WO2024114656A1 - Procédé de positionnement d'équipement de permutation de batterie - Google Patents

Procédé de positionnement d'équipement de permutation de batterie Download PDF

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Publication number
WO2024114656A1
WO2024114656A1 PCT/CN2023/134868 CN2023134868W WO2024114656A1 WO 2024114656 A1 WO2024114656 A1 WO 2024114656A1 CN 2023134868 W CN2023134868 W CN 2023134868W WO 2024114656 A1 WO2024114656 A1 WO 2024114656A1
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WO
WIPO (PCT)
Prior art keywords
battery
vehicle
swap
replaced
offset angle
Prior art date
Application number
PCT/CN2023/134868
Other languages
English (en)
Chinese (zh)
Inventor
张建平
陆文成
于新瑞
Original Assignee
奥动新能源汽车科技有限公司
上海电巴新能源科技有限公司
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
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Application filed by 奥动新能源汽车科技有限公司, 上海电巴新能源科技有限公司 filed Critical 奥动新能源汽车科技有限公司
Publication of WO2024114656A1 publication Critical patent/WO2024114656A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S13/00—Vehicle-manoeuvring devices separate from the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/80—Exchanging energy storage elements, e.g. removable batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
    • B60S5/06—Supplying batteries to, or removing batteries from, vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors

Definitions

  • the present invention relates to the technical field of vehicle battery replacement, and in particular to a method for positioning battery replacement equipment.
  • the battery swapping vehicle needs to be parked at the designated battery swapping position in the battery swapping channel so that the battery swapping equipment can perform battery swapping operations. Since it is difficult for the driver to drive and park the battery swapping vehicle at the designated battery swapping position at one time, the following solutions exist in the prior art: a parking platform is set up in the battery swapping channel, and after the battery swapping vehicle stops at the approximate position, the position of the battery swapping vehicle is adjusted to the standard battery swapping position through the moving mechanism on the parking platform. However, this solution is mostly suitable for battery swapping vehicles with small size and light weight.
  • the prior art also has a specific solution for rotating the battery swapping equipment to adapt it to the deviation angle between the actual parking position of the battery swapping vehicle and the standard battery swapping position.
  • This requires accurate measurement of the deviation between the actual parking position of the battery swapping vehicle and the standard battery swapping position, so that the accurate error angle can be fed back to the battery swapping equipment, so that it can make precise adjustments.
  • the prior art mainly relies on the battery swapping equipment to enter the bottom of the battery swapping vehicle for detection to obtain the deviation angle.
  • this method is easily affected by the vehicle environment, resulting in inaccurate measurement data.
  • the present application provides a method for positioning a battery swapping device to solve the technical problem in the prior art that the vehicle has a long parking time during battery swapping, thereby reducing the battery swapping efficiency of the vehicle.
  • the present application provides a method for positioning battery swap equipment, which is applied to a battery swap station.
  • the battery swap station includes a battery swap channel and battery swap equipment.
  • the positioning method includes: obtaining the offset angle of the vehicle to be replaced along the length direction of the battery swap channel; based on the offset angle, guiding the battery swap equipment to adjust to align with the battery accommodation area of the vehicle to be replaced.
  • the battery swap equipment positioning method After the vehicle stops at the battery swap channel, by obtaining the offset angle of the battery swap vehicle relative to the battery swap channel along the length direction, it is possible to obtain the angle information that the battery swap equipment needs to adjust relative to the battery swap vehicle, thereby ensuring that the battery swap equipment can be adjusted to a position that is aligned with the battery storage area of the battery swap vehicle during the battery swap process, making it easier to unlock the battery pack and improve the battery swap efficiency.
  • the battery swap equipment is used to achieve automatic positioning, eliminating the need for the driver to adjust the position of the vehicle multiple times, thereby improving the user's battery swap experience.
