CN116923171A - Telescopic position positioning method, system, equipment and medium of battery exchange equipment - Google Patents

Telescopic position positioning method, system, equipment and medium of battery exchange equipment Download PDF

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Publication number
CN116923171A
CN116923171A CN202210351333.3A CN202210351333A CN116923171A CN 116923171 A CN116923171 A CN 116923171A CN 202210351333 A CN202210351333 A CN 202210351333A CN 116923171 A CN116923171 A CN 116923171A
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CN
China
Prior art keywords
battery
vehicle
positioning
information
preset
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Pending
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CN202210351333.3A
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Chinese (zh)
Inventor
张建平
倪波
唐欣然
胡淼国
赵明焕
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Aulton New Energy Automotive Technology Co Ltd
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Aulton New Energy Automotive Technology Co Ltd
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Priority to CN202210351333.3A priority Critical patent/CN116923171A/en
Publication of CN116923171A publication Critical patent/CN116923171A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/80—Exchanging energy storage elements, e.g. removable batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/36—Vehicles designed to transport cargo, e.g. trucks
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)

Abstract

The invention discloses a telescopic position positioning method, a telescopic position positioning system, telescopic position positioning equipment and a telescopic position positioning medium for a battery replacement device, wherein the method comprises the following steps: acquiring positioning trigger information in the process that the battery changing equipment moves towards a preset extending position or a preset retracting position; and obtaining a movement adjustment amount according to the positioning trigger information, wherein the movement adjustment amount is used for positioning the battery exchange equipment to an extending position or a retracting position. According to the invention, based on positioning trigger detection, timeliness and accuracy of positioning of the telescopic position of the battery replacement equipment are ensured, and further execution efficiency and accuracy of the battery disassembly or transportation operation on the battery replacement vehicle are ensured.

Description

Telescopic position positioning method, system, equipment and medium of battery exchange equipment
Technical Field
The invention relates to the technical field of new energy power conversion control, in particular to a telescopic position positioning method, a telescopic position positioning system, telescopic position positioning equipment and a telescopic position positioning medium of power conversion equipment.
Background
With the development and popularization of new energy vehicles, the battery pack quick-change technology also develops rapidly. At present, the development of quick-change technology of small passenger cars is most mature, and batteries of the passenger cars are fixed on a chassis of the car, so that when a battery pack is replaced, special battery replacement equipment is required to be moved to the bottom of the car for battery disassembly or installation. Moreover, due to the small weight of the passenger car, the volume of the battery pack is relatively small, and the operability of battery replacement is very convenient.
However, for large vehicles, such as heavy trucks and light trucks, the vehicle body and cargo weight are large, resulting in large vehicles requiring a high battery pack capacity that must be large enough to support hundreds of kilometers of travel. Therefore, in the prior art, large battery containers of a new energy series are fixed on a girder of a vehicle in a top hanging mode, and the battery containers are arranged close to a cab, so that larger potential safety hazards are brought to a driver and the vehicle in the driving process and the top hanging power change process; if the battery fails, the driver is directly injured. In addition, the lifting mode has high requirements on the place of the power exchange station, and the power exchange station is required to have a large enough area to execute the battery transferring and the battery storing of the lifting equipment, so that the station building cost is high.
Therefore, for large vehicles, there is a strong need for a safer and more reliable power conversion mode that is easy to popularize. For example, a chassis-type power conversion mode of a passenger car is adopted. In the chassis type power exchange mode, before the battery pack is detached or installed, the power exchange equipment (or called a power exchange trolley) is controlled to be moved to a power exchange position below the power exchange trolley, and then lifting operation of a power exchange platform on the power exchange equipment and battery pack detachment or installation operation are performed to complete the whole power exchange process.
However, in the existing battery-changing device control mode, generally, a walking control scheme is pre-written, and the vehicle type of the same battery-changing vehicle moves to the bottom of the corresponding battery-changing vehicle according to the preset walking amount under the preset walking control scheme; however, the traveling control scheme does not consider the situation that the traveling control scheme can slip and the like for the heavy battery replacement equipment (particularly when carrying a battery pack with heavy weight), so that the vehicle bottom position reached according to the preset traveling quantity is not the preset battery replacement position at all, and the position deviation exists between the traveling control scheme and the vehicle bottom position, and finally the follow-up battery replacement operation cannot be effectively completed, and the actual battery replacement requirement cannot be met.
Disclosure of Invention
The invention aims to overcome the defect that in the prior art, the power conversion control in the power conversion scene of heavy cards or light cards and the like cannot meet the actual requirements, and provides a telescopic position positioning method, a telescopic position positioning system, telescopic position positioning equipment and a telescopic position positioning medium of power conversion equipment.
The invention solves the technical problems by the following technical scheme:
the invention provides a telescopic position positioning method of a battery changing device, which is applied to the battery changing device for carrying out bottom battery changing on a battery changing vehicle, wherein the battery changing device is arranged to move back and forth in a battery changing channel in a telescopic manner so as to disassemble, assemble or transport a battery on the battery changing vehicle;
The telescopic position positioning method comprises the following steps:
acquiring positioning trigger information in the process that the battery changing equipment moves towards a preset extending position or a preset retracting position;
and obtaining a movement adjustment amount according to the positioning trigger information, wherein the movement adjustment amount is used for positioning the battery changing equipment to the extending position or the retracting position.
In this scheme, trade electrical equipment when carrying out flexible removal in trading the electrical channel, once obtain location triggering information, then automatic generation continues the removal adjustment volume that stretches out or withdraws to with changing electrical equipment location to the flexible position of settlement based on removal adjustment volume, with accomplishing dismouting or transportation to battery on the vehicle that trades, promptly based on location triggering detection, guaranteed the timeliness and the degree of accuracy that flexible position of changing electrical equipment was fixed a position, and then guaranteed the execution efficiency and the precision to battery's on the vehicle that trades dismouting or transportation operation.
