CN113665412A

CN113665412A - Unlocking system and unlocking method of battery replacement equipment

Info

Publication number: CN113665412A
Application number: CN202010415431.XA
Authority: CN
Inventors: ***; 陈志民
Original assignee: Aulton New Energy Automotive Technology Co Ltd
Current assignee: Aulton New Energy Automotive Technology Co Ltd
Priority date: 2020-05-15
Filing date: 2020-05-15
Publication date: 2021-11-19

Abstract

The invention discloses an unlocking system and an unlocking method of a battery replacement device, wherein the unlocking system comprises: the unlocking mechanism is used for unlocking the battery pack locked on the battery bracket; and the positioning mechanism is used for positioning the unlocking mechanism until the unlocking mechanism and the unlocking piece on the battery bracket are positioned. The unlocking mechanism is positioned through the positioning mechanism, and when the unlocking piece on the battery bracket finishes positioning, the unlocking mechanism is controlled to unlock the battery pack on the battery bracket. According to the invention, other detection components are not required to be added in the battery outer box of the electric automobile or the electric automobile, and the position of the unlocking mechanism can be further accurately adjusted only through the positioning mechanism arranged on the unlocking mechanism outside the automobile, so that the unlocking mechanism is positioned at an accurate unlocking position, the battery pack of the electric automobile can be effectively unlocked by the unlocking mechanism, and the battery replacement efficiency, the success and the safety are ensured.

Description

Unlocking system and unlocking method of battery replacement equipment

Technical Field

The invention relates to the field of battery replacement control, in particular to an unlocking system and an unlocking method of battery replacement equipment.

Background

At present, the emission of automobile exhaust is still an important factor of the problem of environmental pollution, and in order to treat the automobile exhaust, people develop natural automobiles, hydrogen fuel automobiles, solar automobiles and electric automobiles to replace fuel-oil automobiles. And among them, the most promising is the electric vehicle. The current electric automobile mainly comprises a direct charging type and a quick-change type.

When a battery of a quick-change electric vehicle is replaced, a battery replacement device is required to travel to the lower side of the vehicle so as to take an original battery pack on the vehicle down from a battery outer box, then a new battery pack is installed in the battery outer box, and the situation that the battery pack cannot be unlocked accurately and quickly often occurs when the old battery pack is taken down or the new battery pack is installed in the existing battery replacement device, so that not only is a battery replacement failure easily caused, but also a great potential safety hazard is caused.

Disclosure of Invention

The invention aims to overcome the defect that a battery pack cannot be unlocked accurately and quickly in the prior art, and provides an unlocking system and an unlocking method of a battery replacement device.

The invention solves the technical problems through the following technical scheme:

the invention provides an unlocking system of a battery replacement device, which comprises:

the unlocking mechanism is used for unlocking the battery pack locked on the battery bracket;

and the positioning mechanism is used for positioning the unlocking mechanism until the unlocking mechanism and the unlocking piece on the battery bracket are positioned.

According to the invention, other detection components are not required to be added in the battery outer box of the electric automobile or the electric automobile, and the position of the unlocking mechanism can be further accurately adjusted only through the positioning mechanism arranged on the unlocking mechanism outside the automobile, so that the unlocking mechanism is positioned at an accurate unlocking position, the battery pack of the electric automobile can be effectively unlocked by the unlocking mechanism, and the battery replacement efficiency, the success and the safety are ensured.

Preferably, the positioning mechanism comprises: the device comprises a first vision sensor, a second vision sensor, a position acquisition module and an adjustment control module;

the first vision sensor is used for acquiring a first image of a first position of the battery bracket;

the second vision sensor is used for acquiring a second image of a second position of the battery bracket;

the position acquisition module is used for acquiring the position information of the battery bracket according to the first image and the second image, and the position acquisition module is also used for acquiring the position adjustment amount according to the position information of the battery bracket and the reference position information of the battery bracket;

the adjusting control module is used for controlling and adjusting the position of the battery replacing equipment according to the position adjusting amount so that the battery replacing equipment and an unlocking piece on the battery bracket can be positioned.

According to the method and the device, the first position and the second position of the battery bracket image shot by the two vision sensors are compared with the reference positions corresponding to the battery bracket, so that the position adjustment amount of the unlocking mechanism can be obtained, and the position of the unlocking mechanism is adjusted by the adjusting control module according to the position adjustment amount, so that the accuracy of positioning the unlocking mechanism before unlocking is further improved.

Preferably, the position adjustment amount includes a horizontal displacement amount;

the position acquisition module acquires the horizontal displacement according to the first image and the first reference image, or acquires the horizontal displacement according to the second image and the second reference image; the first reference picture is a reference picture including the first position, and the second reference picture is a reference picture including the second position.

According to the unlocking mechanism positioning method and device, the position obtaining module can obtain the horizontal displacement of the unlocking mechanism through processing of the first image and the first reference image or processing of the second image and the second reference image, and the positioning accuracy of the unlocking mechanism in the horizontal direction is improved.

Preferably, the position adjustment amount includes a vertical displacement amount;

the position acquisition module acquires at least two vertical displacement amounts according to the first image and the first reference image and the second reference image.

According to the unlocking mechanism positioning method and device, the first image, the first reference image, the second image and the second reference image acquired by the position acquisition module can further acquire the vertical displacement of the unlocking mechanism, and the positioning accuracy of the unlocking mechanism in the vertical direction is improved.

Preferably, the position adjustment amount includes a first vertical displacement amount and a second vertical displacement amount;

the position acquisition module acquires the first vertical displacement according to the first image and a first reference image, and the position acquisition module acquires the second vertical displacement according to the second image and a second reference image; the first reference picture is a reference picture including the first position, and the second reference picture is a reference picture including the second position.

According to the unlocking mechanism positioning method and device, the position obtaining module can obtain the first vertical displacement of the unlocking mechanism through processing of the first image and the first reference image, and the position obtaining module can obtain the second vertical displacement of the unlocking mechanism through processing of the second image and the second reference image, so that the positioning accuracy of the unlocking mechanism in the vertical direction is improved.

Preferably, the position adjustment amount comprises a rotation angle amount;

the position acquisition module obtains the rotation angle according to the first depth of field value and the second depth of field value; the first depth value is a depth value of the first position in the first image, and the second depth value is a depth value of the second position in the second image.

In the invention, the position acquisition module can acquire the rotation angle of the unlocking mechanism by processing the first depth of field value and the second depth of field value, so that the positioning accuracy of the unlocking mechanism on the angle is improved, and the unlocking mechanism can be further aligned to the unlocking piece on the battery bracket.

Preferably, a preset distance is arranged between the first position and the second position, the first vision sensor is arranged at a position corresponding to the first position, and the second vision sensor is arranged at a position corresponding to the second position.

According to the invention, the preset distance is arranged between the first position and the second position, and the first visual sensor and the second visual sensor are respectively arranged at the positions corresponding to the first position and the second position, so that the shot first image and the shot second image respectively comprise the first position and the second position, and the position acquisition module is favorable for processing according to the first position on the first image, the first position on the first reference image, the second position on the second image and the second position on the second reference image, and further more accurate position adjustment quantity is acquired.

