CN110936928A - Battery replacement method, system, battery replacement robot and computer-readable storage medium - Google Patents

Battery replacement method, system, battery replacement robot and computer-readable storage medium Download PDF

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Publication number
CN110936928A
CN110936928A CN201911414546.0A CN201911414546A CN110936928A CN 110936928 A CN110936928 A CN 110936928A CN 201911414546 A CN201911414546 A CN 201911414546A CN 110936928 A CN110936928 A CN 110936928A
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China
Prior art keywords
battery
replaced
robot
replacement
battery replacement
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CN201911414546.0A
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Chinese (zh)
Inventor
徐慎华
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Cloudminds Robotics Co Ltd
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Cloudminds Shenzhen Robotics Systems Co Ltd
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Priority to CN201911414546.0A priority Critical patent/CN110936928A/en
Publication of CN110936928A publication Critical patent/CN110936928A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
    • B60S5/06—Supplying batteries to, or removing batteries from, vehicles
    • 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
    • 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)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The embodiment of the invention relates to the field of data processing, and discloses a battery replacement method, a battery replacement system, a battery replacement robot and a storage medium, wherein the battery replacement method comprises the following steps: in response to the power change instruction, moving to a first preset position along a first magnetic stripe trajectory line of the ground, wherein the first preset position is determined by the position of the parking area; shooting a first image in a first direction, and acquiring first position information of a battery to be replaced according to the first image, wherein the battery to be replaced is positioned on the electric vehicle, and the electric vehicle is positioned in a parking area; and adjusting the position of the battery to be replaced according to the first position information until the relative position relation with the battery to be replaced conforms to the preset first position relation. The battery replacement method, the battery replacement system, the battery replacement robot and the storage medium provided by the invention have the advantages that the calculation loss is reduced, meanwhile, the positioning accuracy of the battery replacement robot is ensured, the releasing and maintaining cost of the battery replacement station is reduced, the requirement on the accuracy of the parking position of the electric vehicle is reduced, and the customer experience is improved.

Description

Battery replacement method, system, battery replacement robot and computer-readable storage medium
Technical Field
The embodiment of the invention relates to the field of data processing, in particular to a battery replacement method, a battery replacement system, a battery replacement robot and a computer-readable storage medium.
Background
With the vigorous development of the domestic new energy automobile industry, the shipment volume and the popularization rate of the electric automobile are gradually increased year by year. Because the battery charging and discharging technology is difficult to have revolutionary breakthrough in a short period, the best method at present is to establish a battery replacement station in a large range like a gas station, an electric vehicle can automatically replace batteries in the battery replacement station, and the time consumption can be as short as that of refueling. Wherein, some automobile factories have built the battery replacement station for the self-selling electric vehicle in China, and the automobile is mechanically fixed by driving the automobile to the battery replacement groove, and then the battery is automatically disassembled and assembled at the bottom of the automobile through some equipment.
However, the inventors found that at least the following problems exist in the prior art: this method of replacing batteries requires large-scale construction of the replacement cell, and additional construction costs are required. And, when the electric motor car parks, need accurate parking operation, it is relatively unfriendly to the customer.
It is to be noted that the information disclosed in the above background section is only for enhancement of understanding of the background of the present disclosure, and thus may include information that does not constitute prior art known to those of ordinary skill in the art.
Disclosure of Invention
The embodiment of the invention aims to provide a battery replacement method, a battery replacement system, a battery replacement robot and a storage medium, which can reduce the calculation loss, ensure the positioning accuracy of the battery replacement robot, reduce the release and maintenance cost of a battery replacement station, reduce the requirement on the accuracy of the parking position of an electric vehicle and improve the customer experience.
In order to solve the above technical problem, an embodiment of the present invention provides a battery replacement method, including:
in response to a power change instruction, moving to a first preset position along a first magnetic stripe trajectory line of the ground, wherein the first preset position is determined by the position of a parking area; shooting a first image in a first direction, and acquiring first position information of a battery to be replaced according to the first image, wherein the battery to be replaced is positioned on an electric vehicle, and the electric vehicle is positioned in the parking area; and adjusting the position of the battery to be replaced according to the first position information until the relative position relation with the battery to be replaced conforms to a preset first position relation, and replacing the battery to be replaced.
The embodiment of the invention also provides a battery replacement robot, which comprises: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executable by the at least one processor to enable at least the battery replacement robot to perform the method of replacing a battery as mentioned in the above embodiments.
Embodiments of the present invention also provide a computer-readable storage medium storing a computer program, which when executed by a processor implements the battery replacement method mentioned in the above embodiments.
An embodiment of the present invention also provides a battery replacement system, including: the system comprises a battery replacing robot and a battery replacing station; the battery changing station is used for sending a battery changing instruction to the battery changing robot; the battery replacement robot is used for moving to a first preset position along a first magnetic stripe trajectory line on the ground after receiving the battery replacement command, wherein the first preset position is determined by the position of a parking area; shooting a first image in a first direction, and acquiring first position information of a battery to be replaced according to the first image, wherein the battery to be replaced is positioned on an electric vehicle, and the electric vehicle is positioned in the parking area; and adjusting the position of the battery to be replaced according to the first position information until the relative position relation with the battery to be replaced conforms to a preset first position relation, and replacing the battery to be replaced.
