CN115366100A - Visual grabbing system and grabbing method for replacing battery of heavy truck - Google Patents
Visual grabbing system and grabbing method for replacing battery of heavy truck Download PDFInfo
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- CN115366100A CN115366100A CN202210997035.1A CN202210997035A CN115366100A CN 115366100 A CN115366100 A CN 115366100A CN 202210997035 A CN202210997035 A CN 202210997035A CN 115366100 A CN115366100 A CN 115366100A
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- battery
- battery module
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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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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- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
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Abstract
The invention discloses a visual grabbing system and a grabbing method for replacing batteries with heavy trucks, wherein the system comprises a 3D camera, a control unit, a 3D intelligent positioning system and an aerial crane manipulator; the method comprises the following steps that a 3D camera collects the outline of a frame for fixing a battery module to establish a 3D model, and transmits the established 3D model to a 3D intelligent positioning system; the method comprises the following steps that a 3D intelligent positioning system calculates to obtain space coordinate information of a battery module and a frame for fixing the battery module; the control unit is used for receiving the space coordinate information, controlling the aerial lift manipulator to move to a corresponding grabbing coordinate point and replacing the battery of the electric heavy truck; the aerial lift manipulator is arranged upside down above the electric heavy truck. Through the 3D model of 3D camera and 3D intelligent positioning system location collection electronic heavily block battery module and boat crane manipulator, and then try to get actual dimensions and spatial position coordinate to carry out accurate quick change to electronic heavily block battery module through the control unit control boat crane manipulator.
Description
Technical Field
The invention belongs to the technical field of electric vehicle battery replacement, and particularly relates to a visual grabbing system and a grabbing method for replacing batteries of a heavy truck.
Background
The reason why the electric truck is difficult to be used commercially is that the comprehensive cruising ability of the electric truck needs to be improved, and in addition to increasing the capacity of the battery of the electric truck, the replenishing speed of the battery of the electric truck needs to be improved. The battery can be supplemented in the following ways: slow charging, quick charging and mechanical charging. The electric truck requires high efficiency in operation, and therefore, requires high time efficiency. For slow and fast charging, the fastest charge time is one hour for electric vehicles with low battery capacity, and the one hour time cost is very expensive for electric trucks. And mechanical charging, namely directly replacing the battery, can replace the battery of the electric automobile in only a few minutes to ensure that the battery of the electric automobile is in a full state. Similarly, if a mechanical charging method is used for the electric truck, the battery recharging time of the electric truck is shortened to about ten minutes, which provides an important condition for large-scale commercialization of the electric truck.
In chinese invention patent No. CN201910895333.8, a battery replacement device for an electric truck is disclosed, comprising: the track is fixed on the ground and is made of strip steel; the rail car consists of a rail car platform, a rail car driving system and a protective cover, and the bottom of the rail car is provided with a rail groove; the mechanical arm comprises a mechanical arm base, a mechanical arm base rotating system, a first section of mechanical support arm driving motor, a first section of mechanical support arm speed reducer, a second section of mechanical support arm driving motor, a second section of mechanical support arm speed reducer, a working arm driving motor and a working arm speed reducer; the vacuum chuck is fixed on the working arm of the mechanical arm; the control system comprises a controller, a time module, a control module, a signal module, a positioning module, a sensor module and an alarm module, and a power supply supplies power to the rail car, the mechanical arm and the control system, wherein the sensor comprises a visual sensor and an infrared sensor; the vacuum chuck is installed on the mechanical arm, the mechanical arm is installed on a rail car, the rail car is placed on a rail and moves on the rail, the rail car limits the rail car in the rail through a rail groove, the rail is fixed on the ground in a linear mode, the rail takes any one end of the rail car as an initial position, the initial position of the rail car is located at the initial position of the rail, and the control system controls the movement of the rail car, the movement of the mechanical arm and the working of the vacuum chuck.
