CN113665407A - Battery replacement control method of battery replacement equipment and battery replacement equipment - Google Patents
Battery replacement control method of battery replacement equipment and battery replacement equipment Download PDFInfo
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- CN113665407A CN113665407A CN202010414831.9A CN202010414831A CN113665407A CN 113665407 A CN113665407 A CN 113665407A CN 202010414831 A CN202010414831 A CN 202010414831A CN 113665407 A CN113665407 A CN 113665407A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
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- 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
Abstract
The invention discloses a battery replacement control method of battery replacement equipment and the battery replacement equipment, wherein the battery replacement equipment is used for replacing a battery pack of an electric automobile, and the battery replacement control method comprises the following steps: positioning the battery replacement equipment so as to enable the battery replacement equipment to move to a matched battery replacement position; and acquiring and recording positioning data corresponding to the battery replacement position. According to the technical scheme, the position of the battery replacement equipment is positioned and adjusted according to the parking position of the electric automobile, so that the battery replacement equipment is accurately aligned with the electric automobile, the quick and efficient positioning is realized, the positioning data is recorded after the positioning, the battery replacement equipment can be conveniently and directly moved to the place based on the positioning data in the subsequent installation process, the whole battery replacement time can be effectively saved, and the battery replacement efficiency is improved.
Description
Technical Field
The invention relates to the technical field of battery replacement, in particular to a battery replacement control method of battery replacement equipment and the battery replacement equipment.
Background
The electric automobile replaces oil with electricity, can realize zero emission and low noise, and is an important means for solving the problems of energy and environment. With the shortage of petroleum resources and the development of battery technology, the performance and the economical efficiency of electric vehicles are close to or even better than those of traditional fuel vehicles, and the electric vehicles are gradually popularized and applied worldwide. A new generation of energy-saving and environment-friendly automobiles represented by electric automobiles is a necessary trend in the development of the automobile industry. As an important premise and foundation for large-scale popularization and application of electric automobiles, development of electric automobile battery charging and replacing technology and construction of electric automobile battery charging and replacing facilities attract extensive attention of all parties.
The battery pack of the electric automobile can be positioned at the bottom of the automobile and also can be positioned at the side of the automobile. When a battery pack is replaced for an electric vehicle by a battery replacement device (such as a stacker crane), the battery replacement device needs to move to an area where the battery pack of the electric vehicle is located according to a preset control program, then the battery pack is unlocked by using an unlocking mechanism, the battery pack to be charged is taken away, and a fully charged battery pack is taken out of a battery bin for the electric vehicle. In the process of taking a battery pack and installing the battery pack, the battery replacing equipment and the electric automobile need to be accurately positioned so as to ensure that the battery pack is smoothly taken out and installed and avoid colliding with the battery pack in the process of taking out and installing the battery pack.
In the prior art, before a power-shortage battery pack is taken out of an electric automobile by a battery replacement device, the battery replacement device needs to be controlled to be accurately positioned with a battery bracket of the electric automobile, so that the battery pack is accurately unlocked; before the battery replacing device is fully installed on a battery bracket of the electric automobile, the battery replacing device and the battery bracket are required to be controlled to be accurately positioned, so that the battery bracket can accurately lock the battery pack. Therefore, the battery replacement efficiency is low, especially in the battery replacement peak period, queuing backlog of battery replacement vehicles is easily caused, and user experience is influenced.
Disclosure of Invention
The invention aims to overcome the defects that long-time position alignment and adjustment are needed when battery pack interaction is carried out between battery replacement equipment and an electric automobile in the prior art, and battery replacement efficiency is low, and provides a battery replacement control method of the battery replacement equipment and the battery replacement equipment.
The invention solves the technical problems through the following technical scheme:
a battery replacement control method of a battery replacement device is used for replacing a battery pack of an electric automobile, and comprises the following steps:
positioning the battery replacement equipment so as to enable the battery replacement equipment to move to a matched battery replacement position;
and acquiring and recording positioning data corresponding to the battery replacement position.
According to the scheme, the positioning data corresponding to the power conversion equipment is recorded and stored, so that a reference basis can be provided for the subsequent re-positioning process, and the time for re-positioning is saved.
Preferably, the battery replacement control method further includes:
controlling the battery replacing equipment to unlock a battery pack locked on a battery bracket;
and controlling the battery replacement equipment to take out the unlocked battery pack.
