CN113858193B - Battery grabbing method and device - Google Patents
Battery grabbing method and device Download PDFInfo
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- CN113858193B CN113858193B CN202111069912.0A CN202111069912A CN113858193B CN 113858193 B CN113858193 B CN 113858193B CN 202111069912 A CN202111069912 A CN 202111069912A CN 113858193 B CN113858193 B CN 113858193B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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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 provides a battery grabbing method and device, wherein the method comprises the following steps: determining the horizontal center position of the battery frame based on the position of the front wheel and the position relationship between the front wheel and the battery frame when the working machine is in power change and parking; determining the horizontal center position of a grip for performing power change operation based on the horizontal center position of the battery frame and a preset distance; based on detection results of the battery frame by the plurality of distance sensors arranged on the periphery of the gripper, the horizontal center position of the gripper and the rotation angle of the gripper relative to the battery frame are adjusted until the battery frame is detected by the distance sensors, and the gripper is controlled to grasp the battery frame. The method and the device provided by the invention have the advantages that the battery grabbing accuracy is improved, and the replacement efficiency of the power battery is improved.
Description
Technical Field
The invention relates to the technical field of mechanical engineering, in particular to a battery grabbing method and device.
Background
The electric working machine adopts a power battery as a power source, the working time length is influenced by the battery capacity in a pure electric working mode, and if a charging mode is adopted, the requirements of customers on the continuous working time length of the electric working machine are generally not met. In order to solve the problem of the working time of the power battery, the electric working machine can adopt a power conversion scheme, namely continuous working is realized by replacing the vehicle-mounted power battery.
In the prior art, a special power exchange station is arranged to replace a power battery loaded on an electric operation machine, and when the electric operation machine enters the power exchange station, the power exchange station determines the position of the power battery in an image recognition mode, so that the battery is replaced. Because image recognition is easily affected by environment, the accuracy of determining battery positioning is poor, resulting in low replacement efficiency of the power battery.
Disclosure of Invention
The invention provides a battery grabbing method and device, which are used for solving the technical problems of poor battery positioning accuracy and low power battery replacement efficiency in the prior art.
The invention provides a battery grabbing method, which comprises the following steps:
determining the horizontal center position of the battery frame based on the position of the front wheel and the position relationship between the front wheel and the battery frame when the working machine is in power change and parking;
determining the horizontal center position of a grip for performing power change operation based on the horizontal center position of the battery frame and a preset distance;
based on detection results of the battery frame by the plurality of distance sensors arranged on the periphery of the gripper, the horizontal center position of the gripper and the rotation angle of the gripper relative to the battery frame are adjusted until the battery frame is detected by the distance sensors, and the gripper is controlled to grasp the battery frame.
According to the battery grabbing method provided by the invention, when the working machine is in power changing and parking, the walking direction of the gripper is the advancing direction of the working machine, and the translation direction of the gripper is the perpendicular direction of the advancing direction of the working machine.
According to the battery grabbing method provided by the invention, the grabber is a rectangular frame and comprises a first short side, a first long side, a second short side and a second long side which are sequentially connected;
a first distance sensor is arranged at the middle point of the first short side;
a second distance sensor is arranged at the middle point of the second short side;
third and fifth distance sensors are respectively arranged at the positions of the trisection points on the first long side;
a fourth distance sensor and a sixth distance sensor are respectively arranged at the positions of the third equally dividing points on the second long edge;
when the gripper is in an initial state, the first short side is parallel to the walking direction of the gripper, and the first long side is parallel to the translation direction of the gripper.
According to the battery grabbing method provided by the invention, the method for adjusting the horizontal center position of the gripper and the rotation angle of the gripper relative to the battery frame based on the detection results of the plurality of distance sensors arranged on the periphery of the gripper until the distance sensors detect the battery frame comprises the following steps:
If the first distance sensor, the third distance sensor and the fifth distance sensor detect the battery frame, and the second distance sensor, the fourth distance sensor and the sixth distance sensor do not detect the battery frame, controlling the horizontal center position of the gripper to move in the translation direction until the second distance sensor detects the battery frame;
controlling the horizontal center position of the grip to move in the traveling direction until the fourth distance sensor detects the battery frame;
and determining the rotation direction of the hand grip based on the position of the sixth distance sensor relative to the battery frame, and adjusting the rotation angle of the hand grip relative to the battery frame based on the rotation direction until the sixth distance sensor detects the battery frame.
According to the battery grabbing method provided by the invention, the method for adjusting the horizontal center position of the gripper and the rotation angle of the gripper relative to the battery frame based on the detection results of the plurality of distance sensors arranged on the periphery of the gripper until the distance sensors detect the battery frame comprises the following steps:
If the first distance sensor, the third distance sensor and the fifth distance sensor detect the battery frame, and the second distance sensor, the fourth distance sensor and the sixth distance sensor do not detect the battery frame, controlling the horizontal center position of the gripper to move in the walking direction until the fourth distance sensor detects the battery frame, and acquiring the first position of the fourth distance sensor;
continuously controlling the horizontal center position of the grip to move in the walking direction until the sixth distance sensor detects the battery frame, and acquiring the position of the sixth distance sensor and the second position of the fourth distance sensor;
determining a rotation angle adjustment amount and a rotation direction of the grip based on the first position and the second position of the fourth distance sensor, and the position of the sixth distance sensor;
adjusting the grip based on the rotation angle adjustment amount and the rotation direction of the grip;
controlling the horizontal center position of the grip to move in the translational direction until the second distance sensor detects the battery frame;
and controlling the horizontal center position of the grip to move in the traveling direction until the fourth distance sensor and the sixth distance sensor both detect the battery frame again.
