CN114851906B - Auxiliary positioning method and device for television sense switching of new energy commercial vehicle hoisting - Google Patents
Auxiliary positioning method and device for television sense switching of new energy commercial vehicle hoisting Download PDFInfo
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- CN114851906B CN114851906B CN202210637860.0A CN202210637860A CN114851906B CN 114851906 B CN114851906 B CN 114851906B CN 202210637860 A CN202210637860 A CN 202210637860A CN 114851906 B CN114851906 B CN 114851906B
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000005299 abrasion Methods 0.000 claims description 6
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 230000003014 reinforcing effect Effects 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/37—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/60—Monitoring or controlling charging stations
- B60L53/65—Monitoring or controlling charging stations involving identification of vehicles or their battery types
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
The invention provides a new energy commercial vehicle hoisting and television-changing vision auxiliary positioning method and device, comprising the following steps that an X-axis moving assembly on a vehicle hoisting and television-changing station drives a vehicle position acquisition camera to move, when the vehicle position acquisition camera moves to the midpoint position of the vehicle hoisting and television-changing station, the position of the new energy vehicle is photographed through the vehicle position acquisition camera, a first image of the vehicle is acquired and is input into a terminal system, meanwhile, the first image of the vehicle is compared with a pre-input vehicle model in the terminal system to determine the first pose of the vehicle, and the error of the vehicle parking pose is calculated. The invention realizes the accurate positioning of the moving position and the parking position of the vehicle, collects the first pose and the second pose, facilitates the accurate disassembly and assembly of the battery pack of the new energy automobile, and improves the success rate and the positioning precision of visual positioning.
Description
Technical Field
The invention relates to the technical field of visual positioning, in particular to a new energy commercial vehicle hoisting television-changing vision auxiliary positioning method and device.
Background
When the battery is replaced by a new energy automobile used at present, a person manually replaces the battery, so that the workload of the person is large, and the difficulty of the person in replacing the battery is large due to the large volume and the large weight of the battery pack, and the battery pack is detached from top to bottom, so that the danger of the person in the disassembly process is high, and the disassembly efficiency is low.
Disclosure of Invention
The invention aims to provide a new energy commercial vehicle hoisting television-changing vision-assisted positioning method and device which overcome the problems or at least partially solve the problems.
In order to achieve the above purpose, the technical scheme of the invention is specifically realized as follows:
The invention provides a new energy commercial vehicle hoisting television-changing vision auxiliary positioning method, which comprises the following steps:
Step one, a new energy automobile enters a gate machine channel, is intercepted by a gate machine at the front side, collects and inputs license plate information of the new energy automobile through a camera on the gate machine, and is transmitted into a terminal system;
Secondly, a voice broadcasting system on the gate carries out voice broadcasting and inquires whether a vehicle owner carries out battery pack replacement, if not, the gate does not respond, if so, the gate responds and opens, and then the new energy automobile drives to the vehicle hoisting power exchange station;
Thirdly, photographing the new energy automobile which arrives at a vehicle hoisting power exchange station by using a vehicle information acquisition camera, inputting the new energy automobile into a terminal system, comparing the appearance and the model of the vehicle with the original license plate information in the terminal system, informing the vehicle to drive away if the vehicle is not corresponding to the license plate information, storing the vehicle information, and performing the subsequent power exchange operation if the vehicle is corresponding to the license plate information;
Driving a vehicle position acquisition camera to move through an X axial moving assembly on a vehicle hoisting power exchange station, photographing the position of a new energy automobile through the vehicle position acquisition camera when the vehicle position acquisition camera moves to the midpoint position of the vehicle hoisting power exchange station, acquiring a first image of the vehicle, inputting the first image into a terminal system, simultaneously comparing the first image of the vehicle with a vehicle model which is input in advance in the terminal system to determine the first pose of the vehicle, and calculating the error of the parking pose of the vehicle;
Step five, driving a vehicle supporting plate to move upwards through a Z-axis lifting assembly on the vehicle hoisting power exchange station, driving a new energy automobile to move upwards, measuring the upward moving height of the vehicle through a laser calibration unit on the right side of the vehicle hoisting power exchange station, and determining the heights required by the replacement of battery packs of different models of vehicles through a terminal system;
Step six, photographing the bottom battery pack and the bottom cover of the new energy automobile through a vehicle battery pack position acquisition camera at the left side of the vehicle hoisting power exchange station, acquiring first images of the battery pack and the bottom cover, inputting the first images into a terminal system, and simultaneously comparing the first images of the battery pack and the bottom cover with a vehicle battery pack and a bottom cover model which are input in advance in the terminal system to determine the position errors of the battery pack and the bottom cover and the abrasion condition of the bottom cover;
step seven, controlling a Y-axis moving assembly on a vehicle hoisting power exchange station through a terminal system to drive a gantry bracket to move, and synchronously driving a vehicle supporting plate and a new energy automobile to move so as to reduce errors;
and step eight, respectively adjusting the positions of the battery pack assembling frame and the battery pack disassembling frame on the left side and the right side of the vehicle hoisting power exchange station through a terminal system so as to meet the requirement that the battery pack assembling frame and the battery pack disassembling frame are aligned with a battery pack and a bottom cover at the bottom of the new energy automobile.
