance D 2 can be calculated according to the same method, which will not be repeated here.
  • the lock determination module 6 is used to determine whether the battery pack is locked in place on the quick-change bracket according to the second actual image and the second standard image.
  • 9 shows an enlarged view of the lock base and the lock link circled in area B. Specifically, the lock determination module 6 determines the relative distance D 1 in the second actual image and the relative distance in the second standard image.
  • the lock judgment module 6 It is judged that the battery pack is locked in place on the quick-change bracket, and then the lock judgment module 6 can send a lock confirmation signal indicating that the battery pack is locked in place on the quick-change bracket to the control unit of the battery replacement device, and the control unit can The above-mentioned lock confirmation signal is sent to the switching station, so that the switching station can confirm that the battery pack is locked normally, and then can control the barrier system to lift the rod to release the electric vehicle after the switching point; if the difference between D 1 and D 2 If it is not within the preset range, the lock judgment module 6 judges that the battery pack is not locked in place on the quick-change bracket, and the control unit of the power replacement device can call the image acquisition module 2 to continue collecting the second actual image.
  • the foregoing preset range can be set according to the resolution of the image capture module 2 and the actual size of the captured image.
  • the foregoing preset range may be [-0.5mm, 0.5mm] or [-1mm, 1mm]. ].
  • the lock determination module 6 when it is yes, it can also call the image acquisition module 2 to acquire a third actual image including the lock base and the lock link.
  • the lock The base and the lock link are in the actual lock position.
  • the storage module 3 can be called to store the first 3.
  • the actual images are archived and kept for use to prove that the battery pack has indeed been locked in place during the battery replacement process.
  • the control unit of the battery replacement device can also delete the last third actual image stored in the storage module 3 of the corresponding electric vehicle according to the lock confirmation signal, and only retain the latest third actual image.
  • the battery replacement device of this embodiment can also determine whether the battery pack is locked in place on the quick-change bracket according to the second standard image and the second actual image collected during the locking process. It further enhances the automation of power exchange equipment, thereby improving the efficiency of power exchange.
  • This embodiment provides a method for locating a battery swapping device.
  • the positioning method is implemented using the battery swapping device for an electric vehicle in Embodiment 1.
  • FIG. 10 shows a flowchart of this embodiment. Referring to FIG. 10, the positioning method of this embodiment includes:
  • the switching station When the electric vehicle is parked in the parking area, the switching station sends a second movement instruction to the switching equipment.
  • the switching station recognizes the specific location of the electric vehicle in the parking area, and generates and sends a second movement instruction including the specific location to the power exchange device.
  • the moving mechanism of the battery replacement device moves to the parking area according to the second moving instruction.
  • the moving mechanism of the power-swap device moves to the specific position of the electric vehicle according to the above-mentioned second movement instruction to realize the coarse positioning of the power-swap device, and the image acquisition module is called after the moving mechanism is moved to the position.
  • the image acquisition module acquires the first actual image including the lock base during the unlocking process of the battery pack.
  • the first actual image is also shown in FIG. 3, where the area A circled is the image of the lock base collected by the image collection module. It should be understood that when the position of the battery replacement device relative to the quick-change bracket changes, the first actual image collected by the image acquisition module will also change.
  • the positioning judgment module judges whether the battery replacement device is located at the battery replacement position according to the first actual image and the first standard image
  • step S15 If yes, go to step S15; if not, go to step S16;
  • the unlocking mechanism unlocks the battery pack
  • the first standard image is an image of the lock base that is adjacent to the end of the lock link and is collected when the battery swap device is located at the battery swap position, that is, when aligned with the quick-change bracket.
  • the first actual image is an image of the lock base that is adjacent to the end of the lock link and is collected when the battery swap device is located at the battery swap position, that is, when aligned with the quick-change bracket.
  • step S14 may specifically include the positioning judgment module judging whether the position of the outer contour of the lock base adjacent to the end of the lock link in the first actual image and the first standard image is the same, and if they are the same, change the battery
  • the device is located at the power exchange position aligned with the quick-change bracket, and then step S15 is executed, and the unlocking mechanism unlocks the battery pack for power exchange; if not the same, the power exchange device is not located at the above-mentioned power exchange position, and step S16 is executed through analysis
  • the position difference between the outer contour of the lock base in the first actual image and the first standard image generates and sends a first movement instruction instructing the battery replacement device to move to the battery replacement position to the moving mechanism.
  • the moving mechanism moves according to the first moving instruction.
  • step S13 can be continued until step S14 is determined to be yes, that is, the power replacement device is located at the power replacement position.
  • the external contour as the object of judgment may include a first contour adjacent to the battery pack and a second contour intersecting the first contour. As shown in FIG. 4, the external contour may include the first contour. R 1 and the second contour R 2 .
  • the positioning method of this embodiment can collect the actual image of the lock base as a positioning reference during the positioning process of the battery swapping device, and then can be based on the collected lock base
  • the actual image and the standard image of the lock base collected when the lock base is in the power-swap position are used to generate a movement instruction to control the movement of the mobile mechanism of the power-swap device until the power-swap device moves to the power-swap position, realizing the power-swap Closed loop control of positioning.