The battery pack unlocked can be efficiently and accurately taken out by the battery replacing equipment which is positioned and completed.
Preferably, after the step of controlling the battery swapping device to take out the unlocked battery pack, the method further includes:
when the battery replacement equipment takes a new battery pack, controlling the battery replacement equipment to move to the battery replacement position according to the recorded positioning data;
and controlling the battery replacement equipment to install the new battery pack on the electric automobile.
According to the scheme, the battery replacing equipment is positioned again by referring to the recorded positioning data, so that the positioning efficiency and the positioning accuracy are effectively improved, the time of the whole battery replacing link is saved, and the condition that vehicles queue up in a battery replacing peak period can be effectively prevented.
Preferably, the step of positioning the battery swapping device to move the battery swapping device to the matched battery swapping position includes:
acquiring a first image and a second image acquired by acquiring images of a first position and a second position of a battery bracket;
performing image processing on the first image and the second image to acquire a position adjustment amount;
and controlling the battery replacing equipment to move to the matched battery replacing position according to the position adjusting amount so as to align an unlocking piece on the battery bracket with an unlocking mechanism.
According to the scheme, the images of the corresponding positions on the battery bracket are obtained, the position adjustment amount is obtained by processing the images, and then the position of the battery replacing equipment is adjusted, so that the unlocking mechanism and the unlocking piece have high positioning accuracy.
Preferably, the step of performing image processing on the first image and the second image to obtain the position adjustment amount includes:
acquiring a horizontal displacement according to the first image and a first reference image corresponding to the first position, and a second image and a second reference image corresponding to the second position;
and/or the presence of a gas in the gas,
acquiring a first vertical displacement amount according to the first image and the first reference image, and acquiring a second vertical displacement amount according to the second image and the second reference image;
and/or
And acquiring a rotation angle quantity according to the depth value of the first position in the first image and the depth value of the second position in the second image.
According to the scheme, at least one of the horizontal displacement, the vertical displacement and the angle rotation is obtained through the acquired image information, so that a multi-dimensional position adjustment parameter is provided for the battery replacement equipment, and higher positioning accuracy is effectively guaranteed.
Preferably, the step of controlling the battery swapping device to move to the matched battery swapping position according to the position adjustment amount so as to align an unlocking mechanism with an unlocking piece on the battery bracket includes:
and adjusting the position of the unlocking mechanism according to at least one of the horizontal displacement, the first vertical displacement, the second vertical displacement and the rotation angle until the unlocking member on the battery bracket and the unlocking mechanism on the battery bracket are positioned.
This scheme realizes the ascending positioning control in a plurality of directions through at least one in horizontal displacement volume, vertical displacement volume and the angle of rotation volume to guarantee the multidimension degree positioning control demand, make release mechanism and unblock piece accomplish the location smoothly.
Preferably, the step of acquiring the first image and the second image acquired by image-acquiring the first position and the second position of the battery holder further comprises: controlling the battery replacement equipment to move to a coarse positioning position according to a preset position parameter; according to the scheme, the battery replacing equipment can be controlled to move to the coarse positioning position according to the preset position parameter, and the efficiency of positioning and battery replacing can be effectively improved.
And/or the presence of a gas in the gas,
the step of controlling the battery swapping device to move to the matched battery swapping position according to the position adjustment amount so as to align the unlocking piece on the battery bracket with the unlocking mechanism further comprises: and stretching out the unlocking mechanism until the unlocking mechanism is matched with the unlocking piece in place and unlocking.
This scheme is through the position adjustment that trades electrical equipment and then realize that the accurate positioning and the unblock of unblock mechanism and unblock piece.
Preferably, after the step of controlling the battery swapping device to move to the battery swapping position according to the recorded positioning data after the battery swapping device takes a new battery pack, the method further includes:
acquiring a third image and a fourth image acquired by acquiring images of a first position and a second position of a battery bracket;
acquiring a third vertical displacement according to the third image and the first reference image, and acquiring a fourth vertical displacement according to the fourth image and the second reference image;
and adjusting the battery replacement equipment according to the third vertical displacement and the fourth vertical displacement so as to align an unlocking piece on the battery bracket with an unlocking mechanism.
