CN111959342A - Vehicle deviation rectifying method and system and battery replacement station - Google Patents
Vehicle deviation rectifying method and system and battery replacement station Download PDFInfo
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- CN111959342A CN111959342A CN202010899174.1A CN202010899174A CN111959342A CN 111959342 A CN111959342 A CN 111959342A CN 202010899174 A CN202010899174 A CN 202010899174A CN 111959342 A CN111959342 A CN 111959342A
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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
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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
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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
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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Abstract
The application discloses a vehicle deviation correcting method, a system and a power station, wherein the vehicle deviation correcting method firstly obtains the height deviation numerical values of the front wheels and the rear wheels of a vehicle; and then, respectively lifting the front wheels and the rear wheels to corresponding target heights according to the lifting degree value of the front wheels and the lifting height value of the rear wheels. The front wheel of the vehicle can be lifted to the corresponding target height according to the lifting height value of the front wheel, the rear wheel of the vehicle can be lifted to the corresponding target height according to the lifting height value of the rear wheel, the front wheel and the rear wheel of the vehicle are at the same horizontal height after being lifted, namely, the hub center of the front wheel and the hub center of the rear wheel of the vehicle are at the same horizontal height, the consistency of the horizontal heights of the vehicles under different tire pressure conditions is guaranteed, and the success rate of battery replacement of the vehicle is improved.
Description
Technical Field
The application relates to the technical field of vehicle battery replacement, in particular to a vehicle deviation correcting method and system based on vehicle lifting in a battery replacement station and the battery replacement station.
Background
With the rapid development of new energy automobiles, the battery replacement station is more and more popular in our lives. In the process of replacing batteries, a vehicle lifting mechanism is often needed to lift the vehicle and then replace the batteries.
The phenomenon that the vehicle inclines generally cannot occur when the power is exchanged for the vehicle with normal front and rear wheel tire pressures, but the phenomenon that the vehicle inclines after the vehicle is lifted by the vehicle lifting mechanism can occur for the vehicle with the overlarge front and rear wheel tire pressure difference, so that the locking and unlocking of the vehicle are failed, and the vehicle cannot be exchanged normally. This phenomenon is becoming increasingly difficult to detect, particularly for vehicles not equipped with tire pressure monitoring.
Disclosure of Invention
In order to overcome the problems in the prior art, the main object of the present application is to provide a vehicle deviation rectifying method capable of preventing a vehicle with a large difference between the tire pressures of front and rear wheels from inclining after being lifted.
In order to achieve the above purpose, the following technical solutions are specifically adopted in the present application:
the application provides a vehicle deviation correcting method which is applied to lifting battery replacement of a vehicle in a battery replacement station; the vehicle deviation rectifying method comprises the following steps:
acquiring a height deviation value between a front wheel and a rear wheel of a vehicle;
calculating the lifting degree value of the front wheel according to the height deviation numerical value, and calculating the lifting degree value of the rear wheel according to the height deviation numerical value;
and lifting the front wheels to the corresponding target heights according to the lifting height values of the front wheels, and lifting the rear wheels to the corresponding target heights according to the lifting height values of the rear wheels.
Preferably, the obtaining of the height deviation value between the front and rear wheels of the vehicle comprises:
respectively acquiring a position deviation value of the front wheel and a position deviation value of the rear wheel;
and calculating the height deviation value according to the position deviation values of the front wheels and the rear wheels.
Preferably, the obtaining of the value of the height deviation between the front and rear wheels of the vehicle comprises:
acquiring a horizontal angle deviation value of the vehicle chassis;
and calculating the height deviation value according to the horizontal angle deviation value and the wheel base, wherein the wheel base refers to the distance between the central position of the front wheel hub and the central position of the rear wheel hub.
Preferably, calculating the height deviation value according to the horizontal angle deviation value and the wheelbase comprises:
calculating the height deviation value by a formula L Sin (180-a), or calculating the height deviation value by a formula L Sina;
wherein L is the wheel base, and a is the horizontal angle deviation value of the vehicle chassis.