  • FIG. 11 shows a partial flowchart of this embodiment.
  • the storage module of the battery replacement device in this embodiment also pre-stores the second standard image including the lock base and the lock link collected by the image acquisition module when the battery pack is locked in place on the quick-change bracket.
  • the lock base and the lock link are located in the standard locking position, and the positioning method of this embodiment further includes after step S15:
  • the image acquisition module acquires a second actual image including the lock base and the lock connecting rod during the locking process of the battery pack.
  • the image acquisition module is also used to acquire a second actual image including the lock base and the lock link during the locking process of the battery pack.
  • the second actual image is also shown in FIG. 6, where ,
  • the area circled in area B is the image of the lock base and the lock connecting rod collected by the image acquisition module.
  • the relative position of the lock link and the lock base in the second actual image collected by the image collection module will change.
  • the above-mentioned change may be embodied in the relative distance between the plane where the end of the lock link is located and the side surface of the lock base closest to the end.
  • the battery pack is not locked in place, and the relative distance D 1 between the plane R 4 where the end of the lock link is located and the side surface R 3 of the lock base closest to the end is shown in Figure 8
  • the relative distance D 2 between the plane R 4 where the end of the lock link is located and the side surface R 3 of the lock base closest to the end it can be determined whether the battery pack is locked in place on the quick-change bracket by comparing the relative distance D 1 and the relative distance D 2 obtained from the second actual image and the second standard image.
  • S22 Determine whether the battery pack is locked in place on the quick-change bracket according to the second actual image and the second standard image
  • step S23 If yes, go to step S23; if no, continue to execute step S21;