According to the battery grabbing method provided by the invention, the horizontal center position of the battery frame is determined based on the position of the front wheel and the position relation between the front wheel and the battery frame when the working machine is in power-change parking, and the method comprises the following steps:
when the working machine is in power change and parking, determining the position of the front wheel based on a measuring optical axis shielded by the front wheel of the working machine and the position of the measuring optical axis in a measuring light curtain;
the measuring light curtain is horizontally arranged in the power-changing parking area.
The invention provides a battery grabbing device, comprising:
the battery frame positioning unit is used for determining the horizontal center position of the battery frame based on the position of the front wheel and the position relationship between the front wheel and the battery frame when the working machine is in power-changing and parking;
the gripper positioning unit is used for determining the horizontal center position of the gripper for carrying out power change operation based on the horizontal center position of the battery frame and a preset distance;
the grabbing unit is used for adjusting the horizontal center position of the grab and the rotation angle of the grab relative to the battery frame based on detection results of the plurality of distance sensors arranged on the periphery of the grab, and controlling the grab to grab the battery frame until the distance sensors detect the battery frame.
The invention provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor realizes the steps of the battery grabbing method when executing the program.
The present invention provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the battery grabbing method.
The present invention provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of the battery gripping method.
According to the battery grabbing method and device, the horizontal center position of the battery frame is determined through the position of the front wheel and the position relationship between the front wheel and the battery frame when the operation machine is in power changing and parking; further determining the horizontal center position of a grip for performing power change operation; according to the detection results of the battery frame by the plurality of distance sensors arranged on the periphery of the grip, the horizontal center position of the grip and the rotation angle of the grip relative to the battery frame are adjusted until the battery frame is detected by the distance sensors, so that the accuracy of battery grabbing is improved, and the replacement efficiency of the power battery is improved.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a battery grabbing method provided by the invention;
FIG. 2 is a plant layout of a power exchange station provided by the present invention;
FIG. 3 is a layout of a distance sensor provided by the present invention;
FIG. 4 is a schematic diagram of a stepwise alignment strategy according to the present invention;
FIG. 5 is a schematic flow chart of a stepwise alignment method according to the present invention;
FIG. 6 is a schematic view of the calculation method according to the present invention;
FIG. 7 is a schematic flow chart of the calculation method provided by the invention;
fig. 8 is a schematic structural view of a battery gripping apparatus provided by the present invention;
fig. 9 is a schematic structural diagram of an electronic device provided by the present invention.
Reference numerals:
210: a power exchanging device; 211: a grip;
212: a mobile device; 220: a work machine;
221: a headstock; 222: a battery frame;
223: a cargo compartment; s1: a first distance sensor;
s2: a second distance sensor; s3: a third distance sensor;
s4: a fourth distance sensor; s5: a fifth distance sensor;
s6: and a sixth distance sensor.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Fig. 1 is a schematic flow chart of a battery grabbing method provided by the invention, as shown in fig. 1, the method includes:
Specifically, the work machine in the embodiment of the present invention is a machine that is driven by a power battery, including an electric truck and the like. The power battery has a large weight and a high energy density, and therefore, a special power exchange station needs to be built to perform power exchange operation on the working machine.
Power cells on work machines are typically assembled using a frame structure, which is a battery frame. The replacement of the power battery on the working machine can be completed through the operations of positioning, grabbing, hoisting and the like of the battery frame. The battery frame is generally arranged at the rear part of the vehicle head.
When the working machine enters the power exchange station, the working machine needs to enter a designated power exchange parking area, and a special power exchange device performs power exchange operation. The battery changing device generally comprises a gripper and a moving device, wherein the gripper is arranged on the moving device and used for grabbing a battery frame provided with a power battery, the moving device is used for moving between a power battery storage place and a battery changing parking area to finish the carrying of the power battery, and the moving device can be a guide rail trolley.
To replace a power battery on a work machine, a battery frame in which the power battery is located needs to be positioned first. The battery frame itself does not have a positioning device, and the position of the battery frame can be determined according to the parking position of the working machine. For convenience of description, the position of the battery frame is represented by the horizontal center position of the battery frame. In the actual power change process, the battery frame and the grip are not in the same horizontal plane. Generally, the tongs are above the battery frame, and when the battery needs to be replaced, the tongs move downwards to be in contact with the battery frame, so that the battery frame is grabbed.
When the working machine is in power-exchanging parking, the position of the front wheel can be measured by a measuring light curtain or other position sensors arranged in a power-exchanging parking area. For the same type of work machine, the mechanical structure is fixed, that is, the position relationship between the front wheel and the battery frame on the work machine is determined at the time of manufacture and is not changed. Therefore, the horizontal center position of the battery frame can be determined by the positional relationship between the front wheel and the battery frame on the work machine, and the front wheel position. The position relation between the front wheel and the battery frame can be obtained according to manufacturer data of the working machine or by a measuring and calibrating mode.
