WO2024077884A1 - 电池定位方法、装置、设备、存储介质及换电站 - Google Patents
电池定位方法、装置、设备、存储介质及换电站 Download PDFInfo
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- WO2024077884A1 WO2024077884A1 PCT/CN2023/085062 CN2023085062W WO2024077884A1 WO 2024077884 A1 WO2024077884 A1 WO 2024077884A1 CN 2023085062 W CN2023085062 W CN 2023085062W WO 2024077884 A1 WO2024077884 A1 WO 2024077884A1
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- battery
- gripper
- distance detection
- long side
- position coordinates
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- 238000000034 method Methods 0.000 title claims abstract description 70
- 238000001514 detection method Methods 0.000 claims description 255
- 238000004590 computer program Methods 0.000 claims description 13
- 230000009466 transformation Effects 0.000 claims description 6
- 238000005259 measurement Methods 0.000 abstract 3
- 238000010586 diagram Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 5
- 230000032258 transport Effects 0.000 description 4
- 101001121408 Homo sapiens L-amino-acid oxidase Proteins 0.000 description 2
- 102100026388 L-amino-acid oxidase Human genes 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 101000827703 Homo sapiens Polyphosphoinositide phosphatase Proteins 0.000 description 1
- 102100023591 Polyphosphoinositide phosphatase Human genes 0.000 description 1
- 101100012902 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) FIG2 gene Proteins 0.000 description 1
- 101100233916 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) KAR5 gene Proteins 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
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Classifications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- 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
Definitions
- the present invention relates to the field of battery replacement technology, and in particular to a battery positioning method, device, equipment, storage medium and battery replacement station.
- Electric operating machinery uses power batteries as a power source.
- the working time in pure electric working mode is affected by the battery capacity. If charging is used, it generally cannot meet the customer's requirements for the continuous working time of electric operating machinery.
- electric operating machinery can adopt a battery replacement solution, that is, to achieve continuous operation by replacing the on-board power battery. At present, most use camera recognition to detect the battery frame, and then control the battery gripper to grab the battery frame.
- the camera's recognition method is greatly affected by the environment and light, which affects the efficiency of battery replacement.
- Embodiments of the present invention provide a battery positioning method, device, equipment, storage medium and battery replacement station to solve the defect of low battery replacement efficiency in the prior art.
- An embodiment of the present invention provides a battery positioning method, comprising:
- the battery gripper When the battery gripper moves to the target position, the battery gripper is controlled to translate from the target position to the coordinates of the initial center position of the battery frame in a direction perpendicular to the transport direction;
- a first short side of the battery frame and a first long side or a second long side perpendicular to the first short side are respectively fitted;
- the actual center position coordinates of the battery frame are obtained by fitting.
- the gripper and the battery frame are both rectangular frames, and the rectangular frame includes a first short side, a first long side, a second short side and a second long side connected in sequence;
- a first distance detection device is arranged on the first short side of the battery gripper, a second distance detection device is arranged on the second short side, a third distance detection device and a fourth distance detection device are arranged on the first long side, and a fifth distance detection device and a sixth distance detection device are arranged on the second long side.
- the multiple distance detection devices include at least two distance detection devices.
- the fitting of obtaining the first short side of the battery frame based on the detection results of the multiple distance detection devices includes:
- the first short side is obtained by fitting based on at least two short side position coordinates using the least squares method.
- the first long side or the second long side perpendicular to the first short side is obtained by fitting based on the detection results of the multiple distance detection devices, including:
- the first long side or the second long side perpendicular to the first short side is fitted based on at least two long side position coordinates by using the least square method.
- the method further includes:
- the coordinates of each axis of the battery gripper moving device are determined by coordinate transformation
- the current center position coordinate of the battery gripper is controlled to move to the actual center position coordinate of the battery frame.
- a battery positioning method is provided, after controlling the current center position coordinates of the battery gripper to move to the actual center position coordinates of the battery frame, further comprising:
- each detection result is less than a preset value, it is determined that the battery gripper position calibration is completed, otherwise the position of the battery gripper is adjusted.
- An embodiment of the present invention further provides a battery positioning device, comprising:
- a pre-positioning module used for pre-positioning the battery and the battery gripper, determining the initial center position coordinates of the battery frame of the battery and the initial center position coordinates of the battery gripper, the battery gripper is used for grabbing the battery frame, and the battery gripper is provided with a plurality of distance detection devices;
- a control module used for controlling the battery gripper to move from the initial center position coordinates of the battery gripper to the initial center position coordinates of the battery frame along the transport direction of the battery; when the battery gripper moves to the target position, controlling the battery gripper to translate from the target position to the initial center position coordinates of the battery frame along the direction perpendicular to the transport direction;
- a fitting module is used to fit the first short side of the battery frame and the first long side or the second long side perpendicular to the first short side, based on the detection results of the multiple distance detection devices, when the battery gripper translates; and to fit the actual center position coordinates of the battery frame based on the first long side and one of the second long sides, as well as a preset battery frame size and the first short side.
- An embodiment of the present invention further provides a battery positioning device, wherein the gripper and the battery frame are both rectangular frames, and the rectangular frame includes a first short side, a first long side, a second short side, and a second long side connected in sequence;
- a first distance detection device is arranged on the first short side of the battery gripper, a second distance detection device is arranged on the second short side, a third distance detection device and a fourth distance detection device are arranged on the first long side, and a fifth distance detection device and a sixth distance detection device are arranged on the second long side.
- An embodiment of the present invention further provides a battery positioning device, wherein the plurality of distance detection devices include at least two distance detection devices.
- the fitting module is used to determine the short side position coordinates of each of the at least two distance detection devices when it is detected that the at least two distance detection devices pass through the first short side; and to fit the first short side based on at least two short side position coordinates using the least squares method.
- An embodiment of the present invention also provides a battery positioning device, wherein the fitting module is further used to determine the inclination angle of the battery gripper relative to the battery frame based on the at least two short side position coordinates, and rotate the battery gripper based on the inclination angle; when the battery gripper completes rotation, respectively determine the long side detection results of the third distance detection device, the fourth distance detection device, the fifth distance detection device and the sixth distance detection device; based on the long side detection results, control the battery gripper to move toward the long side of the battery frame where the battery frame is not detected; when it is detected that the at least two distance detection devices pass through the first long side or the second long side, determine the long side position coordinates of each distance detection device when passing through the first long side or the second long side; and use the least squares method to fit the first long side or the second long side perpendicular to the first short side based on at least two long side position coordinates.
- An embodiment of the present invention further provides a battery positioning device, which, after fitting to obtain the actual center position coordinates of the battery frame, further comprises:
- the coordinates of each axis of the battery gripper moving device are determined by coordinate transformation
- the current center position coordinate of the battery gripper is controlled to move to the actual center position coordinate of the battery frame.
- An embodiment of the present invention further provides a battery positioning device, which, after controlling the current center position coordinates of the battery gripper to move to the actual center position coordinates of the battery frame, further comprises:
- each detection result is less than a preset value, it is determined that the battery gripper position calibration is completed, otherwise the position of the battery gripper is adjusted.
- An embodiment of the present invention further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, any of the above-mentioned battery positioning methods is implemented.
- An embodiment of the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon.
- the computer program is executed by a processor, the battery positioning method described in any one of the above is implemented.
- An embodiment of the present invention further provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the battery positioning method described above is implemented.
- An embodiment of the present invention further provides a battery swap station, which is used to perform battery positioning methods as described in any one of the above items to perform battery replacement.
- the embodiments of the present invention provide a battery positioning method, device, equipment, storage medium and battery swap station.
- the method determines the initial center position coordinates of the battery frame and the initial center position coordinates of the battery gripper by pre-positioning the battery and the battery gripper.
- the battery gripper is used to grab the battery frame, and a plurality of distance detection devices are arranged on the battery gripper.
- the battery gripper is controlled to move from the initial center position coordinates of the battery gripper to the initial center position coordinates of the battery frame along the transportation direction of the battery.
- the battery gripper moves to the target position, the battery gripper is controlled to translate from the target position to the initial center position coordinates of the battery frame along the vertical direction of the transportation direction.
- the battery gripper When the battery gripper translates, based on the detection results of the plurality of distance detection devices, the first short side of the battery frame and the first long side or the second long side perpendicular to the first short side are respectively fitted. Based on the first long side and one of the second long side, as well as the preset battery frame size and the first short side, the actual center position coordinates of the battery frame are fitted. By fitting the actual center position coordinates of the battery frame according to the detection results of the distance detection device, the accuracy of the battery frame position acquisition can be effectively guaranteed, and the influence of ambient light is small, thereby effectively improving the battery replacement efficiency.