  • step S22 may include determining the relative distance D 1 in the second actual image and the relative distance in the second standard image Whether the difference between D 2 is within the preset range to judge whether the battery pack is locked in place on the quick-change bracket, if the difference between D 1 and D 2 is within the preset range, the battery pack is in quick-change The bracket is locked in place, and then step S23 is executed to send a lock confirmation signal indicating that the battery pack is locked in place on the quick-change bracket to the switch station, so that the switch station can confirm that the battery pack is locked normally, and then can control the barrier system The electric vehicle whose point has been changed is lifted and released; if the difference between D 1 and D 2 is not within the preset range, step S22 is continued to collect a second actual image.
  • the foregoing preset range can be set according to the resolution of the image capture module 2 and the actual size of the captured image.
  • the foregoing preset range may be [-0.5mm, 0.5mm] or [-1mm, 1mm]. ].
  • the positioning method of this embodiment may further include:
  • the image acquisition module acquires a third actual image including the lock base and the lock connecting rod;
  • the storage module stores the third actual image.
  • the lock base and the lock link are located in the actual lock position. Due to the existence of the above-mentioned preset range, when it is judged that the battery pack is locked in place, the lock base and the lock link may not be accurately located in the standard locking position.
  • the third actual image can be archived to prove the replacement of the battery During the process, the battery pack was indeed locked in place. Further, the battery swapping device may also delete the last third actual image corresponding to the electric vehicle according to the lock confirmation signal, and only retain the latest third actual image.
  • the positioning method of this embodiment can also determine whether the battery pack is locked in place on the quick-change bracket according to the second standard image and the second actual image collected during the locking process.
  • the automation of the positioning method of the battery replacement equipment is improved, thereby improving the efficiency of the battery replacement.

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Abstract

一种电动车的换电设备，包括：解锁机构（1），用于解锁锁止在电动车的快换支架上的电池包；图像采集模块（2），用于采集电池包解锁过程中快换支架上锁基座的第一实际图像；存储模块（3），用于存储换电设备位于换电位置时采集的包括锁基座的第一标准图像；定位判断模块（4），用于根据第一实际图像和第一标准图像判断换电设备是否位于换电位置；若否，则根据判断结果生成第一移动指令；移动机构（5）用于根据第一移动指令移动。还公开了一种换电设备的定位方法。本换电设备可以基于实际图像和标准图像，生成控制移动机构移动的移动指令，直至换电设备移动至换电位置，实现了换电设备定位的闭环控制。

Description

电动车的换电设备以及换电设备的定位方法