Specifically, the gripper is a battery gripping device that matches the shape and size of the battery frame. For example, if the battery frame is rectangular, the grip is also rectangular, and the length and width of the grip are the same as those of the battery frame. The grabbing structure is arranged on the grabbing device to grab the battery frame when the grabbing device is matched with the battery frame.
In an actual power exchanging operation, since the size of the working machine tends to be large, the parking position is not likely to be very accurate, thereby making it difficult to obtain an accurate value for the horizontal center position of the resulting battery frame. In view of this, the embodiment of the invention realizes the accurate matching of the grip and the battery frame by adjusting the horizontal center position of the grip, thereby realizing the accurate gripping of the battery.
Before the hand grip is accurately matched with the battery frame, the horizontal center position of the hand grip for power conversion operation can be determined through the horizontal center position of the battery frame and a preset distance. The horizontal center position is the initial position of the front grip for battery positioning detection.
The size of the preset distance is required to enable the battery frame and the grip to have a large contact ratio. Here, the preset distance may be set as needed. For example, the preset distance may be 100mm. If the horizontal center position of the battery frame is known, a position 100mm away from the horizontal center position of the hand grip in the moving direction of the hand grip may be set on the basis of this. For another example, the preset distance may be smaller than the short side length of the battery frame.
And 130, adjusting the horizontal center position of the grip and the rotation angle of the grip relative to the battery frame based on the detection results of the plurality of distance sensors arranged on the periphery of the grip until the distance sensors detect the battery frame, and controlling the grip to grip the battery frame.
In particular, the grip periphery may be provided with a plurality of distance sensors. Because the distance between the horizontal center positions of the battery frame and the grip is the preset distance, the battery frame and the grip have larger contact ratio. In this case, if the measured value of any one of the distance sensors is larger than the set detection threshold, it can be considered that the battery frame is not detected by the distance sensor, and if the measured value of any one of the distance sensors is smaller than the set detection threshold, it can be considered that the battery frame is detected by the distance sensor.
Since a plurality of distance sensors are provided at the periphery of the grip, when all the distance sensors detect the battery frame, it is indicated that the battery frame is completely coincident with the grip. Here, the complete coincidence includes a horizontal center coincidence, and a rotation angle of the grip with respect to the battery frame is zero.
If the partial distance sensors do not detect the battery frame, the battery frame and the grip are indicated not to be completely overlapped, and at this time, the horizontal center position of the grip and the rotation angle of the grip relative to the battery frame can be adjusted according to the detection results of the distance sensors until the distance sensors detect the battery frame.
According to the battery grabbing method provided by the embodiment of the invention, the horizontal center position of the battery frame is determined through the position of the front wheel and the position relationship between the front wheel and the battery frame when the operation machine is in power change and parking; further determining the horizontal center position of a grip for performing power change operation; according to the detection results of the battery frame by the plurality of distance sensors arranged on the periphery of the grip, the horizontal center position of the grip and the rotation angle of the grip relative to the battery frame are adjusted until the battery frame is detected by the distance sensors, so that the accuracy of battery grabbing is improved, and the replacement efficiency of the power battery is improved.
Based on the above embodiment, when the working machine is to change power and stop, the traveling direction of the grip is the advancing direction of the working machine, and the translational direction of the grip is the perpendicular direction to the advancing direction of the working machine.
Specifically, a power-changing stopping area of the working machine in the power-changing station can be set so as to improve power-changing efficiency.
Here, the traveling direction of the grip is defined as the direction in which the grip moves from the front wheel to the rear wheel of the work machine, and the translational direction of the grip is defined as the direction in which the grip moves relative to the side of the work machine. The power-change parking area may be disposed near a position of the grip such that a forward direction of the work machine is a traveling direction of the grip and a vertical direction of the forward direction of the work machine is a translational direction of the grip.
Fig. 2 is a device layout diagram of a power exchange station provided by the present invention, and as shown in fig. 2, a power exchange device 210 includes a grip 211 and a moving device 212. Work machine 220 includes a head 221, a battery frame 222, and a cargo box 223.
It can be seen that the X axis is also the forward direction of the work machine 220, and the Y axis is also the vertical direction to the forward direction of the work machine, with the direction of travel of the grip 211 being the X axis and the direction of translation of the grip 211 being the Y axis.
The initial position of the mobile device 212 in the power conversion device 210 may be taken as the origin O of coordinates. A laser ranging sensor is mounted at the origin of coordinates O for detecting the distance of the battery frame 222 relative to the grip 211.
Based on any one of the above embodiments, the handle is a rectangular frame, including a first short side, a first long side, a second short side, and a second long side that are sequentially connected;
a first distance sensor is arranged at the middle point of the first short side;
a second distance sensor is arranged at the middle point of the second short side;
third and fifth distance sensors are respectively arranged at the positions of the trisection points on the first long edge;
a fourth distance sensor and a sixth distance sensor are respectively arranged at the positions of the trisection points on the second long edge;
when the gripper is in an initial state, the first short side is parallel to the walking direction of the gripper, and the first long side is parallel to the translation direction of the gripper.
Specifically, since the battery frame is a rectangular frame, the grip may be a rectangular frame having the same shape and size as the battery frame.