- FIG1 is a schematic flow chart of a battery positioning method provided by an embodiment of the present invention.
- FIG2 is a schematic diagram of the positioning principle of a battery gripper and a battery frame provided by an embodiment of the present invention
- FIG. 3 is a schematic diagram of the structure of a battery positioning device provided by an embodiment of the present invention.
- FIG. 4 is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention.
- a battery positioning method, device, equipment, storage medium and battery swap station according to an embodiment of the present invention will be described below in conjunction with FIGS. 1 to 4 .
- the power battery on the operating machinery is generally assembled in a frame structure, which is defined as a battery frame.
- the power battery on the operating machinery can be replaced by positioning, grabbing and hoisting the battery frame.
- the battery frame is generally set at the rear of the vehicle.
- the battery exchange device generally includes a battery gripper and a mobile device.
- the battery gripper is arranged on the mobile device and is used to grab the battery frame equipped with the power battery.
- the mobile device is used to move between the power battery storage area and the battery exchange parking area to complete the transportation of the power battery.
- the mobile device can include a large cart and a small cart. For example, the large cart controls the battery gripper to move forward and backward, and the small cart controls the gripper to move left and right. At this time, the running direction of the operating machinery equipped with the power battery is the forward and backward direction.
- FIG. 1 is a schematic diagram of a flow chart of a battery positioning method provided in an embodiment of the present invention
- FIG. 2 is a schematic diagram of a positioning principle of a battery gripper and a battery frame provided in an embodiment of the present invention.
- this embodiment provides a battery positioning method
- the execution subject may be a battery swap station control system
- the method mainly includes the following steps:
- the battery gripper Pre-position the battery and the battery gripper to determine the initial center position coordinates of the battery frame and the initial center position coordinates of the battery gripper.
- the battery gripper is used to grasp the battery frame, and a plurality of distance detection devices are arranged on the battery gripper.
- a spatial coordinate system is first established, and the operating machine carrying the battery, the battery, the battery gripper and the mobile device are established in the same coordinate system.
- the parking position of the operating machine is fixed, and the position of the battery gripper when not working is fixed. Therefore, the position of the battery and the battery gripper in the coordinate system at the initial moment is determined. Therefore, the initial center position coordinates of the battery frame and the initial center position coordinates of the battery gripper can be determined.
- a plurality of distance detection devices are arranged on the battery gripper. Since the installation position of each distance detection device is fixed, the position coordinates of each distance detection device are also determined.
- the function of the distance detection device is to detect the distance value between the gripper and the battery frame.
- the process of establishing a spatial coordinate system can be to determine the relative position relationship of each device through different sensors in the battery swap space, and establish a spatial coordinate system based on the relative position relationship and the size specifications of each device itself, so that the spatial coordinate system can cover all devices in the battery swap space.
- pre-positioning The role of pre-positioning is to preliminarily position the battery frame and battery gripper. The positioning result is not the final result. Pre-positioning is to first determine the approximate position of the battery frame and battery gripper, and then perform precise positioning control.
- the battery gripper is controlled to move according to the pre-positioning result, where the walking direction refers to the direction consistent with the direction of the operating machinery that transports the battery, and the translation direction refers to the direction perpendicular to the walking direction, that is, it can be understood that the walking direction is on the X-axis, and the translation direction is on the Y-axis.
- the battery gripper needs to be controlled to move in the three coordinate axis directions respectively, and then the battery gripper can be controlled to complete the grasping of the battery frame. Therefore, after the pre-positioning is completed, the battery gripper is first controlled to move to the target position on the X axis.
- the battery gripper moves to the target position, the battery gripper is controlled to translate from the target position to the coordinates of the initial center position of the battery frame in a direction perpendicular to the transportation direction.
- the gripper when the battery gripper moves to the target position, indicating that it has reached the position in the first direction, it is necessary to control the gripper to translate in the second direction, that is, the direction perpendicular to the first direction, so as to control the movement of the battery gripper in two directions and move the battery gripper to directly above the battery frame, so as to facilitate the control of the battery gripper to complete the grabbing of the battery frame.
- the battery gripper When the battery gripper translates, based on the detection results of the multiple distance detection devices, respectively fit the first short side of the battery frame and the first long side or the second long side perpendicular to the first short side.
- 1# represents the first distance detection device
- 2# represents the second distance detection device
- 3# represents the third distance detection device
- 4# represents the fourth distance detection device
- 5# represents the fifth distance detection device
- 6# represents the sixth distance detection device
- L1 represents the first short side
- L2 represents the second short side
- L3 represents the first long side
- L4 represents the second long side.
- a plurality of distance detection devices are arranged on the battery gripper, and the distance detection devices detect the distance between the battery gripper and the battery frame.
- the distance detection devices detect the distance between the battery gripper and the battery frame.
- the distance The distance value detected by the detection device is a value within a preset interval. If the distance value detected by the distance detection device is greater than the value within the preset interval, it indicates that the battery gripper position corresponding to the distance sensor does not overlap with the battery frame.
- the process of the battery gripper's translation is to control the direction of the 2# distance detection device's translation from the L1 side to the L2 side.
- the six distance detection devices will have different detection results. Therefore, according to the distance values detected by different distance detection devices, it can be obtained at which moment the distance detection device passed through the L1 side and the L2 side.
- the 2# distance detection device as an example, when the 2# distance detection device passes through the L1 side, the detection result of the distance detection device will suddenly change, that is, from a larger distance value to a smaller distance value, which means that the 2# distance detection device has passed through the L1 side.
- 3# and 4# are based on the same principle, and no further explanation will be given.
- the L1 side can be fitted based on the detection results of multiple different distance detection devices.
- the 2# distance detection device After fitting the L1 edge, the 2# distance detection device is translated to the side of L2. Therefore, it is necessary to control the battery gripper to move in the direction of L3 or L4. During walking, multiple distance detection devices will also detect different distance detection results. Similarly, different distance detection results can be used to fit the L3 edge or the L4 edge.
- a preset battery frame size and the first short side obtain the coordinates of the actual center position of the battery frame by fitting.
- the size of the battery frame is known, that is, the preset battery frame size is a known quantity, and after the above calculation, the first short side and any one of the first long side and the second long side are known quantities, the shape outline of the battery frame and the actual center position coordinates of the battery frame can be obtained based on the fitting of the three.
- the battery frame is a rectangular frame with the same shape as the battery gripper.
- the specific shape and position of the rectangular frame can be quickly calculated through geometric operations, and then the center position of the rectangular frame can be determined, and the actual center position coordinates of the battery frame can be obtained.
- the battery positioning method of this embodiment performs positioning by fitting the battery frame, which is not affected by the environment and light. By fitting any two overlapping edges, the final battery frame can be obtained, which effectively improves the battery frame positioning efficiency and further improves the battery grabbing and replacement efficiency.
- the gripper and the battery frame are both rectangular frames, and the rectangular frame includes a first short side, a first long side, a second short side, and a second long side connected in sequence; wherein the first short side of the battery gripper is provided with a first distance detection device, the second short side is provided with a second distance detection device, and the first long side is provided with a second distance detection device.
- a third distance detection device and a fourth distance detection device are arranged on the first long side, and a fifth distance detection device and a sixth distance detection device are arranged on the second long side.
- the first distance detection device can be set at the middle point of the first short side
- the second distance detection device can be set at the middle point of the second short side
- the third distance detection device and the fourth distance detection device can be set at the points that divide the first long side into three equal parts
- the fourth distance detection device and the fifth distance detection device can be set at the points that divide the second long side into three equal parts.
- the multiple distance detection devices include at least two distance detection devices, wherein the first short side of the battery frame is fitted based on the detection results of the multiple distance detection devices, including: when at least two distance detection devices are detected to pass through the first short side, the short side position coordinates of each of the at least two distance detection devices are determined when passing through the first short side; and the first short side is fitted based on the at least two short side position coordinates using the least squares method.
- the initial center position coordinates of the battery gripper are known. Since the installation positions of the distance detection devices on the battery gripper are fixed, the position coordinates of the distance detection devices are also known, and the walking distance of the battery gripper is controlled. Therefore, when the battery gripper walks to the target position, the real-time coordinates of the battery gripper at the target position can be quickly calculated.
- the position coordinates of the detection distance detection device when it passes through the first short side are the real-time coordinates, i.e., the short side coordinates, of the second distance detection device, the third distance detection device, and the fourth distance detection device when they pass through the first short side L1, respectively.