Preferably, calculating the lift height value of the front wheel according to the height deviation value, and calculating the lift height value of the rear wheel according to the height deviation value comprises:
adding the height deviation value to the preset lifting height value of the rear wheel to serve as the lifting height value of the rear wheel, and taking the preset lifting height value of the front wheel as the lifting height value of the front wheel;
or, the preset lifting height value of the front wheel is added with the height deviation value to serve as the lifting height value of the front wheel, and the preset lifting height value of the rear wheel is served as the lifting height value of the rear wheel;
wherein the preset lifting height of the rear wheel is equal to the preset lifting height of the front wheel.
Correspondingly, the application also provides a vehicle deviation correcting system which is applied to lifting battery replacement of the vehicle in the battery replacement station; this vehicle rectifying system includes:
an acquisition unit configured to acquire a height deviation value between front and rear wheels of a vehicle;
the control unit is used for calculating the lifting degree value of the front wheel according to the height deviation numerical value and calculating the lifting degree value of the rear wheel according to the height deviation numerical value;
and the lifting mechanism is used for lifting the front wheels to the corresponding target heights according to the lifting height values of the front wheels and lifting the rear wheels to the corresponding target heights according to the lifting height values of the rear wheels.
Preferably, the acquiring unit includes:
the camera positioning unit is used for respectively acquiring the position deviation value of the front wheel and the position deviation value of the rear wheel;
and the calculating unit is used for calculating the height deviation value according to the position deviation value of the front wheel and the rear wheel.
Preferably, the acquiring unit includes:
the camera positioning unit is used for acquiring a horizontal angle deviation value of the vehicle chassis;
and the calculating unit is used for calculating the height deviation value according to the horizontal angle deviation value and a wheel base, wherein the wheel base refers to the distance between the central position of the front wheel hub and the central position of the rear wheel hub.
Preferably, the calculating unit is specifically configured to calculate the height deviation value according to a formula L × Sin (180-a), or calculate the height deviation value according to a formula L × Sina, where L is the wheel base and a is a horizontal angle deviation value of the vehicle chassis.
Correspondingly, the application also provides a battery replacement station, and when the battery replacement station replaces the battery for the vehicle, the vehicle is lifted by adopting the vehicle deviation rectifying method.
Compared with the prior art, the height deviation numerical values of the front wheel and the rear wheel of the vehicle are firstly obtained, the lifting height value of the front wheel and the lifting height value of the rear wheel are calculated according to the height deviation numerical values of the front wheel and the rear wheel of the vehicle, the front wheel of the vehicle can be lifted to the corresponding target height according to the lifting height value of the front wheel, the rear wheel of the vehicle can be lifted to the corresponding target height according to the lifting height value of the rear wheel, the front wheel and the rear wheel of the vehicle are enabled to be at the same horizontal height after being lifted, namely, the hub center of the front wheel and the hub center of the rear wheel of the vehicle are at the same horizontal height, the uniformity of the horizontal heights of the vehicle under different tire pressure conditions is guaranteed, and the success rate of vehicle battery replacement is improved.
Drawings
Fig. 1 is a schematic view of a state of a lifting mechanism lifting a vehicle according to an embodiment of the present application.
Fig. 2 is a flowchart of a vehicle deviation rectifying method provided in the embodiment of the present application.
Fig. 3 is a schematic diagram of a height deviation value of front wheels and rear wheels calculated through a chassis horizontal included angle according to an embodiment of the present application.
Fig. 4 is a schematic diagram of a height deviation value of front wheels and rear wheels calculated through a chassis horizontal included angle according to an embodiment of the present application.
FIG. 5 is a block diagram of a vehicle deviation correcting system according to an embodiment of the present application.
The attached drawings are as follows:
1. a vehicle; 11. a front wheel; 12. a rear wheel; 2. a first lifting mechanism; 3. a second lifting mechanism.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In the description of the present application, unless explicitly stated or limited otherwise, the terms "first", "second", and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; the term "plurality" means two or more unless specified or indicated otherwise; the terms "connected," "fixed," and the like are to be construed broadly and may, for example, be fixedly connected, detachably connected, integrally connected, or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Referring to fig. 1, fig. 1 is a schematic view of a vehicle lifted by a lifting mechanism according to an embodiment of the present application. In the process of replacing the battery of the vehicle 1, the front wheels 11 and the rear wheels 12 of the vehicle are usually required to be lifted to a certain height by the first lifting mechanism 2 and the second lifting mechanism 3, so as to facilitate the operation of replacing the battery.