  • distance measuring sensors are arranged at intervals on either side of the battery swap channel; the step of obtaining the offset angle of the vehicle to be battery swapped along the length direction of the battery swap channel includes: after the vehicle to be battery swapped enters the battery swap channel and stops, controlling the distance measuring sensor to start; and detecting the distance information between the distance measuring sensor and the vehicle to be battery swapped and/or the battery pack to further obtain the offset angle.
  • the offset angle of the battery swap vehicle relative to the battery swap channel can be obtained through the measured multiple distance information, and the mutual calibration between the multiple distance information is convenient to improve the accuracy of the offset angle.
  • the battery swap equipment can be quickly positioned using a simple structure, which is suitable for most battery swaps. Electric scene, effectively improve the positioning efficiency of battery swapping equipment.
  • the ranging sensor is at least two laser sensors arranged at intervals and respectively arranged corresponding to the first detection points preset on the vehicle to be replaced and/or the battery pack.
  • two or more laser sensors are installed in the battery swap channel to detect the distance information between the battery swap vehicle and the battery swap vehicle, and then obtain the offset angle of the battery swap vehicle.
  • the configuration is simple, which is convenient for adding equipment components to the battery swap channel of any battery swap station, ensuring accurate measurement and improving the positioning efficiency of the battery swap equipment.
  • the ranging sensor is two groups of binocular cameras arranged at intervals, which are respectively arranged in one-to-one correspondence with two groups of second detection points preset on the battery pack; the distance information between the ranging sensor and the vehicle to be replaced and/or the battery pack is detected, and the offset angle is further obtained, including: controlling the two groups of binocular cameras to synchronously measure the two groups of the second detection points to obtain the coordinate values of the second detection points; controlling the two groups of binocular cameras to calibrate the coordinate values of the two groups of the second detection points detected to obtain the precise position information of the vehicle to be replaced in the battery replacement channel.
  • two groups of binocular cameras are set up in the battery swapping channel to detect the distance information between the battery swapping vehicle and the battery swapping vehicle, and then obtain the offset angle of the battery swapping vehicle.
  • the coordinate values of the second detection points measured by each other are obtained, and they can be calibrated with each other to make the obtained vehicle position information and offset angle more accurate, further improving the positioning efficiency of the battery swapping equipment.
  • the step of guiding the battery exchange equipment to adjust to align with the battery accommodation area of the vehicle to be replaced based on the offset angle it also includes: controlling the battery exchange equipment to move to a position where it is aligned with the battery accommodation area along the walking direction.
  • the battery replacement is first controlled
  • the equipment moves along the walking direction to a position aligned with the battery accommodating area, and then adjusts the angle according to the offset angle so that the battery swapping equipment is completely aligned with the battery accommodating area, thereby achieving rapid positioning of the battery swapping equipment and improving positioning efficiency.
  • the battery swapping device is provided with a visual sensor, which is matched with a preset positioning mark on the vehicle to be replaced or on the battery pack; before the step of obtaining the offset angle of the vehicle to be replaced along the length direction of the battery swapping channel, it also includes: after the vehicle to be replaced enters the battery swapping channel and parks, controlling the battery swapping device to move toward the bottom of the vehicle to be replaced to a preset range.
  • the step of obtaining the offset angle of the vehicle to be battery-swapped along the length direction of the battery-swapped channel includes: after the battery-swapped equipment moves to the preset range, controlling the visual sensor to start; controlling the visual sensor to perform image detection on a preset positioning mark, and further obtaining the offset angle.
  • the battery-swapped equipment is controlled to move toward the bottom of the vehicle to be battery-swapped within a preset range, so that the bottom of the battery-swapped vehicle can be detected by the visual sensor provided on the battery-swapped equipment, thereby obtaining the offset angle corresponding to the battery-swapped vehicle.