The existing patent has the defects that although the battery of the electric truck is quickly replaced, the effect of quickly replacing and electrifying the battery of the truck is achieved; however, the size of the battery produced by different manufacturers or the position of the corresponding grabbing structure of the electric truck is not fixed, so that the battery replacing position of each electric truck and the size of the grabbing wall are correspondingly different, and the grabbing position is not adjusted in the prior art, and the position and the size of the battery are visually identified, so that the heavy truck battery is manually replaced in a matched manner.
Disclosure of Invention
The invention provides a visual grasping system and a grasping method for replacing batteries of heavy trucks, which aim to solve the problems that the current battery replacing position and the size of a grasping wall of each electric truck are correspondingly different, and the prior art is lack of visual identification of grasping position adjustment and battery position and size.
In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows:
a visual grabbing system for replacing batteries of a heavy truck comprises a 3D camera, a control unit, a 3D intelligent positioning system and an aerial crane manipulator;
the method comprises the following steps that a 3D camera collects outlines of a battery module of the electric heavy truck and a frame for fixing the battery module to establish a 3D model, and the established 3D model is transmitted to a 3D intelligent positioning system;
the 3D intelligent positioning system analyzes the 3D model and calculates to obtain the space coordinate information of the battery module and the frame for fixing the battery module;
the control unit is used for receiving the space coordinate information, analyzing and controlling the aerial crane manipulator to move to a corresponding grabbing coordinate point, taking out the feed battery, grabbing the fully charged battery and placing the fully charged battery at a fixed position;
the aerial crane manipulator is inverted above the electric heavy truck, and the electric control aerial crane manipulator space range through the control unit can be freely moved to correspondingly grab the coordinate point and correspondingly place the coordinate point.
Further, the 3D camera collects pictures of the upper end face of the frame for fixing the battery module and outputs the pictures as a cloud point picture of the upper end face of the frame for fixing the battery module; the upper end surface of the frame for fixing the battery module is formed by connecting transverse and longitudinal rods in a staggered manner.
Furthermore, the grabbing point of the crane manipulator is the cross connection part of the transverse rods and the longitudinal rods.
Furthermore, when the 3D camera collects the picture of the upper end face of the frame for fixing the battery module, the spatial position relation between a fixed size reference object and the upper end face of the frame for fixing the battery module is also collected.
Further, the spatial coordinate information of the battery module and the frame for fixing the battery module is calculated by adopting an equal-proportion scaling method; the equal scaling method comprises the following steps:
s10, comparing the size of the fixed-size reference object in the 3D model with the size of the real fixed-size reference object and the point cloud coordinates to obtain the ratio of the sizes of the virtual 3D model and the fixed-size reference object;
and S20, multiplying the size of the upper end face of the frame for fixing the battery module in the 3D model by the point cloud coordinate in the step S10 to obtain the size of each transverse and longitudinal rod of the upper end face of the frame for fixing the battery module and the point cloud coordinate of the connecting point.
Further, the 3D camera collects the contour of the aerial crane manipulator in real time to establish a 3D model, and transmits the established 3D model to the 3D intelligent positioning system; meanwhile, the space coordinate information of the aerial crane manipulator is obtained through analysis and calculation of a 3D intelligent positioning system; and the control unit is used for comprehensively calculating the space coordinate information of the aerial crane manipulator and the space displacement difference value of each grabbing point on the upper end face of the frame for fixing the battery module, and preferentially selecting the grabbing point with the shortest moving path to grab the upper end face of the frame for fixing the battery module.
A visual grabbing method for replacing batteries by a heavy truck comprises the following steps:
s1, carrying out contour scanning on a battery by a high-precision 3D camera before battery replacement, and establishing a 3D model;
s2, the 3D camera carries out space position identification on the outline of the battery according to the scanning result;
s3, accurately grabbing a feed battery by the aid of the aerial crane manipulator according to the spatial position coordinate calculated by the 3D camera system;
and S4, grabbing the fully charged battery by the aid of the aerial crane manipulator, accurately carrying the battery through the space coordinate calculated by the 3D camera, and placing the battery on a truck battery placing position.