Compared with the prior art, the power swapping robot responds to the power swapping instruction, and moves to the first preset position along the first magnetic stripe trajectory line on the ground based on the magnetic navigation sensor installed on the power swapping robot, the positioning mode algorithm is simpler, and the loss of the robot to computing resources in the positioning process is reduced. After the battery replacing robot reaches the first preset position, the position of the battery replacing robot is adjusted based on the position of the battery to be replaced, and the positioning accuracy of the battery replacing robot is improved. In addition, the battery of the electric vehicle is replaced by the battery replacing robot, and positioning navigation is not needed by other devices, so that the cost of the battery replacing robot is reduced; need not the customer and accurately park the electric motor car on trading the cell, reduced the requirement to customer parking position accuracy, improved customer experience. In addition, the power conversion station does not need to be provided with large-scale equipment such as a replacement electric tank, and the release and maintenance cost of the power conversion station is reduced.
In addition, the replacing the battery to be replaced includes: taking the battery to be replaced out of the electric vehicle, and moving the battery to be replaced to a second preset position along a second magnetic stripe trajectory line on the ground; the second preset position is determined by the position of the power swapping station, and the second magnetic stripe trajectory line and the first magnetic stripe trajectory line are the same magnetic stripe trajectory line or different magnetic stripe trajectory lines; after the carried battery to be replaced is determined to be replaced by a replacement battery, moving the battery to a third preset position along a third magnetic stripe trajectory line of the ground, wherein the third magnetic stripe trajectory line and the second magnetic stripe trajectory line are the same magnetic stripe trajectory line or different magnetic stripe trajectory lines, and the third preset position and the first preset position are the same position or different positions; shooting a second image in the first direction, and acquiring second position information of a battery jar according to the second image, wherein the battery jar is used for installing a battery and is arranged on the electric vehicle; and adjusting the position of the replacement battery according to the second position information until the relative position relation with the battery jar conforms to a preset second position relation, and installing the replacement battery into the battery jar.
In addition, after moving to the second preset position along the second magnetic stripe track line of the ground, the method further comprises the following steps: shooting a third image in a second direction, and acquiring third position information of the power swapping station according to the third image; and adjusting the position of the power station according to the third position information until the relative position relation with the power station meets a preset third position relation.
In addition, the determining that the carried battery to be replaced is replaced by a replacement battery includes: judging whether a power swapping completion instruction sent by the power swapping station is received; and if so, determining that the battery to be replaced is replaced by a replacement battery.
In addition, the battery replacement instruction is generated after the battery replacement robot determines that an electric vehicle exists in the camera view of the battery replacement robot; or the battery swapping instruction is sent by a battery swapping station in communication connection with the battery swapping robot, wherein the battery swapping station sends the battery swapping instruction to the battery swapping robot after receiving a battery swapping request.
In addition, before the first magnetic stripe track line along the ground moves to the first preset position, the method further comprises the following steps: judging whether the first magnetic stripe track line is sensed or not, and shooting a fourth image when the first magnetic stripe track line is not sensed; positioning according to the shot fourth image data; and if the positioning is determined to be failed, sending positioning loss alarm information to a management background of the battery replacement robot.
In addition, before acquiring the first position information of the battery to be replaced according to the first image, the method further comprises the following steps: judging whether the battery to be replaced exists in the first image or not; if the battery to be replaced exists, the operation of acquiring first position information of the battery to be replaced according to the first image is executed; if the mobile terminal does not exist, playing prompt information, or sending the prompt information to a prompt end, wherein the prompt end comprises a mobile terminal of a user of the power changing station or the electric vehicle; the prompt information indicates that the battery replacement robot fails to be positioned.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
Fig. 1 is a flowchart of a battery replacement method according to a first embodiment of the present invention;
fig. 2 is a flowchart of a battery replacement method according to a second embodiment of the present invention;
fig. 3 is a schematic diagram of a relative positional relationship among the battery replacement station, the battery replacement robot, the parking position, and the electric vehicle according to a second embodiment of the present invention;
fig. 4 is a schematic structural view of a swapping robot according to a third embodiment of the present invention;
fig. 5 is a schematic structural view of a swapping robot according to a fourth embodiment of the present invention;
fig. 6 is a schematic configuration diagram of a battery replacement system according to a fourth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present invention in its various embodiments. However, the technical solution claimed in the present invention can be implemented without these technical details and various changes and modifications based on the following embodiments.
Unless the context clearly requires otherwise, throughout the description and the claims, the words "comprise", "comprising", and the like are to be construed in an inclusive sense as opposed to an exclusive or exhaustive sense; that is, what is meant is "including, but not limited to".
In the description of the present disclosure, it is to be understood that 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. In addition, in the description of the present disclosure, "a plurality" means two or more unless otherwise specified.