The periphery of the gripper can comprise a first short side, a first long side, a second short side and a second long side which are sequentially connected. The 6 distance sensors are arranged on four sides of the gripper.
Fig. 3 is a layout diagram of the distance sensor provided by the present invention, as shown in fig. 3, the first distance sensor S1 is disposed at the middle point of the first short side ab, the second distance sensor S2 is disposed at the middle point of the second short side cd, the third distance sensor S3 and the fifth distance sensor S5 are disposed at the third bisection point on the first long side ac, and the fourth distance sensor S4 and the sixth distance sensor S6 are disposed at the third bisection point on the second long side bd, respectively.
The gripper can freely rotate on the horizontal plane, the initial state of the gripper can be that the first short side is parallel to the walking direction of the gripper, the first long side is parallel to the translation direction of the gripper, and at the moment, the rotation angle of the gripper can be regarded as zero.
Based on any of the above embodiments, step 130 includes:
if the first distance sensor, the third distance sensor and the fifth distance sensor detect the battery frame, and the second distance sensor, the fourth distance sensor and the sixth distance sensor do not detect the battery frame, the horizontal center position of the control gripper moves in the translation direction until the second distance sensor detects the battery frame;
the horizontal center position of the grip is controlled to move in the walking direction until the fourth distance sensor detects the battery frame;
And determining the rotation direction of the hand grip based on the position of the sixth distance sensor relative to the battery frame, and adjusting the rotation angle of the hand grip relative to the battery frame based on the rotation direction until the sixth distance sensor detects the battery frame.
Specifically, fig. 4 is a schematic diagram of a strategy of the stepwise alignment method provided by the present invention, and as shown in fig. 4, the method first determines an initial horizontal position of the gripper. According to the fact that the first distance sensor S1, the third distance sensor S3 and the fifth distance sensor S5 detect the battery frame, the second distance sensor S2, the fourth distance sensor S4 and the sixth distance sensor S6 do not detect the battery frame, and therefore the initial horizontal position of the gripper is adjusted gradually, and battery frame positioning is conducted.
Fig. 5 is a schematic flow chart of the stepwise alignment method provided by the present invention, and as shown in fig. 5, the stepwise alignment method may be divided into three steps:
step one, determining the initial position of a gripper
The initial horizontal center position of the grip is set in the X direction of the horizontal center position of the battery frame, and the position is shifted by 100mm towards the tail of the working machine.
Step two, action one
If the first, third and fifth distance sensors S1, S3 and S5 detect the battery frame and the second, fourth and sixth distance sensors S2, S4 and S6 do not detect the battery frame, the horizontal center position of the gripper is controlled to move in the translational direction until the second distance sensor S2 detects the battery frame; the horizontal center position of the control grip moves in the traveling direction until the fourth distance sensor S4 detects the battery frame.
Step three, action two
And determining the rotation direction of the hand grip to be clockwise according to the position of the sixth distance sensor S6 relative to the battery frame, and adjusting the rotation angle of the hand grip relative to the battery frame according to the rotation direction until the sixth distance sensor S6 detects the battery frame. To this end, all the distance sensors detect the battery frame.
Based on any of the above embodiments, step 130 includes:
if the first distance sensor, the third distance sensor and the fifth distance sensor detect the battery frame, and the second distance sensor, the fourth distance sensor and the sixth distance sensor do not detect the battery frame, the horizontal center position of the gripper is controlled to move in the walking direction until the fourth distance sensor detects the battery frame, and the first position of the fourth distance sensor is obtained;
continuously controlling the horizontal center position of the grip to move in the walking direction until the sixth distance sensor detects the battery frame, and acquiring the position of the sixth distance sensor and the second position of the fourth distance sensor;
determining a rotation angle adjustment amount and a rotation direction of the grip based on the first position and the second position of the fourth distance sensor, and the position of the sixth distance sensor;
Based on the rotation angle adjustment amount and the rotation direction of the gripper, the gripper is adjusted;
the horizontal center position of the gripper is controlled to move in the translation direction until the second distance sensor detects the battery frame;
the horizontal center position of the control grip moves in the traveling direction until the fourth and sixth distance sensors each detect the battery frame again.
Specifically, fig. 6 is a schematic strategy diagram of the calculation method provided by the present invention, and as shown in fig. 6, the method first determines an initial horizontal position of the gripper. According to the fact that the first distance sensor S1, the third distance sensor S3 and the fifth distance sensor S5 detect the battery frame, the second distance sensor S2, the fourth distance sensor S4 and the sixth distance sensor S6 do not detect the battery frame, and therefore the rotation angle adjustment amount of the gripper is determined through a calculation method, and after the rotation angle of the gripper is adjusted and translated, battery frame positioning is conducted.
Fig. 7 is a schematic flow chart of the calculation method provided by the present invention, and as shown in fig. 7, the calculation method can be divided into four steps:
step one, determining the initial position of a gripper
The initial horizontal center position of the grip is set in the X direction of the horizontal center position of the battery frame, and the position is shifted by 100mm towards the tail of the working machine.