Preferably, a detection mechanism is arranged at a preset position of the power conversion channel;
the step of acquiring positioning trigger information in the process that the battery changing equipment moves towards a preset extending position or a preset retracting position comprises the following steps:
acquiring a detection position arrival signal acquired or triggered by the detection mechanism in the process that the battery changing equipment moves towards the preset extending position or the preset retracting position;
And generating the positioning trigger information according to the detection bit arrival signal.
In the scheme, the detection mechanism is arranged in the power exchange channel, the corresponding setting quantity and positions are determined or adjusted according to the actual power exchange scene and the actual requirements, the arrival signals reaching the locating points are collected in time, the trigger information is generated, and the timeliness and the reliability of the determination of the movement adjustment quantity are ensured.
Preferably, the step of obtaining the movement adjustment amount according to the positioning trigger information includes:
acquiring actual position information of the vehicle stop of the replacement vehicle;
the movement adjustment amount is obtained based on the actual position information and the first position information of the detection mechanism.
In the scheme, based on the actual stop position of the battery changing vehicle and the corresponding position of the detection mechanism, the walking amount of the battery changing device positioned to the preset extending or retracting position is directly calculated, and the accuracy of the walking amount acquisition is ensured.
Preferably, an image acquisition unit is arranged at a preset position of the power conversion channel;
the step of obtaining the actual position information of the vehicle stop of the vehicle comprises the following steps:
acquiring actual image information of the battery-powered vehicle through the image acquisition unit;
And obtaining the actual position information of the vehicle stop of the vehicle on the basis of the actual image information.
In the scheme, the image of the battery-changing vehicle is timely acquired and shot based on the image acquisition unit, the actual parking position of the battery-changing vehicle is timely and accurately analyzed and obtained, and further the follow-up movement adjustment amount is timely and effectively acquired.
Preferably, a ranging sensor is arranged at a preset position of the power conversion channel;
the step of obtaining the actual position information of the vehicle stop of the vehicle comprises the following steps:
acquiring actual distance information between the distance measuring sensor and the vehicle change by the distance measuring sensor;
and obtaining the actual position information of the vehicle stop of the vehicle on the basis of the actual distance information.
In the scheme, the distance measurement sensor is used for acquiring the actual distance between the distance measurement sensor and the battery change vehicle in real time, so that the actual parking position of the battery change vehicle is calculated, and further, the follow-up movement adjustment amount is ensured to be effectively acquired in time.
Preferably, the power conversion equipment is provided with an image acquisition device;
the step of acquiring positioning trigger information in the process that the battery changing equipment moves towards a preset extending position or a preset retracting position comprises the following steps:
When the battery replacing equipment moves to a preset area, acquiring target image information of a target acquisition position in real time through the image acquisition device;
judging whether the acquired target image information meets a preset condition, and generating the positioning trigger information when the acquired target image information meets the preset condition.
In the scheme, the image at the set acquisition point is acquired in real time based on the image acquisition device, whether preset conditions are met or not is analyzed and determined based on the acquired image, and positioning trigger information is generated once the preset conditions are met, so that the mobile adjustment quantity of the battery replacement equipment reaching the positioning point is timely determined, the timeliness and the accuracy of positioning the telescopic position of the battery replacement equipment are guaranteed, and the execution efficiency and the accuracy of the battery disassembly or transportation operation on the battery replacement vehicle are further guaranteed.
Preferably, the target acquisition positions are at least two marking points arranged at the bottom of the electric vehicle;
the step of judging whether the acquired target image information meets a preset condition comprises the following steps:
acquiring the number of the mark points contained in the target image information;
judging whether the number of the marking points is at least two, if yes, judging that the target image information meets the preset condition.
In the scheme, based on the number of the marking points contained in the image, whether the power conversion equipment reaches the movement adjustment amount of the positioning points or not is determined and calculated, positioning trigger information is generated once at least two of the movement adjustment amounts are met, timeliness of positioning trigger information generation is guaranteed, and further precision of telescopic position positioning control is guaranteed.
Preferably, the step of obtaining the movement adjustment amount according to the positioning trigger information includes:
acquiring the target image information meeting the preset condition;
and obtaining the movement adjustment amount based on the actual position of the target acquisition position in the target image information.
In the scheme, once the acquired image contains at least two mark points, the mobile adjustment quantity from the power conversion equipment to the positioning point can be obtained by directly calculating the actual positions of the set acquisition points based on the deviation of the positions of the mark points and the positions of the reference mark points, namely, each acquisition calculation link is automatically and continuously realized, and the efficiency and reliability of the positioning control of the telescopic position are ensured.
Preferably, the step of obtaining the movement adjustment amount based on the actual position of the target acquisition position in the target image information includes:
Acquiring first position information corresponding to the target acquisition position in the target image information;
acquiring second position information of the target acquisition position in a standard image acquired by the image acquisition device when the power conversion equipment is aligned with the power conversion vehicle;
the movement adjustment amount is obtained based on the first position information and the second position information.
In the scheme, based on an image processing technology, the position of the acquisition point is set in the actually acquired image, the position of the acquisition point is set in the standard image, the position deviation of the two states is calculated to obtain the mobile adjustment quantity from the battery replacement device to the positioning point, and the accuracy and the efficiency of the mobile adjustment quantity acquisition are ensured.
Preferably, the telescopic position positioning method further comprises:
after the power conversion equipment finishes positioning the extending position based on the movement adjustment quantity, acquiring calibration image information of the bottom of the power conversion vehicle through an image acquisition device on the power conversion equipment;
and positioning and calibrating the battery changing vehicle based on the calibration image information so as to align the battery changing device with the extending position.
In this scheme, when controlling the battery-powered device walking and remove adjustment volume and stop, adopt image acquisition device such as camera in time to gather the image of battery-powered vehicle bottom to carry out the analysis processing with in time positioning calibration to the battery-powered vehicle, effectively guaranteed that the battery-powered device is effective to aim at to the extension position, and then guaranteed the validity and the reliability of follow-up battery-powered operation.
The invention also provides a telescopic position positioning system of the battery changing device, which is applied to the battery changing device for carrying out bottom battery changing on the battery changing vehicle, wherein the battery changing device is arranged to move back and forth in a battery changing channel in a telescopic way so as to disassemble, assemble or transport the battery on the battery changing vehicle;
the telescopic position positioning system comprises:
the trigger information acquisition module is used for acquiring positioning trigger information in the process that the battery changing equipment moves towards a preset extending position or a preset retracting position;
and the mobile adjustment quantity acquisition module is used for obtaining mobile adjustment quantity according to the positioning trigger information, and the mobile adjustment quantity is used for positioning the battery changing equipment to the extending position or the retracting position.
The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the telescopic position positioning method of the battery exchange device is realized when the processor executes the computer program.
The invention also provides a computer readable storage medium, on which a computer program is stored, which when being executed by a processor, implements the telescopic position positioning method of the battery exchange device.
On the basis of conforming to the common knowledge in the field, the preferred conditions can be arbitrarily combined to obtain the preferred embodiments of the invention.
The invention has the positive progress effects that:
in the invention, when the battery replacement equipment performs telescopic movement in the battery replacement channel, once positioning trigger information is acquired, the movement adjustment quantity which continues to extend or retract is automatically generated, so that the battery replacement equipment is positioned to a set telescopic position based on the movement adjustment quantity, and the disassembly and assembly or the transportation of the battery on the battery replacement vehicle are completed, namely, the timeliness and the accuracy of the positioning of the telescopic position of the battery replacement equipment are ensured based on positioning trigger detection, and the execution efficiency and the precision of the disassembly and the transportation operation of the battery on the battery replacement vehicle are further ensured.
Drawings
Fig. 1 is a schematic diagram of an assembled structure of a battery pack and a battery pack of a battery-powered vehicle (heavy truck) according to embodiment 1 of the present invention.
Fig. 2 is a schematic diagram of an assembled structure of a battery pack and a battery pack of a battery-powered vehicle (light truck) according to embodiment 1 of the present invention.
Fig. 3 is a schematic structural view of a beam and a locking mechanism according to embodiment 1 of the present invention.
Fig. 4 is a schematic diagram of a battery pack structure of a battery-powered vehicle according to embodiment 1 of the present invention.
Fig. 5 is a schematic diagram of a power conversion device for a power conversion vehicle (heavy truck) according to embodiment 1 of the present invention.
Fig. 6 is a schematic diagram of a power conversion device for a power conversion vehicle (light truck) according to embodiment 1 of the present invention.
Fig. 7 is a flowchart of a telescopic position positioning method of a battery exchange device according to embodiment 1 of the present invention.
Fig. 8 is a schematic view of the internal structure of the battery changing device for the battery changing vehicle (heavy truck) in fig. 6.
Fig. 9 is a flowchart of a telescopic position positioning method of a battery exchange device according to embodiment 2 of the present invention.
Fig. 10 is a schematic block diagram of a telescopic positioning system of a battery exchange device according to embodiment 3 of the present invention.
Fig. 11 is a schematic block diagram of a telescopic positioning system of a battery exchange device according to embodiment 4 of the present invention.
Fig. 12 is a schematic structural diagram of an electronic device according to embodiment 5 of the present invention.
Detailed Description
The invention is further illustrated by means of the following examples, which are not intended to limit the scope of the invention.
Example 1
The walking control method of the battery exchange equipment is applied to a bottom type battery exchange mode of a battery exchange vehicle; among other things, replacement vehicles include, but are not limited to, truck vehicles, such as light trucks, heavy trucks, and the like. The vehicle body of the vehicle for replacing the electric vehicle has huge weight and strong cargo carrying capacity, and the vehicle can be divided into two parts: the large-scale independent container comprises a head part and a carriage part, wherein the carriage part is mainly a large-scale independent container which can be hung on the head part. In addition, a beam body extending in the longitudinal direction of the vehicle body, that is, a vehicle beam structure is provided on the mechanism of the vehicle head portion.
As shown in fig. 1, the heavy truck 100 is the head portion of a heavy truck, which may be later articulated to a tail portion (not shown in fig. 1) of a large container or the like, such that the heavy truck has a particularly high cargo capacity. The heavy truck 100 of fig. 1 has a beam body, specifically two beams 102 extending along the length of the body, for locking the quick-change battery pack 101. The two vehicle beams 102 are respectively provided with a locking mechanism (partially covered by the battery pack in fig. 1), and the battery pack 101 is connected by the locking mechanism. That is, the battery pack 101 is detachably connected to the beam 102 from the bottom of the heavy truck 100, so that a bottom power conversion mode is realized, safety during running of the vehicle is improved, and a battery replacement process is safer and more reliable. As shown in fig. 2, the light truck 200 is a lower part of a cargo box structure of the light truck, i.e., a girder structure, wheels, etc., on which a smaller container is fixed for loading, and naturally, its loading capacity is much smaller than that of a heavy truck, and a head structure in front of the girder is also not shown in fig. 2. As shown in fig. 2, the light truck 200 also has a beam body 201 for locking the quick-change battery pack, specifically, two vehicle beams 201 extending in the longitudinal direction of the vehicle body. The two vehicle beams 201 are respectively provided with a locking mechanism (partially covered by the battery pack in fig. 1), and the battery packs are connected by the locking mechanism.
Specifically, as shown in fig. 3, the two beams 102 of the heavy truck are respectively provided with a locking mechanism 103 (covered by a part of the structure of the battery pack in fig. 1), and the battery pack 101 is connected by the locking mechanism 103. As shown in fig. 4, a schematic view of a removable battery pack for a heavy truck. For the structure of the beam and the locking structure of the light truck and the structure of the battery pack, refer to fig. 3 and fig. 4, and the description thereof will not be repeated.
Because the battery pack quick-change structure based on the heavy truck and the light truck has very large volume and weight, the battery pack is inevitably required to be disassembled or installed by moving to the bottom of the trolley replacement beam through special power exchange equipment when the battery pack is replaced. The heavy truck power conversion apparatus 300 shown in fig. 5 is used for battery pack replacement for the heavy truck of fig. 1, and the light truck power conversion apparatus 400 shown in fig. 6 is used for battery pack replacement for the light truck of fig. 2.
Based on the above-described structure of the battery-powered vehicle and the battery-powered device, as shown in fig. 7, the telescopic position positioning method of the battery-powered device of the present embodiment includes:
s101, acquiring positioning trigger information in the process that the battery changing equipment moves towards a preset extending position or a preset retracting position;
S102, obtaining a movement adjustment amount according to the positioning trigger information, wherein the movement adjustment amount is used for positioning the battery exchange equipment to an extending position or a retracting position.
Specifically, taking the heavy truck of fig. 1 as an example, according to the specific structure of the heavy truck 100 shown in fig. 1, when the heavy truck 100 needs to replace a battery, the heavy truck 100 needs to be parked in a designated battery replacement area, so that the heavy truck battery replacement device 300 shown in fig. 5 can be moved to a designated position in the battery replacement area for battery removal and installation operations.
As shown in fig. 5 and 8, for the heavy truck power conversion equipment 300 of the heavy truck, the heavy truck power conversion equipment 300 comprises a base 301 and a travelling mechanism 302, the travelling mechanism 302 comprises a plurality of travelling wheels 303 arranged at the bottom of the base 301 and a driving unit arranged at the bottom position in the base, and the travelling wheels 303 are driven by the driving unit to drive the base 301 to move, so that the overall movement of the heavy truck power conversion equipment 300 is realized.
The heavy-duty power exchanging device 300 further comprises a power exchanging platform 304 disposed in a middle area of the base 301, and the power exchanging platform 304 is disposed on the base 301 in a liftable manner. In this way, by controlling the level shifter 304 to be in a lowered low-level state, the heavy truck power conversion device 300 can be ensured to smoothly move into or out of the bottom of the light truck 200 at a lower height, and by controlling the level shifter 304 to be in a raised high-level state, it can be ensured that a sufficient height requirement is provided when the power conversion platform 304 performs a battery disassembly or assembly operation.
Similarly, for the light truck, the traveling structure of the light truck power exchanging apparatus 400 and the power exchanging process for traveling to the bottom of the power exchanging vehicle are adapted to the light truck, and thus will not be described herein.
In this embodiment, when the battery replacement device performs telescopic movement in the battery replacement channel, once positioning trigger information is acquired, a movement adjustment amount for continuing to extend or retract is automatically generated, so that the battery replacement device is positioned to a set telescopic position based on the movement adjustment amount, and the disassembly and assembly or the transportation of the battery on the battery replacement vehicle are completed, namely, based on positioning trigger detection, the timeliness and the accuracy of positioning of the telescopic position of the battery replacement device are ensured, and further the execution efficiency and the precision of the disassembly and the transportation operation of the battery on the battery replacement vehicle are ensured.
Example 2
As shown in fig. 9, the telescopic position positioning method of the battery exchange device of the present embodiment is further specific to embodiment 1:
in one embodiment, a detection mechanism is provided at a predetermined position of the power exchanging channel.
The step S101 includes:
s1011, acquiring a detection position arrival signal acquired or triggered by a detection mechanism in the process that the power conversion equipment moves towards a preset extending position or a preset retracting position;
S1012, positioning trigger information is generated according to the detection bit arrival signal.
In the scheme, the detection mechanism is arranged in the power exchange channel, the corresponding setting quantity and positions are determined or adjusted according to the actual power exchange scene and the actual requirements, the arrival signals reaching the locating points are collected in time, the trigger information is generated, and the timeliness and the reliability of the determination of the movement adjustment quantity are ensured.
In one embodiment, step S102 includes:
s1021, acquiring actual position information of the stop of the vehicle;
s1022, obtaining the movement adjustment amount based on the actual position information and the first position information of the detection mechanism.
In the scheme, based on the actual stop position of the battery changing vehicle and the corresponding position of the detection mechanism, the walking amount of the battery changing device positioned to the preset extending or retracting position is directly calculated, and the accuracy of the walking amount acquisition is ensured.
In one embodiment, the image acquisition unit is disposed at a predetermined position of the power exchanging channel.
Step S1021 includes:
acquiring actual image information of the vehicle through an image acquisition unit;
and obtaining the actual position information of the vehicle stop of the vehicle on the basis of the actual image information.
In the scheme, the image of the battery-changing vehicle is timely acquired and shot based on the image acquisition unit, the actual parking position of the battery-changing vehicle is timely and accurately analyzed and obtained, and further the follow-up movement adjustment amount is timely and effectively acquired.
In one embodiment, a distance measuring sensor is provided at a predetermined position of the power exchanging channel.
Step S1021 includes:
acquiring actual distance information between the distance measuring sensor and the vehicle for replacing the electric vehicle through the distance measuring sensor;
and obtaining the actual position information of the vehicle stop of the vehicle on the basis of the actual distance information.
In the scheme, the distance measurement sensor is used for acquiring the actual distance between the distance measurement sensor and the battery change vehicle in real time, so that the actual parking position of the battery change vehicle is calculated, and further, the follow-up movement adjustment amount is ensured to be effectively acquired in time.
In one embodiment, the power conversion device is provided with an image acquisition device.
The step S101 includes:
when the battery replacement equipment moves to a preset area, acquiring target image information of a target acquisition position in real time through an image acquisition device;
judging whether the acquired target image information meets preset conditions, and generating positioning trigger information when the acquired target image information meets the preset conditions.
In the scheme, the image at the set acquisition point is acquired in real time based on the image acquisition device, whether preset conditions are met or not is analyzed and determined based on the acquired image, and positioning trigger information is generated once the preset conditions are met, so that the mobile adjustment quantity of the battery replacement equipment reaching the positioning point is timely determined, the timeliness and the accuracy of positioning the telescopic position of the battery replacement equipment are guaranteed, and the execution efficiency and the accuracy of the battery disassembly or transportation operation on the battery replacement vehicle are further guaranteed.
In one embodiment, the target acquisition location is at least two marker points disposed on the bottom of the electric vehicle.
The step of judging whether the acquired target image information meets the preset condition comprises the following steps:
acquiring the number of mark points contained in the target image information;
judging whether the number of the marking points is at least two, if yes, judging that the target image information meets the preset condition.
In the scheme, based on the number of the marking points contained in the image, whether the power conversion equipment reaches the movement adjustment amount of the positioning points or not is determined and calculated, positioning trigger information is generated once at least two of the movement adjustment amounts are met, timeliness of positioning trigger information generation is guaranteed, and further precision of telescopic position positioning control is guaranteed.
In one embodiment, step S102 includes:
acquiring target image information meeting preset conditions;
and obtaining the movement adjustment amount based on the actual position of the target acquisition position in the target image information.
In the scheme, once the acquired image contains at least two mark points, the mobile adjustment quantity from the power conversion equipment to the positioning point can be obtained by directly calculating the actual positions of the set acquisition points based on the deviation of the positions of the mark points and the positions of the reference mark points, namely, each acquisition calculation link is automatically and continuously realized, and the efficiency and reliability of the positioning control of the telescopic position are ensured.
Specifically, the bottom of the battery-changing vehicle is provided with N marking points; wherein N is more than or equal to 2 and is an integer.
When n=2, the two marking points are symmetrically arranged at two sides of the central position of the bottom of the battery exchange vehicle, and the distance between the battery exchange device and the positioning point can be directly calculated under the condition that the central positions of the two marking points in the actually-shot target image information deviate.
In one embodiment, the step of obtaining the movement adjustment amount based on the actual position of the target acquisition position in the target image information includes:
acquiring first position information corresponding to a target acquisition position in target image information;
acquiring second position information of a target acquisition position in a standard image acquired by an image acquisition device when the power exchange equipment is aligned with a power exchange vehicle;
a movement adjustment amount is obtained based on the first position information and the second position information.
In the scheme, based on an image processing technology, the position of the acquisition point is set in the actually acquired image, the position of the acquisition point is set in the standard image, the position deviation of the two states is calculated to obtain the mobile adjustment quantity from the battery replacement device to the positioning point, and the accuracy and the efficiency of the mobile adjustment quantity acquisition are ensured.
In an embodiment, the telescopic position positioning method of the present embodiment further includes:
after the power exchange equipment finishes positioning the extending position based on the movement adjustment amount, acquiring calibration image information of the bottom of the power exchange vehicle through an image acquisition device on the power exchange equipment;
and positioning and calibrating the battery-powered vehicle based on the calibration image information to align the battery-powered device with the extended position.
In this scheme, when controlling the battery-powered device walking and remove adjustment volume and stop, adopt image acquisition device such as camera in time to gather the image of battery-powered vehicle bottom to carry out the analysis processing with in time positioning calibration to the battery-powered vehicle, effectively guaranteed that the battery-powered device is effective to aim at to the extension position, and then guaranteed the validity and the reliability of follow-up battery-powered operation.
In this embodiment, when the battery replacement device performs telescopic movement in the battery replacement channel, once positioning trigger information is acquired, a movement adjustment amount for continuing to extend or retract is automatically generated, so that the battery replacement device is positioned to a set telescopic position based on the movement adjustment amount, and the disassembly and assembly or the transportation of the battery on the battery replacement vehicle are completed, namely, based on positioning trigger detection, the timeliness and the accuracy of positioning of the telescopic position of the battery replacement device are ensured, and further the execution efficiency and the precision of the disassembly and the transportation operation of the battery on the battery replacement vehicle are ensured.
Example 3
The walking control system of the battery changing device is applied to a bottom type battery changing mode of a battery changing vehicle; among other things, replacement vehicles include, but are not limited to, truck vehicles, such as light trucks, heavy trucks, and the like. The vehicle body of the vehicle for replacing the electric vehicle has huge weight and strong cargo carrying capacity, and the vehicle can be divided into two parts: the large-scale independent container comprises a head part and a carriage part, wherein the carriage part is mainly a large-scale independent container which can be hung on the head part. In addition, a beam body extending in the longitudinal direction of the vehicle body, that is, a vehicle beam structure is provided on the mechanism of the vehicle head portion.
As shown in fig. 1, the heavy truck 100 is the head portion of a heavy truck, which may be later articulated to a tail portion (not shown in fig. 1) of a large container or the like, such that the heavy truck has a particularly high cargo capacity. The heavy truck 100 of fig. 1 has a beam body, specifically two beams 102 extending along the length of the body, for locking the quick-change battery pack 101. The two vehicle beams 102 are respectively provided with a locking mechanism (partially covered by the battery pack in fig. 1), and the battery pack 101 is connected by the locking mechanism. That is, the battery pack 101 is detachably connected to the beam 102 from the bottom of the heavy truck 100, so that a bottom power conversion mode is realized, safety during running of the vehicle is improved, and a battery replacement process is safer and more reliable. As shown in fig. 2, the light truck 200 is a lower part of a cargo box structure of the light truck, i.e., a girder structure, wheels, etc., on which a smaller container is fixed for loading, and naturally, its loading capacity is much smaller than that of a heavy truck, and a head structure in front of the girder is also not shown in fig. 2. As shown in fig. 2, the light truck 200 also has a beam body 201 for locking the quick-change battery pack, specifically, two vehicle beams 201 extending in the longitudinal direction of the vehicle body. The two vehicle beams 201 are respectively provided with a locking mechanism (partially covered by the battery pack in fig. 1), and the battery packs are connected by the locking mechanism.
Specifically, as shown in fig. 3, the two beams 102 of the heavy truck are respectively provided with a locking mechanism 103 (covered by a part of the structure of the battery pack in fig. 1), and the battery pack 101 is connected by the locking mechanism 103. As shown in fig. 4, a schematic view of a removable battery pack for a heavy truck. For the structure of the beam and the locking structure of the light truck and the structure of the battery pack, refer to fig. 3 and fig. 4, and the description thereof will not be repeated.
Because the battery pack quick-change structure based on the heavy truck and the light truck has very large volume and weight, the battery pack is inevitably required to be disassembled or installed by moving to the bottom of the trolley replacement beam through special power exchange equipment when the battery pack is replaced. The heavy truck power conversion apparatus 300 shown in fig. 5 is used for battery pack replacement for the heavy truck of fig. 1, and the light truck power conversion apparatus 400 shown in fig. 6 is used for battery pack replacement for the light truck of fig. 2.
Based on the aforementioned structure of the battery-powered vehicle and the battery-powered device, as shown in fig. 10, the telescopic position positioning system of the battery-powered device of the present embodiment includes:
the trigger information acquisition module 1 is used for acquiring positioning trigger information in the process that the battery exchange equipment moves towards a preset extending position or a preset retracting position;
The mobile adjustment amount acquisition module 2 is used for obtaining a mobile adjustment amount according to the positioning trigger information, wherein the mobile adjustment amount is used for positioning the battery exchange equipment to an extended position or a retracted position.
Specifically, taking the heavy truck of fig. 1 as an example, according to the specific structure of the heavy truck 100 shown in fig. 1, when the heavy truck 100 needs to replace a battery, the heavy truck 100 needs to be parked in a designated battery replacement area, so that the heavy truck battery replacement device 300 shown in fig. 5 can be moved to a designated position in the battery replacement area for battery removal and installation operations.
As shown in fig. 5 and 8, for the heavy truck power conversion equipment 300 of the heavy truck, the heavy truck power conversion equipment 300 comprises a base 301 and a travelling mechanism 302, the travelling mechanism 302 comprises a plurality of travelling wheels 303 arranged at the bottom of the base 301 and a driving unit arranged at the bottom position in the base, and the travelling wheels 303 are driven by the driving unit to drive the base 301 to move, so that the overall movement of the heavy truck power conversion equipment 300 is realized.
The heavy-duty power exchanging device 300 further comprises a power exchanging platform 304 disposed in a middle area of the base 301, and the power exchanging platform 304 is disposed on the base 301 in a liftable manner. In this way, by controlling the level shifter 304 to be in a lowered low-level state, the heavy truck power conversion device 300 can be ensured to smoothly move into or out of the bottom of the light truck 200 at a lower height, and by controlling the level shifter 304 to be in a raised high-level state, it can be ensured that a sufficient height requirement is provided when the power conversion platform 304 performs a battery disassembly or assembly operation.
Similarly, for the light truck, the traveling structure of the light truck power exchanging apparatus 400 and the power exchanging process for traveling to the bottom of the power exchanging vehicle are adapted to the light truck, and thus will not be described herein.
In this embodiment, when the battery replacement device performs telescopic movement in the battery replacement channel, once positioning trigger information is acquired, a movement adjustment amount for continuing to extend or retract is automatically generated, so that the battery replacement device is positioned to a set telescopic position based on the movement adjustment amount, and the disassembly and assembly or the transportation of the battery on the battery replacement vehicle are completed, namely, based on positioning trigger detection, the timeliness and the accuracy of positioning of the telescopic position of the battery replacement device are ensured, and further the execution efficiency and the precision of the disassembly and the transportation operation of the battery on the battery replacement vehicle are ensured.
Example 4
As shown in fig. 11, the telescopic position positioning method of the battery exchange device of the present embodiment is further specific to embodiment 1:
in one embodiment, a detection mechanism is provided at a predetermined position of the power exchanging channel.
The trigger information acquisition module 1 includes:
the arrival signal acquisition unit is used for acquiring a detection position arrival signal acquired or triggered by the detection mechanism in the process that the battery exchange equipment moves towards a preset extension position or retraction position;
And the positioning trigger information generating unit is used for generating positioning trigger information according to the detection bit arrival signal.
In the scheme, the detection mechanism is arranged in the power exchange channel, the corresponding setting quantity and positions are determined or adjusted according to the actual power exchange scene and the actual requirements, the arrival signals reaching the locating points are collected in time, the trigger information is generated, and the timeliness and the reliability of the determination of the movement adjustment quantity are ensured.
In one embodiment, the movement adjustment amount acquisition module 2 includes:
the actual position information acquisition unit is used for acquiring the actual position information of the stop of the vehicle;
and a movement adjustment amount acquisition unit configured to obtain a movement adjustment amount based on the actual position information and the first position information of the detection mechanism.
In the scheme, based on the actual stop position of the battery changing vehicle and the corresponding position of the detection mechanism, the walking amount of the battery changing device positioned to the preset extending or retracting position is directly calculated, and the accuracy of the walking amount acquisition is ensured.
In one embodiment, the image acquisition unit is disposed at a predetermined position of the power exchanging channel.
The actual position information acquisition unit is used for acquiring actual image information of the vehicle through the image acquisition unit; and obtaining the actual position information of the vehicle stop of the vehicle on the basis of the actual image information.
In the scheme, the image of the battery-changing vehicle is timely acquired and shot based on the image acquisition unit, the actual parking position of the battery-changing vehicle is timely and accurately analyzed and obtained, and further the follow-up movement adjustment amount is timely and effectively acquired.
In one embodiment, a distance measuring sensor is provided at a predetermined position of the power exchanging channel.
The actual position information acquisition unit is used for acquiring actual distance information between the ranging sensor and the vehicle for replacing the electric vehicle through the ranging sensor; and obtaining the actual position information of the vehicle stop of the vehicle on the basis of the actual distance information.
In the scheme, the distance measurement sensor is used for acquiring the actual distance between the distance measurement sensor and the battery change vehicle in real time, so that the actual parking position of the battery change vehicle is calculated, and further, the follow-up movement adjustment amount is ensured to be effectively acquired in time.
In one embodiment, the power conversion device is provided with an image acquisition device.
The trigger information acquisition module 1 includes:
the target image information acquisition unit is used for acquiring target image information of a target acquisition position in real time through the image acquisition device when the battery exchange equipment moves to a preset area;
and the judging unit is used for judging whether the acquired target image information meets the preset condition or not, and calling the positioning trigger information generating unit to generate positioning trigger information when the acquired target image information meets the preset condition.
In the scheme, the image at the set acquisition point is acquired in real time based on the image acquisition device, whether preset conditions are met or not is analyzed and determined based on the acquired image, and positioning trigger information is generated once the preset conditions are met, so that the mobile adjustment quantity of the battery replacement equipment reaching the positioning point is timely determined, the timeliness and the accuracy of positioning the telescopic position of the battery replacement equipment are guaranteed, and the execution efficiency and the accuracy of the battery disassembly or transportation operation on the battery replacement vehicle are further guaranteed.
In one embodiment, the target acquisition location is at least two marker points disposed on the bottom of the electric vehicle.
The judging unit is used for acquiring the number of the mark points contained in the target image information, judging whether the number of the mark points is at least two, and if yes, judging that the target image information meets the preset condition.
In the scheme, based on the number of the marking points contained in the image, whether the power conversion equipment reaches the movement adjustment amount of the positioning points or not is determined and calculated, positioning trigger information is generated once at least two of the movement adjustment amounts are met, timeliness of positioning trigger information generation is guaranteed, and further precision of telescopic position positioning control is guaranteed.
In one embodiment, the movement adjustment amount acquisition module 2 includes:
The target image information acquisition unit is used for acquiring target image information meeting preset conditions;
and the mobile adjustment amount acquisition unit is used for acquiring the mobile adjustment amount based on the actual position of the target acquisition position in the target image information.
In the scheme, once the acquired image contains at least two mark points, the mobile adjustment quantity from the power conversion equipment to the positioning point can be obtained by directly calculating the actual positions of the set acquisition points based on the deviation of the positions of the mark points and the positions of the reference mark points, namely, each acquisition calculation link is automatically and continuously realized, and the efficiency and reliability of the positioning control of the telescopic position are ensured.
Specifically, the bottom of the battery-changing vehicle is provided with N marking points; wherein N is more than or equal to 2 and is an integer.
When n=2, the two marking points are symmetrically arranged at two sides of the central position of the bottom of the battery exchange vehicle, and the distance between the battery exchange device and the positioning point can be directly calculated under the condition that the central positions of the two marking points in the actually-shot target image information deviate.
In one embodiment, the movement adjustment amount acquisition unit includes:
the first position information acquisition unit is used for acquiring first position information corresponding to a target acquisition position in the target image information;
The second position information acquisition unit is used for acquiring second position information of the target acquisition position in the standard image acquired by the image acquisition device when the power conversion equipment is aligned with the power conversion vehicle;
and a movement adjustment amount acquisition unit configured to obtain a movement adjustment amount based on the first position information and the second position information.
In the scheme, based on an image processing technology, the position of the acquisition point is set in the actually acquired image, the position of the acquisition point is set in the standard image, the position deviation of the two states is calculated to obtain the mobile adjustment quantity from the battery replacement device to the positioning point, and the accuracy and the efficiency of the mobile adjustment quantity acquisition are ensured.
In one embodiment, the telescopic position positioning system further comprises:
the calibration image information acquisition module 3 is used for acquiring calibration image information of the bottom of the battery exchange vehicle through an image acquisition device on the battery exchange device after the battery exchange device finishes positioning the extension position based on the movement adjustment quantity;
and the positioning calibration module 4 is used for performing positioning calibration on the battery-powered vehicle based on the calibration image information so as to align the battery-powered device with the extending position.
In this scheme, when controlling the battery-powered device walking and remove adjustment volume and stop, adopt image acquisition device such as camera in time to gather the image of battery-powered vehicle bottom to carry out the analysis processing with in time positioning calibration to the battery-powered vehicle, effectively guaranteed that the battery-powered device is effective to aim at to the extension position, and then guaranteed the validity and the reliability of follow-up battery-powered operation.
In this embodiment, when the battery replacement device performs telescopic movement in the battery replacement channel, once positioning trigger information is acquired, a movement adjustment amount for continuing to extend or retract is automatically generated, so that the battery replacement device is positioned to a set telescopic position based on the movement adjustment amount, and the disassembly and assembly or the transportation of the battery on the battery replacement vehicle are completed, namely, based on positioning trigger detection, the timeliness and the accuracy of positioning of the telescopic position of the battery replacement device are ensured, and further the execution efficiency and the precision of the disassembly and the transportation operation of the battery on the battery replacement vehicle are ensured.
Example 5
Fig. 12 is a schematic structural diagram of an electronic device according to embodiment 5 of the present invention. The electronic device includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor implements the telescopic position positioning method of the battery exchange device in embodiment 1 or 2 when executing the program. The electronic device 30 shown in fig. 12 is merely an example, and should not be construed as limiting the functionality and scope of use of embodiments of the present invention.
As shown in fig. 12, the electronic device 30 may be in the form of a general purpose computing device, which may be a server device, for example. Components of electronic device 30 may include, but are not limited to: the at least one processor 31, the at least one memory 32, a bus 33 connecting the different system components, including the memory 32 and the processor 31.
The bus 33 includes a data bus, an address bus, and a control bus.
Memory 32 may include volatile memory such as Random Access Memory (RAM) 321 and/or cache memory 322, and may further include Read Only Memory (ROM) 323.
Memory 32 may also include a program/utility 325 having a set (at least one) of program modules 324, such program modules 324 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment.
The processor 31 executes various functional applications and data processing, such as the telescopic position positioning method of the battery exchange device in embodiment 1 or 2 of the present invention, by running a computer program stored in the memory 32.
The electronic device 30 may also communicate with one or more external devices 34 (e.g., keyboard, pointing device, etc.). Such communication may be through an input/output (I/O) interface 35. Also, model-generating device 30 may also communicate with one or more networks, such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the internet, via network adapter 36. As shown in fig. 12, network adapter 36 communicates with the other modules of model-generating device 30 via bus 33. It should be appreciated that although not shown in the figures, other hardware and/or software modules may be used in connection with the model-generating device 30, including, but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (disk array) systems, tape drives, data backup storage systems, and the like.
It should be noted that although several units/modules or sub-units/modules of an electronic device are mentioned in the above detailed description, such a division is merely exemplary and not mandatory. Indeed, the features and functionality of two or more units/modules described above may be embodied in one unit/module in accordance with embodiments of the present invention. Conversely, the features and functions of one unit/module described above may be further divided into ones that are embodied by a plurality of units/modules.
Example 6
The present embodiment provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps in the telescopic position positioning method of the battery exchange apparatus in embodiment 1 or 2.
More specifically, among others, readable storage media may be employed including, but not limited to: portable disk, hard disk, random access memory, read only memory, erasable programmable read only memory, optical storage device, magnetic storage device, or any suitable combination of the foregoing.
In a possible embodiment, the invention may also be implemented in the form of a program product comprising program code for causing a terminal device to carry out the steps of the telescopic position positioning method for implementing the battery exchange device of embodiment 1 or 2, when the program product is run on the terminal device.
Wherein the program code for carrying out the invention may be written in any combination of one or more programming languages, the program code may be executed entirely on the user device, partially on the user device, as a stand-alone software package, partially on the user device, partially on a remote device or entirely on the remote device.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the principles and spirit of the invention, but such changes and modifications fall within the scope of the invention.

Claims (13)

1. The telescopic position positioning method of the battery changing device is applied to the battery changing device for carrying out bottom battery changing on the battery changing vehicle, and is characterized in that the battery changing device is arranged to move back and forth in a battery changing channel in a telescopic manner so as to disassemble, assemble or transport batteries on the battery changing vehicle;
the telescopic position positioning method comprises the following steps:
Acquiring positioning trigger information in the process that the battery changing equipment moves towards a preset extending position or a preset retracting position;
and obtaining a movement adjustment amount according to the positioning trigger information, wherein the movement adjustment amount is used for positioning the battery changing equipment to the extending position or the retracting position.
2. The telescopic position positioning method of a power exchanging device according to claim 1, wherein a detection mechanism is provided at a preset position of the power exchanging channel;
the step of acquiring positioning trigger information in the process that the battery changing equipment moves towards a preset extending position or a preset retracting position comprises the following steps:
acquiring a detection position arrival signal acquired or triggered by the detection mechanism in the process that the battery changing equipment moves towards the preset extending position or the preset retracting position;
and generating the positioning trigger information according to the detection bit arrival signal.
3. The telescopic position positioning method of a battery exchange device according to claim 2, wherein the step of obtaining the movement adjustment amount according to the positioning trigger information includes:
acquiring actual position information of the vehicle stop of the replacement vehicle;
the movement adjustment amount is obtained based on the actual position information and the first position information of the detection mechanism.
4. The telescopic position positioning method of a power conversion device according to claim 3, wherein an image acquisition unit is arranged at a preset position of the power conversion channel;
the step of obtaining the actual position information of the vehicle stop of the vehicle comprises the following steps:
acquiring actual image information of the battery-powered vehicle through the image acquisition unit;
and obtaining the actual position information of the vehicle stop of the vehicle on the basis of the actual image information.
5. The telescopic position positioning method of a power conversion device according to claim 3, wherein a ranging sensor is arranged at a preset position of the power conversion channel;
the step of obtaining the actual position information of the vehicle stop of the vehicle comprises the following steps:
acquiring actual distance information between the distance measuring sensor and the vehicle change by the distance measuring sensor;
and obtaining the actual position information of the vehicle stop of the vehicle on the basis of the actual distance information.
6. The telescopic position positioning method of a battery exchange device according to claim 1, wherein an image acquisition device is arranged on the battery exchange device;
the step of acquiring positioning trigger information in the process that the battery changing equipment moves towards a preset extending position or a preset retracting position comprises the following steps:
When the battery replacing equipment moves to a preset area, acquiring target image information of a target acquisition position in real time through the image acquisition device;
judging whether the acquired target image information meets a preset condition, and generating the positioning trigger information when the acquired target image information meets the preset condition.
7. The telescopic position positioning method of a battery exchange device according to claim 6, wherein the target acquisition position is at least two marker points arranged at the bottom of the battery exchange vehicle;
the step of judging whether the acquired target image information meets a preset condition comprises the following steps:
acquiring the number of the mark points contained in the target image information;
judging whether the number of the marking points is at least two, if yes, judging that the target image information meets the preset condition.
8. The telescopic position positioning method of a battery exchange device according to claim 6, wherein the step of obtaining the movement adjustment amount according to the positioning trigger information includes:
acquiring the target image information meeting the preset condition;
and obtaining the movement adjustment amount based on the actual position of the target acquisition position in the target image information.
9. The telescopic position positioning method of a battery exchange apparatus according to claim 8, wherein said step of obtaining said movement adjustment amount based on an actual position of said target acquisition position in said target image information includes:
acquiring first position information corresponding to the target acquisition position in the target image information;
acquiring second position information of the target acquisition position in a standard image acquired by the image acquisition device when the power conversion equipment is aligned with the power conversion vehicle;
the movement adjustment amount is obtained based on the first position information and the second position information.
10. The telescopic position positioning method of a battery exchange apparatus according to any one of claims 1 to 9, wherein the telescopic position positioning method further comprises:
after the power conversion equipment finishes positioning the extending position based on the movement adjustment quantity, acquiring calibration image information of the bottom of the power conversion vehicle through an image acquisition device on the power conversion equipment;
and positioning and calibrating the battery changing vehicle based on the calibration image information so as to align the battery changing device with the extending position.
11. The telescopic position positioning system of the battery changing device is applied to the battery changing device for carrying out bottom battery changing on a battery changing vehicle, and is characterized in that the battery changing device is arranged to move back and forth in a battery changing channel in a telescopic manner so as to disassemble, assemble or transport batteries on the battery changing vehicle;
The telescopic position positioning system comprises:
the trigger information acquisition module is used for acquiring positioning trigger information in the process that the battery changing equipment moves towards a preset extending position or a preset retracting position;
and the mobile adjustment quantity acquisition module is used for obtaining mobile adjustment quantity according to the positioning trigger information, and the mobile adjustment quantity is used for positioning the battery changing equipment to the extending position or the retracting position.
12. 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 telescopic position positioning method of the battery exchange device according to any of claims 1-10 when executing the computer program.
13. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the telescopic position positioning method of a battery exchange device according to any one of claims 1-10.
CN202210351333.3A 2022-04-02 2022-04-02 Telescopic position positioning method, system, equipment and medium of battery exchange equipment Pending CN116923171A (en)

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CN202210351333.3A CN116923171A (en) 2022-04-02 2022-04-02 Telescopic position positioning method, system, equipment and medium of battery exchange equipment

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