- at least two short side coordinates are combined with the least squares method for fitting to obtain the first short side of the battery frame.
- the least squares method minimizes the square of the error and matches the best function to find the data.
- the least squares method can be used to easily obtain unknown data and minimize the sum of the squares of the errors between the obtained data and the actual data. Therefore, the first short side L1 can be quickly fitted by the least squares method.
- a first long side or a second long side perpendicular to the first short side is fitted, including: based on at least two short side position coordinates, determining the inclination angle of the battery gripper relative to the battery frame, and rotating the battery gripper based on the inclination angle; when the rotation of the battery gripper is completed, respectively determining the long side detection results of the third distance detection device, the fourth distance detection device, the fifth distance detection device and the sixth distance detection device; based on the long side detection result, controlling the battery gripper to move toward the long side of the side where the battery frame is not detected; when at least two distance detection devices are detected, When the distance detection device passes through the first long side or the second long side, determine the long side position coordinates of each distance detection device when it passes through the first long side or the second long side; and use the least squares method to fit the first long side or the second long side perpendicular to the first
- the inclination angle of the battery frame can be calculated by any two short side coordinates, such as the X-axis and Y-axis in Figure 2. By obtaining the coordinates of any two points on any L1 side, the inclination angle of the L1 side can be quickly calculated. Then the battery gripper can be controlled to rotate according to the inclination angle so that the battery gripper matches the battery frame.
- the specific method of controlling the moving direction of the battery gripper can be: respectively determine the detection results of the distance detection device on the first long side and the second long side, and control the battery gripper to move from the side with a larger distance detection result value to the side with a smaller distance detection result, as shown in Figure 2, that is, control the battery gripper to move from the side of L4 to the side of L3.
- the distance detection result value on the side where the battery frame is not detected is greater than the distance detection result value on the side where the battery frame is detected.
- the least squares method is used to combine at least two long side position coordinates to fit the first long side or the second long side. Only one of the long sides needs to be fitted, and the fitted long side and the short side intersect, that is, the first short side is perpendicular to the fitted first long side or the fitted second long side.
- the present embodiment after fitting the actual center position coordinates of the battery frame, also includes: based on the actual center position coordinates of the battery frame, determining the axis coordinates of the battery gripper moving device through coordinate transformation; based on the axis coordinates, controlling the current center position coordinates of the battery gripper to move to the actual center position coordinates of the battery frame.
- the overall outline of the battery frame can be obtained, and then the actual center position coordinates of the battery frame can be obtained.
- the control of the battery gripper movement includes the large trolley servo in the walking direction, the small trolley servo in the translation direction, the gripper lifting servo in the lifting and lowering direction, and the rotation servo for angular rotation.
- the current center position coordinates of the battery gripper after the current center position coordinates of the battery gripper are moved to the actual center position coordinates of the battery frame in this embodiment, it can also include: detecting the detection result of each distance detection device in multiple distance detection devices; if each detection result is less than a preset value, it is determined that the battery gripper position calibration is completed, otherwise the position of the battery gripper is adjusted.
- the six distance detection devices should detect the battery frame, that is, the distance detection results of the six distance detection devices are slightly different and are all within the preset distance range. If the distance detection results of any one or more of the distance detection devices are too large, it indicates that there is a certain deviation between the battery gripper and the battery frame at this time, so it is necessary to calibrate and adjust the angle of the battery gripper.
- the calibration method is to control the battery gripper to rotate from the side where the detection result is greater than the preset value to the side where the detection result is less than the preset value, until all the distance detection devices finally detect the distance values within the preset value. At this time, it indicates that the distance detection devices can detect the battery frame, indicating that the positions of the battery gripper and the battery frame are completely matched at this time.
- the grasping process only needs to control the battery gripper to rise and fall linearly in the vertical direction of the battery frame. By calibrating the position of the battery gripper, the efficiency of battery grasping can be effectively guaranteed.
- the distance detection device can be a point laser sensor.
- an embodiment of the present invention further protects a battery positioning device.
- the battery positioning device provided by an embodiment of the present invention is described below.
- the battery positioning device described below and the battery positioning method described above can be referenced to each other.
- FIG. 3 is a schematic structural diagram of a battery positioning device provided in an embodiment of the present invention.
- an embodiment of the present invention provides a battery positioning device, comprising:
- a pre-positioning module 301 is used to pre-position the battery and the battery gripper, and determine the initial center position coordinates of the battery frame and the initial center position coordinates of the battery gripper.
- the battery gripper is used to grab the battery frame, and a plurality of distance detection devices are arranged on the battery gripper;
- the control module 302 is used to control the battery gripper to move from the initial center position coordinate of the battery gripper to the initial center position coordinate of the battery frame along the transportation direction of the battery; when the battery gripper moves to the target position, the battery gripper is controlled to translate from the target position to the initial center position coordinate of the battery frame along the vertical direction of the transportation direction;
- a fitting module 303 used for fitting a first short side of the battery frame and a first long side or a second long side perpendicular to the first short side, based on detection results of multiple distance detection devices, when the battery gripper is translated; Based on one of the first long side and the second long side, as well as a preset battery frame size and the first short side, the actual center position coordinates of the battery frame are obtained by fitting.
- a battery positioning device determines the coordinates of the initial center position of the battery frame and the coordinates of the initial center position of the battery gripper by pre-positioning the battery and the battery gripper, wherein the battery gripper is used to grab the battery frame, and a plurality of distance detection devices are arranged on the battery gripper; the battery gripper is controlled to move from the coordinates of the initial center position of the battery gripper to the coordinates of the initial center position of the battery frame along the transportation direction of the battery; when the battery gripper moves to the target position, the battery gripper is controlled to translate from the target position to the coordinates of the initial center position of the battery frame along the direction perpendicular to the transportation direction; when the battery gripper translates, based on the detection results of the plurality of distance detection devices, the first short side of the battery frame and the first long side or the second long side perpendicular to the first short side are respectively fitted; based on the first long side and one of the second long sides, as well as the preset battery frame size and the first short
- the gripper and the battery frame in this embodiment are both rectangular frames, and the rectangular frame includes a first short side, a first long side, a second short side and a second long side connected in sequence;
- a first distance detection device is arranged on the first short side of the battery gripper, a second distance detection device is arranged on the second short side, a third distance detection device and a fourth distance detection device are arranged on the first long side, and a fifth distance detection device and a sixth distance detection device are arranged on the second long side.
- the multiple distance detection devices include at least two distance detection devices, and the fitting module 303 is specifically used to:
- the first short side of the battery frame is obtained by fitting based on at least two short side position coordinates using the least squares method.
- fitting module 303 in this embodiment is specifically used for:
- the first long side or the second long side perpendicular to the first short side is fitted based on at least two long side position coordinates by using the least square method.
- this embodiment also includes a capture module, which is specifically used to:
- the coordinates of each axis of the battery gripper moving device are determined by coordinate transformation
- the current center position coordinate of the battery gripper is controlled to move to the actual center position coordinate of the battery frame.
- this embodiment also includes a calibration module, which is specifically used to:
- each detection result is less than a preset value, it is determined that the battery gripper position calibration is completed, otherwise the position of the battery gripper is adjusted.
- an embodiment of the present invention further provides a battery swap station, which is used to perform battery positioning methods as described in any of the above embodiments to perform battery replacement.
- FIG. 4 is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention.
- the electronic device may include: a processor 410, a communications interface 420, a memory 430 and a communications bus 440, wherein the processor 410, the communications interface 420 and the memory 430 communicate with each other through the communications bus 440.
- the processor 410 may call the logic instructions in the memory 430 to execute a battery positioning method, which includes: pre-positioning the battery and the battery gripper, determining the initial center position coordinates of the battery frame and the initial center position coordinates of the battery gripper, the battery gripper is used to grasp the battery frame, and a plurality of distance detection devices are arranged on the battery gripper; controlling the battery gripper to move from the initial center position coordinates of the battery gripper to the initial center position coordinates of the battery frame along the transportation direction of the battery; when the battery gripper moves to the target position, controlling the battery gripper to translate from the target position to the initial center position coordinates of the battery frame along the vertical direction of the transportation direction; when the battery gripper translates, based on the plurality of The detection results of the distance detection device are respectively fitted to obtain the first short side of the battery frame and the first long side or the second long side perpendicular to the first short side; based on the first long side and one of the second long sides, as well as the preset battery frame size and the
- the logic instructions in the above-mentioned memory 430 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.