Compared with the prior art, the invention has the following beneficial effects:
through the 3D model of 3D camera and 3D intelligent positioning system location collection electronic heavily block battery module and boat crane manipulator, and then try to get actual dimensions and spatial position coordinate to carry out accurate quick change to electronic heavily block battery module through the control unit control boat crane manipulator.
Drawings
FIG. 1 is a block diagram of a vision capture system for reloading batteries according to the present invention;
fig. 2 is a flowchart of a visual grasping method for replacing a power card according to the present invention.
The notation in the figure is: the system comprises a 10-3D camera, a 20-control unit, a 30-3D intelligent positioning system, a 40-aerial crane manipulator, a 50-fixed-size reference object, a 60-frame upper end face, a 401-aerial crane lifting gear set and a 402-manipulator.
Detailed Description
In order to facilitate understanding of those skilled in the art, the present invention is further described below with reference to the following examples and the accompanying drawings, which are not intended to limit the present invention.
As shown in fig. 1, a vision grasping system for replacing a heavy truck includes a 3D camera 10, a control unit 20, a 3D intelligent positioning system 30, and an aerial crane manipulator 40; the 3D camera 10 collects the outlines of the battery module of the electric heavy truck and the frame for fixing the battery module to establish a 3D model, and transmits the established 3D model to the 3D intelligent positioning system 30; the 3D camera 10 collects pictures of the upper end face 60 of the frame for fixing the battery module and outputs the pictures as a point cloud picture of the upper end face 60 of the frame for fixing the battery module; the upper end face 60 of the frame for fixing the battery module is formed by connecting transverse and longitudinal rods in a staggered manner. The upper end surface 60 of the frame of the battery module with the cross-connecting transverse rods and the cross-connecting longitudinal rods is more convenient for the pawls to grab the connecting points of the battery module.
The grabbing point of the aerial crane manipulator 40 is the cross connection part of the transverse rods and the longitudinal rods. When the cross and longitudinal rod cross connection part is grabbed, the stress of the whole frame for fixing the battery module is uniform, and the frame cannot topple or turn over during the lifting process.
The 3D intelligent positioning system 30 analyzes the 3D model and calculates to obtain the space coordinate information of the battery module and the frame for fixing the battery module;
the control unit 20 is configured to receive the spatial coordinate information, analyze and control the gantry crane manipulator 40 to move to a corresponding capture coordinate point, take out the fed battery, and capture and place the fully charged battery at a fixed position;
the gantry crane manipulator 40240 is arranged upside down above the electric heavy truck, and can be moved to a corresponding capture coordinate point and a corresponding placing coordinate point within a space range by electrically controlling the gantry crane manipulator 40240 by the control unit 20. The aerial lift manipulator 40 comprises an aerial lift gear set 401 and a manipulator 402; the aerial lift gear set 401 provides the ascending removal of vertical direction, and manipulator 402 adopts the slide rail slider structure, and the pawl is installed to the slider bottom surface, and all pawls are under four sliders's effects under the normal conditions, retrieve and gather together at the middle part, and when the slide rail rose to the frame up end 60 of fixed battery module, the drive slider moved to both ends to horizontal pole and vertical pole staggered joint department and stopped again, then started aerial lift gear set 401 and snatched whole electronic heavily calorie of battery module and frame.
When the 3D camera 10 collects the picture of the upper end face 60 of the frame for fixing the battery module, it also collects a fixed size reference object 50 and the spatial position relationship between the fixed size reference object 50 and the upper end face 60 of the frame for fixing the battery module. The fixed-size reference object 50 serves as a reference object for calculating the size of the frame for fixing the battery module and the coordinate value of the grasping point.