Step two, action one
If the first, third and fifth distance sensors S1, S3 and S5 detect the battery frame and the second, fourth and sixth distance sensors S2, S4 and S6 do not detect the battery frame, the horizontal center position of the gripper is controlled to move in the traveling direction until the third and fourth distance sensors S3 and S4 detect the battery frame, and the first position P1 of the fourth distance sensor is acquired;
continuously controlling the horizontal center position of the gripper to move in the walking direction until the sixth distance sensor S6 detects the battery frame, and acquiring the position P3 of the sixth distance sensor S6 and the second position P2 of the fourth distance sensor;
the rotation angle adjustment amount and the rotation direction of the grip are determined according to the first and second positions P1 and P2 of the fourth distance sensor S4 and the position of the sixth distance sensor S6.
Here, since the walking direction of the gripper is the X axis and the straight line where the battery frame is located is the Y axis, the line P1-P2 formed by the positions of the fourth distance sensor S4 before and after the gripper moves in the walking direction is perpendicular to the edge of the battery frame, that is, P1-P2-P3 forms a right triangle, so that the rotation angle adjustment amount of the gripper is ++p1p3p2, and ++p1p3p2 can be obtained by solving according to a trigonometric function. For example:
At the same time, the direction of rotation can also be known to be clockwise.
Step three, action two
And adjusting the grippers according to the rotation angle adjustment amount and the rotation direction of the grippers. After the adjustment, the second distance sensor S2, the fourth distance sensor S4, and the sixth distance sensor S6 do not detect the battery frame.
Step four, action three
The horizontal center position of the control gripper moves in the translation direction until the second distance sensor S2 detects the battery frame; the horizontal center position of the control grip moves in the traveling direction until the fourth and sixth distance sensors S4 and S6 each detect the battery frame again. To this end, all the distance sensors detect the battery frame.
Based on any of the above embodiments, step 110 may be preceded by:
when the working machine is in power change and parking, determining the position of the front wheel based on a measuring optical axis shielded by the front wheel of the working machine and the position of the measuring optical axis in a measuring light curtain;
the measuring light curtain is horizontally arranged in the power-changing parking area.
In particular, the measuring light curtain may be installed horizontally in the power-change parking area. The measuring light curtain comprises a plurality of measuring optical axes. The measuring optical axis starts from the transmitting end of the measuring light curtain and enters the receiving end of the measuring light curtain, and if the measuring optical axis is blocked, the receiving end cannot receive the corresponding measuring optical axis. The mounting position of each measuring optical axis can be obtained according to the mounting position of the measuring light curtain.
When the working machine is in power change and parking, a part of measuring optical axes are shielded when the front wheel enters the measuring optical curtain, for example, the measuring optical curtain contains 40 measuring optical axes, and the front wheel shields the 10 th to 20 th measuring optical axes, so that the position of the front wheel can be obtained according to the mounting position of the shielded measuring optical axes.
Based on any of the above embodiments, fig. 8 is a schematic structural diagram of a battery grabbing device provided by the present invention, as shown in fig. 8, the device includes:
a battery frame positioning unit 810 for determining a horizontal center position of the battery frame based on a front wheel position when the work machine is stopped with a battery change, and a positional relationship between the front wheel and the battery frame;
a grip positioning unit 820 for determining a horizontal center position of a grip performing a power exchanging operation based on a horizontal center position of the battery frame and a preset distance;
and a grabbing unit 830, configured to adjust a horizontal center position of the gripper and a rotation angle of the gripper relative to the battery frame based on detection results of the plurality of distance sensors disposed around the gripper on the battery frame until the distance sensors detect the battery frame, and control the gripper to grab the battery frame.
According to the battery grabbing device provided by the embodiment of the invention, the horizontal center position of the battery frame is determined through the position of the front wheel and the position relationship between the front wheel and the battery frame when the operation machine is in power change and parking; further determining the horizontal center position of a grip for performing power change operation; according to the detection results of the battery frame by the plurality of distance sensors arranged on the periphery of the grip, the horizontal center position of the grip and the rotation angle of the grip relative to the battery frame are adjusted until the battery frame is detected by the distance sensors, so that the accuracy of battery grabbing is improved, and the replacement efficiency of the power battery is improved.
Based on any of the above embodiments, when the working machine is in a power change and stop, the traveling direction of the grip is the advancing direction of the working machine, and the translational direction of the grip is the perpendicular direction to the advancing direction of the working machine.
Based on any one of the above embodiments, the handle is a rectangular frame, including a first short side, a first long side, a second short side, and a second long side that are sequentially connected;
a first distance sensor is arranged at the middle point of the first short side;
a second distance sensor is arranged at the middle point of the second short side;
third and fifth distance sensors are respectively arranged at the positions of the trisection points on the first long edge;
a fourth distance sensor and a sixth distance sensor are respectively arranged at the positions of the trisection points on the second long edge;
when the gripper is in an initial state, the first short side is parallel to the walking direction of the gripper, and the first long side is parallel to the translation direction of the gripper.
Based on any of the above embodiments, the gripping unit is specifically configured to:
if the first distance sensor, the third distance sensor and the fifth distance sensor detect the battery frame, and the second distance sensor, the fourth distance sensor and the sixth distance sensor do not detect the battery frame, the horizontal center position of the control gripper moves in the translation direction until the second distance sensor detects the battery frame;
The horizontal center position of the grip is controlled to move in the walking direction until the fourth distance sensor detects the battery frame;
and determining the rotation direction of the hand grip based on the position of the sixth distance sensor relative to the battery frame, and adjusting the rotation angle of the hand grip relative to the battery frame based on the rotation direction until the sixth distance sensor detects the battery frame.