- the technical solution of the present invention in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention.
- the aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program codes.
- an embodiment of the present invention further provides a computer program product, which includes a computer program, which can be stored on a non-transitory computer-readable storage medium.
- the computer can execute the battery positioning method provided by the above methods, which includes: pre-positioning the battery and the battery gripper, determining the initial center position coordinates of the battery frame of the battery and the initial center position coordinates of the battery gripper, the battery gripper is used to grab the battery frame, and a plurality of distance detection devices are arranged on the battery gripper; controlling the battery gripper to move from the initial center position coordinates of the battery gripper to the initial center position coordinates of the battery frame along the transportation direction of the battery; when the battery gripper moves to the target position, controlling the battery gripper to translate from the target position to the initial center position coordinates of the battery frame along the perpendicular direction of the transportation direction; when the battery gripper translates, based on the detection results of the plurality of distance detection devices, respectively fitting the first short side of
- an embodiment of the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the battery positioning method provided by the above-mentioned methods, the method comprising: pre-positioning the battery and the battery gripper, determining the initial center position coordinates of the battery frame of the battery and the initial center position coordinates of the battery gripper, the battery gripper being used to grasp the battery frame, and the battery gripper being provided with a plurality of distance detection devices; controlling the battery gripper to move from the initial center position coordinates of the battery gripper to the initial center position coordinates of the battery frame along the transportation direction of the battery; when the battery gripper moves to the target position, controlling the battery gripper to translate from the target position to the initial center position coordinates of the battery frame along a direction perpendicular to the transportation direction; when the battery gripper translates, based on the detection results of the plurality of distance detection devices, respectively fitting the first and second distance detection coordinates of the
- a short side and a first long side or a second long side perpendicular to the first short side based on the first long side and one of the second long sides, as well as a preset battery frame size and the first short side, fitting to obtain the actual center position coordinates of the battery frame.
- the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.
- each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, by hardware.
- the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM/RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.
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Abstract
本发明提供一种电池定位方法、装置、设备、存储介质及换电站，方法通过对电池和电池抓手进行预定位，确定电池的电池框初始中心位置坐标和电池抓手初始中心位置坐标，电池抓手用于抓取电池框，电池抓手上设置有多个距离检测装置；控制电池抓手沿电池的运输方向由电池抓手初始中心位置坐标向电池框初始中心位置坐标处行走；当电池抓手行走至目标位置时，控制电池抓手沿运输方向的垂直方向由目标位置向电池框初始中心位置坐标处平移；在电池抓手平移时，基于多个距离检测装置的检测结果，分别拟合得到电池框的第一短边和与第一短边垂直的第一长边或第二长边；进而拟合得到电池框实际中心位置坐标，不受环境光线的影响，有效地提高了电池更换效率。
Description
本发明涉及电池更换技术领域，尤其涉及一种电池定位方法、装置、设备、存储介质及换电站。
发明背景
电动作业机械采用动力电池作为动力来源，纯电工作模式下工作时长受电池容量影响，若采用充电方式，一般满足不了客户对电动作业机械的连续工作时长的要求。为解决动力电池工作时长问题，电动作业机械可以采用换电方案，即通过更换车载动力电池来实现持续工作。目前，大多数采用相机识别的方式检测电池框，然后控制电池抓手抓取电池框。
但是，相机识别的方式受环境、光线影响较大，影响电池的更换效率。
发明内容
本发明的实施例提供一种电池定位方法、装置、设备、存储介质及换电站，用以解决现有技术中电池更换效率低的缺陷。
本发明的实施例提供一种电池定位方法，包括：
对电池和电池抓手进行预定位，确定所述电池的电池框初始中心位置坐标和电池抓手初始中心位置坐标，所述电池抓手用于抓取电池框，所述电池抓手上设置有多个距离检测装置；
控制所述电池抓手沿所述电池的运输方向由所述电池抓手初始中心位置坐标向所述电池框初始中心位置坐标处行走；
