CN105015507A - Battery positioning and replacing method for Kandi electric automobile - Google Patents
Battery positioning and replacing method for Kandi electric automobile Download PDFInfo
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- CN105015507A CN105015507A CN201410165269.5A CN201410165269A CN105015507A CN 105015507 A CN105015507 A CN 105015507A CN 201410165269 A CN201410165269 A CN 201410165269A CN 105015507 A CN105015507 A CN 105015507A
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- electric automobile
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to the field of machine vision, in particular to a battery positioning and replacing method for a Kandi electric automobile. The method comprises the following steps of (1) collecting a synchronous image of the Kandi electric automobile by using an image acquisition device; (2) calibrating a vision positioning device and a battery replacing robot; (3) determining an electric automobile body; (4) identifying a battery and a battery cabin of the Kandi electric automobile; and (5) determining three-dimensional coordinates of the battery and the battery cabin of the Kandi electric automobile. The battery positioning and replacing method for the Kandi electric automobile, provided by the invention, is advantageous in that, no active information is projected to the automobile, no positioning mark is bonded to the automobile body, no sensor is mounted on the automobile body, and no strict and consistent requirements are made for shapes and dimensions of battery frames of the automobiles of the same model. The accuracy in positioning is not affected by both a certain degree of stains generated on the surfaces of the automobile body and the battery and the changing of outside environment condition.
Description
Technical field
The present invention relates to electronlmobil and change electrical domain, method for electrically is changed in the battery location of refering in particular to Kang Di electronlmobil.
Background technology
Compared with conventional fuel oil automobile, stored energy and the arbitrary way of electronlmobil there occurs radical change, directly cause filling changing the relevant technology of electricity and service becomes the key factor affecting Development of Electric Vehicles.
At present, electric automobile energy supply model comprises that to carry out normal charge, fast charge and replacing battery to electronlmobil several.Normal charge mode is adapted at the vehicle do not travelled evening, particularly some private cars, and automobile can charge within the paddy electricity time period.But, when meeting extraordinary circumstances, as taxicar, bus and a part of public vehicles, just need to realize supplementing of electricity by fast charge or battery altering.Fast charge mode, need the charging current that 150 ~ 400A is larger, the performance of charging equipment and the safety of charging must reach higher requirement.Battery life can be affected, and the cost of battery and charging equipment is higher, and what be directly proportional therewith is higher charging expense.
The core of changing power technology of battery altering pattern is that on-vehicle battery fast and safely changes technology automatically, by automatic or semi-automatic mechanical equipment, changes electricity for needing the battery pack changed.Rechargeable battery set is placed on charging rack, and the battery altering time of an electronlmobil is generally 6-15 minute.The ground such as current Haikou, Xiamen, Beijing, Hangzhou have the electrical changing station built up.Staff is connected on the equipment changing battery on the battery of battery flat, car not having the battery of electricity pull down, changes the battery being full of electricity.Pure electric automobile fill electrical changing station take at present machine automatization be main, be that auxiliary two kinds of patterns change battery manually.
Need to realize electronlmobil at present and fill the automation of changing electric process, namely changing electrician position can without the need to manual intervention, by sighting device, batteries of electric automobile is positioned, action is picked and placeed by robot and the complete battery pair of grip device, realize the battery altering flow process of electronlmobil, not only can improve the safety of changing electricity operation, shorten the time of changing electricity operation, also greatly can simplify simultaneously and change electric service procedure, improve the service quality of electrical changing station.
Summary of the invention
The problem to be solved in the present invention is the requirement of certainly moving electricity for Kang Di electronlmobil, provides a kind of and is located by machine vision, utilized robot and grip device to realize battery replacement of electric automobile method.Realize accurately locating fast, precisely completion system is whole swimmingly changes electronic work, improves the efficiency of changing electric process simultaneously.
The present invention uses following technical scheme to realize:
(1) determination of Kang Di electric car body:
Obtained the image of sampling by image acquisition equipment, obtain the depth information of spatial point according to the image calculation after correction, utilize parallax automatically to detect Kang Di electric car body position.Obtain attitude of bodywork according to three-dimensional vehicle reconstruction information to go forward side by side line position normalized.According to current vehicle shape parameter, can judge whether to affect the unauthorized person invasion situation identified, if there is invasion, then return exceptional value, carry out prompting of clearing out a gathering place.The situations such as rainy day excess surface water can be adapted to, get rid of vehicle mirror picture to the impact identified.