The method also comprises the following steps: firstly controlling a battery pack disassembly frame on the right side of the vehicle hoisting power exchange station to move to the lower part of the new energy automobile along a guide rail through a terminal system, sequentially disassembling a bottom cover of the new energy automobile and the battery pack through the disassembly frame, and moving into a battery pack disassembly bin on the right side of the vehicle hoisting power exchange station;
the robot in the battery pack assembly bin at the left side of the vehicle hoisting power exchange station is controlled by the terminal system to place the corresponding battery pack on the battery pack assembly frame, the battery pack assembly frame is moved along the guide rail, the battery pack is moved to the lower part of the new energy automobile, and the new battery pack is filled into the new energy automobile through the battery pack assembly frame;
the new energy automobile is installed in the bottom cover of the new energy automobile through the battery pack disassembly frame on the right side;
And finally, the new energy automobile is driven away from the vehicle hoisting power exchange station.
The new energy commercial vehicle hoisting and television-exchanging vision auxiliary positioning device comprises a vehicle hoisting and exchanging station, wherein the vehicle hoisting and exchanging station comprises a gantry bracket, a guide groove and a vehicle supporting plate, the gantry bracket is positioned on the upper side of the guide groove and is in sliding connection with the guide groove through a Y axial moving assembly, the vehicle supporting plate is arranged at the inner bottom of the gantry bracket and is in sliding connection with the gantry bracket through a Z axial lifting assembly, the gantry bracket is connected with a vehicle information acquisition camera and a vehicle position acquisition camera, the vehicle information acquisition camera and the vehicle position acquisition camera are both in sliding connection with the gantry bracket through an X axial moving assembly, and the vehicle supporting plate is respectively provided with a laser calibration unit and a vehicle battery pack position acquisition camera;
The vehicle information acquisition camera is used for photographing the new energy automobile and comparing the new energy automobile with the pre-recorded license plate information;
The vehicle battery pack position acquisition camera is used for acquiring position information of a battery pack and a bottom cover in the new energy automobile and evaluating abrasion condition of the bottom cover;
the laser calibration unit is used for measuring the upward moving height of the new energy automobile and meeting the replacement requirements of the automobiles of different models on the battery packs through the difference of the upward moving heights;
The vehicle position acquisition camera is used for acquiring a first image of the new energy automobile and determining a first pose and a pose error of the new energy automobile.
As a further scheme of the invention, a storage cavity for placing the vehicle battery pack position acquisition camera and the laser calibration unit is formed in the vehicle supporting plate, a telescopic plate is placed on the storage cavity, the vehicle battery pack position acquisition camera and the laser calibration unit are respectively fixed on the telescopic plate, a pushing unit for pushing the telescopic plate is inlaid and fixed on the outer side face of the vehicle supporting plate, the telescopic plate is driven to move along the storage cavity through the operation of the telescopic unit, and then the vehicle battery pack position acquisition camera and the laser calibration unit are driven, so that the vehicle battery pack position acquisition camera and the laser calibration unit can conveniently adjust the position of a battery pack bottom cover of a new energy automobile, and meanwhile, the vehicle battery pack position acquisition camera and the laser calibration unit can also be conveniently contracted and placed.