Referring to fig. 2, fig. 2 is a flowchart of a vehicle deviation rectifying method according to an embodiment of the present application. The embodiment of the application discloses a vehicle deviation correcting method for lifting battery replacement of a vehicle in a battery replacement station, which comprises the following steps:
and S11, acquiring the height deviation value of the front wheel and the rear wheel of the vehicle.
Specifically, a support platform for supporting the vehicle is arranged in the battery replacement station, a support surface of the support platform is a plane, and the support surface is used as a calibration surface for subsequent chassis angle deviation and wheel hub center position deviation. When a vehicle drives into a supporting platform in the battery replacing station, the central position of the hub of the front wheel is obtained through shooting of the first camera, the distance between the central position of the hub of the front wheel and the calibration surface is calculated, and the position deviation value of the front wheel is obtained, namely the position deviation value of the front wheel is the distance value between the central position of the hub of the front wheel and the calibration surface. The central position of the rear wheel hub is obtained through shooting of the second camera, the distance between the central position of the rear wheel hub and the calibration surface is calculated, and a position deviation value of the rear wheel is obtained, namely the position deviation value of the rear wheel is the distance value between the central position of the rear wheel hub and the calibration surface. And subtracting the position deviation value of the front wheel from the position deviation value of the rear wheel to obtain the height deviation value of the front wheel and the rear wheel. Wherein the first camera and the second camera are in the same plane, and the plane is parallel to the calibration plane.
S12, calculating the lift height value of the front wheel according to the height deviation value, and calculating the lift height value of the rear wheel according to the height deviation value.
Specifically, when the central position of the hub of the front wheel is taken as a reference point, the preset lifting height value of the rear wheel is taken as the lifting height value of the rear wheel by adding the height deviation value, and the preset lifting height value of the front wheel is taken as the lifting height value of the front wheel. And when the central position of the hub of the rear wheel is taken as a reference point, the lifting height preset value of the front wheel is added with the height deviation value to be taken as the lifting height value of the front wheel, and the lifting height preset value of the rear wheel is taken as the lifting height value of the rear wheel. The height deviation value may be a positive number, 0, or a negative number, for example, if the central position of the hub of the rear wheel is used as a reference point, the height deviation value is obtained by subtracting the position deviation value of the front wheel from the position deviation value of the rear wheel. At this time, when the distance between the central position of the front wheel hub and the calibration surface is greater than the distance between the central position of the rear wheel hub and the calibration surface, the height deviation value can be a negative number; when the distance between the central position of the front wheel hub and the calibration surface is equal to the distance between the central position of the rear wheel hub and the calibration surface, the height deviation value can be zero; when the distance between the central position of the front wheel hub and the calibration surface is smaller than the distance between the central position of the rear wheel hub and the calibration surface, the height deviation value can be positive. The preset lifting height value of the rear wheel and the preset lifting height value of the front wheel are preset according to the requirement of power exchanging operation, the preset lifting height value of the rear wheel is equal to the preset lifting height value of the front wheel, namely, when the tires of the front wheel and the rear wheel of the vehicle are pressed normally, the height values of the front wheel and the rear wheel of the vehicle need to be lifted when the power exchanging operation is carried out on the vehicle.
And S13, lifting the front wheels to the corresponding target heights according to the lifting height values of the front wheels, and lifting the rear wheels to the corresponding target heights according to the lifting height values of the rear wheels.
Specifically, the front wheel is lifted through the first lifting mechanism, the lifted height of the front wheel is the same as the lifting height of the front wheel, the rear wheel is lifted through the second lifting mechanism, the lifted height of the rear wheel is the same as the lifting height of the rear wheel, and after the vehicle is lifted, the center of the hub of the front wheel and the center of the hub of the rear wheel are at the same horizontal height, so that the vehicle is prevented from inclining when the power is changed, and the success rate of changing the power of the vehicle is improved.