(2) identification of Kang Di batteries of electric automobile and battery flat:
Use an iamge description Kang Di electronlmobil wheel, all relevant pose calculating wheel template and the similarity obtained between each position of image.Utilize electronlmobil wheel template matches, automatically detect Kang Di electronlmobil wheel position.For improving robustness, system can detect to confirm vehicle vehicle to wheel position.This step is not that position fixing process is necessary, but threshold value is suitably set can the robustness of elevator system.And can effectively reduce battery search domain.
Under the system prerequisite that one is correct in vehicle body location, wheel alignment, delimit battery region of search and position battery-operated.Utilize batteries of electric automobile template matches, automatically detect that Kang Di electronlmobil is getting battery position under battery status.Utilize electronlmobil without the template matches of battery status, automatically detect that Kang Di electronlmobil is putting battery flat position under battery status.
(3) determination of Kang Di batteries of electric automobile and battery flat three-dimensional coordinate:
After the two-dimensional coordinate orienting battery in image, calculate the three dimensional space coordinate of Kang Di batteries of electric automobile.Return three-dimensional coordinate and rotation amount.Robot comes power taking pond according to the information returned, and for strengthening the reliability of system further, carries out identification confirming proper by fixture end sensor, guarantees that exchanging cell process for carries out smoothly.After the coordinate determining Kang Di batteries of electric automobile, take out battery.
After the two-dimensional coordinate orienting battery flat in image, calculate the three dimensional space coordinate in Kang Di batteries of electric automobile cabin.Robot carries out putting battery-operated according to the battery flat coordinate returned and rotation information.
(4) the picking and placeing of Kang Di batteries of electric automobile:
After completing battery location, the elements of a fix and rotation amount are passed to robot.Robot drives grip device to complete the fetching process of Kang Di batteries of electric automobile.Undertaken finding range realize changing the closed loop feedback of electric process by fixture uppermost sensor, upfront sensor, side sensor, returning offset distance and the deflection angle of battery, when putting Full Charge Capacity battery into battery flat, according to sensor instrument distance data, carrying out correction.
Beneficial effect of the present invention is:
Kang Di batteries of electric automobile vision positioning method, there is the situations such as stained in change and the battery surface that can adapt to external conditions, realizes the accurate location of battery and battery flat.Completed rapidly by robot and mechanical clamp device and change electronic work to Kang Di batteries of electric automobile, Kang Di electronlmobil completed and changes electric current journey in 45 seconds, saved the whole time of changing electric process.
Accompanying drawing explanation
Fig. 1 be Kang Di electronlmobil change electric positioning flow figure.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in further details.Electronlmobil of the present invention changes method for electrically, and its idiographic flow is as Fig. 1:
After vehicle sails into and changes electrician position, recognition subsystem carries out quick sampling to vehicle, and obtain Kang Di electronlmobil reconstruct depth information according to the image calculation after correcting, obtain the parallax information changing two images in electric system, and from the depth information of image, obtain the scope of Kang Di electric car body, attitude of bodywork is obtained, line position normalized of going forward side by side according to three-dimensional vehicle reconstruction information.
Use an iamge description electronlmobil wheel, all relevant pose calculating wheel template and the similarity obtained between each position of image.Suppose the image t (r obtained, c), in order to carry out template matches, along having a movable platen in image and at each position calculation similarity function s, parameter in function comprises the gray value t (r of each point in template, c) and template area-of-interest moves to image current location time area-of-interest in gray value f (r+u, c+v), then calculate a scalar value as similarity measure based on these gray values:
Wherein, n is the quantity of template area-of-interest mid point, i.e. n=|T|.Difference between template and image is larger, and the value of similarity is also larger.
Utilize electronlmobil wheel template matches, automatically detect Kang Di electronlmobil wheel position.For improving robustness, system can detect to confirm vehicle vehicle to wheel position.This step is not that position fixing process is necessary, but threshold value is suitably set can the robustness of elevator system.And can effectively reduce battery search domain.
Under the system prerequisite that one is correct in vehicle body location, wheel alignment, delimit battery region of search and position battery-operated.Utilize batteries of electric automobile template matches, automatically detect that Kang Di electronlmobil is getting battery position under battery status.
When Kang Di batteries of electric automobile cabin is empty, double sampling is carried out to vehicle.Utilize template matches, automatically detect Kang Di electronlmobil battery flat position under empty battery status, and return coordinate information.
After the two-dimensional coordinate orienting battery in image, calculate the three dimensional space coordinate of Kang Di batteries of electric automobile and battery flat.Return three-dimensional coordinate and rotation amount.During without battery status, the battery flat coordinate returned and rotation information.
Robot locates the battery coordinate returned according to vision, grip device is moved to automobile batteries freight space and put.Battery captures out by grip device from Kang Di batteries of electric automobile cabin, and income fixture arm is held tightly in component framework.