As a further scheme of the invention, two trolley plates are arranged, and reinforcing rods are fixedly connected between the two trolley plates, so that the supporting strength of the trolley plates is improved, and the deformation of the trolley plates is avoided.
As a further scheme of the invention, a guide rail which is convenient for the battery pack disassembly frame and the battery pack assembly frame to move is paved below the car supporting plate, a battery pack disassembly bin for accommodating an old battery pack and a battery pack assembly bin for accommodating a new battery pack are respectively arranged on two sides of the guide rail, the battery pack disassembly frame is close to the battery pack disassembly bin, and the battery pack assembly frame is close to the battery pack assembly bin, so that the old battery pack of the new energy automobile can be conveniently disassembled and the new battery pack can be conveniently assembled through the battery pack disassembly frame and the battery pack assembly frame.
As a further scheme of the invention, the gantry bracket comprises a gantry top frame for connecting the vehicle information acquisition camera and the vehicle position acquisition camera and a gantry bottom frame which is convenient for the battery pack disassembly frame and the battery pack assembly frame to pass through, and the gantry top frame is welded and fixed on the upper surface of the gantry bottom frame, so that the battery pack disassembly frame and the battery pack assembly frame are convenient to move below the new energy automobile.
As a further scheme of the invention, the lower parts of the two side surfaces of the gantry underframe are fixedly welded with the limiting plates, the limiting plates are positioned outside the guide grooves, the upper parts of the limiting plates cover the outer parts of the Y-axis moving assemblies, so that the movement of the gantry underframe is conveniently guided and limited, and meanwhile, the Y-axis moving assemblies are conveniently protected through the limiting plates.
As a further scheme of the invention, the front side of the guide slot is provided with the gate, the gate is respectively connected with the camera and the voice broadcasting system, and the gate is connected with the display screen for displaying the license plate, so that license plate information can be conveniently displayed.
As a further scheme of the invention, the vehicle information acquisition camera, the voice broadcasting system, the vehicle battery pack position acquisition camera, the laser calibration unit, the pushing unit, the vehicle position acquisition camera, the X-axis moving assembly, the Y-axis moving assembly and the Z-axis lifting assembly are all in communication connection with the terminal system.
The invention provides a new energy commercial vehicle hoisting television-changing vision auxiliary positioning method and device, which have the beneficial effects that: through carrying out primary and secondary data acquisition to the vehicle that comes and goes, both guaranteed the degree of accuracy and the efficiency that the car traded the electricity, avoided the production of idle work, also be convenient for gather and contrast the information of car and license plate simultaneously, avoided the emergence of fake plate condition, the security has been improved, moreover, the mobile position and the parking position to the vehicle are carried out accurate location through vehicle information acquisition camera, vehicle battery package position acquisition camera and laser calibration unit, and gather first position appearance and second position appearance, the convenience is carried out accurate dismantlement and assembly to the battery package of new energy automobile, the success rate and the positioning accuracy of vision location have been improved, also improved and trade electric efficiency and security, excellent in use effect.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a functional block diagram of the present invention.
Fig. 2 is a schematic structural view of the present invention.
FIG. 3 is a schematic diagram of a gate structure according to the present invention.
Fig. 4 is a schematic structural diagram of a laser calibration unit according to the present invention.
Fig. 5 is a schematic structural diagram of a vehicle battery pack position acquisition camera according to the present invention.
Fig. 6 is a schematic diagram of a connection structure between a vehicle information acquisition camera and a vehicle position acquisition camera according to the present invention.
Fig. 7 is a schematic view of a guide groove structure in the present invention.
Fig. 8 is a schematic structural view of a battery pack disassembly frame in the present invention.
Fig. 9 is a schematic structural view of a battery pack frame according to the present invention.