The scheme considers that the inclination of the whole vehicle is slightly changed after the battery pack is taken out, so that the vertical position of the battery bracket is driven to change. When the battery replacing device takes a new battery pack and controls the battery replacing device to move to the battery replacing position according to the recorded positioning data, the vertical position of the battery replacing device is slightly adjusted in a mode of acquiring the third image and the fourth image, so that the battery replacing device can accurately place the battery pack into a battery bracket of the electric automobile.
A battery replacing device comprises a positioning mechanism and a recording module, wherein the positioning mechanism is used for positioning the battery replacing device so as to enable the battery replacing device to move to a matched battery replacing position; the recording module is used for acquiring and recording positioning data corresponding to the battery replacement position.
After the battery replacement device completes one-time positioning before the battery is taken, the corresponding positioning data can be recorded and stored through the recording module, reference basis is provided for the subsequent re-positioning process, and the time for re-positioning is saved.
Preferably, the battery replacement equipment further comprises an unlocking mechanism and a position adjusting mechanism;
the position adjusting mechanism is used for adjusting the position of the unlocking mechanism according to at least one of the horizontal displacement, the vertical displacement and the rotation angle acquired by the positioning mechanism until the unlocking mechanism and the unlocking piece on the battery bracket are positioned;
the unlocking mechanism is used for unlocking the battery pack locked on the battery bracket.
According to the scheme, the unlocking mechanism and the unlocking piece can be smoothly positioned and unlocked based on the accurate positioning of the battery replacing equipment.
Preferably, the positioning mechanism comprises a vision sensor and a position acquisition module;
the vision sensor is used for acquiring images of a first position and a second position of the battery bracket to acquire a first image and a second image;
the position obtaining module is configured to perform image processing on the first image and the second image to obtain at least one of the horizontal displacement amount, the vertical displacement amount, and the rotation angle amount.
The battery replacement equipment in the scheme acquires the image of the corresponding position on the battery bracket through the vision sensor, and processes the image to obtain at least one of the horizontal displacement, the vertical displacement and the rotation angle, so that the convenience of image acquisition can be ensured, multi-dimensional position adjustment parameters are provided for the battery replacement equipment, and higher positioning precision is effectively ensured.
Preferably, the battery replacement equipment further comprises a control module;
when the battery replacement equipment takes a new battery pack, the control module is used for controlling the battery replacement equipment to move to the battery replacement position according to the recorded positioning data;
the control module is also used for controlling the battery replacement equipment to install the new battery pack on the electric automobile.
The battery replacement equipment in the scheme finishes secondary positioning by referring to the recorded positioning data, effectively improves the positioning efficiency and the positioning accuracy, saves the time of the whole battery replacement link, and can effectively prevent the condition of vehicle queuing in the battery replacement peak period.
On the basis of the common knowledge in the field, the above preferred conditions can be combined randomly to obtain the preferred embodiments of the invention.
The positive progress effects of the invention are as follows: according to the battery swapping control method of the battery swapping equipment, the battery swapping equipment is positioned, so that the battery swapping equipment moves to the matched battery swapping position; and acquiring and recording positioning data corresponding to the battery replacement position. From this, through taking out the locating information that obtains before the insufficient voltage battery package from electric automobile and correspond with trading electric position to trading electric equipment, when trading electric equipment and getting back full-charge battery from the battery compartment and getting back again and trade electric position and carry out the battery package installation, can directly carry out the position correction to trading electric equipment according to the locating information of trading electric position of prerecording, need not repeatedly to fix a position and look for and trade electric position, effectively practiced thrift and trade electric time, the efficiency of trading has been improved, can effectively prevent the circumstances that trade peak hour vehicle was queued.
Drawings
Fig. 1 is a flowchart of a battery swap control method according to embodiment 1 of the present invention.
Fig. 2 is a flowchart of a power swapping control method according to embodiment 2 of the present invention.
Fig. 3 is a schematic structural diagram of a power swapping device in embodiment 3 of the present invention.
Fig. 4 is a schematic diagram of relative positions of a vision sensor and a target device in embodiment 3 of the present invention.
Fig. 5 is a schematic diagram of a first reference image G1 in embodiment 3 of the present invention.
Fig. 6 is a schematic diagram of the first image G11 in embodiment 3 of the present invention.
Fig. 7 is a schematic diagram illustrating a principle of calculating a depth of field value and a rotation angle according to embodiment 3 of the present invention.