  • the offset angle of the battery-swapped vehicle can also be quickly obtained, which is convenient for the battery-swapped equipment to position the battery-swapped vehicle, expand the use scenarios of the battery-swapped equipment, and improve the positioning efficiency of the battery-swapped equipment and the overall battery-swapped efficiency.
  • At least one calibration point is provided on the bottom of the vehicle to be replaced, and the battery replacement equipment is provided with a calibration sensor unit, which is arranged corresponding to at least one calibration point preset on the bottom of the battery replacement vehicle or the battery pack; after the step of guiding the battery replacement equipment to adjust to align with the battery accommodating area of the vehicle to be replaced, it also includes: controlling the calibration sensor unit to detect the calibration point to determine that the positioning of the battery replacement equipment is completed.
  • the calibration sensing unit is a plurality of proximity sensors, and calibration is achieved by detecting metal parts set at corresponding calibration points; or the calibration sensing unit is a visual sensor, and calibration is achieved by collecting actual image information of corresponding calibration points.
  • the calibration sensing unit is specifically a plurality of proximity sensors, and the calibration is achieved by detecting metal parts through the proximity sensors, which has a simple structure, low cost, and is easy to install or replace.
  • a visual sensor can be used to collect actual image information of corresponding calibration points to achieve calibration and improve calibration accuracy. At the same time, there is no need to process or modify the vehicle, which is easy to implement.
  • the battery accommodating area is installed with a battery pack, and the battery pack is locked on the vehicle to be replaced by a locking mechanism; the step of obtaining the offset angle of the vehicle to be replaced along the length direction of the battery replacement channel also includes: obtaining the torsional position information of the battery pack and/or the locking mechanism according to the offset angle.
  • the battery swap device includes a base, a battery swap platform arranged on the base, and the battery swap platform is provided with an unlocking mechanism matched with the locking mechanism; the step of guiding the battery swap device to adjust to align with the battery accommodation area of the vehicle to be swapped based on the offset angle includes: controlling the unlocking mechanism to move or the battery swap platform to rotate or the battery swap device to twist until the unlocking mechanism is aligned with the locking mechanism according to the offset angle and/or the torsional position information.
  • the torsional position information of the battery pack and/or the locking mechanism is further obtained through the offset angle of the battery-swap vehicle, and the actual position of the battery pack and/or the locking mechanism on the battery-swap vehicle can be directly obtained based on the torsional position information, so that the unlocking mechanism on the battery-swap device and the locking mechanism on the battery pack or the positioning mechanism on the battery-swap device and the positioning mechanism on the battery pack can be accurately aligned.
  • the unlocking mechanism can be aligned by directly controlling the movement of the unlocking mechanism itself, or by controlling the rotation of the battery-swap platform.
  • the unlocking mechanism can be aligned by controlling the overall twisting of the battery swapping device, or by controlling two or three of the three to achieve alignment adjustment, thereby facilitating locking and unlocking operations of the battery swapping device and improving positioning accuracy and efficiency.
  • a plurality of locking mechanisms are provided in the circumferential area and/or the middle area of the battery pack, and a plurality of unlocking mechanisms corresponding to the plurality of locking mechanisms are provided on the battery swapping equipment; the step of guiding the battery swapping equipment to adjust to be aligned with the battery accommodating area of the vehicle to be replaced includes: based on a preset alignment parameter range, controlling the plurality of unlocking mechanisms to align and adjust with the plurality of locking mechanisms, so that each of the unlocking mechanisms is aligned with at least a partial structure of the corresponding locking mechanism.
  • the battery pack in order to ensure the stability of the battery pack installation, the battery pack is usually locked at the bottom of the battery swapping vehicle through multiple locking mechanisms. At this time, when the battery pack needs to be unlocked, it is necessary to ensure that the unlocking mechanism on the battery swapping equipment can be aligned one by one with the locking mechanism on the battery pack to successfully unlock it. Based on this positioning method, when aligning the unlocking mechanism and the locking mechanism, it is only necessary to ensure that the corresponding unlocking mechanism and locking mechanism are partially aligned.