In the figure: 1. a gantry bracket; 2. a vehicle information acquisition camera; 3. a battery pack disassembly bin; 4. a guide rail; 5. a guide groove; 6. a vehicle supporting plate; 7. a gate; 8. a battery pack assembly bin; 9. a camera; 10. a voice broadcasting system; 11. a vehicle battery pack position acquisition camera; 12. a laser calibration unit; 13. a telescoping plate; 14. a pushing unit; 15. a vehicle position acquisition camera; 16. the battery pack is disassembled from the frame; 17. a battery pack is provided with a frame; 18. a limiting plate; 21. an X-axis moving assembly; 51. a Y-axis movement assembly; 61. a Z-axis lifting assembly; 62. a storage chamber.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Referring to fig. 1 and 2, the method for assisting in locating the new energy commercial vehicle hoisting television-changing sense provided by the embodiment of the invention comprises the following steps:
Step one, a new energy automobile enters a gate 7 channel, is intercepted by a gate 7 at the front side, collects and inputs license plate information of the new energy automobile through a camera 9 on the gate 7, and is transmitted into a terminal system;
Step two, the voice broadcasting system 10 on the gate 7 carries out voice broadcasting and inquires whether a vehicle owner carries out battery pack replacement, if not, the gate 7 does not respond, if yes, the gate 7 responds and opens, and then the new energy automobile drives to the vehicle hoisting power exchange station;
Thirdly, the vehicle information acquisition camera 2 on the vehicle hoisting power exchange station shoots the new energy automobile which arrives, the new energy automobile is input into the terminal system, the appearance and the model of the vehicle are compared with the original license plate information in the terminal system, if the new energy automobile does not correspond to the original license plate information, the new energy automobile is informed of the driving-away of the vehicle, the vehicle information is stored, and if the new energy automobile corresponds to the original license plate information, the subsequent power exchange operation is carried out;
Driving a vehicle position acquisition camera 15 to move through an X axial moving assembly 21 on a vehicle hoisting power exchange station, photographing the position of a new energy automobile through the vehicle position acquisition camera 15 when the vehicle position acquisition camera 15 moves to the midpoint position of the vehicle hoisting power exchange station, acquiring a first image of the vehicle, inputting the first image into a terminal system, simultaneously comparing the first image of the vehicle with a vehicle model which is input in advance in the terminal system to determine the first pose of the vehicle, and calculating the error of the parking pose of the vehicle;
Step five, driving the trolley board 6 to move upwards through the Z-axis lifting assembly 61 on the vehicle hoisting power exchange station, driving the new energy automobile to move upwards, measuring the upward moving height of the vehicle through the laser calibration unit 12 on the right side of the vehicle hoisting power exchange station, and determining the height required by changing the battery packs of vehicles of different models through a terminal system;
Step six, photographing the bottom battery pack and the bottom cover of the new energy automobile through a vehicle battery pack position acquisition camera 11 at the left side of the vehicle hoisting power exchange station, acquiring first images of the battery pack and the bottom cover, inputting the first images into a terminal system, and simultaneously comparing the first images of the battery pack and the bottom cover with a vehicle battery pack and a bottom cover model which are input in advance in the terminal system to determine the position errors of the battery pack and the bottom cover and the abrasion condition of the bottom cover;
Step seven, a Y-axis moving assembly 51 on a vehicle hoisting power exchange station is controlled by a terminal system to drive a gantry bracket 1 to move, and a trolley board 6 and a new energy automobile are synchronously driven to move so as to reduce errors;
And step eight, the positions of the battery pack assembling frame 17 and the battery pack disassembling frame 16 on the left side and the right side of the vehicle hoisting power exchange station are respectively adjusted through a terminal system so as to meet the requirement that the battery packs of the battery pack assembling frame 17 and the battery pack disassembling frame 16 on the bottom of the new energy automobile are aligned with the bottom cover.