Fig. 8 is a diagram showing an actual mounting position of a vision sensor in embodiment 3 of the present invention.
Detailed Description
The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.
Example 1
The embodiment provides a battery swapping control method for battery swapping equipment, and the battery swapping equipment may be a stacker crane.
The battery replacement device may be used for replacing a battery pack of an electric vehicle, and as shown in fig. 1, the battery replacement control method may include the following steps:
step S10: positioning the battery replacing equipment so as to enable the battery replacing equipment to move to the matched battery replacing position;
step S11: and acquiring and recording positioning data corresponding to the battery replacement position.
Specifically, the obtained positioning data may be stored in a local nonvolatile memory or a cloud database, which is not limited in this embodiment.
Through recording and storing the positioning data corresponding to the power conversion equipment, reference basis can be provided for the subsequent re-positioning process, and the time for re-positioning is saved.
In this embodiment, the battery swapping control method may further include the following steps:
step S12: controlling the battery replacement equipment to unlock the battery pack locked on the battery bracket;
step S13: and controlling the battery replacement equipment to take out the unlocked battery pack.
Therefore, the unlocked battery pack can be efficiently and accurately taken out by using the battery replacing equipment which is positioned.
In general, the taken-out battery pack is a battery pack with a depleted or nearly depleted power, and the battery replacement device carries the taken-out battery pack to the battery compartment so as to recharge the battery pack.
Further, step S13 may be followed by the following steps:
step S14: when the battery replacement equipment takes a new battery pack, controlling the battery replacement equipment to move to a battery replacement position according to the recorded positioning data;
specifically, the new battery pack may be a battery pack that is fully charged or has reached the use requirement and is retrieved from the battery replacement bin.
Step S15: and controlling the battery replacement equipment to install a new battery pack on the electric automobile.
According to the battery replacement control method provided by the embodiment, the positioning information corresponding to the battery replacement position, which is obtained by the battery replacement device before the power-shortage battery pack is taken out of the electric automobile, is recorded, when the battery replacement device takes the full-charge battery back from the battery compartment and returns to the battery replacement position again for battery pack installation, the position of the battery replacement device can be directly corrected according to the pre-recorded positioning information of the battery replacement position, the battery replacement position does not need to be searched by repeated positioning, the battery replacement time is effectively saved, the battery replacement efficiency is improved, and the condition that vehicles queue up in the battery replacement peak period can be effectively prevented.
Example 2
The embodiment provides a battery swapping control method for a battery swapping device, which is a further improvement on the basis of embodiment 1 as shown in fig. 2.
Step S10 may specifically include the following steps:
step S101: acquiring a first image and a second image acquired by acquiring images of a first position and a second position of a battery bracket;
step S102: performing image processing on the first image and the second image to acquire a position adjustment amount;
step S103: and controlling the battery replacing equipment to move to the matched battery replacing position according to the position adjusting quantity so as to align the unlocking piece on the battery bracket with the unlocking mechanism.
Preferably, the first and second images may be acquired with a first and second vision sensor, respectively.
Furthermore, the position of the unlocking mechanism can be adjusted according to at least one of the horizontal displacement, the first vertical displacement, the second vertical displacement and the rotation angle until the unlocking member on the unlocking mechanism and the battery bracket is positioned.
It can be understood by those skilled in the art that, in a theoretical ideal situation, the position of the battery replacing device should match the position of the battery bracket of the electric vehicle, so that the unlocking mechanism and the unlocking piece can be aligned to facilitate the insertion of the subsequent unlocking mechanism into the unlocking piece, but in an actual situation, since the electric vehicle is not completely at the theoretical estimated position after parking, i.e. there is a horizontal deviation, a vertical deviation or a rotation angle deviation from the estimated position, so that there may be a position deviation (e.g. a horizontal position deviation, a vertical position deviation and a rotation angle position deviation) between the battery bracket and the battery replacing device, and due to the existence of the position deviation, the unlocking mechanism cannot be completely aligned with the unlocking piece, so that the battery replacing device needs to be moved by a certain amount of horizontal displacement, a certain amount of vertical displacement and a certain amount of rotation angle to match the actual parking position of the vehicle, thereby bringing the unlocking mechanism into full alignment with the unlocking member.