当所述电池抓手行走至目标位置时，控制所述电池抓手沿所述运输方向的垂直方向由所述目标位置向所述电池框初始中心位置坐标处平移；
在所述电池抓手平移时，基于所述多个距离检测装置的检测结果，分别拟合得到所述电池框的第一短边和与所述第一短边垂直的第一长边或第二长边；
基于所述第一长边和所述第二长边之一，以及预设电池框尺寸和所述第一短边，拟合得到电池框实际中心位置坐标。
根据本发明的实施例提供的一种电池定位方法，所述抓手和所述电池框均为矩形框，所述矩形框包括依次连接的第一短边、第一长边、第二短边和第二长边；
所述电池抓手的第一短边上设置有第一距离检测装置，所述第二短边上设置有第二距离检测装置，所述第一长边上设置有第三距离检测装置和第四距离检测装置，所述第二长边上设置有第五距离检测装置和第六距离检测装置。
根据本发明的实施例提供的一种电池定位方法，所述多个距离检测装置包括至少两个距离检测装置，
其中，所述基于所述多个距离检测装置的检测结果，拟合得到所述电池框的第一短边，包括：
当检测到所述至少两个距离检测装置经过所述第一短边时，确定所述至少两个距离检测装置中每个所述距离检测装置经过所述第一短边时的短边位置坐标；
利用最小二乘法，基于至少两个短边位置坐标，拟合得到所述第一短边。
根据本发明的实施例提供的一种电池定位方法，所述基于所述多个距离检测装置的检测结果，拟合得到与所述第一短边垂直的第一长边或第二长边，包括：
基于所述至少两个短边位置坐标，确定所述电池抓手相对于所述电池框的倾斜角度，并基于所述倾斜角度旋转所述电池抓手；
当所述电池抓手旋转完成后，分别确定所述第三距离检测装置、所述第四距离检测装置、所述第五距离检测装置和所述第六距离检测装置的长边检测结果；
基于所述长边检测结果，控制所述电池抓手向未检测到所述电池框的一侧长边行走；
当检测到所述至少两个距离检测装置经过所述第一长边或所述第二长边时，确定所述每个距离检测装置经过所述第一长边或所述第二长边时的长边位置坐标；
利用最小二乘法，基于至少两个长边位置坐标，拟合得到与所述第一短边垂直的所述第一长边或所述第二长边。
根据本发明的实施例提供的一种电池定位方法，所述拟合得到电池框实际中心位置坐标之后，还包括：
基于所述电池框实际中心位置坐标，通过坐标变换确定电池抓手移动装置的各个轴坐标；
基于所述各个轴坐标，控制所述电池抓手的当前中心位置坐标移动至所述电池框实际中心位置坐标处。
根据本发明的实施例提供的一种电池定位方法，在所述控制所述电池抓手的当前中心位置坐标移动至所述电池框实际中心位置坐标处之后，还包括：
检测所述多个距离检测装置中每个距离检测装置的检测结果；
若每个检测结果均小于预设值，确定所述电池抓手位置校准完成，否则调整所述电池抓手的位置。
本发明的实施例还提供一种电池定位装置，包括：
预定位模块，用于对电池和电池抓手进行预定位，确定所述电池的电池框初始中心位置坐标和电池抓手初始中心位置坐标，所述电池抓手用于抓取电池框，所述电池抓手上设置有多个距离检测装置；
控制模块，用于控制所述电池抓手沿所述电池的运输方向由所述电池抓手初始中心位置坐标向所述电池框初始中心位置坐标处行走；当所述电池抓手行走至目标位置时，控制所述电池抓手沿所述运输方向的垂直方向由所述目标位置向所述电池框初始中心位置坐标处平移；
拟合模块，用于在所述电池抓手平移时，基于所述多个距离检测装置的检测结果，分别拟合得到所述电池框的第一短边和与所述第一短边垂直的第一长边或第二长边；基于所述第一长边和所述第二长边之一，以及预设电池框尺寸和所述第一短边，拟合得到电池框实际中心位置坐标。
本发明的实施例还提供一种电池定位装置，所述抓手和所述电池框均为矩形框，所述矩形框包括依次连接的第一短边、第一长边、第二短边和第二长边；
所述电池抓手的第一短边上设置有第一距离检测装置，所述第二短边上设置有第二距离检测装置，所述第一长边上设置有第三距离检测装置和第四距离检测装置，所述第二长边上设置有第五距离检测装置和第六距离检测装置。
本发明的实施例还提供一种电池定位装置，所述多个距离检测装置包括至少两个距离检测装置，
其中，所述拟合模块，用于当检测到所述至少两个距离检测装置经过所述第一短边时，确定所述至少两个距离检测装置中每个距离检测装置经过所述第一短边时的短边位置坐标；利用最小二乘法，基于至少两个短边位置坐标，拟合得到所述第一短边。
本发明的实施例还提供一种电池定位装置，所述拟合模块，还用于基于所述至少两个短边位置坐标，确定所述电池抓手相对于所述电池框的倾斜角度，并基于所述倾斜角度旋转所述电池抓手；当所述电池抓手旋转完成后，分别确定所述第三距离检测装置、所述第四距离检测装置、所述第五距离检测装置和所述第六距离检测装置的长边检测结果；基于所述长边检测结果，控制所述电池抓手向未检测到所述电池框的一侧长边行走；当检测到所述至少两个距离检测装置经过所述第一长边或所述第二长边时，确定所述每个距离检测装置经过所述第一长边或所述第二长边时的长边位置坐标；利用最小二乘法，基于至少两个长边位置坐标，拟合得到与所述第一短边垂直的所述第一长边或所述第二长边。
本发明的实施例还提供一种电池定位装置，所述拟合得到电池框实际中心位置坐标之后，还包括：
基于所述电池框实际中心位置坐标，通过坐标变换确定电池抓手移动装置的各个轴坐标；
基于所述各个轴坐标，控制所述电池抓手的当前中心位置坐标移动至所述电池框实际中心位置坐标处。
本发明的实施例还提供一种电池定位装置，在所述控制所述电池抓手的当前中心位置坐标移动至所述电池框实际中心位置坐标处之后，还包括：
检测所述多个距离检测装置中每个距离检测装置的检测结果；
若每个检测结果均小于预设值，确定所述电池抓手位置校准完成，否则调整所述电池抓手的位置。
本发明的实施例还提供一种电子设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述程序时实现如上述任一种所述电池定位方法。
本发明的实施例还提供一种非暂态计算机可读存储介质，其上存储有计算机程序，该计算机程序被处理器执行时实现如上述任一种所述电池定位方法。
本发明的实施例还提供一种计算机程序产品，包括计算机程序，所述计算机程序被处理器执行时实现如上述任一种所述电池定位方法。
本发明的实施例还提供一种换电站，换电站用于执行如上述任一项所述的电池定位方法进行电池更换。
本发明的实施例提供的一种电池定位方法、装置、设备、存储介质及换电站，方法通过对电池和电池抓手进行预定位，确定电池的电池框初始中心位置坐标和电池抓手初始中心位置坐标，电池抓手用于抓取电池框，电池抓手上设置有多个距离检测装置；控制电池抓手沿电池的运输方向由电池抓手初始中心位置坐标向电池框初始中心位置坐标处行走；当电池抓手行走至目标位置时，控制电池抓手沿运输方向的垂直方向由目标位置向电池框初始中心位置坐标处平移；在电池抓手平移时，基于多个距离检测装置的检测结果，分别拟合得到电池框的第一短边和与第一短边垂直的第一长边或第二长边；基于第一长边和第二长边之一，以及预设电池框尺寸和第一短边，拟合得到电池框实际中心位置坐标，通过根据距离检测装置的检测结果，拟合得到电池框的实际中心位置坐标，能够有效地保证电池框位置获取的准确性，且受环境光线影响较小，有效地提高了电池更换效率。
附图简要说明
为了更清楚地说明本发明的实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明的实施例提供的电池定位方法的流程示意图；
图2是本发明的实施例提供的电池抓手与电池框的定位原理示意图；
图3是本发明的实施例提供的电池定位装置的结构示意图；
图4是本发明的实施例提供的电子设备的结构示意图。
实施本发明的方式
为使本发明的目的、技术方案和优点更加清楚，下面将结合本发明中的附图，对本发明中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
下面结合图1-图4描述本发明的实施例的一种电池定位方法、装置、设备、存储介质及换电站。
在作业机械上的动力电池一般采用框架结构进行组装，定义该框架结构为电池框。可以通过对电池框的定位、抓取和吊装等操作，完成对作业机械上的动力电池的更换。电池框一般设置于车头后部。当作业机械进入换电站时，需要进入指定的换电停车区域，由专门的换电装置执行换电操作。
换电装置一般包括电池抓手和移动装置，电池抓手设置于移动装置上，用于对装有动力电池的电池框进行抓取，移动装置用于在动力电池存放地和换电停车区域之间移动，完成动力电池的搬运，移动装置可以包括大车和小车两种，例如，大车控制电池抓手前后行走，小车控制抓手左右平移，此时以装有动力电池的作业机械的运行方向为前后方向。
图1是本发明的实施例提供的电池定位方法的流程示意图，图2是本发明的实施例提供的电池抓手与电池框的定位原理示意图。
如图1所示，本实施例提供的一种电池定位方法，执行主体可以是换电站控制系统，方法主要包括以下步骤：
101、对电池和电池抓手进行预定位，确定电池的电池框初始中心位置坐标和电池抓手初始中心位置坐标，电池抓手用于抓取电池框，电池抓手上设置有多个距离检测装置。
具体的，首先建立空间坐标系，将载有电池的作业机械、电池、电池抓手和移动装置建立在同一坐标系内，作业机械的停放位置固定，未工作时的电池抓手的位置固定，因此，初始时刻的电池和电池抓手在坐标系中的位置是确定的。于是，便可以确定出电池的电池框初始中心位置坐标和电池抓手初始中心位置坐标，在电池抓手上设置有多个距离检测装置，由于，每个距离检测装置的安装位置时固定的，因此，各个距离检测装置的位置坐标变也是确定的。