The method also comprises the following steps: firstly controlling a battery pack disassembly frame 16 on the right side of the vehicle hoisting power exchange station to move to the lower part of the new energy automobile along a guide rail 4 through a terminal system, sequentially disassembling a bottom cover of the new energy automobile and the battery pack through the disassembly frame, and moving into a battery pack disassembly bin 3 on the right side of the vehicle hoisting power exchange station;
The robot in the battery pack assembling bin 8 at the left side of the vehicle hoisting power exchange station is controlled by the terminal system to place the corresponding battery pack on the battery pack assembling frame 17, the battery pack assembling frame is moved along the guide rail 4, the battery pack is moved to the lower part of the new energy automobile, and the new battery pack is assembled in the new energy automobile through the battery pack assembling frame 17;
The new energy automobile is installed in the bottom cover of the new energy automobile through the battery pack disassembly frame 16 on the right side;
And finally, the new energy automobile is driven away from the vehicle hoisting power exchange station.
As shown in fig. 2-9, the new energy commercial vehicle hoisting and television-exchanging vision auxiliary positioning device comprises a vehicle hoisting and exchanging station, wherein the vehicle hoisting and exchanging station comprises a gantry bracket 1, a guide groove 5 and a trolley plate 6, the gantry bracket 1 is positioned on the upper side of the guide groove 5 and is in sliding connection with the guide groove 5 through a Y-axis moving assembly 51, the trolley plate 6 is arranged at the inner bottom of the gantry bracket 1 and is in sliding connection with the gantry bracket 1 through a Z-axis lifting assembly 61, the gantry bracket 1 is connected with a vehicle information acquisition camera 2 and a vehicle position acquisition camera 15, the vehicle information acquisition camera 2 and the vehicle position acquisition camera 15 are both in sliding connection with the gantry bracket 1 through an X-axis moving assembly 21, and the trolley plate 6 is respectively provided with a laser calibration unit 12 and a vehicle battery pack position acquisition camera 11;
The vehicle information acquisition camera 2 is used for photographing a new energy automobile and comparing the new energy automobile with license plate information which is input in advance;
the vehicle battery pack position acquisition camera 11 is used for acquiring position information of a battery pack and a bottom cover in the new energy automobile and evaluating abrasion condition of the bottom cover;
The laser calibration unit 12 is configured to measure an upward-moving height of the new energy automobile, and meet the replacement requirements of the battery packs of the automobiles of different models through different upward-moving heights;
The vehicle position acquisition camera 15 is configured to acquire a first image of a new energy automobile, and determine a first pose and a pose error of the new energy automobile.
The inside storage chamber 62 that is used for placing vehicle battery package position collection camera 11 and laser calibration unit 12 of seting up of carriage board 6, and has placed expansion plate 13 on the storage chamber 62, be fixed with vehicle battery package position collection camera 11 and laser calibration unit 12 on the expansion plate 13 respectively, the outside face of carriage board 6 is inlayed and is fixed with the pushing unit 14 that promotes expansion plate 13.
The number of the car supporting plates 6 is two, and a reinforcing rod is fixedly connected between the two car supporting plates 6.
The guide rail 4 which is convenient for the battery pack disassembly frame 16 and the battery pack matching frame 17 to move is paved below the car supporting plate 6, a battery pack disassembly bin 3 for placing an old battery pack and a battery pack matching bin 8 for placing a new battery pack are respectively arranged on two sides of the guide rail 4, the battery pack disassembly frame 16 is close to the battery pack disassembly bin 3, and the battery pack matching frame 17 is close to the battery pack matching bin 8.
The gantry bracket 1 comprises a gantry top frame for connecting the vehicle information acquisition camera 2 and the vehicle position acquisition camera 15 and a gantry bottom frame which is convenient for the battery pack to dismantle the frame 16 and the battery pack to be matched with the frame 17 to pass through, and the gantry top frame is welded and fixed on the upper surface of the gantry bottom frame.
Limiting plates 18 are fixedly welded at the lower parts of the two side faces of the gantry underframe, the limiting plates 18 are located at the outer sides of the guide grooves 5, and the upper parts of the limiting plates 18 cover the outer parts of the Y-axis moving assemblies 51.