Preferably, the battery replacement equipment further comprises a position adjusting mechanism, which is used for adjusting the position of the unlocking mechanism according to at least one of the horizontal displacement, the vertical displacement and the rotation angle acquired by the positioning mechanism until the unlocking mechanism and the unlocking piece on the battery bracket complete positioning.

According to the invention, the position of the unlocking mechanism in the horizontal direction, the vertical direction or the angle direction is adjusted by the position adjusting mechanism according to at least one of the horizontal displacement, the vertical displacement and the rotation angle, so that the unlocking mechanism is accurately aligned with the unlocking piece on the battery bracket.

Preferably, the adjustment control module includes a control unit, a horizontal moving unit, a vertical moving unit and a rotating unit, and the control unit is configured to correspondingly control the horizontal moving unit, the vertical moving unit or the rotating unit to move to the adjustment position according to at least one of a horizontal displacement amount, a vertical displacement amount and a rotation angle amount.

According to the unlocking mechanism, the control unit controls the horizontal moving unit to adjust the horizontal position of the unlocking mechanism according to the horizontal displacement, controls the vertical moving unit to adjust the vertical position of the unlocking mechanism according to the vertical displacement and controls the rotating unit to adjust the angle position of the unlocking mechanism according to the rotating angle, so that the unlocking mechanism can be accurately positioned in the horizontal direction, the vertical direction and the angle, and the positioning accuracy of the unlocking mechanism is further improved through multi-dimensional position adjustment.

Preferably, the horizontal moving unit includes a rail, a guide wheel, and a horizontal driver for driving the guide wheel to move along the rail according to the horizontal displacement amount.

According to the invention, the horizontal driver can automatically drive the unlocking mechanism to move in the horizontal direction according to the horizontal displacement, and the efficiency and the stability of the horizontal movement of the unlocking mechanism can be improved through the matching of the track and the guide rail.

Preferably, the vertical displacement comprises a first vertical displacement and a second vertical displacement;

the vertical moving unit comprises a first vertical driver, a second vertical driver, a first lifting mechanism, a second lifting mechanism and a battery replacement executing mechanism, the first vertical driver is connected to the first lifting mechanism, the second vertical driver is connected to the second lifting mechanism, and the first lifting mechanism and the second lifting mechanism are respectively connected to two ends of the battery replacement executing mechanism so as to drive two ends of the battery replacement executing mechanism to move up and down;

the first vertical driver is used for driving the first lifting mechanism according to the first vertical displacement, and the second vertical driver is used for driving the second lifting mechanism according to the second vertical displacement.

According to the invention, the first lifting mechanism and the second lifting mechanism can be automatically driven to lift through the first vertical driver and the second vertical driver respectively according to the first vertical displacement and the second vertical displacement so as to drive two ends of the battery replacement executing mechanism to lift, so that two ends of the unlocking mechanism connected with the battery replacement executing mechanism are further driven to lift so as to adjust the position of the unlocking mechanism in the vertical direction, and the stability of the unlocking mechanism in the position adjustment in the vertical direction is further improved.

Preferably, the rotating unit comprises a chassis, a turntable and a rotating driver, the turntable is sleeved at the bottom of the battery changing executing mechanism, and the rotating driver is connected to the turntable and is used for driving the turntable to drive the battery changing executing mechanism to rotate according to the rotating angle.

According to the invention, the rotary driver can automatically drive the rotary disc to rotate according to the rotation angular momentum so as to drive the battery replacing execution mechanism to rotate, so that the unlocking mechanism connected with the rotary driver is further driven to rotate so as to adjust the angle of the unlocking mechanism, and the stability of the unlocking mechanism during angle adjustment is further improved.

Preferably, the unlocking mechanism includes: the unlocking piece on the battery bracket is driven to rotate to unlock the battery pack;

the driving mechanism is used for driving the unlocking rod to rotate so as to drive the unlocking piece to rotate.

According to the battery pack unlocking device, the unlocking rod is driven by the driving mechanism to rotate, and the locking piece is automatically driven to rotate, so that the battery pack is unlocked, the unlocking precision is improved, and the battery replacement efficiency is further improved; simultaneously, even if the unlocking that touches and can not cause the lock piece takes place, effectively avoided taking place the maloperation, improved the safety and stability who trades the electrical equipment greatly.

Preferably, the unlocking mechanism further comprises an elastic piece, two ends of the elastic piece are respectively connected to the driving mechanism and the unlocking rod, the elastic piece is adapted to the radial displacement of the unlocking rod, and the driving mechanism drives the unlocking rod to rotate along the axis of the unlocking rod through the elastic piece.

According to the unlocking mechanism, the elastic piece can displace in the radial direction, so that the unlocking rod can be inserted into the unlocking matching piece in a matching manner, and the stability of the unlocking mechanism in the unlocking process is further improved.

Preferably, the unlocking rod comprises an insertion end, the outer surface of the insertion end is provided with at least one abutting surface, an unlocking sleeve is arranged on the battery bracket and connected with the unlocking piece, the insertion end is used for being inserted into the unlocking sleeve, and the abutting surface is matched with the inner wall surface of the unlocking sleeve so as to drive the unlocking sleeve to rotate to realize unlocking.

According to the invention, the unlocking matching piece is driven to rotate by applying acting force on the inner wall surface of the unlocking matching piece, which is abutted against the insertion end of the unlocking rod, so that the rotation stability is improved.

The invention also provides an unlocking method of the battery replacement equipment, which comprises the following steps:

controlling a positioning mechanism to position an unlocking mechanism so as to obtain the actual position of the unlocking mechanism;

adjusting the position of the unlocking mechanism according to the actual position and the reference unlocking position until the unlocking mechanism and an unlocking piece on the battery bracket are positioned;

and controlling the unlocking mechanism to unlock the battery pack locked on the battery bracket.

According to the invention, when the positioning unlocking mechanism and the unlocking piece on the battery bracket are controlled to finish positioning, the unlocking mechanism is controlled to unlock the battery pack on the battery bracket, so that the position information of the battery bracket can be accurately obtained, the position of the unlocking mechanism is further accurately adjusted, the unlocking mechanism is located at an accurate unlocking position, the battery pack of the electric automobile can be effectively unlocked by the unlocking mechanism, and the battery replacement efficiency, the success and the safety are ensured.

Preferably, the step of controlling the positioning mechanism to position the unlocking mechanism comprises:

acquiring images of a first position and a second position of a battery bracket to acquire a first image and a second image;

obtaining position information of the battery bracket according to the first image and the second image;

obtaining a position adjustment amount according to the position information of the battery bracket and the reference position information of the battery bracket; and the number of the first and second groups,

and controlling and adjusting the position of the battery replacing equipment according to the position adjustment amount to enable the battery replacing equipment to be positioned with an unlocking piece on the battery bracket.

According to the invention, after the first position and the second position of the battery bracket image are respectively shot, the first position and the second position are respectively compared with the reference positions corresponding to the battery bracket, so that the position adjustment amount of the unlocking mechanism can be obtained, and the position of the unlocking mechanism is further adjusted according to the position adjustment amount, thereby further improving the positioning accuracy of the unlocking mechanism before unlocking.

in the step of acquiring the position adjustment amount,

and processing any one of the first image and the second image to acquire a horizontal displacement.