Therefore, at least one of the horizontal displacement, the vertical displacement and the angular rotation is obtained through the acquired image information, a multi-dimensional position adjustment parameter is provided for the battery replacement equipment, and high positioning accuracy is effectively guaranteed.
In this embodiment, before the first image and the second image are acquired, the battery replacement device may be controlled to move to the coarse positioning position according to the preset position parameter. Therefore, the efficiency of positioning and battery replacement can be effectively improved.
Specifically, when the technician designs the relative position of the electric vehicle and the battery replacing device, the technician may set a preset position parameter for the battery replacing device, and after the electric vehicle stops at a specified battery replacing position, the battery replacing device may move to an area where the electric vehicle is located according to the preset position parameter, and at this time, it may be considered that the positional relationship between the unlocking mechanism and the battery bracket of the electric vehicle has reached the estimated range. Next, the position of the battery replacing device can be finely adjusted through the positioning mechanism, so that the unlocking mechanism can accurately unlock the battery pack of the electric vehicle and take out the battery pack.
Because the unlocking structure is arranged on the battery replacing equipment, after the battery replacing equipment is positioned, the unlocking structure can extend out of the unlocking mechanism until the unlocking mechanism is matched with the unlocking piece on the battery bracket in place and unlocks. Therefore, the unlocking mechanism and the unlocking piece are accurately positioned and unlocked through position adjustment of the battery replacement equipment.
In addition, as can be understood by those skilled in the art, if the weight of the battery pack is large, after the battery pack is taken down from the electric vehicle by the battery replacing device, because the bearing capacity of the electric vehicle body is reduced, the inclination of the whole vehicle is slightly changed, and therefore the vertical position of the battery bracket is driven to change, a new battery pack is taken by the battery replacing device, and the battery replacing device is controlled to move to the battery replacing position according to the recorded positioning data, and the vertical position of the battery replacing device needs to be slightly adjusted, so that the battery pack can be accurately placed into the battery bracket of the electric vehicle by the battery replacing device.
Specifically, a third image and a fourth image acquired by image-capturing a first position and a second position of the battery carriage may be captured; acquiring a third vertical displacement according to the third image and the first reference image, and acquiring a fourth vertical displacement according to the fourth image and the second reference image; next, the battery replacement device can be adjusted according to the third vertical displacement and the fourth vertical displacement, so that the unlocking mechanism is aligned with the unlocking piece on the battery bracket, and therefore, after the fine adjustment of the vertical position of the battery replacement device is completed, the battery which is retrieved again can be placed into the battery bracket of the electric automobile.
According to the battery replacement control method for the battery replacement equipment, the image of the corresponding position on the battery bracket is obtained through the vision sensor, and at least one of the horizontal displacement, the vertical displacement and the angular rotation is obtained through processing the image, so that multi-dimensional position adjustment parameters are provided for the battery replacement equipment, higher positioning precision is effectively guaranteed, and the unlocking mechanism and the unlocking piece can be smoothly aligned and unlocked. In addition, the vertical position of the battery replacing device can be finely adjusted through the collected third image and the collected fourth image, so that the battery which is retrieved again can be accurately and timely placed into a battery bracket of the electric automobile.
Example 3
As shown in fig. 3, the battery swapping device 1 may include a positioning mechanism 11 and a recording module 12, where the positioning mechanism 11 is configured to position the battery swapping device 1, so that the battery swapping device 1 moves to a matched battery swapping position; the recording module 12 is configured to acquire and record positioning data corresponding to the battery replacement position.
After the battery replacement device completes one-time positioning before the battery is taken, the corresponding positioning data can be recorded and stored through the recording module, reference basis is provided for the subsequent re-positioning process, and the re-positioning time is saved.
Preferably, the battery swapping device 1 in this embodiment may execute the battery swapping control method in embodiment 1 or embodiment 2.
Preferably, the battery replacement device 1 may further include an unlocking mechanism 13 and a position adjustment mechanism 14;
the position adjusting mechanism 14 is used for adjusting the position of the unlocking mechanism 13 according to at least one of the horizontal displacement amount, the vertical displacement amount and the rotation angle amount obtained by the positioning mechanism 11 until the unlocking piece on the battery bracket and the unlocking mechanism 13 are positioned;
the unlocking mechanism 13 is used to unlock the battery pack locked to the battery holder.
Therefore, based on accurate positioning of the battery replacement equipment, smooth positioning and unlocking of the unlocking mechanism and the unlocking piece can be realized.