  • the positioning error can be overcome by the floating amount of the unlocking mechanism and/or the locking mechanism itself, thereby ensuring that all unlocking mechanisms can be aligned with the corresponding locking mechanisms, thereby improving positioning accuracy and positioning efficiency, thereby improving battery swapping efficiency.
  • a positioning mark is provided on the battery-swap vehicle and/or the battery pack; the step of obtaining the offset angle of the vehicle to be battery-swap along the length direction of the battery-swap channel includes: detecting the position deviation information of the positioning mark, and further obtaining the offset angle.
  • the deviation information can be obtained by using the actual position information of the positioning mark to obtain the offset angle of the battery swap vehicle.
  • the battery swap vehicle or the battery pack does not require any complicated modification operations, and the offset angle can be obtained, thereby realizing the positioning function of the battery swap equipment. This is simple and easy. Low cost and easy to promote.
  • the battery swap equipment positioning method After the vehicle stops at the battery swap channel, by obtaining the offset angle of the battery swap vehicle relative to the battery swap channel along the length direction, it is possible to obtain the angle information that the battery swap equipment needs to adjust relative to the battery swap vehicle, thereby ensuring that the battery swap equipment can be adjusted to a position that is aligned with the battery storage area of the battery swap vehicle during the battery swap process, making it easier to unlock the battery pack and improve the battery swap efficiency.
  • the battery swap equipment is used to achieve automatic positioning, eliminating the need for the driver to adjust the position of the vehicle multiple times, thereby improving the user's battery swap experience.
  • FIG1 is a flow chart of a method for positioning a battery swapping device according to an embodiment of the present application.
  • FIG2 is a schematic diagram of a flow chart of another method for positioning a battery swapping device according to an embodiment of the present application
  • FIG3 is a flow chart of another method for positioning a battery swapping device according to an embodiment of the present application.
  • FIG4 is a flow chart of another method for positioning a battery swapping device according to an embodiment of the present application.
  • the present application provides a method for positioning a battery swapping device, which is applied to a battery swapping station.
  • the battery swapping station includes a battery swapping channel and a battery swapping device.
  • the positioning method includes:
  • S1 obtains the offset angle of the vehicle to be replaced along the length direction of the replacement channel
  • S2 guides the battery swapping equipment to adjust to align with the battery accommodation area of the vehicle to be swapped based on the offset angle.
  • the vehicle when performing a battery swap operation on a vehicle, the vehicle must first be driven to the designated battery swap point or battery swap channel, and the battery storage area of the vehicle must be aligned with the battery swap equipment. Therefore, in order to reduce the parking time of the vehicle at the battery swap point or battery swap channel, improve the parking efficiency of the vehicle, and thus improve the battery swap efficiency of the vehicle, the vehicle is partially parked.
  • the offset angle of the vehicle to be replaced along the length direction of the battery swapping channel is obtained; based on the offset angle, the battery swapping equipment is guided to adjust to align with the battery accommodation area of the vehicle to be replaced.
  • the battery swap equipment positioning method After the vehicle stops at the battery swap channel, by obtaining the offset angle of the battery swap vehicle relative to the battery swap channel along the length direction, it is possible to obtain the angle information that the battery swap equipment needs to adjust relative to the battery swap vehicle, thereby ensuring that the battery swap equipment can be adjusted to a position that is aligned with the battery storage area of the battery swap vehicle during the battery swap process, making it easier to unlock the battery pack and improve the battery swap efficiency.
  • the battery swap equipment is used to achieve automatic positioning, eliminating the need for the driver to adjust the position of the vehicle multiple times, thereby improving the user's battery swap experience.
  • a vehicle identification module can be provided at the entrance of the battery replacement station, which can at least obtain the model information of the vehicle to be replaced.
  • the vehicle identification module can be a license plate reader or a radio frequency identification RFID reader.