According to the unlocking mechanism positioning method and device, the horizontal displacement of the unlocking mechanism can be obtained through processing of the first image and the first reference image or processing of the second image and the second reference image, and the positioning accuracy of the unlocking mechanism in the horizontal direction is improved.

in the step of acquiring the position adjustment amount,

the first image and the second image are processed to obtain at least two vertical displacement amounts.

According to the unlocking mechanism positioning method and device, the vertical displacement of the unlocking mechanism can be obtained by processing the obtained first image and the second image, and the positioning accuracy of the unlocking mechanism in the vertical direction is improved.

Preferably, in the step of processing the first image and the second image to obtain at least two vertical displacement amounts,

acquiring a first vertical displacement according to the first image and a first reference image, wherein the first reference image is a reference image acquired by a first image acquisition module when the battery replacement device is located at a battery replacement position,

and acquiring a second vertical displacement according to the second image and a second reference image, wherein the second reference image is a reference image acquired by a second image acquisition module when the battery replacement device is located at the battery replacement position.

According to the unlocking mechanism positioning method and device, the first vertical displacement of the unlocking mechanism can be obtained through processing of the first image and the first reference image, the second vertical displacement of the unlocking mechanism can be obtained through processing of the second image and the second reference image, and therefore the positioning accuracy of the unlocking mechanism in the vertical direction is improved.

Preferably, the position adjustment amount comprises a rotation angle amount;

in the step of acquiring the position adjustment amount,

obtaining the rotation angle quantity according to the first depth of field value and the second depth of field value; the first depth value is a depth value of the first position in the first image, and the second depth value is a depth value of the second position in the second image.

According to the invention, the rotation angle of the unlocking mechanism can be obtained by processing the first depth of field value and the second depth of field value, so that the positioning accuracy of the unlocking mechanism on the angle is improved, and the unlocking mechanism can be further aligned to the unlocking piece on the battery bracket.

and adjusting the position of the unlocking mechanism according to at least one of the horizontal displacement, the vertical displacement and the rotation angle until the unlocking mechanism and the unlocking mechanism on the battery bracket are positioned.

According to the invention, the positioning of the unlocking mechanism in the horizontal direction, the vertical direction or the angle direction is adjusted according to at least one of the horizontal displacement, the vertical displacement and the rotation angle, so that the accurate positioning of the unlocking mechanism in the horizontal direction, the vertical direction and the angle can be completed, the positioning accuracy of the unlocking mechanism is further improved through multi-dimensional position adjustment, and the unlocking member on the battery bracket is accurately aligned.

Preferably, the horizontal moving unit includes a rail, a guide wheel and a horizontal driver, and the step of adjusting the position of the unlocking mechanism according to the actual position and the reference unlocking position further includes:

and controlling the horizontal driver to drive the guide wheel to move along the track according to the horizontal displacement.

According to the invention, the horizontal driver can be controlled to automatically drive the unlocking mechanism to move in the horizontal direction according to the horizontal displacement, and the efficiency and the stability of the movement of the unlocking mechanism in the horizontal direction can be improved by controlling the guide rail to drive along the track.

the step of adjusting the position of the unlocking mechanism according to the actual position and the reference unlocking position further comprises:

controlling the first vertical driver to drive the first lifting mechanism according to the first vertical displacement;

and controlling the second vertical driver to drive the second lifting mechanism according to the second vertical displacement.

According to the invention, the first vertical driver and the second vertical driver are controlled to drive the first lifting mechanism and the second lifting mechanism to lift according to the first vertical displacement and the second vertical displacement respectively so as to drive the two ends of the battery replacement executing mechanism to lift, so that the two ends of the unlocking mechanism connected with the battery replacement executing mechanism are further driven to lift so as to adjust the position of the unlocking mechanism in the vertical direction, and the stability of the unlocking mechanism in the position adjustment in the vertical direction is further improved.

Preferably, the rotating unit comprises a chassis, a rotating disc and a rotating driver, the rotating disc is sleeved at the bottom of the battery replacement executing mechanism, and the rotating driver is connected to the rotating disc;

and controlling the rotary driver to drive the turntable to drive the battery changing actuating mechanism to rotate according to the rotation angle.

According to the invention, the rotary driver is controlled to automatically drive the rotary disc to rotate according to the rotation angular momentum so as to drive the battery replacement actuating mechanism to rotate, so that the unlocking mechanism connected with the rotary driver is further driven to rotate so as to adjust the angle of the unlocking mechanism, and the stability of the unlocking mechanism during angle adjustment is further improved.

Preferably, the step of controlling the unlocking mechanism to unlock the battery pack locked to the battery bracket includes:

controlling the unlocking mechanism to move towards the battery bracket until the unlocking rod is matched with the unlocking sleeve in place;

the unlocking rod is driven to rotate so as to drive the unlocking piece unlocking sleeve to rotate, so that the locking piece of the battery pack is unlocked.

According to the battery pack unlocking device, the unlocking mechanism is controlled to move towards the battery bracket until the unlocking rod is matched with the unlocking sleeve in place, so that the stability of subsequent rotation is improved, the unlocking sleeve of the unlocking piece is automatically driven to rotate by driving the unlocking rod to rotate, so that the locking piece of the battery pack can be unlocked, the battery pack is unlocked, the unlocking precision is improved, and the battery replacement efficiency is further improved; simultaneously, even if the unlocking that touches and can not cause the locking piece takes place, effectively avoided taking place the maloperation, improved the efficiency and the safety and stability who trades the electrical equipment greatly.

The invention has the positive progress effects that: the unlocking mechanism is positioned through the positioning mechanism, and when the unlocking piece on the battery bracket finishes positioning, the unlocking mechanism is controlled to unlock the battery pack on the battery bracket. According to the invention, other detection components are not required to be added in the battery outer box of the electric automobile or the electric automobile, and the position of the unlocking mechanism can be further accurately adjusted only through the positioning mechanism arranged on the unlocking mechanism outside the automobile, so that the unlocking mechanism is positioned at an accurate unlocking position, the battery pack of the electric automobile can be effectively unlocked by the unlocking mechanism, and the battery replacement efficiency, the success and the safety are ensured.

Drawings

Fig. 1 is a schematic block diagram of an unlocking system of a battery swapping device in embodiment 1 of the present invention.

Fig. 2 is a schematic partial structure diagram of a power swapping device in embodiment 1 of the present invention.

Fig. 3 is a schematic block diagram of a positioning mechanism according to embodiment 3 of the present invention.

Fig. 4 is a schematic block diagram of a positioning mechanism for positioning in a specific scenario in embodiment 4 of the present invention.

Fig. 5 is a schematic diagram of a first reference image according to embodiment 3 of the present invention.

Fig. 6 is a schematic diagram of a first image according to embodiment 3 of the present invention.

Fig. 7 is a schematic block diagram of a positional relationship between an adjustment mechanism and a battery holder in a specific scenario in embodiment 3 of the present invention.

Fig. 8 is a block diagram of an adjustment control module in embodiment 4 of the present invention.

Fig. 9 is a schematic view of an overall structure of a battery swapping device according to embodiment 4 of the present invention.

Fig. 10 is a perspective view of the entire structure of a battery replacement device according to embodiment 4 of the present invention.

FIG. 11 is a partial front view of a battery swapping device according to embodiment 4 of the present invention

Fig. 12 is a schematic structural view of an unlocking mechanism in embodiment 5 of the present invention.