The front side of the guide slot 5 is provided with a gate 7, the gate 7 is respectively connected with a camera 9 and a voice broadcasting system 10, and the gate 7 is connected with a display screen for displaying license plates.
The vehicle information acquisition camera 2, the camera 9, the voice broadcasting system 10, the vehicle battery pack position acquisition camera 11, the laser calibration unit 12, the pushing unit 14, the vehicle position acquisition camera 15, the X-axis moving assembly 21, the Y-axis moving assembly 51 and the Z-axis lifting assembly 61 are all in communication connection with a terminal system.
In the use process, the new energy automobile entering is intercepted through the brake 7, the license plate is input through the camera 9, the vehicle owner is reminded through the voice broadcasting system 10, whether the vehicle owner changes a battery is determined, then the new energy automobile entering the vehicle hoisting power changing station is secondarily shot through the vehicle information acquisition camera 2, the vehicle model is compared with the license plate, the situation of fake license plates is avoided, the vehicle position acquisition camera 15 is driven through the X-axis moving assembly 21 in sequence to acquire the position information of the vehicle, the comparison is carried out through the terminal system, the error is confirmed, the vehicle supporting plate 6 and the new energy automobile are driven through the Z-axis lifting assembly 61 to move upwards, the upward moving height of the new energy automobile is determined through the laser calibration unit 12, the changing requirements of battery packs of different types are met, the bottom cover situation and the battery pack position of the bottom of the new energy automobile are acquired through the vehicle battery pack position acquisition camera 11, the Y-axis moving assembly 51 is controlled to drive the gantry chassis and the new energy automobile to move through the terminal system, the error is confirmed through the terminal system, the battery pack frame 17 is controlled to be matched with the battery pack frame 17, the battery pack 17 is assembled on the vehicle frame 17, the battery pack 17 is assembled on the frame 17, the battery pack 17 is assembled, and the battery pack 17 is assembled on the frame 17 is detached, and the battery pack 17 is assembled.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.
Claims (10)
1. The auxiliary positioning method for the television sense of the new energy commercial vehicle hoisting and changing is characterized by comprising the following steps of:
Step one, a new energy automobile enters a gate (7) channel, is intercepted by a gate (7) at the front side, collects and inputs license plate information of the new energy automobile through a camera (9) on the gate (7), and is transmitted into a terminal system;
Secondly, a voice broadcasting system (10) on the gate (7) carries out voice broadcasting and inquires whether a vehicle owner carries out battery pack replacement, if not, the gate (7) does not respond, if yes, the gate (7) responds and opens, and then a new energy automobile drives to a vehicle hoisting power exchange station;
thirdly, a vehicle information acquisition camera (2) on the vehicle hoisting power exchange station shoots a new energy automobile which arrives, the new energy automobile is input into a terminal system, the appearance and the model of the vehicle are compared with the original license plate information in the terminal system, if the new energy automobile does not correspond to the original license plate information, the new energy automobile is informed of the driving-away of the vehicle, the vehicle information is stored, and if the new energy automobile corresponds to the original license plate information, the subsequent power exchange operation is carried out;
Driving a vehicle position acquisition camera (15) to move through an X axial moving assembly (21) on a vehicle hoisting power exchange station, photographing the position of a new energy automobile through the vehicle position acquisition camera (15) when the vehicle position acquisition camera (15) moves to the midpoint position of the vehicle hoisting power exchange station, acquiring a first image of the vehicle, inputting the first image into a terminal system, simultaneously comparing the first image of the vehicle with a pre-input vehicle model in the terminal system to determine the first pose of the vehicle, and calculating the error of the parking pose of the vehicle;
Step five, driving a vehicle supporting plate (6) to move upwards through a Z-axis lifting assembly (61) on the vehicle hoisting power exchange station, driving a new energy automobile to move upwards, measuring the upward moving height of the vehicle through a laser calibration unit (12) on the right side of the vehicle hoisting power exchange station, and determining the height required by changing battery packs of vehicles of different types through a terminal system;
Step six, photographing the bottom battery pack and the bottom cover of the new energy automobile through a vehicle battery pack position acquisition camera (11) at the left side of the vehicle hoisting power exchange station, acquiring first images of the battery pack and the bottom cover, inputting the first images into a terminal system, and simultaneously comparing the first images of the battery pack and the bottom cover with a vehicle battery pack and a bottom cover model which are input in advance in the terminal system to determine the position errors of the battery pack and the bottom cover and the abrasion condition of the bottom cover;
step seven, a Y-axis moving assembly (51) on a vehicle hoisting power exchange station is controlled through a terminal system to drive a gantry bracket (1) to move, and a vehicle supporting plate (6) and a new energy automobile are synchronously driven to move so as to reduce errors;
And step eight, the positions of the battery pack assembling frame (17) and the battery pack disassembling frame (16) on the left side and the right side of the vehicle hoisting power exchange station are respectively adjusted through a terminal system so as to meet the requirement that the battery packs of the battery pack assembling frame (17) and the battery pack disassembling frame (16) on the bottom of the new energy automobile are aligned with the bottom cover.