A first embodiment of the present invention relates to a battery replacement method applied to a battery replacement robot, and the specific flow is as shown in fig. 1, including:
s101: and responding to the power change instruction, and moving to a first preset position along a first magnetic stripe trajectory line of the ground.
Regarding step S101, specifically, the first preset position is determined according to the position of the parking area. Trade the subaerial magnetic stripe trajectory that can set up of power station (lay the magnetic stripe that extends to the parking area from trading the power station promptly subaerially), trade the bottom of electric robot and be equipped with magnetic navigation sensor, trade electric robot and receive and trade electric instruction after, magnetic navigation sensor response magnetic stripe makes trade electric robot along magnetic stripe trajectory motion to first preset position.
It should be noted that the first preset position in this embodiment may be set according to actual requirements, for example, in a practical embodiment, the first preset position is a geometric center of the parking area (for example, if the parking area is a rectangular area, the first preset position is an intersection of diagonals of the rectangle); in another possible embodiment, the first preset position is determined based on a relative positional relationship of the parking area, the battery of the electric vehicle, and the electric vehicle. Specifically, when the electric vehicle is stopped in a parking position area and the electric vehicle area is determined based on the relative position relationship between the electric vehicle battery and the electric vehicle, the first preset position is the geometric center of the area.
The first magnetic stripe track line from the initial position of the battery replacement robot to the first preset position may be formed by manually laying a magnetic stripe, or may be generated by laying a magnetic stripe by a machine, and the embodiment does not specifically limit the forming manner of the first magnetic stripe track line.
Specifically, in one possible embodiment, the swapping robot stores a first distance from a current position to a first preset position along a first magnetic stripe trajectory line. And determining the current moving distance according to the operating parameters of the motor of the battery replacing robot in the process that the battery replacing robot moves along the first magnetic stripe trajectory line. When the current moving distance reaches a first distance, the battery replacement robot confirms that the battery replacement robot reaches a first preset position and stops moving; in another possible embodiment, the first preset position may be placed with a specific first position identifier for marking the position. Wherein, the pattern color of the first position mark and the like can be set according to the requirement. And detecting whether the battery replacement robot moves to the first position mark or not in the process of moving along the first trajectory line, and if so, determining that the first preset position is reached and stopping the movement.
It should be noted that, as can be understood by those skilled in the art, in practical application, the swapping robot may also determine whether the current position reaches the first preset position based on other conditions, and this embodiment is merely an example, and does not limit a specific method for determining whether the swapping robot reaches the first preset position.
Preferably, the first magnetic stripe trajectory line is a preset magnetic stripe line, and before the swapping robot moves to a first preset position along the first magnetic stripe trajectory line on the ground, the swapping robot further includes: judging whether the first magnetic stripe track line is sensed or not, shooting a fourth image when the first magnetic stripe track line is not sensed, and positioning according to the shot fourth image data; and if the positioning is determined to be failed, sending a positioning loss alarm to a management background of the battery replacement robot. Because the magnetic navigation sensor on the battery replacement robot can move along the first magnetic stripe trajectory line when sensing the magnetic stripe, the battery replacement robot can be ensured to reach the first preset position along the correct movement trajectory line by determining whether to sense the first magnetic stripe trajectory line before the battery replacement robot moves, and therefore the stability of the battery replacement method is improved. Specifically, after the power swapping robot detects the power swapping instruction, or after the power swapping robot is turned on, the positioning confirmation can be performed first. In the positioning confirmation process, the magnetic strip track line on the ground can be identified through the magnetic navigation sensor, and the mark at the bottom of the power station can also be identified through the camera. If the positioning fails, a loss alarm can be sent to the management background, and manual intervention is allowed to be solved. The management background can be located in a cloud server, and can be located in a server of the power swapping station. And are not limited herein.
It should be mentioned that, the swapping robot performs positioning before moving, so as to avoid that the swapping robot is lost and cannot normally respond to the swapping instruction.
In one embodiment, the power swapping instruction is sent by a power swapping station in communication connection with the power swapping robot, wherein the power swapping station sends the power swapping instruction to the power swapping robot after receiving the power swapping request. The battery swapping request may be sent by the vehicle-mounted terminal or the mobile terminal, or may be sent by the management background, which is not limited herein.
It should be mentioned that, a communication bridge between the battery replacing robot and the vehicle-mounted terminal or the mobile terminal is established through the fixed battery replacing station, after the battery replacing robot is replaced, only the communication connection between the battery replacing station and the battery replacing robot needs to be established again, the communication connection between the battery replacing robot and all the vehicle-mounted terminals or the mobile terminals does not need to be updated, and the maintenance is more convenient.
In another embodiment, the battery replacement instruction is generated by the battery replacement robot after determining that the electric vehicle exists in the camera view of the battery replacement robot. It is worth mentioning that the battery replacement robot automatically monitors whether the battery replacement operation is needed, so that the intelligence of the battery replacement robot is improved.
S102: the method comprises the steps of shooting a first image in a first direction, and obtaining first position information of a battery to be replaced according to the first image.
