CN113246787A - New energy automobile battery positioning method and device - Google Patents
New energy automobile battery positioning method and device Download PDFInfo
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- CN113246787A CN113246787A CN202110553467.9A CN202110553467A CN113246787A CN 113246787 A CN113246787 A CN 113246787A CN 202110553467 A CN202110553467 A CN 202110553467A CN 113246787 A CN113246787 A CN 113246787A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
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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 invention discloses a new energy automobile battery positioning method and device, and relates to the technical field of computer vision. The invention comprises the following steps: building a new energy automobile battery positioning and mounting device; the manipulator picks the battery to reach the shooting position for the first time and then shoots for the first time; the shot image is transmitted to a calibration tool through an interface to calibrate the camera; carrying out battery positioning recognition model training and image matching on the calibrated image; positioning the matched coordinate parameters to determine the coordinates of the point characteristics; calculating deviation of the point characteristic coordinates; and feeding back the deviation calculation result to the manipulator for calibration. According to the invention, the battery sampling image is obtained through a computer vision technology, the battery is positioned by using the battery positioning identification model, and the battery is subjected to deviation correction positioning installation according to the positioning data, so that manual operation is replaced, the battery replacement efficiency is increased, the battery replacement service flow is simplified, and the service quality of the battery replacement station is improved.
Description
Technical Field
The invention belongs to the technical field of computer vision, and particularly relates to a new energy automobile battery positioning method and a new energy automobile battery positioning device.
Background
Compared with the traditional fuel oil automobile, the new energy automobile has the advantages of zero emission, low noise, high energy efficiency, low operation and maintenance cost and the like, and has obvious advantages in the aspects of cleanness, environmental protection, energy conservation and the like. The power source of the new energy automobile is a power storage battery loaded in the automobile body, and when the electric energy of the power storage battery is consumed to a certain degree, the power storage battery needs to be supplemented with energy so as to ensure that the new energy automobile can be continuously recycled. One of the important energy supply methods of the new energy automobile is battery replacement at present. The battery replacement means that the power battery fully charged with electric energy replaces the power battery which is used up by electric energy on the new energy automobile to complete electric energy supplement.
The normal charging time of the new energy automobile battery is far longer than the refueling time of a gasoline passenger vehicle, so that the provision of rapid battery replacement service for the new energy automobile is an important business content of a charging and replacing facility, but the battery replacement service cannot be effectively promoted only in a manual battery replacement mode due to the heavy weight of the new energy automobile battery pack.
Therefore, at present, the automation of the new energy automobile charging and replacing process needs to be realized urgently, the battery replacing station can be replaced without manual intervention, the battery of the new energy automobile is replaced through visual positioning, the safety of the battery replacing operation can be improved, the time of the battery replacing operation is shortened, meanwhile, the battery replacing service flow can be greatly simplified, and the service quality of the battery replacing station is improved.
Disclosure of Invention
The invention aims to provide a new energy automobile battery positioning method and device, a battery sampling image is obtained through a computer vision technology, a battery is positioned by using a battery positioning identification model, and the battery is subjected to deviation rectification positioning installation according to positioning data, so that the problems that the existing new energy automobile battery replacement only can be manually operated, the battery replacement efficiency is low, and potential safety hazards exist are solved.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention relates to a new energy automobile battery positioning method, which comprises the following steps:
step S1: building a new energy automobile battery positioning and mounting device;
step S2: the manipulator picks the battery to reach the shooting position for the first time and then shoots for the first time;
step S3: the shot image is transmitted to a calibration tool through an interface to calibrate the camera;
step S4: carrying out battery positioning recognition model training and image matching on the calibrated image;
step S5: positioning the matched coordinate parameters to determine the coordinates of the point characteristics;
step S6: calculating deviation of the point characteristic coordinates;
step S7: and feeding back the deviation calculation result to the manipulator for calibration.