Fig. 13 is a flowchart of an unlocking method for a battery swapping device according to embodiment 6 of the present invention.

Fig. 14 is a flowchart of an implementation manner of step 601 in embodiment 7 of the present invention.

Fig. 15 is a schematic diagram of an implementation manner of step 603 in embodiment 10 of the present invention.

Detailed Description

The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.

Example 1

Fig. 1 shows a module schematic diagram of the unlocking system in this embodiment, and includes an unlocking mechanism 10 and a positioning mechanism 11, where the positioning mechanism 11 is used to position the unlocking mechanism 10 until the unlocking mechanism is positioned with an unlocking piece on a battery bracket, and the unlocking mechanism 10 is used to unlock a battery pack locked on the battery bracket after the positioning mechanism 11 is positioned.

Fig. 2 shows a schematic partial structure diagram of the battery replacement device in the present embodiment, which includes a battery tray 100 and an unlocking mechanism 10, wherein the battery pack of the battery tray is unlocked by the unlocking mechanism 10 to take off a power-deficient battery pack from an electric vehicle and place the power-deficient battery pack on the battery tray 100. In order to enable the positioning mechanism 11 to position the unlocking mechanism to the alignment position, the positioning mechanism 11 may be disposed on a side of the battery replacing apparatus facing the battery replacing position, for example, on a side of the unlocking mechanism facing the battery replacing position.

This embodiment fixes a position release mechanism through positioning mechanism, controls release mechanism and carries out the unblock to the battery package on the battery bracket when the unblock piece on positioning mechanism and the battery bracket accomplishes the location. According to the battery pack unlocking mechanism, other detection parts do not need to be added in the battery outer box of the electric automobile or the electric automobile, the position of the unlocking mechanism can be further accurately adjusted only through the positioning mechanism arranged on the unlocking mechanism outside the automobile, the unlocking mechanism is located at the accurate unlocking position, so that the unlocking mechanism can effectively unlock the battery pack of the electric automobile, and therefore the battery changing efficiency, the success and the safety are guaranteed.

Example 2

On the basis of embodiment 1, this embodiment provides an unlocking system for battery swapping devices. Fig. 3 shows a schematic block diagram of the positioning module 11 in this embodiment, which includes a first vision sensor 111, a second vision sensor 112, a position obtaining module 113, and an adjustment control module 114.

The first vision sensor 111 is used for acquiring a first image of a first position of the battery bracket; the second vision sensor 112 is used to acquire a second image of a second location of the battery carriage. The position obtaining module 113 is configured to obtain position information of the battery tray according to the first image and the second image, and obtain a position adjustment amount according to the position information of the battery tray and reference position information of the battery tray. The adjusting control module 114 is used for controlling and adjusting the position of the battery replacing device according to the position adjusting amount so that the battery replacing device is positioned with the unlocking piece on the battery bracket. As shown in fig. 2, the first visual sensor 111 and the second visual sensor 112 are respectively disposed at different positions on the side of the unlocking mechanism facing the battery replacement position.

In specific implementation, referring to fig. 4, the first vision sensor 111 acquires a first image of the battery tray along a direction indicated by an arrow, where the first image includes a first position a on the battery tray; the second vision sensor 112 acquires a second image of the battery carrier in the direction indicated by the arrow, the second image including a second location B on the battery carrier. The position obtaining module 113 receives the first image and the second image, performs image processing to obtain position information of the battery tray, and processes the position information of the battery tray and the reference position information of the battery tray to obtain a position adjustment amount. The adjusting control module 114 adjusts the current position of the unlocking mechanism 10 according to the obtained position adjustment amount, so that the unlocking mechanism and the unlocking member are positioned.

In the embodiment, the first position and the second position of the battery bracket image respectively shot by the two vision sensors are respectively compared with the reference position corresponding to the battery bracket, so that the position adjustment amount of the unlocking mechanism can be obtained, and the adjustment control module further adjusts the position of the unlocking mechanism according to the position adjustment amount, so that the positioning precision of the unlocking mechanism before unlocking is improved.

In this embodiment, according to the first position and the second position of the battery bracket image respectively photographed by the two vision sensors, the first position and the second position are further compared with the reference position corresponding to the battery bracket, so that the position adjustment amount of the unlocking mechanism can be obtained, and the adjustment control module further adjusts the position of the unlocking mechanism according to the position adjustment amount, so that the accuracy of positioning the unlocking mechanism before unlocking is further improved.

Example 3

On the basis of embodiment 2, this embodiment provides an unlocking system for battery swapping devices. The position obtaining module 113 performs image processing according to the images obtained by the first and

second vision sensors

111 and 112 in real time and a preset reference image of the unlocking bracket to obtain a position adjustment amount.

In an alternative embodiment, the position acquisition module 113 acquires the horizontal displacement amount from the first image and the first reference image. Fig. 5 gives an illustration of the first reference image G1. The first reference image G1 is pre-stored in the position acquisition module 113. The first reference image G1 includes a first location a on the battery carriage. By analyzing the first reference image G1, the position acquisition module 113 obtains the position of the corresponding pixel of the first position a on the battery carriage in the first reference image G1 in the first reference image G1 as a reference for positioning, which is referred to as a "target position" for convenience of description. The process of obtaining the target position by the position obtaining module 113 may be implemented by using algorithms already disclosed in the art, which can be implemented by those skilled in the art and will not be described herein again.

Fig. 6 gives an illustration of the first image G11. The first image G11 includes a first position a on the battery carrier. By analyzing the first image G11, the position acquisition module 113 obtains the position of the corresponding pixel of the first position a on the battery carriage in the first image G11 in the first image G11, referred to as the "real-time position" for ease of description. The process of obtaining the target position by the position obtaining module 113 may be implemented by using algorithms already disclosed in the art, which can be implemented by those skilled in the art and will not be described herein again.

In an alternative embodiment, the position acquisition module 113 acquires the horizontal displacement amount from the first image and the first reference image. According to the image processing algorithm, the position obtaining module 113 obtains a first horizontal displacement and a first vertical displacement of the first vision sensor 111 according to the target position and the real-time position. By moving the first vision sensor 111 by the first horizontal displacement amount and the first vertical displacement amount, the first vision sensor 111 can be caused to capture an image that coincides with the first reference image G1. The process of obtaining the first horizontal displacement and the first vertical displacement of the first vision sensor 111 by the position obtaining module 113 can be implemented by using algorithms already disclosed in the art, and can be implemented by those skilled in the art, and details are not described herein. The position obtaining module 113 uses the first horizontal displacement amount as a horizontal displacement amount, and can realize corresponding horizontal displacement by moving the corresponding horizontal displacement amount, so as to achieve matching with the target device in the horizontal direction; similarly, by shifting the corresponding amount of the straight shift, the corresponding straight shift can be achieved to match the target device in the straight direction.

In another alternative embodiment, the position acquisition module 113 acquires the horizontal displacement amount from the second image and the second reference image. Similarly, the position acquisition module 113 acquires a second horizontal displacement amount and a second vertical displacement amount from the second image and a pre-stored second reference image. By moving the second vision sensor 112 by the second horizontal displacement amount and the second vertical displacement amount, the second vision sensor 112 can be caused to capture an image that coincides with the second reference image.