In step S102, specifically, after the battery replacement robot moves to the first preset position, if the electric vehicle is parked at the parking position, the battery to be replaced of the electric vehicle may be detected in the first image captured in the first direction, so that the battery replacement robot performs the secondary positioning. It should be noted that, in the present embodiment, the battery to be replaced may be detected from the first image by detecting a mark on the battery to be replaced, and it can be understood that the mark on the battery to be replaced is a trademark or a two-dimensional code of the battery, that is, a mark that can represent that the object is a battery.
In one embodiment, the first direction may be preset, that is, the first direction is directly set in an associated program stored in a memory of the swapping robot.
It should be noted that, as will be understood by those skilled in the art, the first direction may be a direction perpendicular to the ground or any direction having an angle smaller than a preset angle with respect to the direction perpendicular to the ground, where the preset value may be any value smaller than 90 degrees, further, may be any value smaller than 70 degrees, such as 30 degrees, and the specific value may be determined according to a relationship between the battery position and the first preset position after the electric vehicle is parked in the parking space.
In another embodiment, the first direction may be determined according to the power swapping instruction. The battery replacement instruction comprises a first direction, and the first direction can be determined according to the model of the electric vehicle. Specifically, different electric vehicles may have different battery placement positions, so that when the battery replacement command is determined, the battery replacement robot or the battery replacement station may obtain the model of the electric vehicle whose battery needs to be replaced, and determine the first direction corresponding to the electric vehicle whose battery needs to be replaced according to the pre-stored correspondence between the model of the electric vehicle and the first direction.
S103: and adjusting the position of the battery to be replaced according to the first position information until the relative position relation with the battery to be replaced conforms to a preset first position relation.
In step S103, specifically, the battery replacement robot determines an actual relative position relationship between itself and the battery to be replaced according to the first position information of the battery to be replaced in the first image. The battery replacement robot adjusts the position of the battery replacement robot according to the actual relative position relationship and the expected first position relationship, so that the relative position relationship between the battery replacement robot and the electric vehicle to be replaced conforms to the first position relationship, and the battery replacement robot can perform operations such as detachment and replacement of the battery replacement.
It is worth mentioning that the battery replacement robot further improves the positioning accuracy on the premise of improving the positioning speed in a secondary positioning mode.
Preferably, before the battery replacement robot adjusts the position of the battery replacement robot, whether a battery to be replaced exists in the first image is judged; if the battery to be replaced exists, adjusting the position of the battery to be replaced according to first position information of the battery to be replaced in the first image; and if the information does not exist, playing prompt information. Or sending a prompt message to a prompt end, wherein the prompt end comprises a battery replacement station or a mobile terminal of a user of the electric vehicle; the prompt message indicates that the battery replacement robot fails to be positioned. After the prompt information is played, the user of the electric vehicle can park the electric vehicle again to enable the electric vehicle to park at a preset parking position. After the user of the electric vehicle finishes the operation, the battery replacing instruction can be directly sent to the battery replacing robot again, or the battery replacing instruction is sent to the battery replacing robot through the battery replacing station. The battery replacement instruction instructs the battery replacement robot to perform battery replacement operation. And the battery replacement robot responds to the battery replacement instruction, shoots the first image again, and executes step 103 after the battery to be replaced exists in the first image.
In one embodiment, after the battery to be replaced does not exist in the first image, the battery replacement robot can move to an initial position and then send or play prompt information, so that the battery replacement robot is prevented from being damaged in the process of parking the electric vehicle again. Optionally, the swapping robot moves to an initial position along the first magnetic stripe trajectory line. Before the battery replacement robot shoots the first image again, the battery replacement robot moves to a first preset position along the first magnetic stripe trajectory line. The initial position refers to a preset parking position when the battery replacement robot does not perform battery replacement operation.
It should be noted that, in practical applications, those skilled in the art may add other related steps as needed, which are not listed here.
In one embodiment, the battery replacement robot is provided with a plurality of cameras, and specifically, the cameras are arranged on the top and the side of the battery replacement robot. In the process that the battery replacement robot shoots the first image in the first direction, a camera at the top of the battery replacement robot is called to shoot the first image, and the shooting direction of the camera at the top is the first direction. When the power exchanging robot does not sense the first magnetic stripe track line, a camera on the side face of the power exchanging robot is called, and the position of the power exchanging station is determined by shooting a mark of the power exchanging station, so that the position of the power exchanging station is adjusted until the first magnetic stripe track line is sensed.
In another embodiment, the battery replacing robot is provided with a rotatable camera. When the power exchanging robot does not sense the first magnetic stripe track line, it is determined that the rotatable camera rotates to a preset first shooting angle, and the first shooting angle can be perpendicular to the power exchanging station and also can form a certain included angle with the perpendicular to the power exchanging station. After the rotatable camera is determined to rotate to the first shooting angle, the position of the camera is determined according to the image data acquired by the rotatable camera. In the process that the battery replacement robot shoots a first image in the first direction, it is determined that the rotatable camera rotates to a preset second shooting angle, and the second shooting angle can be vertically upward or has a certain included angle with the vertical upward direction. And shooting a first image after determining that the rotatable camera rotates to a second shooting angle. In order to ensure the accuracy of the navigation process, the rotatable camera can be recalibrated after being rotated every time.