Calculating the space coordinate information of the battery module and the frame for fixing the battery module by adopting an equal scaling method; the equal scaling method comprises the following steps:
s10, comparing the size of the fixed-size reference object 50 in the 3D model with the size of the real fixed-size reference object 50 and the point cloud coordinates to obtain the ratio of the size of the virtual 3D model to the size of the fixed-size reference object 50;
and S20, multiplying the size of the upper end surface 60 of the frame for fixing the battery module in the 3D model by the point cloud coordinate in the step S10 to obtain the size of each transverse and longitudinal rod of the upper end surface 60 of the frame for fixing the battery module and the point cloud coordinate of the connecting point. The reference points selected by the fixed-size reference object 50 are different, and the size calculated by the upper end surface 60 of the frame for fixing the battery module and the point cloud coordinates of the connection points have certain error, so that a relatively accurate real mapping value can be obtained by further adopting an averaging method or a peak clipping and valley filling method.
The 3D camera 10 also collects the contour of the aerial crane manipulator 40 in real time to establish a 3D model, and transmits the established 3D model to the 3D intelligent positioning system 30; meanwhile, the 3D intelligent positioning system 30 analyzes and calculates to obtain the spatial coordinate information of the gantry crane manipulator 40; and the control unit 20 comprehensively calculates the spatial coordinate information of the aerial crane manipulator 40 and the spatial displacement difference of each grabbing point of the frame upper end surface 60 for fixing the battery module, and preferentially selects the grabbing point with the shortest moving path to grab the frame upper end surface 60 for fixing the battery module. In order to further obtain each real value of the aerial crane manipulator 40, the control unit 20 is convenient to calculate the optimal path and the most labor-saving grabbing point for the aerial crane manipulator 40 to grab the frame for fixing the battery module.
As shown in fig. 2, a visual grasping method for replacing a card includes the steps of: s1, carrying out contour scanning on a battery by a high-precision 3D camera 10 before battery replacement, and establishing a 3D model; s2, the 3D camera 10 identifies the space position of the outline of the battery according to the scanning result; s3, accurately capturing the feed battery by the aid of the aerial crane manipulator 40 according to the spatial position coordinates calculated by the 3D camera 10 system; and S4, grabbing the fully charged battery by the crane manipulator 40, and accurately carrying and placing the battery on a truck battery placing position through the space coordinate calculated by the 3D camera 10.
The above detailed description is given to the vision grasping system and the grasping method for replacing batteries of the heavy truck. The description of the specific embodiments is only intended to facilitate an understanding of the system of the present application and its core ideas. It should be noted that, for those skilled in the art, it is possible to make several improvements and modifications to the present application without departing from the principle of the present application, and such improvements and modifications also fall within the scope of the claims of the present application.
Claims (7)
1. The vision grabbing system for replacing batteries of the heavy truck is characterized by comprising a 3D camera (10), a control unit (20), a 3D intelligent positioning system (30) and an aerial crane manipulator (40);
the method comprises the following steps that a 3D camera (10) collects outlines of a battery module of the electric heavy truck and a frame for fixing the battery module to establish a 3D model, and transmits the established 3D model to a 3D intelligent positioning system (30);
the 3D intelligent positioning system (30) analyzes the 3D model and calculates to obtain the space coordinate information of the battery module and a frame for fixing the battery module;
the control unit (20) is used for receiving the space coordinate information, analyzing and controlling the aerial crane manipulator (40) to move to a corresponding grabbing coordinate point, taking out the feed battery, grabbing the fully charged battery and placing the fully charged battery to a fixed position;
the aerial crane manipulator (40) is arranged above the electric heavy truck in an inverted mode, and the aerial crane manipulator (40) can be moved to correspondingly grab coordinate points and correspondingly place coordinate points within a space range through electric control of the control unit (20).
2. The vision grabbing system for heavy battery trucks and replacements as set forth in claim 1, wherein the 3D camera (10) collects pictures of the upper end surface (60) of the frame for fixing the battery module and outputs the pictures as a cloud point image of the upper end surface (60) of the frame for fixing the battery module; the upper end surface (60) of the frame for fixing the battery module is formed by connecting transverse and longitudinal rods in a staggered manner.