  • distance measuring sensors are arranged at intervals on either side of the battery swap channel; the step of obtaining the offset angle of the vehicle to be replaced along the length direction of the battery swap channel includes: after the vehicle to be replaced enters the battery swap channel and stops, controlling the distance measuring sensor to start; detecting the distance information between the vehicle to be replaced and/or the battery pack through the distance measuring sensor to further obtain the offset angle.
  • the distance information between it and the vehicle to be replaced and/or the battery pack is detected by a distance measuring sensor, and the offset angle is further obtained by adjusting and calculating the distance information.
  • the offset angle of the battery swapping vehicle relative to the battery swapping channel can be obtained through the measured multiple distance information, and the mutual calibration between the multiple distance information can facilitate improving the accuracy of the offset angle.
  • the battery swapping equipment can be quickly positioned using a simple structure, which can be applicable to most battery swapping scenarios and effectively improve the positioning efficiency of the battery swapping equipment.
  • the ranging sensor can be set on either side of the battery exchange channel. This application does not limit this.
  • the ranging sensor is set on either side of the battery exchange channel along the driving direction, and measurements are taken from either side of the vehicle body.
  • the measuring area is opposite to or closer to the installation position of the battery pack, which can enable more accurate positioning and improve positioning accuracy.
  • the ranging sensor is at least two laser sensors arranged at intervals and respectively arranged corresponding to the first detection points preset on the vehicle to be replaced and/or the battery pack.
  • two or more laser sensors are installed in the battery swap channel to detect the distance information between the battery swap vehicle and the battery swap vehicle, and then obtain the offset angle of the battery swap vehicle.
  • the configuration is simple, which is convenient for adding equipment components to the battery swap channel of any battery swap station, ensuring accurate measurement and improving the positioning efficiency of the battery swap equipment.
  • the ranging sensor is two groups of binocular cameras arranged at intervals, which are respectively arranged in one-to-one correspondence with two groups of second detection points preset on the battery pack; the ranging sensor detects the distance information between it and the vehicle to be replaced and/or the battery pack, and further obtains the offset angle, including: controlling the two groups of binocular cameras to synchronously measure the two groups of second detection points to obtain the coordinate values of the second detection points; controlling the two groups of binocular cameras to calibrate the coordinate values of the two groups of second detection points detected to each other, and obtain the precise position information of the vehicle to be replaced in the battery replacement channel.
  • two sets of binocular cameras are set up in the battery swap channel to detect the distance information between the battery swap vehicle and the battery swap vehicle, and then obtain the offset angle of the battery swap vehicle.
  • the binocular cameras measure synchronously and obtain the coordinate values of the second detection points respectively. They can calibrate each other to make the obtained vehicle position information and offset angle more accurate, further improving the positioning efficiency of the battery swapping equipment.
  • binocular cameras require the installation of detection points on the object to be measured, and the positioning of the object to be measured can be achieved by measuring the spatial coordinates of the detection points on the object to be measured.
  • binocular cameras are characterized by high customization and high cost performance.
  • the measurement accuracy of binocular cameras is closely related to the manufacturing and installation accuracy of the object to be measured. For example, the manufacturing error and installation error of the mounting bracket of the detection point, as well as the installation error of the detection point itself, these dimensions are difficult to ensure to be limited to a small range during mass production.
  • two binocular cameras are used for combined measurement and positioning.
  • the two binocular cameras can be installed on one side of the battery exchange channel. Preferably, they can be arranged side by side, and the two binocular cameras can be spaced 1000mm to 2000mm apart.
  • Two groups of second detection points are installed directly on the side of the battery pack, one group can be close to the front of the vehicle and the other group can be close to the rear of the vehicle.
  • the two second monitoring points are spaced 1000mm to 2000mm apart, and preferably, the second detection point is installed at a height close to that of the two binocular cameras.