It should be noted that, as can be understood by those skilled in the art, in practical applications, the electric replacing robot may also adopt other structures, which are not listed here.
S104: and replacing the battery to be replaced.
In step S104, specifically, after the battery replacement robot reaches the bottom of the electric vehicle, the battery to be replaced of the electric vehicle can be detached, and the replacement battery can be installed on the electric vehicle.
The above description is only for illustrative purposes and does not limit the technical aspects of the present invention.
Compared with the prior art, the power swapping robot responds to the power swapping instruction, and moves to the first preset position along the first magnetic stripe trajectory line on the ground based on the magnetic navigation sensor installed on the power swapping robot, the positioning mode algorithm is simpler, and the loss of the robot to computing resources in the positioning process is reduced. After the battery replacing robot reaches the first preset position, the position of the battery replacing robot is adjusted based on the position of the battery to be replaced, and the positioning accuracy of the battery replacing robot is improved. In addition, the battery of the electric vehicle is replaced by the battery replacing robot, and positioning navigation is not needed by other devices, so that the cost of the battery replacing robot is reduced; need not the customer and accurately park the electric motor car on trading the cell, reduced the requirement to customer parking position accuracy, improved customer experience. In addition, the power conversion station does not need to be provided with large-scale equipment such as a replacement electric tank, and the release and maintenance cost of the power conversion station is reduced.
A second embodiment of the invention relates to a method of replacing a battery. This embodiment is an example of the first embodiment, and specifically describes: the process of replacing the battery to be replaced by the battery replacement robot in the first embodiment.
Specifically, as shown in fig. 2, the present embodiment includes steps S201 to S210, wherein steps S201 to S203 are substantially the same as steps S101 to S103 in the first embodiment, and are not repeated herein. The following mainly introduces the differences:
step S201 to step S203 are performed.
S204: and taking the battery to be replaced out of the electric vehicle, and carrying the battery to be replaced to move to a second preset position along a second magnetic stripe trajectory line on the ground.
In step S204, specifically, the second preset position is determined according to the position of the power swapping station. It should be noted that, as can be understood by those skilled in the art, when the initial position, the first preset position, and the second preset position of the robot are on the same straight line, or the initial position and the second preset position of the robot are the same, the first magnetic stripe track line and the second magnetic stripe track line may be the same magnetic stripe track line or different magnetic stripe track lines, and the relationship between the first magnetic stripe track line and the second magnetic stripe track line is not limited herein.
S205: and shooting a third image in the second direction, and acquiring third position information of the power swapping station according to the third image.
In step S205, specifically, the swapping robot may capture a third image in the second direction by adjusting the capturing angle of the third camera or by the second camera, so that the swapping robot performs the secondary positioning. It should be noted that the second direction may be the same as the first direction, and the fourth camera may be a second camera.
S206: and adjusting the position of the power station according to the third position information until the relative position relation with the power station meets the preset third position relation.
In step S206, specifically, the swapping robot determines an actual relative positional relationship between itself and the swapping station based on the position information of the marker of the swapping station in the third image. And the battery replacement robot adjusts the position of the battery replacement robot according to the actual relative position relationship between the battery replacement robot and the battery replacement station and the expected third position relationship, so that the relative position relationship between the battery replacement robot and the battery replacement station conforms to the third position relationship. It is worth mentioning that the battery replacement robot further improves the positioning accuracy on the premise of improving the positioning speed in a secondary positioning mode.
S207: and after the carried battery to be replaced is determined to be replaced by the replacement battery, moving to a third preset position along a third magnetic stripe track line of the ground.
In step S207, specifically, after the battery swapping robot adjusts its position so that the relative position relationship between itself and the battery swapping station conforms to the second position relationship, it may send a battery replacement command to the battery swapping station. After receiving a battery replacement command, the battery replacement station controls a mechanical arm (hereinafter referred to as a battery replacement arm) for replacing a battery to take the battery to be replaced on a battery tray of the battery replacement robot to a fourth preset position; and controlling the battery replacement arm to take out the replacement battery from the fourth preset position and placing the replacement battery on a battery tray of the battery replacement robot. And after the battery replacement robot determines that the battery to be replaced is replaced by the replacement battery, the battery replacement robot moves to a third preset position along a third magnetic stripe trajectory line on the ground.
It should be noted that, as can be understood by those skilled in the art, the third preset position and the first preset position may be the same position or different positions, and are not limited herein.
It is understood that the third track line and the second track line may be the same track line or different track lines, and the relationship between the third track line and the second track line is not limited herein.
In addition, as can be understood by those skilled in the art, in practical application, the battery replacement station may also detect whether there is a battery replacement robot that needs to replace the battery through its own vision system, and if there is the battery replacement robot, control the battery replacement arm to perform a relevant operation of replacing the battery.