The method includes the steps that the central positions of hubs of a front wheel and a rear wheel of a vehicle are obtained through a camera, the height deviation numerical values of the front wheel and the rear wheel are calculated according to the central positions of the hubs of the wheels, the lifting height value of the front wheel and the lifting height value of the rear wheel are calculated according to the height deviation numerical values of the front wheel and the rear wheel of the vehicle, the front wheel of the vehicle can be lifted to a corresponding target height according to the lifting height value of the front wheel and the lifting height value of the rear wheel, the rear wheel of the vehicle can be lifted to the corresponding target height according to the lifting height value of the rear wheel, the front wheel and the rear wheel of the vehicle are at the same horizontal height after being lifted, namely, the hub center of the front wheel and the hub center of the rear wheel of the vehicle are at the same horizontal height, the horizontal height consistency of the vehicle under different tire; and the vehicle deviation correcting method is simple and practical, has low cost, and is very suitable for large-area popularization in the battery replacement station.
Based on the above embodiment, the present application further discloses a specific implementation manner, and the present embodiment is different from the above embodiment in that the method for acquiring the height deviation values of the front wheels and the rear wheels of the vehicle is different from the method for acquiring the height deviation values of the front wheels and the rear wheels of the vehicle in the above embodiment.
In this embodiment, the height deviation values of the front wheels and the rear wheels are calculated by obtaining the horizontal angle deviation value of the chassis of the vehicle and according to the horizontal angle deviation value of the chassis and the wheel base. The wheel base is the distance between the central position of the front wheel hub and the central position of the rear wheel hub on the same side of the automobile, the wheel base is obtained through measurement in advance, the chassis can be regarded as a plane, and the horizontal angle deviation value of the chassis is the included angle between the chassis and the calibration plane.
Specifically, when a vehicle drives into a supporting platform in the battery replacement station, the position of a chassis of the vehicle is obtained through shooting of a camera, an included angle between the chassis and a calibration plane is calculated, and a horizontal angle deviation value of the chassis is obtained.
Referring to fig. 3, point a is a front wheel hub center position, point B is a rear wheel hub center position, and when point a is higher than point B, the height deviation value H1 between the front wheel and the rear wheel can be calculated by using formula H1 ═ L (180-a) or formula L ═ Sina as a reference point position. Wherein, L is the wheel base, a is the included angle between the chassis and the calibration surface, a included angle is the angle from the calibration surface to the chassis along the counterclockwise direction in the figure, a height deviation value H1 is the height difference between the point B and the point A, the positive and negative of the height deviation value H1 are determined by the position of the point A relative to the point B, and when the point A is positioned above the point B, the height deviation value H1 is a negative number; when point a is below point B, the height deviation value H1 is positive; when points a and B are at the same height, the height deviation value H1 is zero.
Referring to fig. 4, point a is a front wheel hub center position, point B is a rear wheel hub center position, and point a is a reference point position in the drawing, and a height deviation value H2 of the front wheel and the rear wheel can be calculated by using formula H1 ═ L (180-a) or formula H1 ═ L × Sina, and this height deviation value H2 is equal to the height deviation value H1 described above. Wherein, L is the wheel base, a is the included angle between the chassis and the calibration surface, a included angle is the angle from the calibration surface to the chassis along the counterclockwise direction in the figure, a height deviation value H2 is the height difference between the point A and the point B, the positive and negative of the height deviation value H2 are determined by the position of the point B relative to the point A, and when the point B is positioned above the point A, the height deviation value H2 is a negative number; when point B is below point a, the height deviation value H2 is positive; when points a and B are at the same height, the height deviation value H2 is zero.
Referring to fig. 5, correspondingly, an embodiment of the present application further discloses a vehicle deviation correcting system for lifting and replacing a vehicle in a power replacement station, where the vehicle deviation correcting system includes an obtaining unit 100, a control unit 200, and a lifting mechanism 300. The acquiring unit 100 is used for acquiring height deviation values of front wheels and rear wheels of the vehicle; the control unit 200 is configured to calculate a lift height value of the front wheel and a lift height value of the rear wheel according to the height deviation value; the lifting mechanism 300 is configured to lift the front wheels to the corresponding target heights according to the lifting height values of the front wheels, and to lift the rear wheels to the corresponding target heights according to the lifting height values of the rear wheels.