Based on any of the above embodiments, the gripping unit is further specifically configured to:
if the first distance sensor, the third distance sensor and the fifth distance sensor detect the battery frame, and the second distance sensor, the fourth distance sensor and the sixth distance sensor do not detect the battery frame, the horizontal center position of the gripper is controlled to move in the walking direction until the fourth distance sensor detects the battery frame, and the first position of the fourth distance sensor is obtained;
continuously controlling the horizontal center position of the grip to move in the walking direction until the sixth distance sensor detects the battery frame, and acquiring the position of the sixth distance sensor and the second position of the fourth distance sensor;
determining a rotation angle adjustment amount and a rotation direction of the grip based on the first position and the second position of the fourth distance sensor, and the position of the sixth distance sensor;
Based on the rotation angle adjustment amount and the rotation direction of the gripper, the gripper is adjusted;
the horizontal center position of the gripper is controlled to move in the translation direction until the second distance sensor detects the battery frame;
the horizontal center position of the control grip moves in the traveling direction until the fourth and sixth distance sensors each detect the battery frame again.
Based on any of the above embodiments, further comprising:
the front wheel positioning unit is used for determining the position of the front wheel based on the measuring optical axis shielded by the front wheel of the working machine and the position of the measuring optical axis in the measuring light curtain when the working machine is in power-change parking;
the measuring light curtain is horizontally arranged in the power-changing parking area.
Based on any of the above embodiments, fig. 9 is a schematic structural diagram of an electronic device provided by the present invention, and as shown in fig. 9, the electronic device may include: processor (Processor) 910, communication interface (Communications Interface) 920, memory (Memory) 930, and communication bus (Communications Bus) 940, wherein Processor 910, communication interface 920, memory 930 complete communication with each other via communication bus 940. Processor 910 may invoke logic commands in memory 930 to perform the following method:
Determining the horizontal center position of the battery frame based on the position of the front wheel and the position relationship between the front wheel and the battery frame when the working machine is in power change and parking; determining the horizontal center position of a grip for performing power change operation based on the horizontal center position of the battery frame and a preset distance; based on the detection results of the plurality of distance sensors arranged on the periphery of the gripper on the battery frame, the horizontal center position of the gripper and the rotation angle of the gripper relative to the battery frame are adjusted until the distance sensors detect the battery frame, and the gripper is controlled to grab the battery frame.
In addition, the logic commands in the memory 930 described above may be implemented in the form of software functional units and may be stored in a computer readable storage medium when sold or used as a stand alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in the form of a software product stored in a storage medium, comprising several commands for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The processor in the electronic device provided by the embodiment of the invention can call the logic instruction in the memory to realize the method, and the specific implementation mode is consistent with the implementation mode of the method, and the same beneficial effects can be achieved, and the detailed description is omitted here.
Embodiments of the present invention also provide a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the methods provided by the above embodiments, for example, comprising:
determining the horizontal center position of the battery frame based on the position of the front wheel and the position relationship between the front wheel and the battery frame when the working machine is in power change and parking; determining the horizontal center position of a grip for performing power change operation based on the horizontal center position of the battery frame and a preset distance; based on the detection results of the plurality of distance sensors arranged on the periphery of the gripper on the battery frame, the horizontal center position of the gripper and the rotation angle of the gripper relative to the battery frame are adjusted until the distance sensors detect the battery frame, and the gripper is controlled to grab the battery frame.
When the computer program stored on the non-transitory computer readable storage medium provided by the embodiment of the present invention is executed, the above method is implemented, and the specific implementation manner of the method is consistent with the implementation manner of the foregoing method, and the same beneficial effects can be achieved, which is not repeated herein.
The embodiment of the invention also provides a computer program product, which comprises a computer program, and the steps of the battery grabbing method are realized when the computer program is executed by a processor.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several commands for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. A battery gripping method, characterized by comprising:
determining the horizontal center position of the battery frame based on the position of the front wheel and the position relationship between the front wheel and the battery frame when the working machine is in power change and parking;
determining the horizontal center position of a grip for performing power change operation based on the horizontal center position of the battery frame and a preset distance;
based on detection results of the battery frame by a plurality of distance sensors arranged on the periphery of the gripper, adjusting the horizontal center position of the gripper and the rotation angle of the gripper relative to the battery frame until the battery frame is detected by the distance sensors, and controlling the gripper to grasp the battery frame;
When the working machine is in power exchange and parking, the walking direction of the gripper is the advancing direction of the working machine, and the translation direction of the gripper is the perpendicular direction of the advancing direction of the working machine;
the gripper is a rectangular frame and comprises a first short side, a first long side, a second short side and a second long side which are sequentially connected;
a first distance sensor is arranged at the middle point of the first short side;
a second distance sensor is arranged at the middle point of the second short side;
third and fifth distance sensors are respectively arranged at the positions of the trisection points on the first long side;
a fourth distance sensor and a sixth distance sensor are respectively arranged at the positions of the third equally dividing points on the second long edge;
when the gripper is in an initial state, the first short side is parallel to the walking direction of the gripper, and the first long side is parallel to the translation direction of the gripper;
the detection results of the battery frame based on a plurality of distance sensors arranged on the periphery of the grip are used for adjusting the horizontal center position of the grip and the rotation angle of the grip relative to the battery frame until the distance sensors detect the battery frame, and the detection device comprises:
If the first distance sensor, the third distance sensor and the fifth distance sensor detect the battery frame, and the second distance sensor, the fourth distance sensor and the sixth distance sensor do not detect the battery frame, controlling the horizontal center position of the gripper to move in the translation direction until the second distance sensor detects the battery frame;
controlling the horizontal center position of the grip to move in the traveling direction until the fourth distance sensor detects the battery frame;
and determining the rotation direction of the hand grip based on the position of the sixth distance sensor relative to the battery frame, and adjusting the rotation angle of the hand grip relative to the battery frame based on the rotation direction until the sixth distance sensor detects the battery frame.