Further, the positioning mechanism 11 includes a visual sensor and a position acquisition module 113. The vision sensors may include a first vision sensor 111 and a second vision sensor 112.
The vision sensor is used for acquiring images of the first position and the second position of the battery bracket to acquire a first image and a second image;
the position obtaining module 113 is configured to perform image processing on the first image and the second image to obtain at least one of a horizontal displacement amount, a vertical displacement amount, and a rotation angle amount.
The vision sensor is used for acquiring the image of the corresponding position on the battery bracket, and the image is processed to obtain at least one of the horizontal displacement, the vertical displacement and the rotation angle, so that the convenience of image acquisition can be ensured, multi-dimensional position adjustment parameters are provided for battery replacement equipment, and higher positioning accuracy is effectively ensured.
In a non-limiting embodiment, referring to fig. 4, a battery tray on an electric vehicle, on which a first position a and a second position B are preset, can be used as the target device 2 to be positioned by the positioning mechanism 11. The first vision sensor 111 may acquire a first image of the target apparatus 2 in a direction indicated by an arrow, the first image including a first position a on the target apparatus 2; the second vision sensor 112 may acquire a second image of the target device 2 in the direction indicated by the arrow, the second image including a second location B on the target device 2.
Next, the position acquisition module 113 may acquire the horizontal displacement amount according to the first image and the first reference image corresponding to the first position a, and the second image and the second reference image corresponding to the second position B;
and/or, the position obtaining module 113 may obtain a first vertical displacement amount according to the first image and the first reference image, and obtain a second vertical displacement amount according to the second image and the second reference image;
and/or the position obtaining module 113 may obtain the rotation angle amount according to the depth value of the first position in the first image and the depth value of the second position in the second image.
In particular, FIG. 5 gives an illustration of a first reference image G1, the first reference image G1 including a first location A on the target device 2. Fig. 6 gives an illustration of the first image G11. The first image G11 includes a first location a on the target device 2.
The position of the corresponding pixel in the first reference image G1 of the first position a in the first reference image G1 obtained by analyzing the first reference image G1 is referred to as a "target position" for convenience of explanation as a reference for positioning.
The position of the corresponding pixel of the first position a on the target device 2 in the first image G11 in the first image G11 is obtained by analyzing the first image G11, and for convenience of explanation, is referred to as the "real-time position".
Through a relatively sophisticated image processing algorithm in the prior art, the position obtaining module 113 can obtain the first horizontal displacement and the first vertical displacement of the first vision sensor 111 according to the target position and the real-time position. It is understood that by moving the first vision sensor 111 by the first horizontal displacement amount and the first vertical displacement amount, the first vision sensor 111 can be caused to capture an image that coincides with the first reference image G1.
Similarly, the position acquiring module 113 may also acquire a second horizontal displacement amount and a second vertical displacement amount according to the second image and a pre-stored second reference image. By moving the second vision sensor 112 by the second horizontal displacement amount and the second vertical displacement amount, the second vision sensor 112 can be caused to capture an image that coincides with the second reference image.
Referring to fig. 7, in the present embodiment, the first vision sensor 111 is disposed at a position corresponding to the first position a, the second vision sensor 112 is disposed at a position corresponding to the second position B, a first predetermined distance D3 is formed between the first position a and the second position B, and a second predetermined distance L is formed between the first vision sensor 111 and the second vision sensor 112. The position obtaining module 113 performs image processing on the first image to obtain a first depth of field, where the first depth of field is a depth of field value D1 of a first position a in the first image; the position obtaining module 113 performs image processing on the second image to obtain a second depth of field, where the second depth of field is a depth of field value D2 of a second position B in the second image. The specific manner of obtaining the depth of field value by the position obtaining module 113 may be implemented by using algorithms disclosed in the art, which can be implemented by those skilled in the art and will not be described herein.
The position obtaining module 113 obtains a difference D ═ D2-D1| between the two depth of field values. The position obtaining module 113 may obtain the rotation angle amount θ according to the trigonometric function principle according to the difference D of the depth of field values, the distance L between the first vision sensor 111 and the second vision sensor 112, and the distance D3 between the first position a and the second position B.
The position adjustment mechanism 14 may be rotated in a corresponding direction by the rotation angle amount θ, and the target device 2 may be made parallel to the position adjustment mechanism 14.