其中，距离检测装置的作用便是检测抓手与电池框之间的距离值。建立空间坐标系的过程，可以是通过换电空间内的不同传感器确定出各个设备的相对位置关系，基于相对位置关系和各个设备自身尺寸规格，建立空间坐标系，使得空间坐标系可以涵盖换电空间内的所有设备。
预定位的作用是对电池框和电池抓手进行初步定位，定位结果不是最终的结果，预定位即首先确定电池框和电池抓手的大概位置，然后再去进行精准定位控制。
102、控制电池抓手沿电池的运输方向由电池抓手初始中心位置坐标向电池框初始中心位置坐标处行走。
具体的，预定位完成之后，便要控制电池抓手按照预定位结果进行移动，其中行走的方向指的是与运输电池的作业机械的方向一致的方向，平移的方向则指的是与行走的方向垂直的方向，即可以理解为行走的方向是在X轴上，而平移的方向是在Y轴上。
以空间坐标是三维坐标系为例，若要完成最终的电池抓手移动，则需要分别控制电池抓手在三个坐标轴方向上移动，然后才能控制电池抓手完成对电池框的抓取。因此在预定位完成之后，首先控制电池抓手在X轴上行走至目标位置。
103、当电池抓手行走至目标位置时，控制电池抓手沿运输方向的垂直方向由目标位置向电池框初始中心位置坐标处平移。
具体的，当电池抓手行走至目标位置，表明此时在第一方向上行走到位，此时便需要控制抓手向第二方向平移，即与第一方向垂直的方向，以实现控制电池抓手在两个方向上的移动，实现将电池抓手移动至电池框的正上方，便于对控制电池抓手完成对电池框的抓取。
104、在电池抓手平移时，基于多个距离检测装置的检测结果，分别拟合得到电池框的第一短边和与第一短边垂直的第一长边或第二长边。
如图2所示，1#表示第一距离检测装置，2#表示第二距离检测装置，3#表示第三距离检测装置，4#表示第四距离检测装置，5#表示第五距离检测装置，6#表示第六距离检测装置，L1表示第一短边，L2表示第二短边，L3表示第一长边，L4表示第二长边。
在电池抓手上设置有多个距离检测装置，距离检测装置检测电池抓手与电池框的距离，当电池抓手的俯视图与电池框的俯视图重叠或者是部分重叠时，距离
检测装置检测到的距离值为预设区间内的值，若是距离检测装置检测的距离值大于预设区间内的值，表明该距离传感器对应的电池抓手位置未与电池框重合。
如图2所示，电池抓手平移的过程即控制2#距离检测装置由L1边向L2边平移的方向，在平移的过程中，六个距离检测装置会有不同的检测结果，因此，可以根据不同的距离检测装置的检测到的距离值，可以得到距离检测装置在哪一时刻经过了L1边和L2边。以2#距离检测装置为例，当2#距离检测装置经过L1边时，距离检测装置的检测结果会发生突变，即由较大的距离值突变为较小的距离值，此时便表明2#距离检测装置经过了L1边。同理，3#和4#为同样的原理，不再进行一一的解释说明。当2#距离检测装置第二次发生检测结果突变时，表明2#距离检测装置穿过了电池框的L2边。同时3#和4#距离检测装置也穿过了L1边，因此，便可以根据多个不同的距离检测装置的检测结果，拟合得出L1边。
当拟合得到L1边之后，同时2#距离检测装置平移到了L2的一侧，因此，此时便需要控制电池抓手向L3或L4的方向行走，行走时同样会有多个距离检测装置检测得到不同的距离检测结果，同理，便可以利用不同的距离检测结果拟合得到L3边或者是L4边。
105、基于第一长边和第二长边之一，以及预设电池框尺寸和第一短边，拟合得到电池框实际中心位置坐标。
由于电池框的尺寸是已知的，即预设电池框尺寸是已知量，而且经过上述计算，第一短边和第一长边与第二长边中的任意一个长边是已知量，因此，便可以根据三者拟合得到电池框的形状轮廓，以及电池框的实际中心位置坐标。
电池框为与电池抓手形状相同的矩形框，当矩形框的两条交叉的边已知，且矩形框的各个边的长度已知，通过几何运算的方式，便可以快速的计算得出具体的矩形框形状即具体位置，进而便可以确定出矩形框的中心位置，及得到电池框实际中心位置坐标。
本实施例的电池定位方法，通过拟合电池框的方式进行定位，不受环境和光线的影响，拟合出任何两条有重合的边，即可以得到最终的电池框，有效地提高了电池框定位效率，进而提高了电池抓取更换效率。
进一步的，在上述实施例的基础上，抓手和电池框均为矩形框，矩形框包括依次连接的第一短边、第一长边、第二短边和第二长边；其中，电池抓手的第一短边上设置有第一距离检测装置，第二短边上设置有第二距离检测装置，第一长
边上设置有第三距离检测装置和第四距离检测装置，第二长边上设置有第五距离检测装置和第六距离检测装置。
如图2所示，可以选择将第一距离检测装置设置于第一短边的中间点，第二距离检测装置设置于第二短边的中间点，第三距离检测装置和第四距离检测装置设置于第一长边的三等分点，第四距离检测装置和第五距离检测装置设置于第二长边的三等分点。通过将距离检测装置均匀的设置于电池抓手的边上，以确保电池抓手准确地抓取电池框，若是六个距离检测装置的检测结果均小于预设距离值，表明此时的电池抓手与电池框的位置相对应，此时控制电池抓手下放，便可以成功的对电池框进行抓取，均匀设置距离检测装置，也能够提高电池抓取的效率。
进一步的，在上述实施例的基础上，多个距离检测装置包括至少两个距离检测装置，其中基于多个距离检测装置的检测结果，拟合得到电池框的第一短边，包括：当检测到至少两个距离检测装置经过第一短边时，确定至少两个距离检测装置中每个距离检测装置经过第一短边时的短边位置坐标；利用最小二乘法，基于至少两个短边位置坐标，拟合得到第一短边。
如图2所示，电池抓手初始中心位置坐标已知，由于电池抓手上的各个距离检测装置的安装位置是固定的，因此，各个距离检测装置的位置坐标也是已知的，控制电池抓手的行走距离是确定的，因此，当电池抓手行走至目标位置时，便可以快速地计算得出电池抓手在目标位置处的实时坐标。
在控制电池抓手进行平移时，检测距离检测装置经过第一短边时的位置坐标，如图2所示，即为第二距离检测装置、第三距离检测装置和第四距离检测装置分别经过第一短边L1时的实时坐标即短边坐标。然后再结合至少两个短边坐标与最小二乘法进行拟合，得到电池框的第一短边。最小二乘法通过最小化误差的平方与寻找数据的最佳函数匹配，利用最小二乘法可以简便地求得未知的数据，并使得这些求得的数据与实际数据之间误差的平方和为最小。因此，通过最小二乘法可以快速的拟合得到第一短边L1。
进一步的，在上述实施例的基础上，本实施例中基于多个距离检测装置的检测结果，拟合得到与第一短边垂直的第一长边或第二长边，包括：基于至少两个短边位置坐标，确定电池抓手相对于电池框的倾斜角度，并基于倾斜角度旋转电池抓手；当电池抓手旋转完成后，分别确定第三距离检测装置、第四距离检测装置、第五距离检测装置和第六距离检测装置的长边检测结果；基于长边检测结果，控制电池抓手向未检测到电池框的一侧长边行走；当检测到至少两个距离检
测装置经过第一长边或第二长边时，确定每个距离检测装置经过第一长边或第二长边时的长边位置坐标；利用最小二乘法，基于至少两个长边位置坐标，拟合得到与第一短边垂直的第一长边或第二长边。
具体的，在得到第一短边之后，便需要确定与第一短边相邻的其中任意一条长边，如图2所示，电池抓手与电池框存在一定的角度，因此，需要对电池抓手的位置进行调整，可以通过任意两个短边坐标计算得到电池框的倾斜角度，如图2的X轴和Y轴，得到任意L1边上的任意两个点的坐标，便可以快速的计算得出L1边的倾斜角度。然后便可以控制电池抓手按照该倾斜角度旋转，使得电池抓手的与电池框相匹配。
当电池抓手转动与电池框匹配之后，便需要控制电池抓手进行行走，即控制电池抓手在第一长边或者是第二长边方向上行走。具体的控制电池抓手行走方向的方式可以为：分别确定第一长边和第二长边上的距离检测装置的检测结果，控制电池抓手由距离检测结果数值大的一侧向距离检测结果小的一侧行走，如图2所示，即控制电池抓手由L4的一侧向L3的一侧行走。其中，未检测到电池框的一侧的距离检测结果值大于检测到电池框一侧的距离检测结果值。
同理，在控制电池抓手在L3或者是L4的方向上行走的过程中，也会有不同的距离检测装置穿过第一长边或者是第二长边，与确定第一短边时的方式相同，在得到距离检测装置穿过第一长边或者是第二长边时得到至少两个长边位置坐标后，利用最小二乘法结合至少两个长边位置坐标，便可以拟合得到第一长边或者第二长边。只需要拟合得出其中的一条长边即可，并且拟合得到的长边与短边有交叉，即第一短边与拟合得到的第一长边或者是拟合得到的第二长边相互垂直。
进一步的，在上述实施例的基础上，本实施例中拟合得到电池框实际中心位置坐标之后，还包括：基于电池框实际中心位置坐标，通过坐标变换确定电池抓手移动装置的各个轴坐标；基于各个轴坐标，控制电池抓手的当前中心位置坐标移动至电池框实际中心位置坐标处。
具体的，拟合得到电池框的一条短边和一条长边之后，便可以得到电池框的整体轮廓，进而便可以得到电池框实际中心位置坐标。得到电池框实际中心位置坐标之后，由于电池抓手的方位已经被调整至与电池框的方位一致，因此只需要控制电池抓手的当前中心位置坐标与电池框实际中心位置坐标保持一致即可。而控制电池抓手动作包括行走方向的大车伺服、平移方向的小车伺服、提升下降方向的抓手升降伺服和角度旋转的旋转伺服。因此，只需要根据电池框实际中心位
置坐标控制对应的各个不同的坐标轴的轴坐标移动至目标位置处即可。便实现了将电池抓手的中心与电池框的中心相重合。
进一步的，在上述实施例的基础上，本实施例中的控制电池抓手的当前中心位置坐标移动至电池框实际中心位置坐标处之后，还可以包括：检测多个距离检测装置中每个距离检测装置的检测结果；若每个检测结果均小于预设值，确定电池抓手位置校准完成，否则调整电池抓手的位置。