本申请要求申请日为2019/5/7的中国专利申请2019103759990的优先权。本申请引用上述中国专利申请的全文。
技术领域
本发明涉及换电控制领域，尤其涉及一种电动车的换电设备以及换电设备的定位方法。
背景技术
当前，换电设备在车辆停车至指定区域后行驶至指定位置，继而在导向叉的作用下矫正车辆位置以实现换电设备的精确定位进而实现正常的换电功能，由此，当前换电设备的定位方式未能够实现闭环控制，存在换电设备定位不准确所造成的换电失败的可能性。
发明内容
本发明要解决的技术问题是为了克服现有技术中换电设备的定位未实现闭环控制的缺陷，提供一种电动车的换电设备以及换电设备的定位方法。
本发明是通过下述技术方案来解决上述技术问题：
一种电动车的换电设备，所述换电设备包括：
解锁机构，用于解锁锁止在电动车的快换支架上的电池包，所述快换支架包括锁基座；
图像采集模块，用于采集电池包解锁过程中包括所述锁基座的第一实际图像；
存储模块，用于存储所述换电设备位于换电位置时所述图像采集模块采集的包括所述锁基座的第一标准图像；
定位判断模块，用于根据所述第一实际图像和所述第一标准图像判断所述换电设备是否位于所述换电位置；若否，则根据判断结果生成第一移动指令，并将所述第一移动指令发送至移动机构；
所述移动机构用于根据所述第一移动指令移动。
较佳地，当电动车停至停车区域时，所述换电设备从换电站接收第二移动指令；
所述换电设备的移动机构根据所述第二移动指令向所述停车区域移动。
较佳地，所述定位判断模块具体用于判断所述锁基座在第一实际图像和第一标准图像中外部轮廓的位置是否相同；
若是，则所述换电设备位于所述换电位置；
若否，则所述换电设备不位于所述换电位置。
较佳地，所述外部轮廓包括所述锁基座在第一实际图像和第一标准图像中，邻近电池包的第一轮廓以及与所述第一轮廓相交的第二轮廓。
较佳地，所述快换支架还包括与所述锁基座活动连接的锁连杆，所述换电设备还包括锁止判断模块；
所述图像采集模块还用于在电池包的锁止过程中采集包括所述锁基座和所述锁连杆的第二实际图像；
所述存储模块还用于存储电池包在所述快换支架上锁止到位时所述图像采集模块采集的包括所述锁基座和锁连杆的第二标准图像，在所述第二标准图像中，所述锁基座和所述锁连杆位于标准锁止位置；
所述锁止判断模块用于根据所述第二实际图像和所述第二标准图像判断电池包是否在所述快换支架上锁止到位；
若是，则所述锁止判断模块发送锁止确认信号。
较佳地，所述锁止判断模块具体用于判断第二实际图像中的相对距离和第二标准图像中的相对距离之间的差值是否在预设范围内，其中，所述相对距离是所述锁连杆的端部所在平面与距离所述端部最近的锁基座的侧面之间的距离；
若是，则所述锁止判断模块判断电池包在所述快换支架上锁止到位。
较佳地，所述图像采集模块设于与所述锁连杆的端部相邻的锁基座相对的位置。
较佳地，所述快换支架包括两个锁连杆，所述换电设备包括两个图像采集模块，两个图像采集模块分别设于与两个锁连杆的端部相邻的锁基座相对的位置。
较佳地，所述锁止判断模块在判断为是时，还调用所述图像采集模块采 集包括所述锁基座和所述锁连杆的第三实际图像，并调用所述存储模块存储所述第三实际图像，在所述第三实际图像中，所述锁基座和所述锁连杆位于实际锁止位置。
一种电动车的换电设备，所述换电设备包括：
解锁机构，用于解锁锁止在电动车的快换支架上的电池包，所述快换支架包括锁基座，所述快换支架还包括与所述锁基座活动连接的锁连杆；
图像采集模块，用于在电池包的锁止过程中采集包括所述锁基座和所述锁连杆的第二实际图像；
存储模块，用于存储电池包在所述快换支架上锁止到位时所述图像采集模块采集的包括所述锁基座和锁连杆的第二标准图像，在所述第二标准图像中，所述锁基座和所述锁连杆位于标准锁止位置；
锁止判断模块，用于根据所述第二实际图像和所述第二标准图像判断电池包是否在所述快换支架上锁止到位；
若是，则所述锁止判断模块发送锁止确认信号。
一种换电设备的定位方法，所述换电设备包括解锁机构及移动机构，所述解锁机构用于解锁锁止在电动车的快换支架上的电池包，所述快换支架包括锁基座；
所述定位方法包括：
采集电池包解锁过程中包括锁基座的第一实际图像，存储所述换电设备位于换电位置时采集的包括所述锁基座的第一标准图像；
根据所述第一实际图像和所述第一标准图像判断所述换电设备是否位于所述换电位置；
若否，则根据判断结果生成第一移动指令，并将所述第一移动指令发送至所述移动机构；
所述移动机构根据所述第一移动指令移动。
较佳地，在所述图像采集模块采集包括锁基座的第一实际图像的步骤之前，所述定位方法还包括：
当电动车停至停车区域时，换电站向所述换电设备发送第二移动指令；
所述换电设备的移动机构根据所述第二移动指令向所述停车区域移动。
较佳地，所述判断所述换电设备是否位于所述换电位置的步骤包括：
判断所述锁基座在第一实际图像和第一标准图像中外部轮廓的位置是否相同；
若是，则所述换电设备位于所述换电位置；
若否，则所述换电设备不位于所述换电位置。
较佳地，所述外部轮廓包括所述锁基座在第一实际图像和第一标准图像中，邻近电池包的第一轮廓以及与所述第一轮廓相交的第二轮廓。
较佳地，所述快换支架还包括与所述锁基座活动连接的锁连杆；
所述定位方法还包括：存储电池包在所述快换支架上锁止到位时采集的包括所述锁基座和锁连杆的第二标准图像，在所述第二标准图像中，所述锁基座和所述锁连杆位于标准锁止位置；
所述定位方法还包括：
在电池包的锁止过程中采集包括所述锁基座和所述锁连杆的第二实际图像；
根据所述第二实际图像和所述第二标准图像判断电池包是否在所述快换支架上锁止到位；
若是，则发送锁止确认信号。
较佳地，所述根据所述第二实际图像和所述第二标准图像判断电池包是否在所述快换支架上锁止到位的步骤包括：
判断第二实际图像中的相对距离和第二标准图像中的相对距离之间的差值是否在预设范围内，其中，所述相对距离是所述锁连杆的端部所在平面与距离所述端部最近的锁基座的侧面之间的距离；