In another alternative embodiment, the reference position information of the battery carriage is stored in the position acquisition module 113 in advance. The position obtaining module 113 obtains the position adjustment amount according to the pre-stored reference position information of the battery bracket and the position information of the battery bracket obtained in real time. By adjusting the first and second

visual sensors

111 and 112 according to the position adjustment amount, the first visual sensor 111 can capture an image that matches the first reference image, and the second visual sensor 112 can capture an image that matches the second reference image.

As an alternative embodiment, referring to fig. 7, when the first and

second vision sensors

111 and 112 are disposed on the position adjustment mechanism 8, the first vision sensor 111 is disposed at a position corresponding to the first position a, the second vision sensor 112 is disposed at a position corresponding to the second position B, the first position a and the second position B have a first preset distance D3 therebetween, and the first and

second vision sensors

111 and 112 have a second preset distance L therebetween. The position obtaining module 113 performs image processing on the first image to obtain a first depth of field, which is a depth of field value D1 of the first position a in the first image; the position obtaining module performs image processing on the second image to obtain a second depth of field, which is a depth of field value D2 of a second position B in the second image. The specific manner of obtaining the depth of field value by the position obtaining module 113 may be implemented by using algorithms disclosed in the art, which can be implemented by those skilled in the art and will not be described herein. The position obtaining module 113 obtains a difference D ═ D2-D1| between the two depth of field values. The position obtaining module 113 may obtain the rotation angle amount θ according to the trigonometric function principle according to the difference D of the depth of field values, the distance L between the first vision sensor 111 and the second vision sensor 112, and the distance D3 between the first position a and the second position B. The position adjustment mechanism 8 is rotated in the corresponding direction by the rotation angle θ, and the battery holder 7 and the position adjustment mechanism 8 can be made parallel to each other.

In this embodiment, the position obtaining module may obtain the horizontal displacement of the unlocking mechanism through processing the first image and the first reference image or through processing the second image and the second reference image, so as to improve the positioning accuracy of the unlocking mechanism in the horizontal direction.

In this embodiment, the position obtaining module may obtain a first vertical displacement of the unlocking mechanism through processing of the first image and the first reference image, and may obtain a second vertical displacement of the unlocking mechanism through processing of the second image and the second reference image, so as to improve the accuracy of positioning of the unlocking mechanism in the vertical direction.

In this embodiment, by setting the preset distance between the first position and the second position and setting the first vision sensor and the second vision sensor at the positions corresponding to the first position and the second position, the first image and the second image that are taken can include the first position and the second position, respectively, so that the position obtaining module can process the first position on the first image and the first position on the first reference image and the second position on the second reference image, and more accurate position adjustment amount can be obtained.

Example 4

On the basis of embodiment 3, this embodiment provides an unlocking system for battery swapping devices.

The battery replacing device of the embodiment is arranged in the battery replacing station, and when the electric vehicle enters the battery replacing station and is parked to a preset parking space, the adjustment control module 114 controls the battery replacing device to move towards the electric vehicle, and adjusts the position of the unlocking mechanism 10 according to at least one of the horizontal displacement amount, the vertical displacement amount and the rotation angle amount acquired by the position acquisition module 113 until the unlocking piece on the unlocking mechanism 10 and the battery bracket is positioned.

As shown in fig. 8, the adjustment control module 114 specifically includes a control unit 1141, a horizontal moving unit 1142, a vertical moving unit 1143, and a rotating unit 1144, wherein the control unit 1141 is configured to correspondingly control the horizontal moving unit 1142, the vertical moving unit 1143, or the rotating unit 1144 to move to the adjustment position according to at least one of the horizontal displacement, the vertical displacement, and the rotation angle.

To achieve the horizontal movement, the horizontal moving unit 1142 includes a rail, a guide wheel, and a horizontal driver for driving the guide wheel to move along the rail according to the horizontal displacement amount. As an alternative embodiment, referring to fig. 9 and 10, the track includes a sky rail 701 and a ground rail 702, and the guide wheels include a sky rail guide wheel 703 and a ground rail guide wheel 704. The top rail guide wheel 703 is provided corresponding to the top rail 701, and the ground rail guide wheel 704 is provided corresponding to the ground rail 702. The horizontal drivers respectively drive the head rail guide wheel 703 to move along the head rail 701 in the X-axis direction (i.e., horizontal direction), and drive the ground rail guide wheel 704 to move along the ground rail 702, thereby achieving horizontal movement of the unlocking mechanism. In FIG. 9, the X, Y and Z axes are perpendicular to each other. Fig. 10 shows a frame of the power swapping actuator 803, and a specific structure is not shown, and the specific structure of the power swapping actuator can be implemented by those skilled in the art, and is not described herein again.

When the electric automobile is parked on the parking space to be replaced, if the parking state of the electric automobile and the accurate battery replacement position have deviation in the horizontal direction, the unlocking mechanism is moved according to the horizontal displacement, so that the unlocking mechanism can be matched with the position of the battery bracket of the electric automobile in the horizontal direction, the accuracy is high, and the guarantee is provided for accurate unlocking. The vertical displacement amount acquired by the position acquisition module 113 includes a first vertical displacement amount obtained from the first image and a second vertical displacement amount obtained from the second image.

As a specific implementation manner, the vertical moving unit 1143 includes a first vertical driver 61, a second vertical driver 62, a first lifting mechanism, a second lifting mechanism, and a battery replacement executing mechanism 803, the first vertical driver 61 is connected to the first lifting mechanism, the second vertical driver 62 is connected to the second lifting mechanism, and the first lifting mechanism and the second lifting mechanism are respectively connected to two ends of the battery replacement executing mechanism to drive two ends of the battery replacement executing mechanism to move up and down; the first vertical driver 61 is used for driving the first elevating mechanism according to the first vertical displacement amount, and the second vertical driver 62 is used for driving the second elevating mechanism according to the second vertical displacement amount.

In specific implementation, the first lifting mechanism includes a first chain 706 and a first sprocket 611 correspondingly disposed, and the first chain 706 drives the first sprocket 611 to move along the vertical direction (i.e., the Z-axis direction) under the driving of the first vertical driver 61, so as to drive the power switching actuator 803 to move along the vertical direction. The second lifting mechanism includes a second chain 621 and a second sprocket 622 correspondingly disposed, the second chain 621 drives the second sprocket 622 to move along the vertical direction under the driving of the second vertical driver 62, so as to drive the power switching actuator 803 to move along the vertical direction.

When the electric automobile is parked on the parking space to be subjected to battery replacement, if the parking state of the electric automobile and the accurate battery replacement position have deviation in the vertical direction, the unlocking mechanism is moved according to the vertical displacement, so that the unlocking mechanism can be matched with the position of a battery bracket of the electric automobile in the vertical direction, the accuracy is high, and the guarantee is provided for accurate unlocking.

In an alternative embodiment, referring to fig. 11, the rotating unit 1144 includes a rotating disc 811 and a rotating driver 812, the rotating disc 811 is sleeved on the bottom of the power exchanging actuator 803, and the rotating driver 812 is connected to the rotating disc 811 and is configured to drive the rotating disc 811 to rotate the power exchanging actuator 803 according to the rotation angle.