当控制电池抓手的中心与电池框的中心重合之后，若是电池抓手的各个边与电池框的各个边位置均相对应，则此时的六个距离检测装置均应检测到电池框，即六个距离检测装置的距离检测结果差异较小，且均在预设距离范围内，而若是有其中的任意一个或多个距离检测装置的距离检测结果偏大，表明此时的电池抓手与电池框存在一定的偏差，于是便需要对电池抓手的角度进行校准调整，校准方式为控制电池抓手由检测结果大于预设值的一侧向小于预设值的一侧转动，直至最终所有的距离检测装置检测到的距离值均在预设值以内，此时表明距离检测装置均能够检测到电池框，表明此时的电池抓手与电池框的位置完全匹配，抓取过程仅需要控制电池抓手在电池框的竖直方向上直线升降即可。通过对电池抓手的位置进行校准，能够有效地保证电池抓取的效率。其中，距离检测装置可以是点激光传感器。
基于同一总的发明构思，本发明的实施例还保护一种电池定位装置，下面对本发明的实施例提供的电池定位装置进行描述，下文描述的电池定位装置与上文描述的电池定位方法可相互对应参照。
图3是本发明的实施例提供的电池定位装置的结构示意图。
如图3所示，本发明的实施例提供的一种电池定位装置，包括：
预定位模块301，用于对电池和电池抓手进行预定位，确定电池的电池框初始中心位置坐标和电池抓手初始中心位置坐标，电池抓手用于抓取电池框，电池抓手上设置有多个距离检测装置；
控制模块302，用于控制电池抓手沿电池的运输方向由电池抓手初始中心位置坐标向电池框初始中心位置坐标处行走；当电池抓手行走至目标位置时，控制电池抓手沿运输方向的垂直方向由目标位置向电池框初始中心位置坐标处平移；
拟合模块303，用于在电池抓手平移时，基于多个距离检测装置的检测结果，分别拟合得到电池框的第一短边和与第一短边垂直的第一长边或第二长边；
基于第一长边和第二长边之一，以及预设电池框尺寸和第一短边，拟合得到电池框实际中心位置坐标。
本实施例提供的一种电池定位装置，通过对电池和电池抓手进行预定位，确定电池的电池框初始中心位置坐标和电池抓手初始中心位置坐标，电池抓手用于抓取电池框，电池抓手上设置有多个距离检测装置；控制电池抓手沿电池的运输方向由电池抓手初始中心位置坐标向电池框初始中心位置坐标处行走；当电池抓手行走至目标位置时，控制电池抓手沿运输方向的垂直方向由目标位置向电池框初始中心位置坐标处平移；在电池抓手平移时，基于多个距离检测装置的检测结果，分别拟合得到电池框的第一短边和与第一短边垂直的第一长边或第二长边；基于第一长边和第二长边之一，以及预设电池框尺寸和第一短边，拟合得到电池框实际中心位置坐标，通过根据距离检测装置的检测结果，拟合得到电池框的实际中心位置坐标，能够有效地保证电池框位置获取的准确性，且受环境光线影响较小，有效地提高了电池更换效率。
进一步的，本实施例中的所述抓手和所述电池框均为矩形框，矩形框包括依次连接的第一短边、第一长边、第二短边和第二长边；
所述电池抓手的第一短边上设置有第一距离检测装置，所述第二短边上设置有第二距离检测装置，所述第一长边上设置有第三距离检测装置和第四距离检测装置，所述第二长边上设置有第五距离检测装置和第六距离检测装置。
进一步的，本实施例中多个距离检测装置包括至少两个距离检测装置，并且拟合模块303，具体用于：
当检测到至少两个距离检测装置经过所述第一短边时，确定所述至少两个距离检测装置中每个距离检测装置经过所述第一短边时的短边位置坐标；
利用最小二乘法，基于至少两个短边位置坐标，拟合得到所述电池框的第一短边。
进一步的，本实施例中的拟合模块303，具体用于：
基于所述至少两个短边位置坐标，确定所述电池抓手相对于所述电池框的倾斜角度，并基于所述倾斜角度旋转所述电池抓手；
当所述电池抓手旋转完成后，分别确定所述第三距离检测装置、所述第四距离检测装置、所述第五距离检测装置和所述第六距离检测装置的长边检测结果；
基于所述长边检测结果，控制所述电池抓手向未检测到所述电池框的一侧长边行走；
当检测到所述至少两个距离检测装置经过所述第一长边或所述第二长边时，确定所述每个距离检测装置经过所述第一长边或所述第二长边时的长边位置坐标；
利用最小二乘法，基于至少两个长边位置坐标，拟合得到与所述第一短边垂直的所述第一长边或所述第二长边。
进一步的，本实施例中还包括抓取模块，具体用于：
基于所述电池框实际中心位置坐标，通过坐标变换确定电池抓手移动装置的各个轴坐标；
基于所述各个轴坐标，控制所述电池抓手的当前中心位置坐标移动至所述电池框实际中心位置坐标处。
进一步的，本实施例中还包括校准模块，具体用于：
检测所述多个距离检测装置中每个距离检测装置的检测结果；
若每个检测结果均小于预设值，确定所述电池抓手位置校准完成，否则调整所述电池抓手的位置。
基于同一总的发明构思，本发明的实施例还提供一种换电站，换电站用于执行如上述任一实施例所述的电池定位方法进行电池更换。
图4是本发明的实施例提供的电子设备的结构示意图。
如图4所示，该电子设备可以包括：处理器(processor)410、通信接口(Communications Interface)420、存储器(memory)430和通信总线440，其中，处理器410，通信接口420，存储器430通过通信总线440完成相互间的通信。处理器410可以调用存储器430中的逻辑指令，以执行电池定位方法，该方法包括：对电池和电池抓手进行预定位，确定所述电池的电池框初始中心位置坐标和电池抓手初始中心位置坐标，所述电池抓手用于抓取电池框，所述电池抓手上设置有多个距离检测装置；控制所述电池抓手沿所述电池的运输方向由所述电池抓手初始中心位置坐标向所述电池框初始中心位置坐标处行走；当所述电池抓手行走至目标位置时，控制所述电池抓手沿所述运输方向的垂直方向由所述目标位置向所述电池框初始中心位置坐标处平移；在所述电池抓手平移时，基于所述多个
距离检测装置的检测结果，分别拟合得到所述电池框的第一短边和与所述第一短边垂直的第一长边或第二长边；基于所述第一长边和所述第二长边之一，以及预设电池框尺寸和所述第一短边，拟合得到电池框实际中心位置坐标。
此外，上述的存储器430中的逻辑指令可以通过软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
另一方面，本发明的实施例还提供一种计算机程序产品，所述计算机程序产品包括计算机程序，计算机程序可存储在非暂态计算机可读存储介质上，所述计算机程序被处理器执行时，计算机能够执行上述各方法所提供的电池定位方法，该方法包括：对电池和电池抓手进行预定位，确定所述电池的电池框初始中心位置坐标和电池抓手初始中心位置坐标，所述电池抓手用于抓取电池框，所述电池抓手上设置有多个距离检测装置；控制所述电池抓手沿所述电池的运输方向由所述电池抓手初始中心位置坐标向所述电池框初始中心位置坐标处行走；当所述电池抓手行走至目标位置时，控制所述电池抓手沿所述运输方向的垂直方向由所述目标位置向所述电池框初始中心位置坐标处平移；在所述电池抓手平移时，基于所述多个距离检测装置的检测结果，分别拟合得到所述电池框的第一短边和与所述第一短边垂直的第一长边或第二长边；基于所述第一长边和所述第二长边之一，以及预设电池框尺寸和所述第一短边，拟合得到电池框实际中心位置坐标。
又一方面，本发明的实施例还提供一种非暂态计算机可读存储介质，其上存储有计算机程序，该计算机程序被处理器执行时实现以执行上述各方法提供的电池定位方法，该方法包括：对电池和电池抓手进行预定位，确定所述电池的电池框初始中心位置坐标和电池抓手初始中心位置坐标，所述电池抓手用于抓取电池框，所述电池抓手上设置有多个距离检测装置；控制所述电池抓手沿所述电池的运输方向由所述电池抓手初始中心位置坐标向所述电池框初始中心位置坐标处行走；当所述电池抓手行走至目标位置时，控制所述电池抓手沿所述运输方向的垂直方向由所述目标位置向所述电池框初始中心位置坐标处平移；在所述电池抓手平移时，基于所述多个距离检测装置的检测结果，分别拟合得到所述电池框的第
一短边和与所述第一短边垂直的第一长边或第二长边；基于所述第一长边和所述第二长边之一，以及预设电池框尺寸和所述第一短边，拟合得到电池框实际中心位置坐标。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性的劳动的情况下，即可以理解并实施。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到各实施方式可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件。基于这样的理解，上述技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在计算机可读存储介质中，如ROM/RAM、磁碟、光盘等，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行各个实施例或者实施例的某些部分所述的方法。
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。
Claims (15)
- 一种电池定位方法，其特征在于，包括：对电池和电池抓手进行预定位，确定所述电池的电池框初始中心位置坐标和电池抓手初始中心位置坐标，所述电池抓手用于抓取电池框，所述电池抓手上设置有多个距离检测装置；控制所述电池抓手沿所述电池的运输方向由所述电池抓手初始中心位置坐标向所述电池框初始中心位置坐标处行走；当所述电池抓手行走至目标位置时，控制所述电池抓手沿所述运输方向的垂直方向由所述目标位置向所述电池框初始中心位置坐标处平移；在所述电池抓手平移时，基于所述多个距离检测装置的检测结果，分别拟合得到所述电池框的第一短边和与所述第一短边垂直的第一长边或第二长边；基于所述第一长边和所述第二长边之一，以及预设电池框尺寸和所述第一短边，拟合得到电池框实际中心位置坐标。