若是，则电池包在所述快换支架上锁止到位。
较佳地，当判断电池包在所述快换支架上锁止到位时，所述定位方法还包括：
采集包括所述锁基座和所述锁连杆的第三实际图像；
存储所述第三实际图像；
在所述第三实际图像中，所述锁基座和所述锁连杆位于实际锁止位置。
一种换电设备的定位方法，所述换电设备包括解锁机构，所述解锁机构用于解锁锁止在电动车的快换支架上的电池包，所述快换支架包括锁基座，所述快换支架还包括与所述锁基座活动连接的锁连杆；
所述定位方法包括：
在电池包的锁止过程中采集包括所述锁基座和所述锁连杆的第二实际图像，存储电池包在所述快换支架上锁止到位时采集的包括所述锁基座和锁连杆的第二标准图像，在所述第二标准图像中，所述锁基座和所述锁连杆位于标准锁止位置；
根据所述第二实际图像和所述第二标准图像判断电池包是否在所述快换支架上锁止到位；
若是，则发送锁止确认信号。
本发明的积极进步效果在于：本发明中的换电设备上设有图像采集模块，可以在换电设备的定位过程中采集作为定位参考的锁基座的实际图像，进而可以基于采集到的锁基座的实际图像以及锁基座处于换电位置时采集到的锁基座的标准图像，来生成控制换电设备的移动机构移动的移动指令，直至换电设备移动至换电位置，实现了换电设备定位的闭环控制。
附图说明
图1为根据本发明实施例1的电动车的换电设备的模块示意图。
图2为根据本发明实施例1的电动车的换电设备中图像采集模块的位置示意图。
图3为本发明实施例1中第一实际图像的示意图。
图4为图3中第一实际图像的局部放大图。
图5为根据本发明实施例2的电动车的换电设备的模块示意图。
图6为本发明实施例2中第二实际图像的示意图。
图7为本发明实施例2中电池包未锁止到位时锁连杆和锁基座的相对位置的示意图。
图8为本发明实施例2中电池包锁止到位时锁连杆和锁基座的相对位置的示意图。
图9为图6中第二实际图像的局部放大图。
图10为根据本发明实施例3的换电设备的定位方法的流程图。
图11为根据本发明实施例4的换电设备的定位方法的部分流程图。
附图标记说明：
1  解锁机构；                  2  图像采集模块；
3  存储模块；                  4  定位判断模块；
5  移动机构；                  6  锁止判断模块；
R 1 第一轮廓；                  R 2 第二轮廓；
R 3 锁基座的侧面；              R 4 有锁连杆的端部所在平面；
D 1 相对距离；                  D 2 相对距离。
具体实施方式
下面通过实施例的方式进一步说明本发明，但并不因此将本发明限制在所述的实施例范围之中。
实施例1
本实施例提供一种电动车的换电设备，图1示出了本实施例的模块示意图。参见图1，本实施例的换电设备包括：控制单元、解锁机构1、图像采集模块2、存储模块3、定位判断模块4以及移动机构5。
具体地，当电动车停至换电站内的停车区域时，换电站识别电动车在停车区域内的具体位置，生成并发送包括上述具体位置的第二移动指令至换电设备，换电设备的移动机构5根据上述第二移动指令向电动车的具体位置移动，以实现换电设备的粗定位，并且，换电设备的控制单元在移动机构5移动到位后调用图像采集模块2。
在本实施例中，参见图2，图像采集模块2可以设于换电设备上靠近解锁机构1的位置。其中，解锁机构1用于解锁锁止在电动车的快换支架上的电池包，快换支架包括锁连杆以及与锁连杆活动连接的锁基座。具体地，在本实施例中，图像采集模块2设于当换电设备位于换电位置时，与锁连杆的端部相邻的锁基座相对的位置，用于采集解锁过程中包括该锁基座的第一实际图像。图3示出了第一实际图像的示意图，其中，区域A圈出的即为图像采集模块2采集到的锁基座的图像。
存储模块3用于预先存储换电设备位于换电位置，也即，与快换支架对准时，图像采集模块2采集到的包括与锁连杆的端部相邻的锁基座的第一标准图像。应当理解，换电设备相对于快换支架的位置改变时，图像采集模块2采集到的第一实际图像也会改变，在本实施例中，可以通过比对第一实际 图像和第一标准图像，来判断换电设备是否与快换支架对准。
在本实施例中，定位判断模块4用于根据第一实际图像和第一标准图像判断换电设备是否位于换电位置。具体地，定位判断模块4通过判断与锁连杆的端部相邻的锁基座在第一实际图像和第一标准图像中外部轮廓的位置是否相同，若相同，则换电设备位于与快换支架对准的换电位置，继而，解锁机构1解锁电池包以进行换电；若不相同，则换电设备不位于上述换电位置，定位判断模块4通过分析上述锁基座外部轮廓在第一实际图像和第一标准图像中的位置差异，生成并发送指示换电设备移动至换电位置的第一移动指令至换电设备的控制单元，该控制单元将上述第一移动指令发送至移动机构5，移动机构5根据第一移动指令移动，以实现换电设备的精定位。
进一步地，在本实施例中，在移动机构5根据第一移动指令移动至指定位置后，换电设备的控制单元可以继续调用图像采集模块2采集第一实际图像，直至定位判断模块4判断换电设备位于换电位置。
进一步地，在本实施例中，上述作为判断对象的外部轮廓可以包括邻近电池包的第一轮廓以及与第一轮廓相交的第二轮廓，例如，图4示出了区域A圈出的锁基座的放大图，其中，外部轮廓可以包括第一轮廓R 1和第二轮廓R 2。
进一步地，在本实施例中，快换支架可以包括两个锁连杆，为了进一步提高定位精度，换电设备可以相应地包括两个分别设于与两个锁连杆的端部相邻的锁基座相对的位置的图像采集模块。
本实施例中，换电设备上设有图像采集模块，可以在换电设备的定位过程中采集作为定位参考的锁基座的实际图像，进而可以基于采集到的锁基座的实际图像以及锁基座处于换电位置时采集到的锁基座的标准图像，来生成控制换电设备的移动机构移动的移动指令，直至换电设备移动至换电位置，实现了换电设备定位的闭环控制。
实施例2