Preferably, in step S1, two industrial cameras are disposed in the new energy vehicle battery positioning and mounting device, spatial coordinates of pixels acquired by the two industrial cameras are not consistent, and the coordinates of the two industrial cameras need to be converted into the same coordinate system, which is specifically divided into three conversion cases:
(1) moving and converting: let the rectangular coordinate systems where the two industrial cameras are located be Oxy and O 'x' y ', respectively, and the coordinate of the origin of coordinate O' in the coordinate system Oxy is (x)0,y0) Then, the coordinates of the point M in the xy and O ' x ' y ' coordinate systems are respectively represented by (x, y) and (x ', y '), and then the conversion formula is:
(2) rotation conversion: if the rectangular coordinate systems where the two industrial cameras are located have the same origin O, and the included angle between Ox and O 'x' is t, the conversion formula is:
(3) and (3) moving and rotating conversion: let the rectangular coordinate systems where the two industrial cameras are located be Oxy and O 'x' y ', respectively, and the coordinate of the origin of coordinate O' in the coordinate system Oxy is (x)0,y0) And the included angle between the x axis and the x' axis is t, the conversion formula is:
preferably, in step S2, before the manipulator grabs the battery, the position deviation needs to be corrected, and the specific steps are as follows:
step S21: placing an automobile battery at a preset standard position;
step S22: the manipulator translates the grabbing battery to a photographing point along the y direction, and the x coordinate is unchanged;
step S23: recording the coordinates of the left vertex of the automobile battery at the photographing point as (x)d,yd) The coordinate is taken as a standard position;
step S24: photographing for the first time to calculate the angle deviation, and correcting by a manipulator;
step S25: photographing for the second time to calculate the translation deviation;
step S26: the manipulator puts the automobile battery to the appointed placing position.
Preferably, in step S3, the acquired image is transmitted to the VisionPro software through the GigE interface, the VisionPro software calibrates the camera by using a calib checkerboardtool, and transmits the calibrated image to the CogPMAlign tool for template training and image matching.
Preferably, in step S4, the training process of the battery location identification model is as follows:
step S41: acquiring a large number of training patterns;
step S42: setting parameters during operation;
step S43: obtaining an image during a run;
step S44: running PatMax on the image;
step S45: PatMax results were obtained.
Preferably, in the step S5, the image identified by the battery location identification model uses a CogFixtureTool to find two edges of the vertex, and then finds the coordinates of the intersection of the two lines, i.e. the coordinates of the point feature.
Preferably, in step S6, the picture feature point coordinate of the first shot is (x'2,y′2) Into coordinates (x) in a coordinate system 12,y2) Namely:
the angle t of the panel is:
preferably, the angle t of the battery panel is transmitted to a PLC for processing, and the PLC controls a manipulator to rotationally position the automobile battery according to the value of t; if t is larger than 0, the manipulator controls the automobile battery to rotate anticlockwise for a certain angle; if t is less than 0, the manipulator controls the automobile battery to rotate clockwise by a certain angle; and if t is smaller than a preset allowable value, stopping the rotation of the manipulator.
The invention relates to a new energy automobile battery positioning device, which comprises image acquisition equipment, execution equipment, an industrial personal computer and a PLC (programmable logic controller);
the image acquisition equipment consists of an image acquisition card, a light source, a lens and two industrial cameras; the industrial camera is connected with an industrial personal computer through an image acquisition card;
the executing equipment is a manipulator;
the PLC and the manipulator are connected with an industrial personal computer Ethernet through a kilomega switch;
the PLC shoots through controlling a shooting signal of the industrial camera, processes acquired image data through a visual program in the industrial personal computer, and sends calculated data to the manipulator to execute operation.
The invention has the following beneficial effects:
according to the invention, the battery sampling image is obtained through a computer vision technology, the battery is positioned by using the battery positioning identification model, and the battery is subjected to deviation correction positioning installation according to the positioning data, so that manual operation is replaced, the battery replacement efficiency is increased, the battery replacement service flow is simplified, and the service quality of the battery replacement station is improved.
Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a step diagram of a new energy vehicle battery positioning method according to the present invention;
fig. 2 is a schematic structural diagram of a new energy vehicle battery positioning device according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the present invention is a new energy vehicle battery positioning method, including the following steps:
step S1: building a new energy automobile battery positioning and mounting device;
step S2: the manipulator picks the battery to reach the shooting position for the first time and then shoots for the first time;
step S3: the shot image is transmitted to a calibration tool through an interface to calibrate the camera;
step S4: carrying out battery positioning recognition model training and image matching on the calibrated image;
step S5: positioning the matched coordinate parameters to determine the coordinates of the point characteristics;
step S6: calculating deviation of the point characteristic coordinates;
step S7: and feeding back the deviation calculation result to the manipulator for calibration.
In step S1, two industrial cameras are arranged in the new energy automobile battery positioning and mounting device, and since the size of the automobile battery is large, in order to improve the measurement accuracy, two cameras are used for shooting, the spatial coordinates of the pixels acquired by the two industrial cameras are not consistent, and the coordinates of the two industrial cameras need to be converted into the same coordinate system, which is specifically divided into three conversion conditions:
(1) moving and converting: let the rectangular coordinate systems where the two industrial cameras are located be Oxy and O 'x' y ', respectively, and the coordinate of the origin of coordinate O' in the coordinate system Oxy is (x)0,y0) Then, the coordinates of the point M in the xy and O ' x ' y ' coordinate systems are respectively represented by (x, y) and (x ', y '), and in the case of simple movement, the conversion formula is:
(2) rotation conversion: assuming that the rectangular coordinate systems where the two industrial cameras are located have the same origin O, and the included angle between Ox and O 'x' is t, under the condition of simple movement and rotation, the conversion formula is as follows:
(3) and (3) moving and rotating conversion: the rectangular coordinate systems of the two industrial cameras are respectively set as Oxy and O ' x ' y ', and the origin of coordinates O' the coordinate in the coordinate system Oxy is (x)0,y0) The angle between the x-axis and the x' axis is t, and in the case of simultaneous movement and rotation, the equation is converted into:
the method for installing the two industrial cameras in parallel utilizes the function of floating display images in VisionPro software to observe the pixel coordinates of any point on the battery at any time, and adjusts the cameras to enable the battery and the two cameras to be fixed after being parallel in the x direction.
In step S2, before the manipulator grabs the battery, the positional deviation needs to be corrected first, and the specific steps are as follows:
step S21: placing an automobile battery at a preset standard position;
step S22: the manipulator translates the grabbing battery to a photographing point along the y direction, and the x coordinate is unchanged;
step S23: recording the coordinates of the left vertex of the automobile battery at the photographing point as (xd, yd), and taking the coordinates as a standard position;
step S24: photographing for the first time to calculate the angle deviation, and correcting by a manipulator;
step S25: photographing for the second time to calculate the translation deviation;
step S26: the manipulator puts the automobile battery to the appointed placing position.
In step S3, the acquired image is transmitted to the VisionPro software through the GigE interface, the VisionPro software calibrates the camera by using the calipcheckerboardtool, and transmits the calibrated image to the CogPMAlign tool for template training and image matching.
In step S4, the training process of the battery location identification model is as follows:
step S41: acquiring a large number of training patterns;
step S42: setting parameters during operation;
step S43: obtaining an image during a run;
step S44: running PatMax on the image;
step S45: PatMax results were obtained.
In step S5, the image identified by the battery location identification model uses the CogFixtureTool to find two edges of the vertex, and then finds the coordinates of the intersection of the two lines, i.e., the coordinates of the point feature.