After battery captures and leaves vehicle body by grip device, vision positioning device is sampled to empty battery flat, and determines the exact location of battery flat.The battery flat coordinate that robot returns according to vision positioning device and rotation information carry out putting battery-operated.
During without battery status, robot carries out putting battery-operated according to the battery flat coordinate returned and rotation information.When battery being sent to automobile batteries cabin, before robot brings to automobile batteries cabin the grip device of internal battery.Battery is freely shelved on the mechanical arm roller of both sides.Grip device cylinder drives posterior sucker that battery is advanced in automobile batteries cabin from the slideway of both sides mechanical arm, completes electric discharge pond action.
Robot, according to the information power taking pond returned, for strengthening the reliability of system further, carries out identification confirming proper by fixture end sensor, guarantees that exchanging cell process for carries out smoothly.
Claims (5)
1. a method for electrically is changed in the battery location of Kang Di electronlmobil, it is characterized in that: this system obtains locating information by visible sensation method, utilizes robot and grip device to complete and operates the electricity that changes of Kang Di electronlmobil.
2. method for electrically is changed in the battery location of Kang Di electronlmobil according to claim 1, it is characterized in that the method comprises the following steps: the determination of (1) Kang Di electric car body; (2) identification of Kang Di batteries of electric automobile and battery flat; (3) determination of Kang Di batteries of electric automobile and battery flat three-dimensional coordinate; (4) the picking and placeing of Kang Di batteries of electric automobile.
3. the defining method of Kang Di electric car body according to claim 2, it is characterized in that: the depth information obtaining spatial point according to the image calculation after correction, utilize parallax automatically to detect Kang Di electric car body position, obtain attitude of bodywork according to three-dimensional vehicle reconstruction information and to go forward side by side line position normalized.
4. the recognition methods of Kang Di batteries of electric automobile according to claim 2 and battery flat, is characterized in that: utilize electronlmobil wheel template matches, automatically detects Kang Di electronlmobil wheel position, effectively reduces battery search domain; Utilize batteries of electric automobile template matches, automatically detect that Kang Di electronlmobil is getting battery position under battery status; Utilize electronlmobil without the template matches of battery status, automatically detect that Kang Di electronlmobil is putting battery flat position under battery status.
5. the defining method of Kang Di batteries of electric automobile according to claim 2 and battery flat three-dimensional coordinate, it is characterized in that: after matching battery or battery flat in the picture, according to the two-dimensional coordinate of image and the three dimensional space coordinate of transform matrix calculations Kang Di batteries of electric automobile or battery flat and rotation amount.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410165269.5A CN105015507A (en) | 2014-04-17 | 2014-04-17 | Battery positioning and replacing method for Kandi electric automobile |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410165269.5A CN105015507A (en) | 2014-04-17 | 2014-04-17 | Battery positioning and replacing method for Kandi electric automobile |
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| CN105015507A true CN105015507A (en) | 2015-11-04 |
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| CN201410165269.5A Pending CN105015507A (en) | 2014-04-17 | 2014-04-17 | Battery positioning and replacing method for Kandi electric automobile |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106767708A (en) * | 2016-12-20 | 2017-05-31 | 陈志雄 | A kind of industrial automatic control alignment system and its localization method based on figure identification |
| US10381618B2 (en) | 2016-10-14 | 2019-08-13 | Inevit Llc | Battery module mounting area of an energy storage system |
| CN113442782A (en) * | 2021-07-13 | 2021-09-28 | 安徽绿舟科技有限公司 | AI vision-based side-pumping type new energy automobile extraction method and device |
| CN113781565A (en) * | 2021-09-15 | 2021-12-10 | 湖南视比特机器人有限公司 | Battery replacing method and system, electronic equipment and storage medium |
-
2014
- 2014-04-17 CN CN201410165269.5A patent/CN105015507A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10381618B2 (en) | 2016-10-14 | 2019-08-13 | Inevit Llc | Battery module mounting area of an energy storage system |
| CN106767708A (en) * | 2016-12-20 | 2017-05-31 | 陈志雄 | A kind of industrial automatic control alignment system and its localization method based on figure identification |
| CN113442782A (en) * | 2021-07-13 | 2021-09-28 | 安徽绿舟科技有限公司 | AI vision-based side-pumping type new energy automobile extraction method and device |
| CN113781565A (en) * | 2021-09-15 | 2021-12-10 | 湖南视比特机器人有限公司 | Battery replacing method and system, electronic equipment and storage medium |
| CN113781565B (en) * | 2021-09-15 | 2023-05-23 | 湖南视比特机器人有限公司 | Battery replacement method, system, electronic equipment and storage medium |
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Application publication date: 20151104 |
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| WD01 | Invention patent application deemed withdrawn after publication |