本实施例在实施例1的基础上提供一种电动车的换电设备，图5示出了本实施例的模块示意图。较之实施例1，本实施例的换电设备还包括锁止判断模块6，用于在锁止过程中判断电池包是否在快换支架上锁止到位。
具体地，在本实施例中，图像采集模块2还用于在电池包的锁止过程中 采集包括锁基座和锁连杆的第二实际图像，图6示出了第二实际图像的示意图，其中，区域B圈出的即为图像采集模块2采集到的锁基座和锁连杆的图像。存储模块3还用于预先存储电池包在快换支架上锁止到位时，图像采集模块2采集的包括锁基座和锁连杆的第二标准图像，在第二标准图像中，锁基座和锁连杆位于标准锁止位置。
应当理解，在电池包的锁止过程中，图像采集模块2采集到的第二实际图像中锁连杆和锁基座的相对位置会发生改变。具体地，上述改变可以体现在，锁连杆的端部所在平面与距离该端部最近的锁基座的侧面之间的相对距离。例如，在图7中，电池包未锁止到位，有锁连杆的端部所在平面R 4与距离该端部最近的锁基座的侧面R 3之间的相对距离D 1，在图8中，电池包锁止到位，有锁连杆的端部所在平面R 4与距离该端部最近的锁基座的侧面R 3之间的相对距离D 2。在本实施例中，可以通过比对从第二实际图像和第二标准图像中获得的相对距离D 1和相对距离D 2，来判断电池包是否在快换支架上锁止到位。
在本实施例中，可以根据图像采集模块2的分辨率以及第二实际图像的大小来计算相对距离D 1。具体地，假设图像采集模块2的分辨率(X方向*Y方向)为a*b，第二实际图像的大小(X方向*Y方向)为c*d，根据上述分辨率将第二实际图像分为a*b个像素点，若相对距离D 1在X方向上且长度为N 1个像素点，则有D 1＝N 1*c/a；若相对距离D 1在Y方向上且长度为N 2个像素点，则有D 1＝N 2*d/b。可以根据同样地方法计算相对距离D 2，此处不赘。
在本实施例中，锁止判断模块6用于根据第二实际图像和第二标准图像判断电池包是否在快换支架上锁止到位。图9示出了区域B圈出的锁基座和锁连杆的放大图，具体地，锁止判断模块6通过判断第二实际图像中的相对距离D 1和第二标准图像中的相对距离D 2之间的差值是否在预设范围内来判断电池包是否在快换支架上锁止到位，若D 1与D 2之间的差值在预设范围内，则锁止判断模块6判断电池包在快换支架上锁止到位，继而，锁止判断模块6可以发送表征电池包在快换支架上锁止到位的锁止确认信号至换电设备的控制单元，该控制单元可以将上述锁止确认信号发送至换电站，从而换电站能够确认电池包锁止正常，进而可以控制道闸系统对换点完成的电动车进行抬杆放行；若D 1与D 2之间的差值不在预设范围内，则锁止判断模块6判断 电池包在快换支架上未锁止到位，换电设备的控制单元可以调用图像采集模块2继续采集第二实际图像。其中，可以根据图像采集模块2的分辨率及其采集图像的实际大小来设置上述预设范围，例如，上述预设范围可以是[-0.5mm，0.5mm]，也可以是[-1mm，1mm]。
进一步地，在本实施例中，锁止判断模块6在判断为是时，还可以调用图像采集模块2采集包括锁基座和锁连杆的第三实际图像，在第三实际图像中，锁基座和锁连杆位于实际锁止位置。具体地，由于上述预设范围的存在，锁止判断模块6判断电池包锁止到位时，锁基座和锁连杆不一定精准地位于标准锁止位置，但是，可以调用存储模块3存储第三实际图像，存档留用，以证明此次换电过程中，电池包确已锁止到位。进一步地，换电设备的控制单元还可以根据上述锁止确认信号删除对应电动车存储在存储模块3中的上一第三实际图像，仅保留最新的一张第三实际图像。
在实施例1的基础上，本实施例的换电设备还可以根据第二标准图像以及在锁止过程中采集到的第二实际图像，来判断电池包是否在快换支架上锁止到位，进一步提升了换电设备的自动化，进而提升换电效率。
实施例3
本实施例提供一种换电设备的定位方法，该定位方法利用实施例1中的电动车的换电设备实现，图10示出了本实施例的流程图。参见图10，本实施例的定位方法包括：
S11、当电动车停至停车区域时，换电站向换电设备发送第二移动指令。
具体地，当电动车停至换电站内的停车区域时，换电站识别电动车在停车区域内的具体位置，生成并发送包括上述具体位置的第二移动指令至换电设备。
S12、换电设备的移动机构根据第二移动指令向停车区域移动。
换电设备的移动机构根据上述第二移动指令向电动车的具体位置移动，以实现换电设备的粗定位，并且，在移动机构移动到位后调用图像采集模块。
S13、图像采集模块采集电池包解锁过程中包括锁基座的第一实际图像。
第一实际图像亦如图3所示，其中，区域A圈出的即为图像采集模块采集到的锁基座的图像。应当理解，换电设备相对于快换支架的位置改变时，图像采集模块采集到的第一实际图像也会改变。
S14、定位判断模块根据第一实际图像和第一标准图像判断换电设备是否位于换电位置；
若是，则转至步骤S15；若否，则转至步骤S16；
S15、解锁机构解锁电池包；
S16、根据判断结果生成第一移动指令，并将第一移动指令发送至移动机构。
在本实施例中，第一标准图像是换电设备位于换电位置，也即，与快换支架对准时，采集到的包括与锁连杆的端部相邻的锁基座的图像。在本实施例中，可以通过比对第一实际图像和第一标准图像，来判断换电设备是否与快换支架对准。
具体地，步骤S14具体可以包括，定位判断模块判断与锁连杆的端部相邻的锁基座在第一实际图像和第一标准图像中外部轮廓的位置是否相同，若相同，则换电设备位于与快换支架对准的换电位置，继而，执行步骤S15，解锁机构解锁电池包以进行换电；若不相同，则换电设备不位于上述换电位置，执行步骤S16，通过分析上述锁基座外部轮廓在第一实际图像和第一标准图像中的位置差异，生成并发送指示换电设备移动至换电位置的第一移动指令至移动机构。
S17、移动机构根据第一移动指令移动。
在本实施例中，移动机构根据第一移动指令移动，以实现换电设备的精定位。进一步地，在步骤S17之后，可以继续执行步骤S13，直至步骤S14判断为是，也即，换电设备位于换电位置。