In this embodiment, the battery swapping device 1 may further include a control module 15;
when the battery swapping device 1 takes a new battery pack, the control module 15 is configured to control the battery swapping device 1 to move to a battery swapping position according to the recorded positioning data;
the control module 15 is also used for controlling the battery replacement device 1 to install a new battery pack on the electric vehicle.
Therefore, the re-positioning is completed by referring to the recorded positioning data, and the positioning efficiency and the positioning accuracy are effectively improved.
Those skilled in the art can understand that, if the weight of the battery pack is large, after the battery pack is taken down from the electric vehicle by the battery replacing device, because the bearing capacity of the electric vehicle body is reduced, the overall inclination of the vehicle can be changed slightly, and therefore the vertical position of the battery bracket can be changed, when the battery replacing device 1 takes a new battery pack, and the battery replacing device 1 is controlled to move to the battery replacing position according to the recorded positioning data, the vertical position of the battery replacing device 1 needs to be adjusted slightly, so that the battery bracket of the electric vehicle can be accurately placed into the battery pack by the battery replacing device 1.
Specifically, after the battery replacement device 1 moves to the battery replacement position according to the recorded positioning data, the vision sensor may further perform image acquisition on the first position a and the second position B of the battery bracket to obtain a third image and a fourth image; the position acquisition module 113 may acquire a third vertical displacement amount from the third image and the first reference image, and acquire a fourth vertical displacement amount from the fourth image and the second reference image; next, the position adjusting mechanism 14 may adjust the battery replacing apparatus 1 according to the third vertical displacement and the fourth vertical displacement, so as to align the unlocking mechanism 13 with the unlocking piece on the battery bracket, thereby placing the retrieved battery into the battery bracket of the electric vehicle after the fine adjustment of the vertical position of the battery replacing apparatus 1 is completed.
Referring to fig. 8, which shows the actual installation positions of the vision sensors, wherein the first vision sensor 111 and the second vision sensor 112 may be installed at a side of the position adjustment mechanism 14 opposite to the electric vehicle so as to detect the target position on the battery tray, the unlocking mechanism 13 is installed with the position adjustment mechanism 14, and the unlocking member 13 may be aligned with the unlocking member on the battery tray by adjusting parameters of the position adjustment mechanism 14, such as horizontal displacement, vertical displacement, and rotation angle.
The battery replacement device provided by this embodiment utilizes the positioning mechanism 11 and the recording module 12 to realize accurate positioning, thereby improving the battery replacement efficiency.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (12)
1. A battery replacement control method of a battery replacement device used for replacing a battery pack of an electric automobile is characterized in that,
the battery replacement control method comprises the following steps:
positioning the battery replacement equipment so as to enable the battery replacement equipment to move to a matched battery replacement position;
and acquiring and recording positioning data corresponding to the battery replacement position.
2. The battery swapping control method of battery swapping equipment as claimed in claim 1, wherein the battery swapping control method further comprises:
controlling the battery replacing equipment to unlock a battery pack locked on a battery bracket;
and controlling the battery replacement equipment to take out the unlocked battery pack.
3. The battery swapping control method for the battery swapping device as claimed in claim 2, wherein after the step of controlling the battery swapping device to take out the unlocked battery pack, the method further comprises:
when the battery replacement equipment takes a new battery pack, controlling the battery replacement equipment to move to the battery replacement position according to the recorded positioning data;
and controlling the battery replacement equipment to install the new battery pack on the electric automobile.
4. The battery replacement control method of battery replacement equipment according to any one of claims 1 to 3,
the step of positioning the battery swapping device to move the battery swapping device to the matched battery swapping position includes:
acquiring a first image and a second image acquired by acquiring images of a first position and a second position of a battery bracket;
performing image processing on the first image and the second image to acquire a position adjustment amount;
and controlling the battery replacing equipment to move to the matched battery replacing position according to the position adjusting amount so as to align an unlocking piece on the battery bracket with an unlocking mechanism.
5. The battery swapping control method of the battery swapping device according to claim 4, wherein the step of performing image processing on the first image and the second image to obtain the position adjustment amount comprises:
acquiring a horizontal displacement according to the first image and a first reference image corresponding to the first position, and a second image and a second reference image corresponding to the second position;
and/or the presence of a gas in the gas,
acquiring a first vertical displacement amount according to the first image and the first reference image, and acquiring a second vertical displacement amount according to the second image and the second reference image;
and/or
And acquiring a rotation angle quantity according to the depth value of the first position in the first image and the depth value of the second position in the second image.