  • the two binocular cameras are controlled to measure synchronously, and the coordinate values of the second detection points measured by each are given respectively. After comprehensive processing of the two sets of coordinate values, the precise position information of the car in the channel can be obtained by calculation. The measurement accuracy is greatly improved, thereby improving the battery exchange efficiency.
  • the method before the step of guiding the battery swapping device to adjust to align with the battery accommodation area of the vehicle to be replaced based on the offset angle, the method further includes:
  • S20 controls the battery exchange equipment to move to a position where it is aligned with the battery accommodating area along the moving direction.
  • the battery-swapped equipment is first controlled to move along the walking direction to a position aligned with the battery accommodating area, and then the angle is adjusted according to the offset angle to make the battery-swapped equipment completely aligned with the battery accommodating area, thereby achieving rapid positioning of the battery-swapped equipment and improving positioning efficiency.
  • a visual sensor is provided on the battery swapping device, which matches the preset positioning mark on the vehicle to be replaced or the battery pack; before the step of obtaining the offset angle of the vehicle to be replaced along the length direction of the battery swapping channel, it also includes:
  • the battery replacement equipment is controlled to move toward the bottom of the vehicle to be replaced to within the preset range.
  • the battery replacement equipment can further locate the battery pack or the replacement vehicle, achieve precise positioning, and move the battery replacement equipment accurately to the preset range, further improving the accuracy of vehicle parking.
  • the step of obtaining the offset angle of the vehicle to be battery-swapped along the length direction of the battery-swapped channel includes: after the battery-swapped equipment moves to a preset range, controlling the visual sensor to start; controlling the visual sensor to perform image detection on a preset positioning mark, and further obtaining the offset angle.
  • the battery-swapped equipment is controlled to move toward the bottom of the vehicle to be battery-swapped within a preset range, so that the bottom of the battery-swapped vehicle can be detected by the visual sensor provided on the battery-swapped equipment, thereby obtaining the offset angle corresponding to the battery-swapped vehicle.
  • the offset angle of the battery-swapped vehicle can also be quickly obtained, which is convenient for the battery-swapped equipment to position the battery-swapped vehicle, expand the use scenarios of the battery-swapped equipment, and improve the positioning efficiency of the battery-swapped equipment and the overall battery-swapped efficiency.
  • the positioning mark can be set at the bottom of the vehicle, and the number can be greater than or equal to two. At least two positioning marks are set at intervals along the same horizontal line.
  • the positioning mark at the bottom of the vehicle is captured by triggering signals, and the XY angle information of the vehicle can be detected (with the length direction of the battery swap channel, i.e., the length direction of the battery swap vehicle body as the X direction, and the width direction of the battery swap channel, i.e., the width direction of the battery swap vehicle body as the Y direction). Furthermore, the center of the field of view of the second visual sensor can be moved to face the positioning mark, and captured again for precise positioning, thereby improving positioning accuracy so that the battery swap equipment can be accurately aligned with the battery storage area.
  • At least one calibration point is provided at the bottom of the vehicle to be replaced, and the battery replacement device is provided with a calibration sensor unit, which is arranged corresponding to at least one calibration point preset at the bottom of the battery replacement vehicle or on the battery pack; after the step of guiding the battery replacement device to adjust to align with the battery accommodation area of the vehicle to be replaced, it also includes:
  • S30 controls the calibration sensor unit to detect the calibration point to determine that the positioning of the battery swapping equipment is completed.
  • phase identification calibration sensor units and calibration points it is possible to detect whether the battery swapping equipment has completed the positioning operation, forming a closed-loop feedback for the positioning process, further ensuring the positioning accuracy of the battery swapping equipment and improving positioning efficiency.
  • the calibration sensing unit is a plurality of proximity sensors, and calibration is achieved by detecting metal parts set at corresponding calibration points; or the calibration sensing unit is a visual sensor, and calibration is achieved by collecting actual image information of corresponding calibration points.