In the present embodiment, the acquisition unit 100 includes a camera positioning unit and a calculation unit. The camera positioning unit is used for respectively acquiring a position deviation value of a front wheel and a position deviation value of the rear wheel; the position deviation value of the front wheel is the distance value between the central position of the hub of the front wheel and the calibration surface, and the position deviation value of the rear wheel is the distance value between the central position of the hub of the rear wheel and the calibration surface. The calculation unit is used for calculating a height deviation value according to the position deviation value of the front wheel and the position deviation value of the rear wheel, namely subtracting the position deviation value of the front wheel and the position deviation value of the rear wheel to obtain the height deviation value. It is understood that in other embodiments, the camera positioning unit may also be configured to obtain a horizontal angle deviation value of the vehicle chassis, where the horizontal angle deviation value of the vehicle chassis is an included angle between the chassis and the calibration surface; the calculation unit may also be configured to calculate a height deviation value of the front wheel and the rear wheel based on the horizontal angle deviation value of the chassis and a wheel base, where the wheel base is a distance between a hub center position of the front wheel and a hub center position of the rear wheel.
Specifically, the control unit 200 is configured to take the preset lifting height value of the rear wheel plus the height deviation value as the lifting height value of the rear wheel, and take the preset lifting height value of the front wheel as the lifting height value of the front wheel; or, the preset lifting height value of the front wheel is added with the height deviation value to be used as the lifting height value of the front wheel, and the preset lifting height value of the rear wheel is used as the lifting height value of the rear wheel; wherein the preset lifting height value of the rear wheel is equal to the preset lifting height value of the front wheel.
Further, when the center position of the front wheel hub is used as a reference point, when the center position of the rear wheel hub is higher than the center position of the front wheel hub, the height deviation value is a negative number, when the center position of the rear wheel hub is lower than the center position of the front wheel hub, the height deviation value is a positive number, the lifting height preset value of the rear wheel is added with the height deviation value to be used as the lifting height value of the rear wheel, and the lifting height preset value of the front wheel is used as the lifting height value of the front wheel. When the central position of the hub of the rear wheel is taken as a reference point, when the central position of the front wheel hub is higher than the central position of the hub of the rear wheel, the height deviation value is a negative number, when the central position of the front wheel hub is lower than the central position of the hub of the rear wheel, the height deviation value is a positive number, the lifting height preset value of the front wheel is added with the height deviation value to be taken as the lifting height value of the front wheel, and the lifting height preset value of the rear wheel is taken as the lifting height value of the front wheel. .
Furthermore, the lifting mechanism comprises a first lifting mechanism and a second lifting mechanism, the first lifting mechanism is used for lifting the front wheels of the vehicle, and the second lifting mechanism is used for lifting the rear wheels of the vehicle. The control unit is also used for controlling the lifting height of the first lifting mechanism to be the lifting height value of the front wheel, and the control unit is also used for controlling the lifting height of the second lifting mechanism to be the lifting height value of the rear wheel.
This application can ensure through this vehicle rectifying system that the front and back wheel hub center of the vehicle under the different tire pressure situations is in same water height, need not the staff and confirms tire pressure when trading the electricity again, has avoided the staff because neglect and lead to trade the electric risk, and because the vehicle rectifying system simple structure of this application is practical, and is with low costs, especially adapted is traded the large tracts of land and is promoted in the station.
Correspondingly, the application also discloses a battery replacement station, and when a vehicle is replaced with electricity, the vehicle is lifted by adopting the vehicle deviation rectifying method.
The above description is only for the preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A vehicle deviation rectifying method is applied to lifting battery replacement of a vehicle in a battery replacement station; it is characterized by comprising:
acquiring a height deviation value between a front wheel and a rear wheel of a vehicle;
calculating the lifting degree value of the front wheel according to the height deviation numerical value, and calculating the lifting degree value of the rear wheel according to the height deviation numerical value;
and lifting the front wheels to the corresponding target heights according to the lifting height values of the front wheels, and lifting the rear wheels to the corresponding target heights according to the lifting height values of the rear wheels.