进一步地，在本实施例中，上述作为判断对象的外部轮廓可以包括邻近电池包的第一轮廓以及与第一轮廓相交的第二轮廓，亦如图4所示，外部轮廓可以包括第一轮廓R 1和第二轮廓R 2。
在实施例1提供的换电设备的基础上，本实施例的定位方法可以在换电设备的定位过程中采集作为定位参考的锁基座的实际图像，进而可以基于采集到的锁基座的实际图像以及锁基座处于换电位置时采集到的锁基座的标准图像，来生成控制换电设备的移动机构移动的移动指令，直至换电设备移动至换电位置，实现了换电设备定位的闭环控制。
实施例4
本实施例在实施例3的基础上提供一种换电设备的定位方法，图11示出了本实施例的部分流程图。较之实施例3，本实施例中换电设备的存储模块还预先存储电池包在快换支架上锁止到位时，图像采集模块采集的包括锁基座和锁连杆的第二标准图像，在第二标准图像中，锁基座和锁连杆位于标准锁止位置，本实施例的定位方法在步骤S15之后还包括：
S21、图像采集模块在电池包的锁止过程中采集包括锁基座和锁连杆的第二实际图像。
具体地，在本实施例中，图像采集模块还用于在电池包的锁止过程中采集包括锁基座和锁连杆的第二实际图像，第二实际图像亦如图6所示，其中，区域B圈出的即为图像采集模块采集到的锁基座和锁连杆的图像。
应当理解，在电池包的锁止过程中，图像采集模块采集到的第二实际图像中锁连杆和锁基座的相对位置会发生改变。具体地，上述改变可以体现在，锁连杆的端部所在平面与距离该端部最近的锁基座的侧面之间的相对距离。例如，在图7中，电池包未锁止到位，有锁连杆的端部所在平面R 4与距离该端部最近的锁基座的侧面R 3之间的相对距离D 1，在图8中，电池包锁止到位，有锁连杆的端部所在平面R 4与距离该端部最近的锁基座的侧面R 3之间的相对距离D 2。在本实施例中，可以通过比对从第二实际图像和第二标准图像中获得的相对距离D 1和相对距离D 2，来判断电池包是否在快换支架上锁止到位。
S22、根据第二实际图像和第二标准图像判断电池包是否在快换支架上锁止到位；
若是，则转至步骤S23；若否，则继续执行步骤S21；
S23、发送锁止确认信号。
区域B圈出的锁基座和锁连杆的放大图亦如图9所示，具体地，步骤S22可以包括，判断第二实际图像中的相对距离D 1和第二标准图像中的相对距离D 2之间的差值是否在预设范围内来判断电池包是否在快换支架上锁止到位，若D 1与D 2之间的差值在预设范围内，则电池包在快换支架上锁止到位，继而，执行步骤S23，发送表征电池包在快换支架上锁止到位的锁止确认信号至换电站，从而换电站能够确认电池包锁止正常，进而可以控制道闸系统对换点完成的电动车进行抬杆放行；若D 1与D 2之间的差值不在预设 范围内，则继续执行步骤S22，采集第二实际图像。其中，可以根据图像采集模块2的分辨率及其采集图像的实际大小来设置上述预设范围，例如，上述预设范围可以是[-0.5mm，0.5mm]，也可以是[-1mm，1mm]。
进一步地，在本实施例中，当步骤S22判断为是时，本实施例的定位方法还可以包括：
图像采集模块采集包括锁基座和锁连杆的第三实际图像；
存储模块存储第三实际图像。
具体地，在第三实际图像中，锁基座和锁连杆位于实际锁止位置。由于上述预设范围的存在，当判断电池包锁止到位时，锁基座和锁连杆不一定精准地位于标准锁止位置，但是，第三实际图像可以存档留用，以证明此次换电过程中，电池包确已锁止到位。进一步地，换电设备还可以根据上述锁止确认信号删除对应电动车的上一第三实际图像，仅保留最新的一张第三实际图像。
在实施例3的基础上，本实施例的定位方法还可以根据第二标准图像以及在锁止过程中采集到的第二实际图像，来判断电池包是否在快换支架上锁止到位，进一步提升了换电设备定位方法的自动化，进而提升换电效率。
虽然以上描述了本发明的具体实施方式，但是本领域的技术人员应当理解，这仅是举例说明，本发明的保护范围是由所附权利要求书限定的。本领域的技术人员在不背离本发明的原理和实质的前提下，可以对这些实施方式做出多种变更或修改，但这些变更和修改均落入本发明的保护范围。

Claims (18)

  1. 一种电动车的换电设备，其特征在于，所述换电设备包括：
    解锁机构，用于解锁锁止在电动车的快换支架上的电池包，所述快换支架包括锁基座；
    图像采集模块，用于采集电池包解锁过程中包括所述锁基座的第一实际图像；
    存储模块，用于存储所述换电设备位于换电位置时所述图像采集模块采集的包括所述锁基座的第一标准图像；
    定位判断模块，用于根据所述第一实际图像和所述第一标准图像判断所述换电设备是否位于所述换电位置；若否，则根据判断结果生成第一移动指令，并将所述第一移动指令发送至移动机构；
    所述移动机构用于根据所述第一移动指令移动。
  2. 如权利要求1所述的电动车的换电设备，其特征在于，当电动车停至停车区域时，所述换电设备从换电站接收第二移动指令；
    所述换电设备的移动机构根据所述第二移动指令向所述停车区域移动。
  3. 如权利要求1所述的电动车的换电设备，其特征在于，所述定位判断模块具体用于判断所述锁基座在第一实际图像和第一标准图像中外部轮廓的位置是否相同；
    若是，则所述换电设备位于所述换电位置；
    若否，则所述换电设备不位于所述换电位置。
  4. 如权利要求3所述的电动车的换电设备，其特征在于，所述外部轮廓包括所述锁基座在第一实际图像和第一标准图像中，邻近电池包的第一轮廓以及与所述第一轮廓相交的第二轮廓。
  5. 如权利要求1～4中任意一项所述的电动车的换电设备，其特征在于，所述快换支架还包括与所述锁基座活动连接的锁连杆，所述换电设备还包括锁止判断模块；
    所述图像采集模块还用于在电池包的锁止过程中采集包括所述锁基座和所述锁连杆的第二实际图像；