For ease of understanding, the manner in which the power exchanging robot determines that the battery to be exchanged is replaced with a replacement battery is exemplified below.
Mode 1: the battery replacement robot judges whether a battery replacement completion instruction sent by a battery replacement station is received; if yes, the battery to be replaced is determined to be replaced by the replacement battery.
Mode 2: receiving detection data transmitted by the battery replacement robot; the detection data indicates whether an article is placed on a battery tray of the battery replacement robot; if the detection data meet the preset requirements, determining that the battery to be replaced is replaced by a replacement battery; the preset requirements include: after the position of the battery tray is adjusted according to the position information of the mark of the battery replacement station in the second image data, the articles placed on the battery tray are taken away, and the articles are placed on the battery tray again.
In one embodiment, a gravity sensor is mounted on the battery tray, and the detection data is gravity data. If the battery replacement robot determines that the gravity data indicates: at a certain moment, the bearing value detected by the gravity sensor is 0, and after a period of time and the bearing value is a preset gravity value, it is determined that the battery to be replaced is replaced by a replacement battery.
In another embodiment, a distance sensor is mounted on the battery tray, and the detection data is distance data. If the battery replacement robot determines that the distance data indicates: at a certain moment, the distance sensor detects that the distance between the object on the battery tray and the battery tray is larger than a preset distance value, after a period of time, the distance value is smaller than or equal to a preset threshold value, and if 0, the battery to be replaced is determined to be replaced by a replacement battery.
It should be noted that, as can be understood by those skilled in the art, in practical application, whether the battery to be replaced is replaced by a replacement battery may also be determined by using other sensors, which is not described herein again.
S208: and shooting a second image in the first direction, and acquiring second position information of the battery jar according to the second image.
Specifically, after the battery replacement robot obtains the replacement battery and reaches a third preset position, a second image is shot so as to perform secondary positioning, and the positioning accuracy is improved.
Step 209: and adjusting the position of the battery according to the second position information until the relative position relation with the battery jar conforms to a preset second position relation.
Specifically, the battery replacing robot performs secondary positioning based on the second image, and the specific positioning process may refer to step S103 of the first embodiment, which is not described herein again.
Step 210: a replacement battery is installed into the battery well.
Specifically, after the relative positional relationship between the battery replacement robot and the battery jar conforms to the preset third positional relationship, the battery replacement robot may install the replacement battery into the battery jar by executing a preset operation instruction. The preset operation instruction can instruct the battery replacement robot to pick up the replacement battery and place the replacement battery in the battery slot.
The following describes an example of a process of replacing a battery of the power exchanging robot with reference to an actual scene.
Assuming that the first magnetic stripe track line, the second magnetic stripe track line and the third magnetic stripe track line are the same track line, the first preset position and the third preset position are the same position, and the relative position relationship among the power swapping station 301, the power swapping robot 302, the parking position 303 and the electric vehicle 304 is as shown in fig. 3. First, after receiving the battery swapping command, the battery swapping robot 302 performs positioning confirmation. The positioning confirmation process can be confirmed by data returned by a magnetic stripe on the ground identified by a magnetic navigation sensor, and can also be confirmed by a mark at the bottom of the second camera identified swapping station 301. And if the positioning fails, sending a loss alarm to the management background to allow manual intervention to be solved. If the positioning is successful, the battery replacement robot 302 drives to the bottom of the electric vehicle 304 (rough positioning), namely a first preset position, along the black track line, then searches for a battery mark through a second camera of the battery replacement robot 302, performs position adjustment (fine positioning) after the battery mark is searched, and finally detaches the undercharged battery to be replaced. The swapping robot 302 travels to the bottom of the swapping arm of the swapping station 301 along the magnetic stripe trajectory line (coarse positioning), i.e., a second preset position, and then searches for the mark of the swapping station 301 through the second camera, and performs position adjustment (fine positioning) after searching for the mark of the swapping station. The battery replacement arm 3011 of the battery replacement station 301 takes the battery to be replaced on the battery replacement robot 302 away, and replaces the battery with the fully charged replacement battery. The battery replacement robot 302 travels to the bottom of the electric vehicle 304 along the magnetic stripe trajectory line, i.e., a first preset position (coarse positioning), then searches for the mark of the battery jar through the second camera of the battery replacement robot 302, and after searching for the mark of the battery jar, performs position adjustment (fine positioning), and finally installs the replacement battery.
Note that the power station change mark, the battery jar mark, and the like mentioned in this embodiment may be a two-dimensional code or a trademark, and are not limited here.
In the above example, the positioning accuracy of the coarse positioning may be less than or equal to 10cm, the positioning accuracy of the fine positioning may be less than or equal to 1cm, and the swapping robot improves the positioning accuracy by performing the secondary positioning while ensuring the positioning speed.
The above description is only for illustrative purposes and does not limit the technical aspects of the present invention.