When the electric automobile is parked on a parking space to be subjected to battery replacement, if the parking state of the electric automobile and the accurate battery replacement position have angular deviation, the unlocking device and the like are difficult to align with an unlocking target after being stretched out, or the battery replacement executing mechanism is difficult to align with a battery bracket after being stretched out. The battery replacing device of the embodiment can acquire the parking state of the electric automobile and the accurate angle deviation of the battery replacing position, for example, the angle theta shown in fig. 5, and adjust the posture of the battery replacing device by taking the angle theta as the rotation angle, so that the posture of the battery replacing device is matched with the parking state of the electric automobile, the unlocking mechanism is aligned with the unlocking piece on the battery bracket, and the efficient and accurate battery replacing operation is realized.

In this embodiment, the position of the unlocking mechanism in the horizontal direction, the vertical direction or the angular direction is adjusted by the position adjusting mechanism according to at least one of the horizontal displacement amount, the vertical displacement amount and the rotation angle amount to complete the positioning of the unlocking mechanism, so that the unlocking member on the unlocking mechanism and the battery bracket is accurately aligned.

In this embodiment, the control unit controls the horizontal moving unit to adjust the horizontal position of the unlocking mechanism according to the horizontal displacement, controls the vertical moving unit to adjust the vertical position of the unlocking mechanism according to the vertical displacement, and controls the rotating unit to adjust the angular position of the unlocking mechanism according to the rotation angle, so that the unlocking mechanism can be accurately positioned in the horizontal, vertical and angular directions, and the positioning accuracy of the unlocking mechanism is further improved through multi-dimensional position adjustment.

In the embodiment, the horizontal driver can automatically drive the unlocking mechanism to move in the horizontal direction according to the horizontal displacement, and the efficiency and the stability of the movement of the unlocking mechanism in the horizontal direction can be improved through the matching of the track and the guide rail.

In this embodiment, can be respectively according to first vertical displacement volume and second vertical displacement volume automatic drive first elevating system and the lift of second elevating system through first vertical drive ware and second vertical drive ware to drive and trade electric actuating mechanism's both ends and go up and down, thereby further drive the lift at the release mechanism both ends of being connected with it with the position of adjustment release mechanism in vertical direction, further improve the stability of release mechanism when vertical direction position adjustment.

In this embodiment, can rotate in order to drive and trade electric actuating mechanism rotation according to the rotation angle volume automatic drive carousel through rotary actuator to further drive the release mechanism rotation of being connected with it in order to adjust release mechanism position on the angle, further improve release mechanism stability when angle of adjustment.

Example 5

On the basis of any one of embodiments 1 to 4, this embodiment provides an unlocking system for a battery swapping device. Fig. 12 shows a specific structure diagram of the unlocking mechanism 10, which includes a driving mechanism 1 and an unlocking rod 2, wherein the unlocking rod 2 is used for driving a locking piece on the battery bracket to rotate so as to unlock the battery pack, and the driving mechanism 1 drives the unlocking rod 2 to rotate so as to drive the locking piece to rotate.

The driving mechanism 1 is installed and connected on the extending mechanism of the battery tray 100, and the unlocking rod 2 is matched and connected with the unlocking matching piece of the locking piece to unlock the battery pack. The battery bracket is provided with an unlocking matching piece, the unlocking rod 2 is connected with the unlocking matching piece in a matching way, and the unlocking matching piece is connected with a locking piece on the battery bracket; the unlocking rod 2 is driven to rotate through the driving mechanism 1, the unlocking rod 2 rotates to drive the unlocking matching piece to rotate together, and the locking piece is driven to rotate, so that unlocking or locking of the locking piece is achieved. The unlocking rod 2 is driven to rotate by the driving mechanism 1 to drive the locking piece to rotate, so that the battery pack is unlocked, the unlocking precision is improved, and the battery replacement efficiency is further improved; simultaneously, even if the unlocking that touches and can not cause the lock piece takes place, effectively avoided taking place the maloperation, improved the safety and stability who trades the electrical equipment greatly.

The unlocking mechanism 10 further comprises an elastic member 3, two ends of the elastic member 3 are respectively connected to the driving mechanism 1 and the unlocking rod 2, and the elastic member is adapted to the radial displacement of the unlocking rod 2. Under the condition that the driving mechanism 1 is fixed, the elastic piece 3 can displace in the radial direction, so that the unlocking rod 2 can be inserted into the unlocking matching piece in a matching mode, and the stability of the unlocking mechanism 10 in the unlocking process is higher.

The unlocking rod 2 comprises an insertion end 21, the outer surface of the insertion end 21 is provided with at least one abutting surface 211, an unlocking sleeve is arranged on the battery bracket and connected with the unlocking piece, the insertion end 21 is used for being inserted into the unlocking sleeve, and the abutting surface 211 is matched with the inner wall surface of the unlocking sleeve to drive the unlocking sleeve to rotate to realize unlocking. When the unlocking rod 2 rotates, the abutting surface 211 is matched with the inner wall surface of the unlocking matching piece, so that the abutting surface 211 applies acting force to the unlocking matching piece and drives the unlocking matching piece to rotate, and the locking piece is driven to rotate so as to unlock the battery pack. The acting force is applied to the inner wall surface of the unlocking matching piece through the abutting surface 211 to drive the unlocking matching piece to rotate, and the rotation stability is high. In this embodiment, the number of the abutting surfaces 211 is four, and the four abutting surfaces 211 mutually enclose a square structure, so that the rotational stability is higher. Of course, in other embodiments, the number of the abutting surfaces 211 may not be limited, and the plurality of abutting surfaces 211 may form a shape that is not circular and can drive the unlocking matching member to rotate.

In the embodiment, the unlocking rod is driven by the driving mechanism to rotate to automatically drive the locking piece to rotate, so that the battery pack is unlocked, the unlocking precision is improved, and the battery replacement efficiency is further improved; simultaneously, even if the unlocking that touches and can not cause the lock piece takes place, effectively avoided taking place the maloperation, improved the safety and stability who trades the electrical equipment greatly.

In this embodiment, through the elastic component can be at radial direction displacement for the unblock pole can match and insert to unblock matching in the piece, thereby further improve the stability of unblock mechanism in the in-process of unblock.

In this embodiment, the unlocking matching piece is driven to rotate by applying an acting force to the inner wall surface facing the unlocking matching piece by the abutting on the insertion end of the unlocking lever, so that the rotation stability is improved.

Example 6

The embodiment provides an unlocking method of a battery swapping device, as shown in fig. 13, including:

step 601, controlling the positioning mechanism to position the unlocking mechanism, so as to obtain the actual position of the unlocking mechanism.

And step 602, adjusting the position of the unlocking mechanism according to the actual position and the reference unlocking position until the unlocking mechanism is positioned with the unlocking piece on the battery bracket.

And 603, controlling an unlocking mechanism to unlock the battery pack locked on the battery bracket.

Fig. 2 shows a schematic partial structure diagram of a power swapping device in this embodiment, where the power swapping device in this embodiment is consistent with any one of embodiments 1 to 5, and details are not repeated here.