  • the calibration sensing unit is specifically a plurality of proximity sensors, and the calibration is achieved by detecting metal parts through the proximity sensors, which has a simple structure, low cost, and is easy to install or replace.
  • a visual sensor can be used to collect actual image information of corresponding calibration points to achieve calibration and improve calibration accuracy. At the same time, there is no need to process or modify the vehicle, which is easy to implement.
  • three calibration points can be set, and the three calibration points can be detected by three sets of calibration sensor units. Only when all three calibration points are detected can the positioning be determined to be completed, so as to provide Provide positioning calibration to improve positioning accuracy.
  • a battery pack is installed in the battery housing area, and the battery pack is locked on the vehicle to be replaced by a locking mechanism; the step of obtaining the offset angle of the vehicle to be replaced along the length direction of the battery replacement channel also includes: obtaining the torsional position information of the battery pack and/or the locking mechanism according to the offset angle.
  • the relative position information of the locking mechanism can be quickly determined so that the unlocking mechanism can quickly align with it and unlock it, further improving the vehicle's battery replacement efficiency.
  • the battery swapping device includes a base and a battery swapping platform arranged on the base, and the battery swapping platform is provided with an unlocking mechanism matched with the locking mechanism; based on the offset angle, the step of guiding the battery swapping device to adjust to align with the battery accommodation area of the vehicle to be swapped includes: controlling the unlocking mechanism to move or the battery swapping platform to rotate or the battery swapping device to twist until the unlocking mechanism is aligned with the locking mechanism according to the offset angle and/or torsional position information.
  • the torsional position information of the battery pack and/or the torsional position information of the locking mechanism is further obtained through the offset angle of the battery swapping vehicle; based on the torsional position information, the actual position of the battery pack on the battery swapping vehicle and/or the actual position of the locking mechanism on the battery swapping vehicle can be directly obtained, so that the unlocking mechanism on the battery swapping device and the locking mechanism on the battery pack or the positioning mechanism on the battery swapping device and the positioning mechanism on the battery pack can be accurately aligned.
  • the unlocking mechanism alignment can be achieved by directly controlling the movement of the unlocking mechanism itself, or by controlling the rotation of the battery swapping platform, or by controlling the overall twisting of the battery swapping device to achieve the unlocking mechanism alignment, or by controlling any two or three of the three to achieve alignment adjustment, thereby facilitating the unlocking and unlocking operations of the battery swapping device and improving positioning accuracy and efficiency.
  • a plurality of locking mechanisms are provided in the circumferential region and/or the middle region of the battery pack, and a plurality of unlocking mechanisms corresponding to the plurality of locking mechanisms are provided on the battery replacement device.
  • Locking mechanism; the step of guiding the battery swapping equipment to adjust to align with the battery accommodation area of the vehicle to be swapped includes: based on a preset alignment parameter range, controlling multiple unlocking mechanisms and multiple locking mechanisms to align and adjust so that each unlocking mechanism is aligned with at least a partial structure of the corresponding locking mechanism.
  • the battery pack in order to ensure the stability of the battery pack installation, the battery pack is usually locked at the bottom of the battery swapping vehicle through multiple locking mechanisms. At this time, when the battery pack needs to be unlocked, it is necessary to ensure that the unlocking mechanism on the battery swapping equipment can be aligned one by one with the locking mechanism on the battery pack to successfully unlock it. Based on this positioning method, when aligning the unlocking mechanism and the locking mechanism, it is only necessary to ensure that the corresponding unlocking mechanism and locking mechanism are partially aligned.
  • the positioning error can be overcome by the floating amount of the unlocking mechanism and/or the locking mechanism itself, thereby ensuring that all unlocking mechanisms can be aligned with the corresponding locking mechanisms, thereby improving positioning accuracy and positioning efficiency, thereby improving battery swapping efficiency.