2. The vehicle deviation rectification method according to claim 1, wherein the obtaining of the height deviation value between the front wheels and the rear wheels of the vehicle comprises:
respectively acquiring a position deviation value of the front wheel and a position deviation value of the rear wheel;
and calculating the height deviation value according to the position deviation values of the front wheels and the rear wheels.
3. The vehicle deviation rectification method according to claim 1, wherein the obtaining of the height deviation value between the front wheels and the rear wheels of the vehicle comprises:
acquiring a horizontal angle deviation value of a vehicle chassis;
and calculating the height deviation value according to the horizontal angle deviation value and the wheel base, wherein the wheel base refers to the distance between the central position of the front wheel hub and the central position of the rear wheel hub.
4. The vehicle deviation rectification method according to claim 3, wherein calculating the height deviation value according to the horizontal angle deviation value and the wheelbase comprises:
calculating the height deviation value by a formula L Sin (180-a), or calculating the height deviation value by a formula L Sina;
wherein L is the wheel base, and a is the horizontal angle deviation value of the vehicle chassis.
5. The vehicle deviation rectification method according to claim 1, wherein calculating the lift height value of the front wheel according to the height deviation value, and calculating the lift height value of the rear wheel according to the height deviation value comprises:
adding the height deviation value to the preset lifting height value of the rear wheel to serve as the lifting height value of the rear wheel, and taking the preset lifting height value of the front wheel as the lifting height value of the front wheel;
or, the preset lifting height value of the front wheel is added with the height deviation value to serve as the lifting height value of the front wheel, and the preset lifting height value of the rear wheel is served as the lifting height value of the rear wheel;
wherein the preset lifting height of the rear wheel is equal to the preset lifting height of the front wheel.
6. A vehicle deviation correcting system is applied to lifting battery replacement of a vehicle in a battery replacement station; it is characterized by comprising:
an acquisition unit configured to acquire a height deviation value between front and rear wheels of a vehicle;
the control unit is used for calculating the lifting degree value of the front wheel according to the height deviation numerical value and calculating the lifting degree value of the rear wheel according to the height deviation numerical value;
and the lifting mechanism is used for lifting the front wheels to the corresponding target heights according to the lifting height values of the front wheels and lifting the rear wheels to the corresponding target heights according to the lifting height values of the rear wheels.
7. The vehicle deviation rectification system according to claim 6, wherein the obtaining unit comprises:
the camera positioning unit is used for respectively acquiring the position deviation value of the front wheel and the position deviation value of the rear wheel;
and the calculating unit is used for calculating the height deviation value according to the position deviation value of the front wheel and the rear wheel.
8. The vehicle deviation rectification system according to claim 6, wherein the obtaining unit comprises:
the camera positioning unit is used for acquiring a horizontal angle deviation value of the vehicle chassis;
and the calculating unit is used for calculating the height deviation value according to the horizontal angle deviation value and a wheel base, wherein the wheel base refers to the distance between the central position of the front wheel hub and the central position of the rear wheel hub.
9. The vehicle deviation correcting system according to claim 8, wherein the calculating unit is specifically configured to calculate the height deviation value according to a formula L _ Sin (180-a), or calculate the height deviation value according to a formula L _ Sina, where L is the wheel base and a is a horizontal angle deviation value of the vehicle chassis.
10. A power swapping station is characterized in that when a vehicle is swapped, the vehicle deviation rectifying method of any one of claims 1-5 is adopted to lift the vehicle.
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| CN202010899174.1A CN111959342A (en) | 2020-08-31 | 2020-08-31 | Vehicle deviation rectifying method and system and battery replacement station |
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| CN202010899174.1A CN111959342A (en) | 2020-08-31 | 2020-08-31 | Vehicle deviation rectifying method and system and battery replacement station |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117465283A (en) * | 2023-12-27 | 2024-01-30 | 宁波格劳博智能工业有限公司 | Battery pack quick-change bracket, battery pack battery replacement station and battery replacement method |
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