In this embodiment, when the unlocking piece on the battery bracket and the positioning unlocking mechanism are controlled to complete positioning, the unlocking mechanism is controlled to unlock the battery pack on the battery bracket, so that the position information of the battery bracket can be accurately obtained, the position of the unlocking mechanism is further accurately adjusted, the unlocking mechanism is located at an accurate unlocking position, the battery pack of the electric vehicle can be effectively unlocked by the unlocking mechanism, and the battery replacement efficiency, the battery replacement success and the battery replacement safety are ensured.

Example 7

On the basis of embodiment 6, this embodiment provides an unlocking method for a battery swapping device. Specifically, as shown in fig. 14, step 601 includes:

step 6011, image acquisition is performed on the first position and the second position of the battery bracket to obtain a first image and a second image.

And 6012, obtaining the position information of the battery bracket according to the first image and the second image.

And 6013, obtaining a position adjustment amount according to the position information of the battery bracket and the reference position information of the battery bracket.

And 6014, controlling and adjusting the position of the battery replacing device according to the position adjusting amount to enable the battery replacing device to be positioned with the unlocking piece on the battery bracket.

In specific implementation, referring to fig. 4, in step 6011, the first vision sensor 111 obtains a first image of the battery tray along a direction indicated by an arrow, where the first image includes a first position a on the battery tray, and the second vision sensor 112 obtains a second image of the battery tray along the direction indicated by the arrow, where the second image includes a second position B on the battery tray. In step 6012, image processing is performed according to the first image and the second image to obtain position information of the battery tray, in step 6013, the position information of the battery tray and reference position information of the battery tray are processed to obtain a position adjustment amount, and in step 6014, a current position of the unlocking mechanism 10 is adjusted according to the obtained position adjustment amount, so that the unlocking mechanism and the unlocking member are positioned.

According to the embodiment, the first position and the second position of the shot battery bracket image are respectively compared with the reference positions corresponding to the battery bracket, so that the position adjustment amount of the unlocking mechanism can be obtained, the position of the unlocking mechanism is further adjusted according to the position adjustment amount, and the positioning precision of the unlocking mechanism before unlocking is improved.

In this embodiment, after the first position and the second position of the image of the battery bracket are respectively photographed, the first position and the second position are respectively compared with the reference position corresponding to the battery bracket, so that the position adjustment amount of the unlocking mechanism can be obtained, and the position of the unlocking mechanism is further adjusted according to the position adjustment amount, so that the accuracy of positioning the unlocking mechanism before unlocking is further improved.

Example 8

On the basis of embodiment 7, this embodiment provides an unlocking method for a battery swapping device. Specifically, step 601 may further include the steps of: and controlling the unlocking mechanism 10 to move to the coarse positioning position according to a preset value.

The movable slide rail moves in the horizontal direction, in the vertical direction, or in both the horizontal direction and the vertical direction, so as to control the unlocking mechanism 10 to move to the preset coarse positioning position. In specific implementation, the battery swapping device is arranged in the battery swapping station. When the vehicle enters the battery replacement station for battery replacement, the vehicle can be parked to the corresponding parking space. The preset coarse positioning position corresponds to a corresponding parking space. When the unlocking mechanism 10 moves to the preset coarse positioning position, the positional relationship between the unlocking mechanism 10 and the battery bracket of the vehicle has reached the estimated range. Next, according to the positioning of the battery bracket by the visual positioning system, the unlocking member on the battery bracket and the unlocking mechanism 10 can be accurately positioned.

Optionally, in order to accurately position the unlocking mechanism 10 in the horizontal direction, step 6013 may specifically include: and acquiring the horizontal displacement according to the first image and the first reference image corresponding to the first position or the second image and the second reference image corresponding to the second position.

Optionally, in order to accurately position the unlocking mechanism 10 in the vertical direction, step 6013 may specifically include: respectively obtaining a first vertical displacement and a second vertical displacement according to the first image, the first reference image, the second image and the second reference image;

optionally, in order to accurately position the angle of the unlocking mechanism 10, step 6013 may specifically include: and acquiring the rotation angle quantity according to the depth value of the first position in the first image and the depth value of the second position in the second image.

As an alternative embodiment, referring to fig. 4 and 5, in step 6013, the position of the corresponding pixel in the first reference image G1 of the first position a on the target device in the first reference image G1 is obtained by analyzing the first reference image G1, and is referred to as a "target position" for convenience of description. By analyzing the first image G11, the location of the corresponding pixel of the first location a on the target device in the first image G11 in the first image G11, referred to as the "real-time location" for ease of description, is obtained. According to the image processing algorithm, the first horizontal displacement amount and the first vertical displacement amount of the first vision sensor 111 are obtained according to the target position and the real-time position. By moving the first vision sensor 111 by the first horizontal displacement amount and the first vertical displacement amount, the first vision sensor 111 can be caused to capture an image that coincides with the first reference image G1.

Similarly, a second horizontal displacement amount and a second vertical displacement amount are acquired from the second image and a second reference image which is prestored. By moving the second vision sensor 112 by the second horizontal displacement amount and the second vertical displacement amount, the second vision sensor 112 can be caused to capture an image that coincides with the second reference image.

As an alternative embodiment, referring to fig. 7, when the first and

second vision sensors

111 and 112 have a second preset distance L therebetween. In step 6013, image processing is performed on the first image to obtain a first depth of field, which is a depth of field value D1 of the first position a in the first image; the second image is image processed to obtain a second depth of field, which is the depth of field value D2 at the second position B in the second image. The specific manner of obtaining the depth of field value by the position obtaining module 113 may be implemented by using algorithms disclosed in the art, which can be implemented by those skilled in the art and will not be described herein. The position obtaining module 113 obtains a difference D ═ D2-D1| between the two depth of field values. The position obtaining module 113 may obtain the rotation angle amount θ according to the trigonometric function principle according to the difference D of the depth of field values, the distance L between the first vision sensor 111 and the second vision sensor 112, and the distance D3 between the first position a and the second position B. The position adjustment mechanism 8 is rotated in the corresponding direction by the rotation angle θ, and the battery holder 7 and the position adjustment mechanism 8 can be made parallel to each other.

In this embodiment, the horizontal displacement of the unlocking mechanism can be obtained through the processing of the first image and the first reference image or the processing of the second image and the second reference image, so that the positioning accuracy of the unlocking mechanism in the horizontal direction is improved.

In this embodiment, the vertical displacement of the unlocking mechanism can be obtained by processing the obtained first image and the second image, and the accuracy of positioning of the unlocking mechanism in the vertical direction is improved.

In this embodiment, the first vertical displacement of the unlocking mechanism can be obtained by processing the first image and the first reference image, and the second vertical displacement of the unlocking mechanism can be obtained by processing the second image and the second reference image, so that the positioning accuracy of the unlocking mechanism in the vertical direction is improved.

In this embodiment, the rotation angle amount of the unlocking mechanism can be obtained by processing the first depth of field value and the second depth of field value, so that the accuracy of the unlocking mechanism in positioning on the angle is improved, and the unlocking member on the battery bracket can be aligned by the unlocking mechanism.

Example 9

On the basis of embodiment 8, this embodiment provides an unlocking method for a battery swapping device. Specifically, referring to fig. 9 and 10, in step 6014, the horizontal driver drives the head rail guide wheel 703 to move along the head rail 701 in the X-axis direction (i.e., the horizontal direction) according to the horizontal displacement amount, and drives the ground rail guide wheel 704 to move along the ground rail 702, so as to achieve horizontal movement of the unlocking mechanism 10.