  • positioning marks are provided on the battery swapping vehicle and/or the battery pack; the step of obtaining the offset angle of the vehicle to be battery swapped along the length direction of the battery swapping channel includes: detecting the position deviation information of the positioning mark, and further obtaining the offset angle.
  • the disclosed client can be implemented in other ways.
  • the division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.
  • the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, indirect coupling or communication connection of units or modules, which may be electrical or other forms.
  • the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution provided in this embodiment.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
  • Battery Mounting, Suspending (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
  • Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
  • Body Structure For Vehicles (AREA)
  • Secondary Cells (AREA)
  • Hybrid Cells (AREA)
  • Electrolytic Production Of Non-Metals, Compounds, Apparatuses Therefor (AREA)

Abstract

La présente demande se rapporte au domaine technique de la permutation de batterie de véhicule et divulgue un procédé de positionnement d'équipement de permutation de batterie. Le procédé de positionnement d'équipement de permutation de batterie est appliqué dans une station de permutation de batterie, la station de permutation de batterie comprend une voie de passage de permutation de batterie et un équipement de permutation de batterie, et le procédé de positionnement comprend : l'obtention de l'angle de décalage d'un véhicule devant subir une permutation de batterie dans le sens de la longueur de la voie de passage de permutation de batterie ; et sur la base de l'angle de décalage, le guidage de l'équipement de permutation de batterie par réglage pour être aligné avec une zone de réception de batterie du véhicule devant subir une permutation de batterie. Un réglage répété de l'angle de véhicule par un utilisateur peut être éliminé, l'efficacité de permutation de batterie est améliorée, un auto-positionnement est réalisé à l'aide de l'équipement de permutation de batterie, et l'expérience d'utilisateur est améliorée.
PCT/CN2023/134868 2022-12-01 2023-11-28 Procédé de positionnement d'équipement de permutation de batterie WO2024114656A1 (fr)

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PCT/CN2023/134868 WO2024114656A1 (fr) 2022-12-01 2023-11-28 Procédé de positionnement d'équipement de permutation de batterie
PCT/CN2023/135456 WO2024114734A1 (fr) 2022-12-01 2023-11-30 Véhicule électrique et procédé de permutation de batterie pour véhicule électrique
PCT/CN2023/135638 WO2024114763A1 (fr) 2022-12-01 2023-11-30 Dispositif de protection de véhicule utilitaire et véhicule utilitaire
PCT/CN2023/135571 WO2024114754A1 (fr) 2022-12-01 2023-11-30 Véhicule électrique, procédé de permutation de batterie, dispositif électronique et support d'enregistrement lisible par ordinateur
PCT/CN2023/135495 WO2024114741A1 (fr) 2022-12-01 2023-11-30 Véhicule électrique et procédé de permutation de batterie pour véhicule électrique
PCT/CN2023/135401 WO2024114727A1 (fr) 2022-12-01 2023-11-30 Appareil de stockage temporaire de bloc-batterie, dispositif d'échange de batterie et procédé de stockage temporaire de bloc-batterie utilisant un dispositif d'échange de batterie

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PCT/CN2023/135638 WO2024114763A1 (fr) 2022-12-01 2023-11-30 Dispositif de protection de véhicule utilitaire et véhicule utilitaire
PCT/CN2023/135571 WO2024114754A1 (fr) 2022-12-01 2023-11-30 Véhicule électrique, procédé de permutation de batterie, dispositif électronique et support d'enregistrement lisible par ordinateur
PCT/CN2023/135495 WO2024114741A1 (fr) 2022-12-01 2023-11-30 Véhicule électrique et procédé de permutation de batterie pour véhicule électrique
PCT/CN2023/135401 WO2024114727A1 (fr) 2022-12-01 2023-11-30 Appareil de stockage temporaire de bloc-batterie, dispositif d'échange de batterie et procédé de stockage temporaire de bloc-batterie utilisant un dispositif d'échange de batterie

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