Compared with the prior art, the power swapping robot responds to the power swapping instruction, and moves to the first preset position along the first magnetic stripe trajectory line on the ground based on the magnetic navigation sensor installed on the power swapping robot, the positioning mode algorithm is simpler, and the loss of the robot to computing resources in the positioning process is reduced. After the battery replacing robot reaches the first preset position, the position of the battery replacing robot is adjusted based on the position of the battery to be replaced, and the positioning accuracy of the battery replacing robot is improved. In addition, the battery of the electric vehicle is replaced by the battery replacing robot, and positioning navigation is not needed by other devices, so that the cost of the battery replacing robot is reduced; need not the customer and accurately park the electric motor car on trading the cell, reduced the requirement to customer parking position accuracy, improved customer experience. In addition, the power conversion station does not need to be provided with large-scale equipment such as a replacement electric tank, and the release and maintenance cost of the power conversion station is reduced.
The steps of the above methods are divided for clarity, and the implementation may be combined into one step or split some steps, and the steps are divided into multiple steps, so long as the same logical relationship is included, which are all within the protection scope of the present patent; it is within the scope of the patent to add insignificant modifications to the algorithms or processes or to introduce insignificant design changes to the core design without changing the algorithms or processes.
A third embodiment of the present invention relates to a battery replacement robot, as shown in fig. 4, including: a first navigation module 401, a photographing module 402, a second navigation module 403, and a replacement module 404. The first navigation module 401 is configured to move to a first preset position along a first magnetic stripe trajectory line on the ground in response to a power swapping instruction; the first preset position is determined by the position of the parking area. The capturing module 402 is configured to capture a first image in a first direction. The second navigation module 403 is configured to adjust a position of the second navigation module according to the first position information of the battery to be replaced in the first image until a relative position relationship with the battery to be replaced of the electric vehicle matches a preset first position relationship, and the replacement module 404 is configured to replace the battery to be replaced.
It should be understood that this embodiment is an example of the apparatus corresponding to the first embodiment, and may be implemented in cooperation with the first embodiment. The related technical details mentioned in the first embodiment are still valid in this embodiment, and are not described herein again in order to reduce repetition. Accordingly, the related-art details mentioned in the present embodiment can also be applied to the first embodiment.
It should be noted that each module referred to in this embodiment is a logical module, and in practical applications, one logical unit may be one physical unit, may be a part of one physical unit, and may be implemented by a combination of multiple physical units. In addition, in order to highlight the innovative part of the present invention, elements that are not so closely related to solving the technical problems proposed by the present invention are not introduced in the present embodiment, but this does not indicate that other elements are not present in the present embodiment.
A fourth embodiment of the present invention relates to a battery replacement robot 500, as shown in fig. 5, including: at least one processor 501; and a memory 502 communicatively coupled to the at least one processor 501; the memory 502 stores instructions executable by the at least one processor 501, and the instructions are executed by the at least one processor 501 to enable the at least one processor 501 to perform the battery replacement method.
Should trade electric robot includes: one or more processors 501 and a memory 502, with one processor 501 being an example in fig. 5. The processor 501 and the memory 502 may be connected by a bus or other means, and fig. 5 illustrates the connection by the bus as an example. Memory 502, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The processor 501 executes various functional applications and data processing of the device, i.e., the above-described method of replacing a battery, by executing nonvolatile software programs, instructions, and modules stored in the memory 502.
The memory 502 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store a list of options, etc. Further, the memory 502 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, memory 502 may optionally include memory located remotely from processor 501, which may be connected to an external device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
One or more modules are stored in memory 502 and, when executed by the one or more processors 501, perform the method of replacing a battery in any of the method embodiments described above.
The battery replacement robot can execute the method provided by the embodiment of the application, has the corresponding functional modules and beneficial effects of the execution method, and can refer to the method provided by the embodiment of the application without detailed technical details in the embodiment.
A fifth embodiment of the present invention relates to a computer-readable storage medium storing a computer program. The computer program realizes the above-described method embodiments when executed by a processor.
That is, as can be understood by those skilled in the art, all or part of the steps in the method for implementing the embodiments described above may be implemented by a program instructing related hardware, where the program is stored in a storage medium and includes several instructions to enable a device (which may be a single chip, a chip, or the like) or a processor (processor) to execute all or part of the steps of the method described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
A sixth embodiment of the present invention relates to a battery replacement system 600, as shown in fig. 6, including a battery replacement robot 601 and a battery replacement station 602; the battery swapping station 602 is configured to send a battery swapping instruction to the battery swapping robot 601; the battery swapping robot 601 is used for moving to a first preset position along a first magnetic stripe trajectory line on the ground after receiving the battery swapping instruction, wherein the first preset position is determined by the position of a parking area; shooting a first image in a first direction, and acquiring first position information of a battery to be replaced according to the first image, wherein the battery to be replaced is positioned on an electric vehicle, and the electric vehicle is positioned in the parking area; and adjusting the position of the battery to be replaced according to the first position information until the relative position relation with the battery to be replaced conforms to a preset first position relation, and replacing the battery to be replaced. It can be understood that the swapping station 602 further includes a swapping arm 6021, and the swapping arm 6021 is configured to take the battery to be replaced on the swapping robot 601 and replace the battery with a fully charged replacement battery.