In step S6, the feature point coordinates of the picture taken for the first time are (x'2,y′2) Into coordinates (x) in a coordinate system 12,y2) Namely:
the angle t of the panel is:
the angle t of the battery panel is transmitted to the PLC for processing, and the PLC controls the manipulator to rotationally position the automobile battery according to the value of t; if t is larger than 0, the manipulator controls the automobile battery to rotate anticlockwise for a certain angle; if t is less than 0, the manipulator controls the automobile battery to rotate clockwise by a certain angle; and if t is smaller than a preset allowable value, stopping the rotation of the manipulator.
Referring to fig. 2, the present invention is a new energy vehicle battery positioning device, including an image acquisition device, an execution device, an industrial personal computer, and a PLC;
the image acquisition equipment consists of an image acquisition card, a light source, a lens and two industrial cameras; the industrial camera is connected with the industrial personal computer through an image acquisition card; the industrial camera is connected with the industrial personal computer through the PCI gigabit Ethernet network port, so that the transmission speed and the transmission quality of the photos are ensured;
installing the adjusted field of view, focal length and exposure time of the industrial camera, and debugging the whole device after distributing test PLC communication and manipulator communication which are both normally linked;
the execution equipment is a mechanical arm;
the PLC and the manipulator are connected with an industrial personal computer Ethernet through a kilomega switch;
the PLC shoots through controlling the shooting signal of the industrial camera, processes the acquired image data through a visual program in the industrial personal computer, and sends the calculated data to the manipulator to execute operation.
It should be noted that, in the above system embodiment, each included unit is only divided according to functional logic, but is not limited to the above division as long as the corresponding function can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
In addition, it is understood by those skilled in the art that all or part of the steps in the method for implementing the embodiments described above may be implemented by a program instructing associated hardware, and the corresponding program may be stored in a computer-readable storage medium.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (9)
1. A new energy automobile battery positioning method is characterized by comprising the following steps:
step S1: building a new energy automobile battery positioning and mounting device;
step S2: the manipulator picks the battery to reach the shooting position for the first time and then shoots for the first time;
step S3: the shot image is transmitted to a calibration tool through an interface to calibrate the camera;
step S4: carrying out battery positioning recognition model training and image matching on the calibrated image;
step S5: positioning the matched coordinate parameters to determine the coordinates of the point characteristics;
step S6: calculating deviation of the point characteristic coordinates;
step S7: and feeding back the deviation calculation result to the manipulator for calibration.
2. The method according to claim 1, wherein in step S1, two industrial cameras are disposed in the new energy vehicle battery positioning and mounting device, spatial coordinates of pixels acquired by the two industrial cameras are not consistent, and the coordinates of the two industrial cameras need to be converted into the same coordinate system, which is specifically divided into three conversion cases:
(1) moving and converting: let the rectangular coordinate systems where the two industrial cameras are located be Oxy and O 'x' y ', respectively, and the coordinate of the origin of coordinate O' in the coordinate system Oxy is (x)0,y0) Then, the coordinates of the point M in the xy and O ' x ' y ' coordinate systems are respectively represented by (x, y) and (x ', y '), and then the conversion formula is:
(2) rotation conversion: if the rectangular coordinate systems where the two industrial cameras are located have the same origin O, and the included angle between Ox and O 'x' is t, the conversion formula is:
(3) and (3) moving and rotating conversion: let the rectangular coordinate systems where the two industrial cameras are located be Oxy and O 'x' y ', respectively, and the coordinate of the origin of coordinate O' in the coordinate system Oxy is (x)0,y0) And the included angle between the x axis and the x' axis is t, the conversion formula is:
3. the method for positioning the battery of the new energy vehicle as claimed in claim 1, wherein in the step S2, before the manipulator grabs the battery, the manipulator needs to correct the position deviation, and the specific steps are as follows:
step S21: placing an automobile battery at a preset standard position;
step S22: the manipulator translates the grabbing battery to a photographing point along the y direction, and the x coordinate is unchanged;
step S23: recording the coordinates of the left vertex of the automobile battery at the photographing point as (x)d,yd) The coordinate is taken as a standard position;
step S24: photographing for the first time to calculate the angle deviation, and correcting by a manipulator;
step S25: photographing for the second time to calculate the translation deviation;
step S26: the manipulator puts the automobile battery to the appointed placing position.