2. The new energy commercial vehicle hoisting television-changing vision-aided positioning method according to claim 1, further comprising the steps of:
Firstly controlling a battery pack disassembly frame (16) on the right side of the vehicle hoisting power exchange station to move to the lower part of the new energy automobile along a guide rail (4) through a terminal system, disassembling a bottom cover of the new energy automobile and the battery pack in sequence through the disassembly frame, and moving into a battery pack disassembly bin (3) on the right side of the vehicle hoisting power exchange station;
the robot in a battery pack assembly bin (8) at the left side of the vehicle hoisting power exchange station is controlled by a terminal system to place a corresponding battery pack on a battery pack assembly frame (17), the battery assembly frame is moved along a guide rail (4), the battery pack is moved to the lower part of a new energy automobile, and a new battery pack is packaged into the new energy automobile through the battery pack assembly frame (17);
the new energy automobile is installed in the bottom cover of the new energy automobile through the battery pack disassembly frame (16) on the right side;
And finally, the new energy automobile is driven away from the vehicle hoisting power exchange station.
3. The positioning device of the new energy commercial vehicle hoisting and television-changing vision-assisted positioning method according to any one of claims 1 or 2, comprising a vehicle hoisting and television-changing station, wherein the vehicle hoisting and television-changing station comprises a gantry bracket (1), a guide groove (5) and a vehicle supporting plate (6), the gantry bracket (1) is positioned at the upper side of the guide groove (5) and is in sliding connection with the guide groove (5) through a Y-axis moving component (51), the vehicle supporting plate (6) is arranged at the inner bottom of the gantry bracket (1) and is in sliding connection with the gantry bracket (1) through a Z-axis lifting component (61), the gantry bracket (1) is connected with a vehicle information acquisition camera (2) and a vehicle position acquisition camera (15), the vehicle information acquisition camera (2) and the vehicle position acquisition camera (15) are both in sliding connection with the gantry bracket (1) through an X-axis moving component (21), and a laser calibration unit (12) and a vehicle battery pack position acquisition camera (11) are respectively arranged on the vehicle supporting plate (6);
The vehicle information acquisition camera (2) is used for photographing the new energy automobile and comparing the new energy automobile with the license plate information which is input in advance;
the vehicle battery pack position acquisition camera (11) is used for acquiring position information of a battery pack and a bottom cover in the new energy automobile and evaluating abrasion condition of the bottom cover;
the laser calibration unit (12) is used for measuring the upward moving height of the new energy automobile and meeting the replacement requirements of the automobiles of different models on the battery packs through the difference of the upward moving heights;
the vehicle position acquisition camera (15) is used for acquiring a first image of the new energy automobile and determining a first pose and a pose error of the new energy automobile.
4. A positioning device according to claim 3, characterized in that a storage cavity (62) for placing a vehicle battery pack position acquisition camera (11) and a laser calibration unit (12) is formed in the vehicle supporting plate (6), a telescopic plate (13) is placed on the storage cavity (62), the vehicle battery pack position acquisition camera (11) and the laser calibration unit (12) are respectively fixed on the telescopic plate (13), and a pushing unit (14) for pushing the telescopic plate (13) is inlaid and fixed on the outer side surface of the vehicle supporting plate (6).