It should be understood that this embodiment is a system example corresponding to the first embodiment, and may be implemented in cooperation with the first embodiment. The related technical details mentioned in the first embodiment are still valid in this embodiment, and are not described herein again in order to reduce repetition. Accordingly, the related-art details mentioned in the present embodiment can also be applied to the first embodiment.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.

Claims (10)

1. A battery replacement method is applied to a battery replacement robot and comprises the following steps:
in response to a power change instruction, moving to a first preset position along a first magnetic stripe trajectory line of the ground, wherein the first preset position is determined by the position of a parking area;
shooting a first image in a first direction, and acquiring first position information of a battery to be replaced according to the first image, wherein the battery to be replaced is positioned on an electric vehicle, and the electric vehicle is positioned in the parking area;
adjusting the position of the battery to be replaced according to the first position information until the relative position relation with the battery to be replaced conforms to a preset first position relation;
and replacing the battery to be replaced.
2. The battery replacement method according to claim 1, wherein the replacing the battery to be replaced, comprises:
taking the battery to be replaced out of the electric vehicle, and moving the battery to be replaced to a second preset position along a second magnetic stripe trajectory line on the ground; the second preset position is determined by the position of the power swapping station, and the second magnetic stripe trajectory line and the first magnetic stripe trajectory line are the same magnetic stripe trajectory line or different magnetic stripe trajectory lines;
after the battery to be replaced on the battery to be replaced is determined to be replaced by a replacement battery, the battery to be replaced is moved to a third preset position along a third magnetic stripe track line of the ground, wherein the third magnetic stripe track line and the second magnetic stripe track line are the same magnetic stripe track line or different magnetic stripe track lines, and the third preset position and the first preset position are the same position or different positions;
shooting a second image in the first direction, and acquiring second position information of a battery jar according to the second image, wherein the battery jar is used for installing a battery and is arranged on the electric vehicle;
and adjusting the position of the replacement battery according to the second position information until the relative position relation with the battery jar conforms to a preset second position relation, and installing the replacement battery into the battery jar.
3. The battery replacement method of claim 2, further comprising, after moving to a second predetermined position along a second magnetic strip trajectory line of the floor:
shooting a third image in a second direction, and acquiring third position information of the power swapping station according to the third image;
and adjusting the position of the power station according to the third position information until the relative position relation with the power station meets a preset third position relation.
4. The battery replacement method according to claim 2 or 3, wherein the determination that the battery to be replaced, which is located on the battery itself, is replaced with a replacement battery includes:
judging whether a power swapping completion instruction sent by the power swapping station is received; and if so, determining that the battery to be replaced is replaced by a replacement battery.
5. The battery replacement method according to claim 1, wherein the battery replacement instruction is sent by a battery replacement station in communication connection with the battery replacement robot, wherein the battery replacement station sends the battery replacement instruction to the battery replacement robot after receiving a battery replacement request; alternatively, the first and second electrodes may be,
the battery replacement instruction is generated after the battery replacement robot determines that the electric vehicle exists in the camera view of the battery replacement robot.
6. The method of replacing a battery of claim 1, further comprising, prior to the moving the first magnetic strip trajectory line along the ground to a first preset position:
judging whether the first magnetic stripe track line is sensed or not, and shooting a fourth image when the first magnetic stripe track line is not sensed;
positioning according to the shot fourth image data;
and if the positioning is determined to be failed, sending positioning loss alarm information to a management background of the battery replacement robot.
7. The method of replacing a battery according to claim 1, further comprising, before acquiring first position information of a battery to be replaced from the first image:
judging whether the battery to be replaced exists in the first image or not;
if the battery to be replaced exists, the operation of acquiring first position information of the battery to be replaced according to the first image is executed;
if the mobile terminal does not exist, playing prompt information, or sending the prompt information to a prompt end, wherein the prompt end comprises a mobile terminal of a user of the power changing station or the electric vehicle; the prompt information indicates that the battery replacement robot fails to be positioned.
8. A battery replacement robot, comprising: at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the battery replacement robot to perform the method of replacing a battery of any one of claims 1 to 7.
9. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method of replacing a battery according to any one of claims 1 to 7.
10. A battery changing system, comprising: the system comprises a battery replacing robot and a battery replacing station;
the battery changing station is used for sending a battery changing instruction to the battery changing robot;
the battery swapping robot is used for moving to a first preset position along a first magnetic stripe trajectory line on the ground after receiving the battery swapping instruction, wherein the first preset position is determined by the position of a parking area; shooting a first image in a first direction, and acquiring first position information of a battery to be replaced according to the first image, wherein the battery to be replaced is positioned on an electric vehicle, and the electric vehicle is positioned in the parking area; adjusting the position of the battery to be replaced according to the first position information until the relative position relation with the battery to be replaced conforms to a preset first position relation; and replacing the battery to be replaced.
CN201911414546.0A 2019-12-31 2019-12-31 Battery replacement method, system, battery replacement robot and computer-readable storage medium Pending CN110936928A (en)

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