- 根据权利要求1所述的电池定位方法，其特征在于，所述抓手和所述电池框均为矩形框，所述矩形框包括依次连接的第一短边、第一长边、第二短边和第二长边；所述电池抓手的第一短边上设置有第一距离检测装置，所述第二短边上设置有第二距离检测装置，所述第一长边上设置有第三距离检测装置和第四距离检测装置，所述第二长边上设置有第五距离检测装置和第六距离检测装置。
- 根据权利要求2所述的电池定位方法，其特征在于，所述多个距离检测装置包括至少两个距离检测装置，其中，所述基于所述多个距离检测装置的检测结果，拟合得到所述电池框的第一短边，包括：当检测到所述至少两个距离检测装置经过所述第一短边时，确定所述至少两个距离检测装置中每个距离检测装置经过所述第一短边时的短边位置坐标；利用最小二乘法，基于至少两个短边位置坐标，拟合得到所述第一短边。
- 根据权利要求3所述的电池定位方法，其特征在于，所述基于所述多个距离检测装置的检测结果，拟合得到与所述第一短边垂直的第一长边或第二长边，包括：基于所述至少两个短边位置坐标，确定所述电池抓手相对于所述电池框的倾斜角度，并基于所述倾斜角度旋转所述电池抓手；当所述电池抓手旋转完成后，分别确定所述第三距离检测装置、所述第四距离检测装置、所述第五距离检测装置和所述第六距离检测装置的长边检测结果；基于所述长边检测结果，控制所述电池抓手向未检测到所述电池框的一侧长边行走；当检测到所述至少两个距离检测装置经过所述第一长边或所述第二长边时，确定所述每个距离检测装置经过所述第一长边或所述第二长边时的长边位置坐标；利用最小二乘法，基于至少两个长边位置坐标，拟合得到与所述第一短边垂直的所述第一长边或所述第二长边。
- 根据权利要求1所述的电池定位方法，其特征在于，所述拟合得到电池框实际中心位置坐标之后，还包括：基于所述电池框实际中心位置坐标，通过坐标变换确定电池抓手移动装置的各个轴坐标；基于所述各个轴坐标，控制所述电池抓手的当前中心位置坐标移动至所述电池框实际中心位置坐标处。
- 根据权利要求5所述的电池定位方法，其特征在于，在所述控制所述电池抓手的当前中心位置坐标移动至所述电池框实际中心位置坐标处之后，还包括：检测所述多个距离检测装置中每个距离检测装置的检测结果；若每个检测结果均小于预设值，确定所述电池抓手位置校准完成，否则调整所述电池抓手的位置。
- 一种电池定位装置，其特征在于，包括：预定位模块，用于对电池和电池抓手进行预定位，确定所述电池的电池框初始中心位置坐标和电池抓手初始中心位置坐标，所述电池抓手用于抓取电池框，所述电池抓手上设置有多个距离检测装置；控制模块，用于控制所述电池抓手沿所述电池的运输方向由所述电池抓手初始中心位置坐标向所述电池框初始中心位置坐标处行走；当所述电池抓手行走至目标位置时，控制所述电池抓手沿所述运输方向的垂直方向由所述目标位置向所述电池框初始中心位置坐标处平移；拟合模块，用于在所述电池抓手平移时，基于所述多个距离检测装置的检测结果，分别拟合得到所述电池框的第一短边和与所述第一短边垂直的第一长边或第二长边；基于所述第一长边和所述第二长边之一，以及预设电池框尺寸和所述第一短边，拟合得到电池框实际中心位置坐标。
- 根据权利要求7所述的电池定位装置，其特征在于，所述抓手和所述电池框均为矩形框，所述矩形框包括依次连接的第一短边、第一长边、第二短边和第二长边；所述电池抓手的第一短边上设置有第一距离检测装置，所述第二短边上设置有第二距离检测装置，所述第一长边上设置有第三距离检测装置和第四距离检测装置，所述第二长边上设置有第五距离检测装置和第六距离检测装置。
- 根据权利要求8所述的电池定位装置，其特征在于，所述多个距离检测装置包括至少两个距离检测装置，其中，所述拟合模块，用于当检测到所述至少两个距离检测装置经过所述第一短边时，确定所述至少两个距离检测装置中每个距离检测装置经过所述第一短边时的短边位置坐标；利用最小二乘法，基于至少两个短边位置坐标，拟合得到所述第一短边。
- 根据权利要求9所述的电池定位装置，其特征在于，所述拟合模块，还用于基于所述至少两个短边位置坐标，确定所述电池抓手相对于所述电池框的倾斜角度，并基于所述倾斜角度旋转所述电池抓手；当所述电池抓手旋转完成后，分别确定所述第三距离检测装置、所述第四距离检测装置、所述第五距离检测装置和所述第六距离检测装置的长边检测结果；基于所述长边检测结果，控制所述电池抓手向未检测到所述电池框的一侧长边行走；当检测到所述至少两个距离检测装置经过所述第一长边或所述第二长边时，确定所述每个距离检测装置经过所 述第一长边或所述第二长边时的长边位置坐标；利用最小二乘法，基于至少两个长边位置坐标，拟合得到与所述第一短边垂直的所述第一长边或所述第二长边。
- 根据权利要求7所述的电池定位装置，其特征在于，还包括抓取模块，其中，所述抓取模块，用于基于所述电池框实际中心位置坐标，通过坐标变换确定电池抓手移动装置的各个轴坐标；基于所述各个轴坐标，控制所述电池抓手的当前中心位置坐标移动至所述电池框实际中心位置坐标处。
- 根据权利要求11所述的电池定位装置，其特征在于，还包括校准模块，其中，所述校准模块，用于检测所述多个距离检测装置中每个距离检测装置的检测结果；若每个检测结果均小于预设值，确定所述电池抓手位置校准完成，否则调整所述电池抓手的位置。
- 一种电子设备，包括存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，其特征在于，所述处理器执行所述程序时实现如权利要求1至6任一项所述电池定位方法。
- 一种非暂态计算机可读存储介质，其上存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现如权利要求1至6任一项所述电池定位方法。
- 一种换电站，其特征在于，所述换电站用于执行如权利要求1至6任一项所述的电池定位方法进行电池更换。
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| CN115683017A (zh) * | 2022-10-12 | 2023-02-03 | 三一锂能有限公司 | 电池定位方法、装置、设备、存储介质及换电站 |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090058355A1 (en) * | 2007-08-29 | 2009-03-05 | Meyer Keith M | Electric vehicle battery module and replacement system |
| CN113858193A (zh) * | 2021-09-13 | 2021-12-31 | 三一重工股份有限公司 | 电池抓取方法和装置 |
| CN114648573A (zh) * | 2022-03-21 | 2022-06-21 | 三一重工股份有限公司 | 电池抓取定位方法、装置及设备 |
| CN115683017A (zh) * | 2022-10-12 | 2023-02-03 | 三一锂能有限公司 | 电池定位方法、装置、设备、存储介质及换电站 |
-
2022
- 2022-10-12 CN CN202211249731.0A patent/CN115683017A/zh active Pending
-
2023
- 2023-03-30 WO PCT/CN2023/085062 patent/WO2024077884A1/zh unknown
- 2023-03-30 EP EP23786996.1A patent/EP4375614A1/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090058355A1 (en) * | 2007-08-29 | 2009-03-05 | Meyer Keith M | Electric vehicle battery module and replacement system |
| CN113858193A (zh) * | 2021-09-13 | 2021-12-31 | 三一重工股份有限公司 | 电池抓取方法和装置 |
| CN114648573A (zh) * | 2022-03-21 | 2022-06-21 | 三一重工股份有限公司 | 电池抓取定位方法、装置及设备 |
| CN115683017A (zh) * | 2022-10-12 | 2023-02-03 | 三一锂能有限公司 | 电池定位方法、装置、设备、存储介质及换电站 |
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| Publication number | Publication date |
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| CN115683017A (zh) | 2023-02-03 |
| EP4375614A1 (en) | 2024-05-29 |
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