Referring to fig. 9 and 10, in step 6014, the first chain 706 drives the first sprocket 611 to move in the vertical direction (i.e., the Z-axis direction) according to the first vertical displacement under the driving of the first vertical driver 61, and the second chain 621 drives the second sprocket 622 to move in the vertical direction according to the second vertical displacement under the driving of the second vertical driver 62, so as to drive the power exchanging actuator 803 to move in the vertical direction.

In step 6013, the rotation angle amount is obtained according to the depth of field value of the first position in the first image and the depth of field value of the second position in the second image. Referring to fig. 9, in step 6014, the rotation driver 812 drives the turntable 811 to rotate the power exchanging actuator 803 according to the rotation angle.

In this embodiment, adjust the location of release mechanism in horizontal direction, vertical direction or angular direction according to at least one in horizontal displacement volume, vertical displacement volume and rotation angle volume to can accomplish release mechanism in the level, perpendicular and the angular accurate positioning, further improve the accuracy of release mechanism location through the position adjustment of multidimension degree, thereby make release mechanism and the release member accurate alignment on the battery tray.

Example 10

On the basis of any one of embodiments 6 to 9, this embodiment provides an unlocking method for a battery swapping device. As shown in fig. 15, step 603 specifically includes:

6031. the unlocking mechanism 10 is controlled to move towards the battery bracket until the unlocking rod is matched with the unlocking sleeve in place.

6032. The unlocking rod is driven to rotate so as to drive the unlocking piece unlocking sleeve to rotate, so that the locking piece of the battery pack is unlocked.

Fig. 12 shows a detailed structure diagram of the unlocking mechanism 10, which includes the driving mechanism 1 and the unlocking rod 2, wherein the driving mechanism 1 drives the unlocking rod 2 to rotate, so as to drive the locking piece to rotate to unlock the locking piece of the battery pack, and further unlock the battery pack.

In the embodiment, the unlocking mechanism is controlled to move towards the battery bracket until the unlocking rod is matched with the unlocking sleeve in place, so that the stability of subsequent rotation is improved, the unlocking sleeve of the unlocking piece is automatically driven to rotate by driving the unlocking rod to rotate, so that the locking piece of the battery pack can be unlocked, the battery pack is unlocked, the unlocking precision is improved, and the battery replacement efficiency is further improved; simultaneously, even if the unlocking that touches and can not cause the locking piece takes place, effectively avoided taking place the maloperation, improved the efficiency and the safety and stability who trades the electrical equipment greatly.

While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.

Claims

1. An unlocking system of a battery replacing device, comprising:

2. The unlocking system of a battery swapping device of claim 1, wherein the positioning mechanism comprises: the device comprises a first vision sensor, a second vision sensor, a position acquisition module and an adjustment control module;

3. The unlocking system of battery replacement equipment as claimed in claim 2, wherein the position adjustment amount comprises a horizontal displacement amount;

4. The unlocking system of battery replacement equipment as claimed in claim 2, wherein the position adjustment amount comprises a vertical displacement amount;

5. The unlocking system of battery replacement equipment as claimed in claim 4, wherein the position adjustment amount comprises a first vertical displacement amount and a second vertical displacement amount;

6. The unlocking system of a battery swapping device of claim 2, wherein the position adjustment comprises an amount of rotation angle;

7. The unlocking system of battery swapping device as in claim 2, wherein the first position and the second position have a preset distance therebetween, the first visual sensor is disposed at a position corresponding to the first position, and the second visual sensor is disposed at a position corresponding to the second position.

8. The unlocking system of the battery replacement device as claimed in any one of claims 2 to 7, wherein the battery replacement device further comprises a position adjusting mechanism for adjusting the position of the unlocking mechanism according to at least one of the horizontal displacement amount, the vertical displacement amount and the rotation angle amount obtained by the positioning mechanism until the unlocking mechanism and the unlocking piece on the battery bracket are positioned.

9. The unlocking system of battery replacement equipment as claimed in claim 8, wherein the adjustment control module comprises a control unit, a horizontal moving unit, a vertical moving unit and a rotating unit, and the control unit is configured to correspondingly control the horizontal moving unit, the vertical moving unit or the rotating unit to move to the adjustment position according to at least one of a horizontal displacement amount, a vertical displacement amount and a rotation angle amount.

10. The unlocking system of the battery swapping device as in claim 9, wherein the horizontal moving unit comprises a rail, a guide wheel and a horizontal driver, and the horizontal driver is used for driving the guide wheel to move along the rail according to the horizontal displacement.

11. The unlocking system for a battery swapping device of claim 9,

the vertical displacement comprises a first vertical displacement and a second vertical displacement;

12. The unlocking system of the battery replacement device as claimed in claim 11, wherein the rotating unit comprises a chassis, a rotating disc and a rotating driver, the rotating disc is sleeved at the bottom of the battery replacement actuator, and the rotating driver is connected to the rotating disc and is used for driving the rotating disc to drive the battery replacement actuator to rotate according to the rotating angle.

13. The unlocking system of a battery swapping device of claim 1, wherein the unlocking mechanism comprises: the unlocking piece on the battery bracket is driven to rotate to unlock the battery pack;

14. The unlocking system of the battery swapping device as in claim 13, wherein the unlocking mechanism further comprises an elastic member, two ends of the elastic member are respectively connected to the driving mechanism and the unlocking rod, the elastic member is adapted to the radial displacement of the unlocking rod, and the driving mechanism drives the unlocking rod to rotate along the axis of the unlocking rod through the elastic member.

15. The battery swapping device unlocking system according to claim 13, wherein the unlocking rod comprises an insertion end, the outer surface of the insertion end is provided with at least one abutting surface, the battery bracket is provided with an unlocking sleeve, the unlocking sleeve is connected with the unlocking piece, the insertion end is used for being inserted into the unlocking sleeve, and the abutting surface is matched with the inner wall surface of the unlocking sleeve to drive the unlocking sleeve to rotate to realize unlocking.

16. An unlocking method of a battery replacement device is characterized by comprising the following steps:

17. The method for unlocking battery swapping device as claimed in claim 16, wherein the step of controlling the positioning mechanism to position the unlocking mechanism comprises:

18. The method for unlocking a battery swapping device as claimed in claim 17,

the position adjustment amount comprises a horizontal displacement amount;

in the step of acquiring the position adjustment amount,

19. The method for unlocking battery replacement equipment according to claim 17, wherein the position adjustment amount comprises a vertical displacement amount;

in the step of acquiring the position adjustment amount,

20. The method for unlocking battery replacement equipment according to claim 19, wherein in the step of processing the first image and the second image to obtain at least two vertical displacement amounts,

21. The method for unlocking battery swapping device as claimed in claim 17, wherein the position adjustment amount comprises a rotation angle amount;

in the step of acquiring the position adjustment amount,

22. The method for unlocking battery swapping device as claimed in any one of claims 16 to 21, wherein the step of controlling the positioning mechanism to position the unlocking mechanism comprises:

23. The method for unlocking battery swapping device as claimed in claim 17, wherein the step of controlling the unlocking mechanism to unlock the battery pack locked on the battery bracket comprises: