WO2023179491A1

WO2023179491A1 - Battery grabbing and positioning method, apparatus and device

Info

Publication number: WO2023179491A1
Application number: PCT/CN2023/082206
Authority: WO
Inventors: 谢鼎; 张路路
Original assignee: 三一重工股份有限公司
Priority date: 2022-03-21
Filing date: 2023-03-17
Publication date: 2023-09-28
Also published as: CN114648573A

Abstract

The present invention relates to the technical field of battery replacement, and provides a battery grabbing and positioning method, apparatus and device, which are applied to a gripper control system. The method comprises: determining an initial relative position of a gripper relative to a battery grabbing hole, wherein the battery grabbing hole is provided on a battery, the battery grabbing hole is matched with the gripper, and the gripper is used for extending into the battery grabbing hole to grab the battery; adjusting the initial relative position of the gripper relative to the battery grabbing hole to obtain an adjusted relative position; and when the adjusted relative position indicates that the gripper directly faces a side face of the battery grabbing hole and coincides with an opening of the battery grabbing hole, controlling the gripper to extend into the battery grabbing hole to grab the battery. The relative positions of the gripper and the battery grabbing hole are directly positioned, so that the gripper is able to better extend into the battery grabbing hole. Moreover, the grabbing of the battery is more accurately implemented by means of adjusting the movement of the gripper in real time, and the grabbing efficiency of the gripper on the battery is improved.

Description

Battery grabbing and positioning methods, devices and equipment

Technical field

The present invention relates to the technical field of battery replacement, and in particular to a battery grabbing and positioning method, device and equipment.

Background of the invention

Electric working machines use power batteries as the power source. The working time in pure electric working mode is affected by the battery capacity. If the charging method is used, it generally cannot meet the customer's continuous working time requirements for electric working machines. In order to solve the problem of power battery working time, electric working machinery can adopt a battery replacement solution, that is, by replacing the vehicle-mounted power battery to achieve continuous operation. In the prior art, a special power swap station is set up to replace the power battery loaded on the electric working machine. When the electric working machine enters the power swap station, the power swap station determines the location of the power battery through image recognition, specifically by using The laser scanning method determines the exact position of the top of the battery from top to bottom, thereby realizing the capture of the battery.

However, by determining the position of the top of the battery, there is no guarantee that the gripper will accurately match the inside of the battery gripping hole during the process of gripping the battery, resulting in a relatively low gripping efficiency for the battery.

Contents of the invention

Embodiments of the present invention provide a battery grabbing and positioning method, device and equipment to solve the problem of low battery grabbing efficiency in the prior art of battery swapping stations, and achieve precise identification of the position of the gripper relative to the gripping hole, and When the gripper reaches into the gripping hole, the angle of the gripper is adjusted in real time to achieve precise gripping of the battery.

Embodiments of the present invention provide a battery grabbing and positioning method, which is applied to a gripper control system, including:

Determine the initial relative position of the gripper relative to the battery gripper hole. The battery gripper hole is provided on the battery. The battery gripper hole matches the gripper. The gripper is used to extend into the battery. Grab the battery inside the grab hole;

Adjust the initial relative position of the gripper relative to the battery gripping hole to obtain the adjusted relative position;

When the adjusted relative position indicates that the side of the gripper facing the battery gripping hole coincides with the opening of the battery gripping hole, the gripper is controlled to extend into the battery gripping hole to The battery is captured.

According to a battery grabbing and positioning method provided by an embodiment of the present invention, determining the initial relative position of the gripper relative to the battery grabbing hole includes:

Collect multiple sets of distance values from multiple positions of the gripper frame and the battery gripping hole;

According to the magnitude relationship of the multiple sets of distance values, the initial relative position of the gripper relative to the battery gripping hole is determined.

According to a battery grabbing and positioning method provided by an embodiment of the present invention, adjusting the initial relative position of the gripper relative to the battery grabbing hole includes:

Determine whether the gripper detects the frame corresponding to the opening of the battery gripping hole according to the multiple sets of distance values;

The gripper is controlled to translate from a position where the frame corresponding to the opening of the battery gripping hole is not detected to a direction where the frame corresponding to the opening of the battery gripping hole is detected.

According to a battery grabbing and positioning method provided by an embodiment of the present invention, the side of the gripper facing the battery grabbing hole is a rectangular frame, and the rectangular frame includes a first long side, a second long side, a third a short side and a second short side;

The first long side is provided with a first sensor and a second sensor, the second long side is provided with a third sensor and a fourth sensor, the first short side is provided with a fifth sensor, and the second short side is provided with a fifth sensor. A sixth sensor is provided.

According to a battery grabbing and positioning method provided by an embodiment of the present invention, the gripper is controlled from a position where a frame corresponding to the opening of the battery grabbing hole is not detected to a position where the opening of the battery grabbing hole is detected. After the direction of the corresponding border is translated, it also includes:

If the first distance value collected by the first sensor is different from the second distance value collected by the second sensor, the gripper is controlled to rotate.

According to a battery grabbing and positioning method provided by an embodiment of the present invention, when the first distance value is different from the second distance value, and, the third distance value is different from the fourth distance value, When at least one of the above, the control of the gripper to rotate includes:

Determine the difference between the first distance value and the second distance value;

The rotation angle of the gripper is determined according to the difference value, and the gripper is controlled to rotate according to the rotation angle.

If the third distance value collected by the third sensor is different from the fourth distance value collected by the fourth sensor, the gripper is controlled to rotate.

According to a battery grabbing and positioning method provided by an embodiment of the present invention, when at least one of the differences between the third distance value and the fourth distance value is met, controlling the gripper to rotate includes: :

Determine the difference between the third distance value and the fourth distance value;

If the first distance value collected by the first sensor is different from the second distance value collected by the second sensor, and the third distance value collected by the third sensor is different from the fourth distance value collected by the fourth sensor, If different, the gripper is controlled to rotate.

According to a battery grasping and positioning method provided by an embodiment of the present invention, the controlling the grasper to extend into the battery grasping hole to grasp the battery includes:

Collect the distance value between the gripper and each side wall inside the gripping hole;

According to the distance value of each side wall, the angle and depth of the gripper extending into the gripping hole are adjusted to complete gripping of the battery.

According to a battery grabbing and positioning method provided by an embodiment of the present invention, the gripper is further provided with a seventh sensor, an eighth sensor and a ninth sensor;

The collection of distance values between the gripper and each side wall inside the gripping hole includes:

The seventh sensor is used to collect a seventh distance value between the center point of the side of the gripper facing the battery gripping hole and the center point of the first side wall inside the battery frame. The first side wall It is the side wall perpendicular to the direction in which the gripper extends;

The eighth sensor is used to collect an eighth distance value between the gripper and the second side wall, and the second side wall is a side wall perpendicular to the first side wall;

The ninth sensor is used to collect a ninth distance value between the gripper and a third side wall, which is a side adjacent to the second side wall and perpendicular to the first side wall. wall.

According to a battery grabbing and positioning method provided by an embodiment of the present invention, adjusting the angle and depth of the gripper extending into the gripping hole according to the distance value of each side wall includes:

If the seventh distance value is greater than the first preset threshold, control the gripper to move inside the gripping hole;

If the eighth distance value is greater than the second preset threshold, control the gripper to move in the direction in which the eighth distance value decreases;

If the ninth distance value is greater than the third preset threshold, the gripper is controlled to move in a direction in which the ninth distance value decreases.

An embodiment of the present invention also provides a battery grabbing and positioning device, including:

Determining module, used to determine the initial relative position of the gripper relative to the battery gripper hole. The battery gripper hole is provided on the battery. The battery gripper hole matches the gripper. The gripper is used to Reach into the battery grabbing hole to grab the battery;

an adjustment module, used to adjust the initial relative position of the gripper relative to the battery gripping hole to obtain the adjusted relative position;

A control module configured to control the gripper to extend into the battery gripper hole when the relative position indicates that the side of the gripper facing the battery gripper hole coincides with the opening of the battery gripper hole. Internal capture of said battery.

An embodiment of the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, any one of the above is implemented. Battery grabbing and positioning method.

Embodiments of the present invention also provide a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, it implements any of the above battery grabbing and positioning methods.

An embodiment of the present invention also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the computer program implements any one of the above battery grabbing and positioning methods.

Embodiments of the present invention provide a battery grabbing and positioning method, device and equipment. The method determines the initial relative position of the gripper relative to the battery grabbing hole. The battery grabbing hole is provided on the battery. The battery grabbing hole is connected to the battery grabbing hole. The hands are matched, and the gripper is used to reach into the battery gripping hole to grip the battery; adjust the initial relative position of the gripper relative to the battery gripping hole to obtain the adjusted relative position; when the adjusted relative position represents the grasp When the hand facing the side of the battery grabbing hole coincides with the opening of the battery grabbing hole, control the gripper to extend into the battery grabbing hole to grab the battery. By directly locating the relative position of the gripper and the battery grabbing hole, It can better ensure that the gripper reaches into the battery gripping hole, and by adjusting the movement of the gripper in real time, the battery can be captured more accurately and the battery gripping efficiency of the gripper can be improved.

Brief description of the drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description The drawings illustrate some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting creative efforts.

Figure 1 is a schematic flow chart of a battery grabbing and positioning method provided by an embodiment of the present invention;

Figure 2 is a schematic structural diagram of a battery provided by an embodiment of the present invention;

Figure 3 is a schematic structural diagram of a gripper provided by an embodiment of the present invention;

Figure 4 is a schematic diagram of the initial position of the gripper relative to the battery gripping hole provided by the embodiment of the present invention;

Figure 5 is a schematic diagram of the principle of adjusting the relative position of the gripper and the battery gripping hole;

Figure 6 is a schematic diagram of the calculation principle of the gripper rotation angle provided by the embodiment of the present invention;

Figure 7 is a schematic diagram of the principle of successful positioning of the battery grabbing hole provided by the embodiment of the present invention;

Figure 8 is a schematic flow chart of battery grab hole positioning provided by an embodiment of the present invention;

Figure 9 is a schematic cross-sectional view of the gripper extending into the battery gripping hole according to the embodiment of the present invention;

Figure 10 is a schematic structural diagram of a battery grabbing and positioning device provided by an embodiment of the present invention;

Figure 11 is a schematic structural diagram of an electronic device provided by an embodiment of the present invention.

Ways to practice the invention

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the description The embodiments are part of the embodiments of the present invention, rather than all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of protection of the embodiments of the present invention.

A battery grabbing and positioning method, device and equipment according to an embodiment of the present invention will be described below with reference to Figures 1-11.

Figure 1 is a schematic flowchart of a battery grabbing and positioning method provided by an embodiment of the present invention. Figure 2 is a schematic structural diagram of a battery provided by an embodiment of the present invention. Figure 3 is a schematic structural diagram of a gripper provided by an embodiment of the present invention.

As shown in Figure 1, an embodiment of the present invention provides a battery grabbing and positioning method. The execution subject may be a gripper control system, which mainly includes the following steps:

101. Determine the initial relative position of the gripper relative to the battery gripping hole. The battery gripping hole is set on the battery. The battery gripping hole matches the gripper. The gripper is used to reach into the battery gripping hole to grip the battery. Pick.

In a specific implementation process, the gripper and the battery gripping hole match each other. The battery gripping hole is set on the battery. During the process of gripping the battery, the gripper is controlled to extend into the battery gripping hole. Grabbing the battery. As shown in Figure 2 is a schematic structural diagram of the battery 200, and Figure 3 is a schematic structural diagram of the gripper 300. It can be seen from Figures 2 and 3 that the gripper 300 and the battery gripper hole 210 match each other, wherein, in Figure 2 The arrow points to the position of the battery grabbing hole 210. The arrow in Figure 3 points to the moving direction of the gripper extending into the battery grabbing hole. The relative position of the gripper 300 and the battery grabbing hole 210 can be accurately determined, which can better This ensures that the gripper 300 extends into the battery gripping hole 210, thereby completing the gripping of the battery 200.

Determining the relative position of the gripper relative to the battery gripping hole can be achieved by controlling the driving and parking position of the vehicle to achieve rough positioning of the gripper relative to the battery gripping hole, as long as the relative position of the gripper relative to the battery gripping hole can be initially obtained. Just take the initial relative position of the hole. Normally, the initial relative position is when the side of the gripper facing the battery gripping hole intersects with the cross section of the battery gripping hole, that is, the gripper does not completely face the battery gripping hole. If the gripper directly moves the gripper according to the current position, When the gripper extends into the battery gripping hole, the gripper will collide with the side wall frame of the battery gripping hole, making it impossible to extend the gripper into the battery gripping hole.

102. Adjust the initial relative position of the gripper relative to the battery gripping hole to obtain the adjusted relative position.

After the initial relative position of the gripper relative to the battery gripping hole is accurately determined, the gripper needs to be moved to ensure that the gripper can accurately extend into the battery gripping hole. The specific way to adjust the initial relative position of the gripper relative to the battery gripping hole may be to first determine where the gripper is located in the battery gripping hole. For example, if the gripper is located relative to the battery gripping hole, to the upper right, the gripper is controlled to move to the lower left. The specific method of movement may be a straight line movement from the upper right to the lower left, or it may first move downward and then move to the left. The specific method of movement is not clearly limited. The ultimate goal is to control the gripper to move to the position directly opposite the battery gripping hole.

103. When the adjusted relative position indicates that the side of the gripper facing the battery gripping hole coincides with the opening of the battery gripping hole, control the gripper to extend into the battery gripping hole to grip the battery.

Specifically, after continuously adjusting the relative position of the gripper and the battery gripping hole, the side of the gripper facing the battery gripping hole coincides with the opening of the battery gripping hole. At this time, the position of the gripper is completed. precise adjustment. Then the gripper is controlled to move so that the gripper extends into the battery gripping hole, and finally the battery is gripped. There is no clear limit on the specific method of controlling the movement of the gripper, as long as the gripper can be moved into the battery gripping hole.

This embodiment provides a battery grabbing and positioning method. By determining the initial relative position of the gripper relative to the battery gripping hole, the battery gripping hole is set on the battery, the battery gripping hole matches the gripper, and the gripper is used Reach into the battery grabbing hole to grab the battery; adjust the initial relative position of the gripper relative to the battery grabbing hole to obtain the adjusted relative position; when the adjusted relative position indicates that the gripper is facing the battery grabbing hole When the side of the battery coincides with the opening of the battery grabbing hole, control the gripper to extend into the battery grabbing hole to grab the battery. By directly locating the relative position of the gripper and the battery grabbing hole, the gripper can be better ensured. Reach into the battery grabbing hole and adjust the movement of the gripper in real time to more accurately grasp the battery and improve the battery grabbing efficiency of the gripper.

Furthermore, on the basis of the above embodiment, in this embodiment, the initial relative position of the gripper relative to the battery gripping hole is determined. Specifically, it may be to collect multiple positions of the frame of the gripper and multiple groups of battery gripping holes. The distance value determines the initial relative position of the gripper relative to the battery gripping hole based on the relationship between multiple sets of distance values. It can also be understood as whether each frame at the opening of the battery grab hole can be detected.

Among them, the frame of the gripper can be evenly provided with multiple sensors. The sensors detect the distance information between different positions of the frame and the battery gripping hole, and then determine whether the battery gripping hole is detected, or based on the size of each different distance value. relationship to determine the initial relative position of the gripper relative to the battery gripping hole. example For example, the side of the gripper facing the battery gripping hole is a rectangular frame, and the rectangular frame includes a first long side, a second long side, a first short side and a second short side; the first long side is provided with a first sensor and a second sensor, the second long side is provided with a third sensor and a fourth sensor, the first short side is provided with a fifth sensor, and the second short side is provided with a sixth sensor.

Specifically, the first sensor and the second sensor collect the distance value between the first long side of the rectangular frame and the battery gripping hole, and the third sensor and the fourth sensor are used to collect the distance between the second long side of the rectangular frame and the battery gripping hole. To obtain the distance value of the hole, the fifth sensor is used to collect the distance value between the first short side of the rectangular frame and the battery grabbing hole, and the sixth sensor is used to collect the distance value between the second short side of the rectangular frame and the battery grabbing hole. Then the degree of overlap between the gripper and the battery gripping hole can be determined based on different distance values, thereby determining the initial relative position of the gripper and the battery gripping hole.

FIG. 4 is a schematic diagram illustrating the initial position of the gripper relative to the battery gripping hole provided by the embodiment of the present invention. As shown in Figure 4, it is a cross-sectional view of the gripper facing the battery gripping hole and a cross-sectional schematic diagram of the battery gripping hole. The dotted line frame is a cross-sectional schematic diagram of the gripper, and the solid line frame is a cross-sectional schematic diagram of the battery gripping hole. S1, S2, S3, S4, S5 and S6 shown in the figure are schematic diagrams of the principles of the first sensor, the second sensor, the third sensor, the fourth sensor, the fifth sensor and the sixth sensor provided on the gripper.

Specifically, the six sensors in Figure 4 are all used to collect distance information between the gripper and the battery gripping hole. Among them, S3, S4 and S5 are able to detect the distance value between the gripper and the battery gripping hole, and Reasonable distance values cannot be detected for S1, S2 and S6, so it can be shown that the position of the gripper at this time is offset relative to the battery gripping hole, and the direction of the offset is towards S1, S2 and S6 The direction has shifted. That is to say, the direction of the battery grabbing hole cannot be detected by detecting the direction of the battery grabbing hole. As shown in Figure 4, the gripper has shifted to the upper right. Therefore, the offset direction of each position of the gripper relative to the battery gripping hole can be accurately determined based on the magnitude of each measured value in S1, S2, S3, S4, S5 and S6. Putting it into the X and Y coordinates, it means that the X and Y values of the gripper have increased, causing the gripper position to shift.

Further, based on the above embodiment, adjusting the initial relative position of the gripper relative to the battery gripping hole in this embodiment may include: determining whether the gripper detects the battery gripping hole based on multiple sets of distance values. The frame corresponding to the opening; the gripper is controlled to translate from the position where the frame corresponding to the opening of the battery grabbing hole is not detected to the direction where the frame corresponding to the opening of the battery grabbing hole is detected.

Specifically, as shown in Figure 4, the initial relative position of the gripper relative to the battery gripping hole is determined, and the offset direction of the gripper can be determined. Therefore, the position of the gripper needs to be adjusted. The direction of adjustment is to reduce the X value and Y value corresponding to the position of the gripper, that is, move the gripper toward the front of the car. Move toward the bottom of the car corresponding to the roof. The final result of the movement is to overlap the dotted line with the solid line, that is, the gripper faces the battery gripping hole.

Figure 5 is a schematic diagram of the principle of adjusting the relative position of the gripper and the battery gripping hole. As shown in Figure 5, the gripper is controlled from the position of the frame corresponding to the battery gripping hole opening to the position where the battery gripping hole opening is detected. Translation in the direction of the corresponding frame means moving the gripper toward the front of the car along the X-axis and toward the bottom of the car in the opposite direction along the Y-axis, so that S1, S2, S3, S4, S5 and S6 can all detect the distance. information, and then stop the movement of the gripper in the X-axis and Y-axis directions.

Among them, since the first sensor and the second sensor are both disposed on the first long side of the side of the gripper facing the battery gripping hole, the third sensor and the fourth sensor are both disposed on the side of the gripper facing the battery gripping hole. on the second long side of If the first distance value collected by the sensor is different from the second distance value collected by the second sensor, and/or the third distance value collected by the third sensor is different from the fourth distance value collected by the fourth sensor, the gripper is controlled to rotate. .

Specifically, that is, the minimum value of the X-axis of the gripper is the same as the minimum value of the X-axis of the battery gripping hole, but as X continues to increase, the Y value of the gripper gradually becomes at the same X-axis as the battery gripping hole. If the values are no longer the same, it means that the gripper has rotated relative to the lower left corner at this time, so that the complete coincidence of the two cannot be better guaranteed. For example, if the gripper rotates relative to the lower left corner of Figure 5 For counterclockwise rotation, the measured value of S1 may be smaller than the measured value of S2, that is, ΔL=S1-S2<0. Similarly, S3 and S4 have the same principle and will not be explained in detail.

Due to the relationship between the setting positions of S1, S2, S3 and S4, when at least one of the first distance value and the second distance value is different, and the third distance value is different from the fourth distance value, the gripper is controlled to Rotation may include: determining the difference between the first distance value and the second distance value, or the difference between the third distance value and the fourth distance value; taking the difference between the first distance value and the second distance value as an example The explanation is, ΔL=S1-S2, and then determine the rotation angle of the gripper based on the difference, and control the gripper to rotate based on the rotation angle.

Figure 6 is a schematic diagram of the calculation principle of the rotation angle of the gripper provided by the embodiment of the present invention. As shown in Figure 6, it is a schematic diagram of the determination principle of the rotation angle. According to the schematic diagram, it can be seen that the calculation formula of the rotation angle of the gripper can be as follows: formula (1 ) as shown:

in, represents the rotation angle, ΔL represents the difference between the distance values measured by the first sensor and the second sensor, and L1 represents the installation distance between S1 and S2.

Since L1 is a known quantity, ΔL can be calculated. Therefore, the deflection angle of the gripper along the lane direction can be accurately calculated according to formula (1). Among them, the movement direction of the gripper is controlled when ΔL>0, the gripper is controlled to rotate counterclockwise, and when ΔL<0, the gripper is controlled to rotate clockwise. Finally, the position of the gripper is moved to the target position. Figure 7 is a schematic diagram of the principle of successful positioning of the battery gripping hole provided by the embodiment of the present invention. That is, the schematic diagram of the principle shown in Figure 7 shows that the battery gripping hole is successfully positioned at this time. The positioning of the grab hole also moves the grabber to the position directly opposite the battery grab hole, so that the grabber completely coincides with the battery grab hole in the X-axis and Y-axis directions.

FIG. 8 is a schematic flowchart of battery grab hole positioning provided by an embodiment of the present invention. As shown in FIG. 8 , step 801 is first performed: obtaining an initial relative position. Step 802: S1, S2 and S6 are outside the battery grabbing hole. Specifically, after obtaining the initial relative position, it is determined whether S1, S2 and S6 are outside the battery grabbing hole. For example, referring to Figure 4, S1, S2 and S6 at this time are all outside the solid line frame. Step 803: Move in X and Y directions. Specifically, the gripper needs to be moved in the X and Y directions. Step 804: S1, S2, S3, S4 and S5 can all detect the edge of the battery frame. Specifically, move as shown in Figure 5 so that S1, S2, S3, S4 and S5 can all detect the edge of the battery frame and stop the movement of the gripper in the X and Y directions. Step 805: Rotation angle. Specifically, the distance value between S1 and S2 is obtained, and the gripper is rotated at a certain angle according to the distance value. Step 806: Alignment in X and Y directions. Specifically, after the rotation angle is completed, both the X direction and the Y direction are aligned. Step 807: S1, S2, S3, S4, S5 and S6 all enter the battery grabbing hole. Finally, step 808 is executed: the positioning of the battery grabbing hole is completed, that is, the positioning of the battery grabbing hole is completed.

Further, based on the above embodiment, in this embodiment, controlling the gripper to extend into the battery gripping hole to grip the battery may include: collecting the distance value between the gripper and each side wall inside the gripping hole; according to The distance value of each side wall can be adjusted to adjust the angle and depth of the gripper extending into the gripping hole to complete the gripping of the battery. Among them, a seventh sensor, an eighth sensor and a ninth sensor are also provided on the gripper; therefore, collecting the distance value between the gripper and each side wall inside the gripper hole can include: the seventh sensor is used to collect the correct position of the gripper. The seventh distance value between the center point of the side of the battery grabbing hole and the center point of the first side wall inside the battery frame. The first side wall is a side wall perpendicular to the direction in which the gripper extends; the eighth sensor is used to collect the gripping The eighth distance value between the hand and the second side wall, the second side wall is a side wall perpendicular to the first side wall; the ninth sensor is used to collect the ninth distance value between the gripper and the third side wall, the third side wall It is a side wall adjacent to the second side wall and perpendicular to the first side wall.

Specifically, the core principle is that after moving the gripper in the X and Y directions, it needs to be controlled to extend into the battery gripping hole, and during the process of controlling the gripper to enter the battery gripping hole, real-time Detect the distance information between each side wall of the gripper and each side wall inside the battery gripping hole. Define the direction in which the gripper moves along the battery gripping hole as the Z-axis direction, that is, during the movement of the gripper on the Z-axis, It is necessary to maintain relative stability on the X-axis and Y-axis to ensure that the gripper does not touch the battery when not moving to the target position to achieve precise positioning matching.

Figure 9 is a schematic cross-sectional view of the gripper extending into the battery gripping hole according to an embodiment of the present invention. As shown in Figure 9, the function of the seventh sensor is to detect the distance of the gripper extending into the battery gripping hole. The gripper extends into the appropriate position of the battery gripping hole to prevent the gripper from extending too deep or too shallowly. The eighth sensor and the ninth sensor respectively detect the distance between the two adjacent side walls of the gripper and the inner side wall of the battery gripping hole. distance to ensure that the gripper will not touch the inner wall of the battery gripping hole when extending into the battery gripping hole, thereby improving the efficiency of battery gripping. S7, S8 and S9 shown in Figure 9 are the seventh sensors respectively. , schematic diagram of the installation positions of the eighth sensor and the ninth sensor to ensure accurate measurement of the distance between each position of the gripper. The number and position of the sensors shown in Figure 9 are exemplified. As long as the principle of this embodiment is adopted, the process of controlling the extension of the gripper by detecting the distance between the gripper and each side wall of the battery gripping hole belongs to this invention. protection scope of the embodiments of the invention.

Further, specifically according to the distance value of each side wall, the angle and depth of the gripper extending into the gripping hole are adjusted, including: if the seventh distance value is greater than the first preset threshold, controlling the gripper to extend into the gripping hole. Movement, the seventh distance value determines the depth of movement of the gripper on the Z axis. The seventh distance value can better ensure that the gripper moves to the appropriate position. If the eighth distance value is greater than the second preset threshold, the gripper is controlled to move in a direction in which the eighth distance value decreases; if the ninth distance value is greater than the third preset threshold, the gripper is controlled to move in a direction in which the ninth distance value decreases. The eighth distance value and the ninth distance value indicate the distance value between the side wall of the gripper and the side wall of the battery gripping hole to ensure that the gripper will not be affected by the inner wall of the gripping hole during the extension process.

Based on the same general inventive concept, embodiments of the present invention also protect a battery grabbing and positioning device. The battery grabbing and positioning device provided by the embodiment of the invention is described below. The battery grabbing and positioning device described below is the same as the battery grabbing and positioning device described above. The battery grabbing and positioning methods can be referenced correspondingly.

Figure 10 is a schematic structural diagram of a battery grabbing and positioning device provided by an embodiment of the present invention.

As shown in Figure 10, a battery grabbing and positioning device provided by an embodiment of the present invention includes:

Determination module 1001 is used to determine the initial relative position of the gripper relative to the battery gripper hole. The battery gripper hole is set on the battery. The battery gripper hole matches the gripper. The gripper is used to extend into the battery gripper hole. Grab the battery;

The adjustment module 1002 is used to adjust the initial relative position of the gripper relative to the battery gripping hole to obtain the adjusted relative position;

The control module 1003 is used to control the gripper to extend into the battery gripping hole to grip the battery when the relative position indicates that the side of the gripper facing the battery gripping hole coincides with the opening of the battery gripping hole.

This embodiment provides a battery grabbing and positioning device. By determining the initial relative position of the gripper relative to the battery gripping hole, the battery gripping hole is provided on the battery. The battery gripping hole matches the gripper. The gripper is used to Reach into the battery grabbing hole to grab the battery; adjust the initial relative position of the gripper relative to the battery grabbing hole to obtain the adjusted relative position; when the adjusted relative position indicates that the gripper is facing the battery grabbing hole When the side of the battery coincides with the opening of the battery grabbing hole, control the gripper to extend into the battery grabbing hole to grab the battery. By directly locating the relative position of the gripper and the battery grabbing hole, the gripper can be better ensured. Reach into the battery grabbing hole and adjust the movement of the gripper in real time to more accurately grasp the battery and improve the battery grabbing efficiency of the gripper.

Further, the determination module 1001 in this embodiment is specifically used to:

Further, the adjustment module 1002 in this embodiment is specifically used for:

Further, in this embodiment, the side of the gripper facing the battery gripping hole is a rectangular frame, and the rectangular frame includes a first long side, a second long side, a first short side and a second short side;

Furthermore, this embodiment also includes a rotation module for:

Further, in this embodiment, when the first distance value and the second distance value are different, the rotation module is specifically used to:

Furthermore, this embodiment also includes a rotation module for:

Further, in this embodiment, when the third distance value and the fourth distance value are different, the rotation module is specifically used to:

Furthermore, this embodiment also includes a rotation module for:

Further, the control module 1003 in this embodiment is specifically used for:

Further, in this embodiment, the gripper is also provided with a seventh sensor, an eighth sensor and a ninth sensor;

Furthermore, the control module 1003 in this embodiment is also specifically used for:

As shown in Figure 11, the electronic device may include: a processor (processor) 1110, a communication interface (Communications Interface) 1120, a memory (memory) 1130, and a communication bus 1140, wherein the processor 1110, the communication interface 1120, and the memory 1130 pass The communication bus 1140 completes mutual communication. The processor 1110 can call the logic instructions in the memory 1130 to execute the battery grabbing and positioning method. The method includes: determining the initial relative position of the gripper relative to the battery grabbing hole, and the battery grabbing hole is provided on the battery, so The battery grab hole matches the grab hand, and the grab hand is used to extend into the battery grab hole to grab the battery; adjust the initial relative position of the grab hand with respect to the battery grab hole. position to obtain the adjusted relative position; when the adjusted relative position indicates that the side of the gripper facing the battery gripping hole coincides with the opening of the battery gripping hole, the gripper is controlled to extend Go inside the battery grabbing hole to grab the battery.

In addition, the above-mentioned logical instructions in the memory 1130 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the embodiments of the present invention is essentially or contributes to the existing technology or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disks or optical disks and other media that can store program codes.

On the other hand, embodiments of the present invention also provide a computer program product. The computer program product includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, , the computer can execute the battery grabbing and positioning method provided by the above methods. The method includes: determining the initial relative position of the gripper relative to the battery grabbing hole, the battery grabbing hole is provided on the battery, the battery grabbing The hole matches the gripper, and the gripper is used to extend into the battery gripping hole to grip the battery; adjust the initial relative position of the gripper relative to the battery gripping hole to obtain the adjustment When the adjusted relative position indicates that the side of the gripper facing the battery gripping hole coincides with the opening of the battery gripping hole, the gripper is controlled to extend into the battery Grab the battery inside the grab hole.

On the other hand, embodiments of the present invention also provide a non-transitory computer-readable storage medium on which a computer program is stored. The computer program is implemented when executed by the processor to execute the battery grabbing and positioning method provided by each of the above methods. , the method includes: determining the initial relative position of the gripper relative to the battery gripper hole, the battery gripper hole is provided on the battery, the battery gripper hole matches the gripper, and the gripper is used for Reach into the battery grabbing hole to grab the battery; adjust the initial relative position of the gripper relative to the battery grabbing hole to obtain the adjusted relative position; when the adjusted relative position represents the desired When the side of the gripper facing the battery gripping hole coincides with the opening of the battery gripping hole, the gripper is controlled to extend into the battery gripping hole to grip the battery.

The device embodiments described above are only illustrative. The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in One location, or it can be distributed across multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Persons of ordinary skill in the art can understand and implement the method without any creative effort.

Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the part of the above technical solution that essentially contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., including a number of instructions to cause a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in various embodiments or certain parts of the embodiments.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of the present invention, but not to limit them; although the embodiments of the present invention have been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art It should be understood that the technical solutions described in the foregoing embodiments can still be modified, or some of the technical features can be equivalently replaced; and these modifications or substitutions do not deviate from the essence of the corresponding technical solutions from the embodiments of the present invention. spirit and scope of the technical solution of the embodiment.

Claims

A battery grabbing and positioning method, characterized in that it is applied to a gripper control system and includes:

Determine the initial relative position of the gripper relative to the battery gripper hole. The battery gripper hole is provided on the battery. The battery gripper hole matches the gripper. The gripper is used to extend into the battery. Grab the battery inside the grab hole;

Adjust the initial relative position of the gripper relative to the battery gripping hole to obtain the adjusted relative position;

When the adjusted relative position indicates that the side of the gripper facing the battery gripping hole coincides with the opening of the battery gripping hole, the gripper is controlled to extend into the battery gripping hole to The battery is captured.
The method of claim 1, wherein determining the initial relative position of the gripper relative to the battery gripping hole includes:

Collect multiple sets of distance values from multiple positions of the gripper frame and the battery gripping hole;

According to the magnitude relationship of the multiple sets of distance values, the initial relative position of the gripper relative to the battery gripping hole is determined.
The battery grabbing and positioning method according to claim 2, wherein the adjusting the initial relative position of the gripper relative to the battery grabbing hole includes:

Determine whether the gripper detects the frame corresponding to the opening of the battery gripping hole according to the multiple sets of distance values;

The gripper is controlled to translate from a position where the frame corresponding to the opening of the battery gripping hole is not detected to a direction where the frame corresponding to the opening of the battery gripping hole is detected.
The battery grabbing and positioning method according to claim 3, characterized in that the side of the gripper facing the battery grabbing hole is a rectangular frame, and the rectangular frame includes a first long side, a second long side, the first short side and the second short side;

The first long side is provided with a first sensor and a second sensor, the second long side is provided with a third sensor and a fourth sensor, the first short side is provided with a fifth sensor, and the second short side is provided with a fifth sensor. A sixth sensor is provided.
The battery grasping and positioning method according to claim 4, characterized in that the control of the grasper is from a position where the frame corresponding to the opening of the battery grasping hole is not detected to a position where the battery grasping hole is detected. After the direction of the frame corresponding to the opening is translated, it also includes:

If the first distance value collected by the first sensor is different from the second distance value collected by the second sensor, the gripper is controlled to rotate.
The battery grabbing and positioning method according to claim 5, characterized in that, when the first distance value and the second distance value are different, the controlling the gripper to rotate includes:

Determine the difference between the first distance value and the second distance value;

The rotation angle of the gripper is determined according to the difference value, and the gripper is controlled to rotate according to the rotation angle.
The battery grasping and positioning method according to claim 4, characterized in that the control of the grasper is from a position where the frame corresponding to the opening of the battery grasping hole is not detected to a position where the battery grasping hole is detected. After the direction of the frame corresponding to the opening is translated, it also includes:

If the third distance value collected by the third sensor is different from the fourth distance value collected by the fourth sensor, the gripper is controlled to rotate.
The battery grabbing and positioning method according to claim 7, characterized in that when the third distance value and the fourth distance value are different, the controlling the gripper to rotate includes:

Determine the difference between the third distance value and the fourth distance value;

The rotation angle of the gripper is determined according to the difference value, and the gripper is controlled to rotate according to the rotation angle.
The battery grasping and positioning method according to claim 4, characterized in that the control of the grasper is from a position where the frame corresponding to the opening of the battery grasping hole is not detected to a position where the battery grasping hole is detected. After the direction of the frame corresponding to the opening is translated, it also includes:

If the first distance value collected by the first sensor is different from the second distance value collected by the second sensor, and the third distance value collected by the third sensor is different from the fourth distance value collected by the fourth sensor, If different, the gripper is controlled to rotate.
The battery grabbing and positioning method according to any one of claims 1 to 9, characterized in that the controlling the gripper to extend into the battery grabbing hole to grab the battery includes:

Collect the distance value between the gripper and each side wall inside the gripping hole;

According to the distance value of each side wall, the angle and depth of the gripper extending into the gripping hole are adjusted to complete gripping of the battery.
The battery grabbing and positioning method according to claim 10, characterized in that the gripper is further provided with a seventh sensor, an eighth sensor and a ninth sensor;

The collection of distance values between the gripper and each side wall inside the gripping hole includes:

The seventh sensor is used to collect a seventh distance value between the center point of the side of the gripper facing the battery gripping hole and the center point of the first side wall inside the battery frame. The first side wall It is the side wall perpendicular to the direction in which the gripper extends;

The eighth sensor is used to collect an eighth distance value between the gripper and the second side wall, and the second side wall is a side wall perpendicular to the first side wall;

The ninth sensor is used to collect a ninth distance value between the gripper and a third side wall, which is a side adjacent to the second side wall and perpendicular to the first side wall. wall.
The battery grabbing and positioning method according to claim 11, characterized in that adjusting the angle and depth of the gripper extending into the gripping hole according to the distance value of each side wall includes:

If the seventh distance value is greater than the first preset threshold, control the gripper to move inside the gripping hole;

If the eighth distance value is greater than the second preset threshold, control the gripper to move in the direction in which the eighth distance value decreases;

If the ninth distance value is greater than the third preset threshold, the gripper is controlled to move in a direction in which the ninth distance value decreases.
A battery grabbing and positioning device, characterized by including:

Determining module, used to determine the initial relative position of the gripper relative to the battery gripper hole. The battery gripper hole is provided on the battery. The battery gripper hole matches the gripper. The gripper is used to Reach into the battery grabbing hole to grab the battery;

an adjustment module, used to adjust the initial relative position of the gripper relative to the battery gripping hole to obtain the adjusted relative position;

A control module configured to control the gripper to extend into the battery gripper hole when the relative position indicates that the side of the gripper facing the battery gripper hole coincides with the opening of the battery gripper hole. Internal capture of said battery.
An electronic device, including a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that when the processor executes the program, it implements claims 1 to 12 The battery grabbing and positioning method described in any one of the above.
A non-transitory computer-readable storage medium, characterized in that the storage medium stores a computer program, and the computer program is used to execute the battery grabbing and positioning method described in any one of claims 1 to 12.