6. The battery swapping control method of claim 5, wherein the step of controlling the battery swapping device to move to the matched battery swapping position according to the position adjustment amount so as to align an unlocking mechanism with an unlocking piece on the battery bracket comprises:
and adjusting the position of the unlocking mechanism according to at least one of the horizontal displacement, the first vertical displacement, the second vertical displacement and the rotation angle until the unlocking member on the battery bracket and the unlocking mechanism on the battery bracket are positioned.
7. The battery replacement control method of the battery replacement device as claimed in claim 4,
the step of acquiring the first image and the second image acquired by acquiring the first position and the second position of the battery bracket further comprises the following steps: controlling the battery replacement equipment to move to a coarse positioning position according to a preset position parameter;
and/or the presence of a gas in the gas,
the step of controlling the battery swapping device to move to the matched battery swapping position according to the position adjustment amount so as to align the unlocking piece on the battery bracket with the unlocking mechanism further comprises: and stretching out the unlocking mechanism until the unlocking mechanism is matched with the unlocking piece in place and unlocking.
8. The battery swapping control method for battery swapping equipment according to claim 5, wherein after the step of controlling the battery swapping equipment to move to the battery swapping position according to the recorded positioning data after the battery swapping equipment takes a new battery pack, the method further comprises:
acquiring a third image and a fourth image acquired by acquiring images of a first position and a second position of a battery bracket;
acquiring a third vertical displacement according to the third image and the first reference image, and acquiring a fourth vertical displacement according to the fourth image and the second reference image;
and adjusting the battery replacement equipment according to the third vertical displacement and the fourth vertical displacement so as to align an unlocking piece on the battery bracket with an unlocking mechanism.
9. The battery replacing device is characterized by comprising a positioning mechanism and a recording module, wherein the positioning mechanism is used for positioning the battery replacing device so as to enable the battery replacing device to move to a matched battery replacing position; the recording module is used for acquiring and recording positioning data corresponding to the battery replacement position.
10. The battery swapping device of claim 9, further comprising an unlocking mechanism and a position adjustment mechanism;
the position adjusting mechanism is used for adjusting the position of the unlocking mechanism according to at least one of the horizontal displacement, the vertical displacement and the rotation angle acquired by the positioning mechanism until the unlocking mechanism and the unlocking piece on the battery bracket are positioned;
the unlocking mechanism is used for unlocking the battery pack locked on the battery bracket.
11. The battery swapping device of claim 10, wherein the positioning mechanism comprises a vision sensor and a position acquisition module;
the vision sensor is used for acquiring images of a first position and a second position of the battery bracket to acquire a first image and a second image;
the position obtaining module is configured to perform image processing on the first image and the second image to obtain at least one of the horizontal displacement amount, the vertical displacement amount, and the rotation angle amount.
12. The battery swapping device of claim 9, further comprising a control module;
when the battery replacement equipment takes a new battery pack, the control module is used for controlling the battery replacement equipment to move to the battery replacement position according to the recorded positioning data;
the control module is also used for controlling the battery replacement equipment to install the new battery pack on the electric automobile.
Priority Applications (2)
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| CN202010414831.9A CN113665407A (en) | 2020-05-15 | 2020-05-15 | Battery replacement control method of battery replacement equipment and battery replacement equipment |
| PCT/CN2021/094153 WO2021228261A1 (en) | 2020-05-15 | 2021-05-17 | Battery swapping control method for battery swapping device, and battery swapping device |
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| CN202010414831.9A CN113665407A (en) | 2020-05-15 | 2020-05-15 | Battery replacement control method of battery replacement equipment and battery replacement equipment |
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| CN113665407A true CN113665407A (en) | 2021-11-19 |
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| CN202010414831.9A Pending CN113665407A (en) | 2020-05-15 | 2020-05-15 | Battery replacement control method of battery replacement equipment and battery replacement equipment |
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| CN115509270B (en) * | 2022-11-21 | 2023-03-24 | 江苏智慧优视电子科技有限公司 | Battery box positioning management system and method based on cooperative work of battery replacement robot |
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