2. The battery gripping method according to claim 1, wherein the determining the horizontal center position of the battery frame based on the position of the front wheel when the work machine is stopped with the power change and the positional relationship between the front wheel and the battery frame, previously comprises:
when the working machine is in power change and parking, determining the position of the front wheel based on a measuring optical axis shielded by the front wheel of the working machine and the position of the measuring optical axis in a measuring light curtain;
The measuring light curtain is horizontally arranged in the power-changing parking area.
3. A battery gripping method, characterized by comprising:
determining the horizontal center position of the battery frame based on the position of the front wheel and the position relationship between the front wheel and the battery frame when the working machine is in power change and parking;
determining the horizontal center position of a grip for performing power change operation based on the horizontal center position of the battery frame and a preset distance;
based on detection results of the battery frame by a plurality of distance sensors arranged on the periphery of the gripper, adjusting the horizontal center position of the gripper and the rotation angle of the gripper relative to the battery frame until the battery frame is detected by the distance sensors, and controlling the gripper to grasp the battery frame;
when the working machine is in power exchange and parking, the walking direction of the gripper is the advancing direction of the working machine, and the translation direction of the gripper is the perpendicular direction of the advancing direction of the working machine; the gripper is a rectangular frame and comprises a first short side, a first long side, a second short side and a second long side which are sequentially connected;
a first distance sensor is arranged at the middle point of the first short side;
A second distance sensor is arranged at the middle point of the second short side;
third and fifth distance sensors are respectively arranged at the positions of the trisection points on the first long side;
a fourth distance sensor and a sixth distance sensor are respectively arranged at the positions of the third equally dividing points on the second long edge;
when the gripper is in an initial state, the first short side is parallel to the walking direction of the gripper, and the first long side is parallel to the translation direction of the gripper;
the detection results of the battery frame based on a plurality of distance sensors arranged on the periphery of the grip are used for adjusting the horizontal center position of the grip and the rotation angle of the grip relative to the battery frame until the distance sensors detect the battery frame, and the detection device comprises:
if the first distance sensor, the third distance sensor and the fifth distance sensor detect the battery frame, and the second distance sensor, the fourth distance sensor and the sixth distance sensor do not detect the battery frame, controlling the horizontal center position of the gripper to move in the walking direction until the fourth distance sensor detects the battery frame, and acquiring the first position of the fourth distance sensor;
Continuously controlling the horizontal center position of the grip to move in the walking direction until the sixth distance sensor detects the battery frame, and acquiring the position of the sixth distance sensor and the second position of the fourth distance sensor;
determining a rotation angle adjustment amount and a rotation direction of the grip based on the first position and the second position of the fourth distance sensor, and the position of the sixth distance sensor;
adjusting the grip based on the rotation angle adjustment amount and the rotation direction of the grip;
controlling the horizontal center position of the grip to move in the translational direction until the second distance sensor detects the battery frame;
and controlling the horizontal center position of the grip to move in the traveling direction until the fourth distance sensor and the sixth distance sensor both detect the battery frame again.
4. A battery gripping apparatus, comprising:
the battery frame positioning unit is used for determining the horizontal center position of the battery frame based on the position of the front wheel and the position relationship between the front wheel and the battery frame when the working machine is in power-changing and parking;
the gripper positioning unit is used for determining the horizontal center position of the gripper for carrying out power change operation based on the horizontal center position of the battery frame and a preset distance;
The grabbing unit is used for adjusting the horizontal center position of the grab and the rotation angle of the grab relative to the battery frame based on the detection results of the plurality of distance sensors arranged on the periphery of the grab on the battery frame until the distance sensors detect the battery frame, and controlling the grab to grab the battery frame;
when the working machine is in power exchange and parking, the walking direction of the gripper is the advancing direction of the working machine, and the translation direction of the gripper is the perpendicular direction of the advancing direction of the working machine;
the gripper is a rectangular frame and comprises a first short side, a first long side, a second short side and a second long side which are sequentially connected;
a first distance sensor is arranged at the middle point of the first short side;
a second distance sensor is arranged at the middle point of the second short side;
third and fifth distance sensors are respectively arranged at the positions of the trisection points on the first long side;
a fourth distance sensor and a sixth distance sensor are respectively arranged at the positions of the third equally dividing points on the second long edge;
when the gripper is in an initial state, the first short side is parallel to the walking direction of the gripper, and the first long side is parallel to the translation direction of the gripper;
The grabbing unit is specifically used for:
if the first distance sensor, the third distance sensor and the fifth distance sensor detect the battery frame, and the second distance sensor, the fourth distance sensor and the sixth distance sensor do not detect the battery frame, controlling the horizontal center position of the gripper to move in the translation direction until the second distance sensor detects the battery frame;
controlling the horizontal center position of the grip to move in the traveling direction until the fourth distance sensor detects the battery frame;
and determining the rotation direction of the hand grip based on the position of the sixth distance sensor relative to the battery frame, and adjusting the rotation angle of the hand grip relative to the battery frame based on the rotation direction until the sixth distance sensor detects the battery frame.