    所述存储模块还用于存储电池包在所述快换支架上锁止到位时所述图 像采集模块采集的包括所述锁基座和锁连杆的第二标准图像，在所述第二标准图像中，所述锁基座和所述锁连杆位于标准锁止位置；
    所述锁止判断模块用于根据所述第二实际图像和所述第二标准图像判断电池包是否在所述快换支架上锁止到位；
    若是，则所述锁止判断模块发送锁止确认信号。
  6. 如权利要求5所述的电动车的换电设备，其特征在于，所述锁止判断模块具体用于判断第二实际图像中的相对距离和第二标准图像中的相对距离之间的差值是否在预设范围内，其中，所述相对距离是所述锁连杆的端部所在平面与距离所述端部最近的锁基座的侧面之间的距离；
    若是，则所述锁止判断模块判断电池包在所述快换支架上锁止到位。
  7. 如权利要求5所述的电动车的换电设备，其特征在于，所述图像采集模块设于与所述锁连杆的端部相邻的锁基座相对的位置。
  8. 如权利要求7所述的电动车的换电设备，其特征在于，所述快换支架包括两个锁连杆，所述换电设备包括两个图像采集模块，两个图像采集模块分别设于与两个锁连杆的端部相邻的锁基座相对的位置。
  9. 如权利要求5所述的电动车的换电设备，其特征在于，所述锁止判断模块在判断为是时，还调用所述图像采集模块采集包括所述锁基座和所述锁连杆的第三实际图像，并调用所述存储模块存储所述第三实际图像，在所述第三实际图像中，所述锁基座和所述锁连杆位于实际锁止位置。
  10. 一种电动车的换电设备，其特征在于，所述换电设备包括：
    解锁机构，用于解锁锁止在电动车的快换支架上的电池包，所述快换支架包括锁基座，所述快换支架还包括与所述锁基座活动连接的锁连杆；
    图像采集模块，用于在电池包的锁止过程中采集包括所述锁基座和所述锁连杆的第二实际图像；
    存储模块，用于存储电池包在所述快换支架上锁止到位时所述图像采集模块采集的包括所述锁基座和锁连杆的第二标准图像，在所述第二标准图像中，所述锁基座和所述锁连杆位于标准锁止位置；
    锁止判断模块，用于根据所述第二实际图像和所述第二标准图像判断电池包是否在所述快换支架上锁止到位；
    若是，则所述锁止判断模块发送锁止确认信号。
  11. 一种换电设备的定位方法，其特征在于，所述换电设备包括解锁机构及移动机构，所述解锁机构用于解锁锁止在电动车的快换支架上的电池包，所述快换支架包括锁基座；
    所述定位方法包括：
    采集电池包解锁过程中包括锁基座的第一实际图像，存储所述换电设备位于换电位置时采集的包括所述锁基座的第一标准图像；
    根据所述第一实际图像和所述第一标准图像判断所述换电设备是否位于所述换电位置；
    若否，则根据判断结果生成第一移动指令，并将所述第一移动指令发送至所述移动机构；
    所述移动机构根据所述第一移动指令移动。
  12. 如权利要求11所述的换电设备的定位方法，其特征在于，在所述图像采集模块采集包括锁基座的第一实际图像的步骤之前，所述定位方法还包括：
    当电动车停至停车区域时，换电站向所述换电设备发送第二移动指令；
    所述换电设备的移动机构根据所述第二移动指令向所述停车区域移动。
  13. 如权利要求11所述的换电设备的定位方法，其特征在于，所述判断所述换电设备是否位于所述换电位置的步骤包括：
    判断所述锁基座在第一实际图像和第一标准图像中外部轮廓的位置是否相同；
    若是，则所述换电设备位于所述换电位置；
    若否，则所述换电设备不位于所述换电位置。
  14. 如权利要求13所述的换电设备的定位方法，其特征在于，所述外部轮廓包括所述锁基座在第一实际图像和第一标准图像中，邻近电池包的第一轮廓以及与所述第一轮廓相交的第二轮廓。
  15. 如权利要求11～14中任意一项所述的换电设备的定位方法，其特征在于，所述快换支架还包括与所述锁基座活动连接的锁连杆；
    所述定位方法还包括：存储电池包在所述快换支架上锁止到位时采集的包括所述锁基座和锁连杆的第二标准图像，在所述第二标准图像中，所述锁基座和所述锁连杆位于标准锁止位置；
    所述定位方法还包括：
    在电池包的锁止过程中采集包括所述锁基座和所述锁连杆的第二实际图像；
    根据所述第二实际图像和所述第二标准图像判断电池包是否在所述快换支架上锁止到位；
    若是，则发送锁止确认信号。
  16. 如权利要求15所述的换电设备的定位方法，其特征在于，所述根据所述第二实际图像和所述第二标准图像判断电池包是否在所述快换支架上锁止到位的步骤包括：
    判断第二实际图像中的相对距离和第二标准图像中的相对距离之间的差值是否在预设范围内，其中，所述相对距离是所述锁连杆的端部所在平面与距离所述端部最近的锁基座的侧面之间的距离；
    若是，则电池包在所述快换支架上锁止到位。
  17. 如权利要求15所述的换电设备的定位方法，其特征在于，当判断电池包在所述快换支架上锁止到位时，所述定位方法还包括：
    采集包括所述锁基座和所述锁连杆的第三实际图像；
    存储所述第三实际图像；
    在所述第三实际图像中，所述锁基座和所述锁连杆位于实际锁止位置。
  18. 一种换电设备的定位方法，其特征在于，所述换电设备包括解锁机构，所述解锁机构用于解锁锁止在电动车的快换支架上的电池包，所述快换支架包括锁基座，所述快换支架还包括与所述锁基座活动连接的锁连杆；
    所述定位方法包括：
    在电池包的锁止过程中采集包括所述锁基座和所述锁连杆的第二实际图像，存储电池包在所述快换支架上锁止到位时采集的包括所述锁基座和锁连杆的第二标准图像，在所述第二标准图像中，所述锁基座和所述锁连杆位于标准锁止位置；
    根据所述第二实际图像和所述第二标准图像判断电池包是否在所述快换支架上锁止到位；
    若是，则发送锁止确认信号。
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