3. The vision grasping system for heavy truck changing according to claim 2, characterized in that the grasping point of the gantry robot (402) (40) is a cross bar and longitudinal bar connection.
4. The vision grasping system for battery replacement according to claim 3, wherein the 3D camera (10) further captures a fixed dimension reference (50) and a spatial position relationship between the fixed dimension reference (50) and the upper end face (60) of the frame for fixing the battery module when capturing the picture of the upper end face (60) of the frame for fixing the battery module.
5. The vision grabbing system for heavy truck battery replacement as claimed in claim 4, wherein the spatial coordinate information of the frame for calculating the battery module and fixing the battery module adopts an equal scaling method; the equal scaling method comprises the following steps:
s10, comparing the size of the fixed-size reference object (50) in the 3D model with the size of the real fixed-size reference object (50) and the point cloud coordinates to obtain the ratio of the sizes of the virtual 3D model and the fixed-size reference object (50);
and S20, multiplying the size of the upper end surface (60) of the frame for fixing the battery module in the 3D model by the point cloud coordinate in the step S10 to obtain the size of each transverse and longitudinal rod of the upper end surface (60) of the frame for fixing the battery module and the point cloud coordinate of the connecting point.
6. The vision grabbing system for reloading batteries according to claim 5, wherein the 3D camera (10) further collects the contour of the gantry crane manipulator (40) in real time to build a 3D model, and transmits the built 3D model to the 3D intelligent positioning system (30); meanwhile, the space coordinate information of the aerial crane manipulator (40) is obtained through analysis and calculation of the 3D intelligent positioning system (30); and the spatial coordinate information of the aerial crane manipulator (40) and the spatial displacement difference of each grabbing point of the upper end surface (60) of the frame for fixing the battery module are comprehensively calculated through the control unit (20), and the grabbing point with the shortest moving path is selected preferentially to grab the upper end surface (60) of the frame for fixing the battery module.
7. A visual grabbing method for replacing batteries of a heavy truck is characterized by comprising the following steps:
s1, carrying out contour scanning on a battery by a high-precision 3D camera (10) before battery replacement, and establishing a 3D model;
s2, the 3D camera (10) carries out space position identification on the outline of the battery according to the scanning result;
s3, accurately grabbing a feed battery by the aid of the aerial crane manipulator (40) according to the spatial position coordinate calculated by the 3D camera (10) system;
and S4, grabbing the fully charged battery by the aid of the aerial crane manipulator (40), accurately carrying the battery through the space coordinate calculated by the 3D camera (10), and placing the battery on a truck battery placing position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210997035.1A CN115366100A (en) | 2022-08-19 | 2022-08-19 | Visual grabbing system and grabbing method for replacing battery of heavy truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210997035.1A CN115366100A (en) | 2022-08-19 | 2022-08-19 | Visual grabbing system and grabbing method for replacing battery of heavy truck |
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| Publication Number | Publication Date |
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| CN115366100A true CN115366100A (en) | 2022-11-22 |
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| CN202210997035.1A Withdrawn CN115366100A (en) | 2022-08-19 | 2022-08-19 | Visual grabbing system and grabbing method for replacing battery of heavy truck |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117533272A (en) * | 2024-01-09 | 2024-02-09 | 河南新科起重机股份有限公司 | Automatic replacement system and method for heavy-duty truck battery based on machine vision |
-
2022
- 2022-08-19 CN CN202210997035.1A patent/CN115366100A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117533272A (en) * | 2024-01-09 | 2024-02-09 | 河南新科起重机股份有限公司 | Automatic replacement system and method for heavy-duty truck battery based on machine vision |
| CN117533272B (en) * | 2024-01-09 | 2024-03-22 | 河南新科起重机股份有限公司 | Automatic replacement system and method for heavy-duty truck battery based on machine vision |
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Application publication date: 20221122 |
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