5. A battery gripping apparatus, comprising:
the battery frame positioning unit is used for determining the horizontal center position of the battery frame based on the position of the front wheel and the position relationship between the front wheel and the battery frame when the working machine is in power-changing and parking;
the gripper positioning unit is used for determining the horizontal center position of the gripper for carrying out power change operation based on the horizontal center position of the battery frame and a preset distance;
The grabbing unit is used for adjusting the horizontal center position of the grab and the rotation angle of the grab relative to the battery frame based on the detection results of the plurality of distance sensors arranged on the periphery of the grab on the battery frame until the distance sensors detect the battery frame, and controlling the grab to grab the battery frame;
when the working machine is in power exchange and parking, the walking direction of the gripper is the advancing direction of the working machine, and the translation direction of the gripper is the perpendicular direction of the advancing direction of the working machine;
the gripper is a rectangular frame and comprises a first short side, a first long side, a second short side and a second long side which are sequentially connected;
a first distance sensor is arranged at the middle point of the first short side;
a second distance sensor is arranged at the middle point of the second short side;
third and fifth distance sensors are respectively arranged at the positions of the trisection points on the first long side;
a fourth distance sensor and a sixth distance sensor are respectively arranged at the positions of the third equally dividing points on the second long edge;
when the gripper is in an initial state, the first short side is parallel to the walking direction of the gripper, and the first long side is parallel to the translation direction of the gripper;
The grabbing unit is specifically used for:
if the first distance sensor, the third distance sensor and the fifth distance sensor detect the battery frame, and the second distance sensor, the fourth distance sensor and the sixth distance sensor do not detect the battery frame, controlling the horizontal center position of the gripper to move in the walking direction until the fourth distance sensor detects the battery frame, and acquiring the first position of the fourth distance sensor;
continuously controlling the horizontal center position of the grip to move in the walking direction until the sixth distance sensor detects the battery frame, and acquiring the position of the sixth distance sensor and the second position of the fourth distance sensor;
determining a rotation angle adjustment amount and a rotation direction of the grip based on the first position and the second position of the fourth distance sensor, and the position of the sixth distance sensor;
adjusting the grip based on the rotation angle adjustment amount and the rotation direction of the grip;
controlling the horizontal center position of the grip to move in the translational direction until the second distance sensor detects the battery frame;
And controlling the horizontal center position of the grip to move in the traveling direction until the fourth distance sensor and the sixth distance sensor both detect the battery frame again.
6. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the battery gripping method according to any of claims 1 to 3 when the program is executed.
7. A non-transitory computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the steps of the battery gripping method according to any one of claims 1 to 3.
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| CN115683017A (en) * | 2022-10-12 | 2023-02-03 | 三一锂能有限公司 | Battery positioning method, device, equipment, storage medium and battery replacement station |
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| CN112549054A (en) * | 2020-11-20 | 2021-03-26 | 浙江吉利控股集团有限公司 | Battery replacement gripping device and control method for same |
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| DE19621668A1 (en) * | 1996-05-30 | 1997-12-04 | Uwe Kochanneck | Multi=block robot system e.g. for logistics and power supply to electric vehicles |
| CN102431527B (en) * | 2011-10-21 | 2014-04-09 | 国家电网公司 | Application method of vehicle battery pack replacement device |
| CN102620662B (en) * | 2012-04-20 | 2015-04-01 | 无锡普智联科高新技术有限公司 | Light curtain-based vehicle size automatic measuring system and measuring method thereof |
| CN105059262B (en) * | 2015-07-31 | 2017-10-24 | 谢子聪 | A kind of portable electricity applying system for electric passenger vehicle dynamic battery changing |
| CN106379290A (en) * | 2016-10-15 | 2017-02-08 | 南通中远重工有限公司 | Electric automobile battery replacement system and battery replacement method based on system |
| CN207631205U (en) * | 2017-09-29 | 2018-07-20 | 深圳精智机器有限公司 | A kind of intensive style electric motor coach electric charging station |
| CN114834300A (en) * | 2018-09-10 | 2022-08-02 | 奥动新能源汽车科技有限公司 | Tray extension positioning method and system |
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Effective date of registration: 20230704 Address after: 410100 201, Floor 2, Maker Building, Sany Industrial City, No. 1, Sany Road, Changsha Economic Development Zone, Changsha, Hunan Province, China (Hunan) Pilot Free Trade Zone Patentee after: Sany Lithium Energy Co.,Ltd. Address before: 102206 5th floor, building 6, 8 Beiqing Road, Changping District, Beijing Patentee before: SANY HEAVY INDUSTRY Co.,Ltd. |