5. A positioning device according to claim 3, characterized in that two of the pallet plates (6) are provided, and a reinforcing rod is fixedly connected between the two pallet plates (6).
6. A positioning device according to claim 3, characterized in that a guide rail (4) for facilitating the movement of the battery pack disassembling frame (16) and the battery pack assembling frame (17) is laid below the trolley board (6), and a battery pack disassembling bin (3) for placing an old battery pack and a battery pack assembling bin (8) for placing a new battery pack are respectively arranged on two sides of the guide rail (4), the battery pack disassembling frame (16) is close to the battery pack disassembling bin (3), and the battery pack assembling frame (17) is close to the battery pack assembling bin (8).
7. A positioning device according to claim 3, characterized in that the gantry bracket (1) comprises a gantry top frame for connecting the vehicle information acquisition camera (2) and the vehicle position acquisition camera (15) and a gantry bottom frame for facilitating the passage of the battery pack disassembly frame (16) and the battery pack assembly frame (17), and the gantry top frame is welded and fixed on the upper surface of the gantry bottom frame.
8. The positioning device according to claim 7, wherein limiting plates (18) are welded and fixed at the lower parts of two side surfaces of the gantry underframe, the limiting plates (18) are positioned at the outer sides of the guide grooves (5), and the upper parts of the limiting plates (18) cover the outer parts of the Y-axis moving assemblies (51).
9. A positioning device according to claim 3, characterized in that a gate (7) is arranged on the front side of the guide groove (5), a camera (9) and a voice broadcasting system (10) are respectively connected to the gate (7), and a display screen for displaying license plates is connected to the gate (7).
10. A positioning device according to claim 3, characterized in that the vehicle information acquisition camera (2), the camera (9), the voice broadcast system (10), the vehicle battery pack position acquisition camera (11), the laser calibration unit (12), the pushing unit (14), the vehicle position acquisition camera (15), the X-axis movement assembly (21), the Y-axis movement assembly (51) and the Z-axis lifting assembly (61) are all in communication connection with a terminal system.
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| CN202210637860.0A CN114851906B (en) | 2022-06-07 | 2022-06-07 | Auxiliary positioning method and device for television sense switching of new energy commercial vehicle hoisting |
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| CN110194075A (en) * | 2019-06-26 | 2019-09-03 | 广州小鹏汽车科技有限公司 | Vehicle is marched into the arena control method, device, computer equipment and the storage medium of charging |
| CN111649739A (en) * | 2020-06-02 | 2020-09-11 | 北京百度网讯科技有限公司 | Positioning method and apparatus, autonomous vehicle, electronic device, and storage medium |
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| CN203713841U (en) * | 2013-11-28 | 2014-07-16 | 西安航天精密机电研究所 | Vision positioning system for automatic battery exchange mechanism of electric automobile |
| CN113561838B (en) * | 2021-05-21 | 2023-07-18 | 蓝谷智慧(北京)能源科技有限公司 | Battery replacement control method and system, electronic equipment, storage medium and battery replacement station |
| CN113415204A (en) * | 2021-05-28 | 2021-09-21 | 蓝谷智慧(北京)能源科技有限公司 | Intelligent battery replacement method for battery replacement station, battery replacement station control system and readable storage medium |
| CN113799644B (en) * | 2021-09-29 | 2022-12-06 | 南斗六星***集成有限公司 | Method and system for automatically replacing power battery of new energy automobile |
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| CN110194075A (en) * | 2019-06-26 | 2019-09-03 | 广州小鹏汽车科技有限公司 | Vehicle is marched into the arena control method, device, computer equipment and the storage medium of charging |
| CN111649739A (en) * | 2020-06-02 | 2020-09-11 | 北京百度网讯科技有限公司 | Positioning method and apparatus, autonomous vehicle, electronic device, and storage medium |
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