4. The method for positioning the new energy vehicle battery according to claim 1, wherein in the step S3, the acquired image is transmitted to VisionPro software through a GigE interface, the VisionPro software performs camera calibration by using a calib checkerbioardtool, and the calibrated image is transmitted to a CogPMAlign tool for template training and image matching.
5. The method as claimed in claim 1, wherein in step S4, the training process of the battery location recognition model is as follows:
step S41: acquiring a large number of training patterns;
step S42: setting parameters during operation;
step S43: obtaining an image during a run;
step S44: running PatMax on the image;
step S45: PatMax results were obtained.
6. The method as claimed in claim 1, wherein in step S5, the image identified by the battery location identification model uses a CogFixtureTool to find two edges of the vertex, and then finds the coordinates of the intersection of the two lines, i.e. the coordinates of the point feature.
7. The method for locating the battery of the new energy vehicle as claimed in claim 1 or 2, wherein in the step S6, the coordinate of the feature point of the picture taken for the first time is set to (x'2,y′2) Into coordinates (x) in a coordinate system 12,y2) Namely:
the angle t of the panel is:
8. the new energy automobile battery positioning method according to claim 7, characterized in that the angle t of the battery plate is transmitted to a PLC for processing, and the PLC controls a manipulator to perform rotary positioning on the automobile battery according to the value of t; if t is larger than 0, the manipulator controls the automobile battery to rotate anticlockwise for a certain angle; if t is less than 0, the manipulator controls the automobile battery to rotate clockwise by a certain angle; and if t is smaller than a preset allowable value, stopping the rotation of the manipulator.
9. A new energy automobile battery positioning device is characterized by comprising image acquisition equipment, execution equipment, an industrial personal computer and a PLC;
the image acquisition equipment consists of an image acquisition card, a light source, a lens and two industrial cameras; the industrial camera is connected with an industrial personal computer through an image acquisition card;
the executing equipment is a manipulator;
the PLC and the manipulator are connected with an industrial personal computer Ethernet through a kilomega switch;
the PLC shoots through controlling a shooting signal of the industrial camera, processes acquired image data through a visual program in the industrial personal computer, and sends calculated data to the manipulator to execute operation.
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| CN202110553467.9A CN113246787A (en) | 2021-05-20 | 2021-05-20 | New energy automobile battery positioning method and device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113459886A (en) * | 2021-08-20 | 2021-10-01 | 三一重工股份有限公司 | Battery replacement method and battery replacement station |
| CN113733974A (en) * | 2021-10-11 | 2021-12-03 | 安徽绿舟科技有限公司 | Method for identifying and positioning battery of new energy automobile based on three-dimensional space |
| CN116476685A (en) * | 2023-05-18 | 2023-07-25 | 四川智锂智慧能源科技有限公司 | Heavy truck power conversion method, system and equipment |
-
2021
- 2021-05-20 CN CN202110553467.9A patent/CN113246787A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113459886A (en) * | 2021-08-20 | 2021-10-01 | 三一重工股份有限公司 | Battery replacement method and battery replacement station |
| CN113733974A (en) * | 2021-10-11 | 2021-12-03 | 安徽绿舟科技有限公司 | Method for identifying and positioning battery of new energy automobile based on three-dimensional space |
| CN116476685A (en) * | 2023-05-18 | 2023-07-25 | 四川智锂智慧能源科技有限公司 | Heavy truck power conversion method, system and equipment |
| CN116476685B (en) * | 2023-05-18 | 2024-06-21 | 四川智锂智慧能源科技有限公司 | Heavy truck power conversion method, system and equipment |
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Application publication date: 20210813 |