WO2024255059A1 - 一种姿态调整方法、姿态调整装置、控制设备及存储介质 - Google Patents

一种姿态调整方法、姿态调整装置、控制设备及存储介质 Download PDF

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Publication number
WO2024255059A1
WO2024255059A1 PCT/CN2023/126557 CN2023126557W WO2024255059A1 WO 2024255059 A1 WO2024255059 A1 WO 2024255059A1 CN 2023126557 W CN2023126557 W CN 2023126557W WO 2024255059 A1 WO2024255059 A1 WO 2024255059A1
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WO
WIPO (PCT)
Prior art keywords
battery
replaced
ranging
posture
sensor
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2023/126557
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English (en)
French (fr)
Inventor
吴凯
产利兵
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Contemporary Amperex Technology Co Ltd
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Contemporary Amperex Technology Co Ltd
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Filing date
Publication date
Application filed by Contemporary Amperex Technology Co Ltd filed Critical Contemporary Amperex Technology Co Ltd
Priority to EP23941283.6A priority Critical patent/EP4729372A1/en
Publication of WO2024255059A1 publication Critical patent/WO2024255059A1/zh
Priority to US19/415,339 priority patent/US20260097682A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
    • B60S5/06—Supplying batteries to, or removing batteries from, vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/36—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/37—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/80—Exchanging energy storage elements, e.g. removable batteries
    • 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

Definitions

  • the present application belongs to the field of battery replacement technology, and in particular, relates to a posture adjustment method, a posture adjustment device, a control device, and a computer-readable storage medium.
  • the present application provides a posture adjustment method, a posture adjustment device, a control device and a computer-readable storage medium, which are helpful to achieve compatible replacement of batteries of different electric vehicles at a battery swap station.
  • the present application provides a posture adjustment method, comprising:
  • the posture information of the battery to be replaced is obtained through the distance measuring sensor on the battery replacement equipment;
  • a posture adjustment device comprising:
  • a mobile module used to control the battery-swapping device to move to the projection area of the battery to be replaced on the ground of the target device;
  • An acquisition module is used to obtain the posture information of the battery to be replaced through the distance measuring sensor on the battery replacement equipment;
  • the adjustment module is used to adjust the posture of the battery swapping device according to the posture information of the battery to be replaced until the posture of the battery swapping device matches the posture information of the battery to be replaced.
  • the present application provides a control device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method of the first aspect when executing the computer program.
  • the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method of the first aspect is implemented.
  • the present application provides a computer program product, which includes a computer program.
  • the computer program When the computer program is executed by one or more processors, it implements the method of the first aspect.
  • the present application has the following beneficial effects: in order to accurately implement the battery replacement operation for batteries in different postures, the present application can first control the battery replacement device to move to the projection area of the battery to be replaced of the target device on the ground, so that the battery replacement device is directly below the battery to be replaced. In this way, the battery replacement device can observe the battery to be replaced well from directly below the battery to be replaced through its ranging sensor, thereby obtaining the posture information of the battery to be replaced. Finally, the present application adjusts the posture of the battery replacement device based on the posture information of the battery to be replaced, so that the posture of the battery replacement device can match the posture information of the battery to be replaced, that is, the posture of the battery replacement device matches the posture of the battery to be replaced.
  • the battery swapping equipment can smoothly dock with the battery to be replaced, realizing the rapid disassembly and replacement of the battery to be replaced.
  • the battery swapping equipment of the battery swapping station can replace it, realizing the compatible replacement of batteries of different electric vehicles at the battery swapping station.
  • FIG1 is a schematic diagram of an implementation flow of a posture adjustment method provided in an embodiment of the present application.
  • FIG. 2 is a schematic diagram of obtaining posture information of a battery to be replaced by a distance measuring sensor in a posture adjustment method provided in an embodiment of the present application;
  • FIG3 is a structural block diagram of a posture adjustment device provided in an embodiment of the present application.
  • FIG. 4 is a schematic diagram of the structure of a control device provided in an embodiment of the present application.
  • the term "and/or" is only a description of the association relationship of the associated objects, indicating that there may be three relationships.
  • a and/or B can represent: A exists alone, A and B exist at the same time, and B exists alone.
  • the character "/" in this article generally indicates that the associated objects before and after are in an "or" relationship.
  • the term “plurality” refers to more than two (including two), unless otherwise clearly and specifically defined.
  • batteries At present, the application of batteries is becoming more and more extensive. They can be used not only in energy storage power systems such as hydropower, thermal power, wind power and solar power stations, but also in electric vehicles such as electric bicycles, electric motorcycles and electric cars, and even in military equipment and aerospace. As the application of batteries continues to expand, the market demand is also increasing. It is constantly expanding.
  • the batteries of different electric vehicles usually have different postures.
  • its different load states will lead to different vehicle postures (for example, electric heavy trucks will have different vehicle inclination angles when fully loaded and unloaded), which in turn leads to different battery postures.
  • the posture of the battery of an electric vehicle will vary depending on the model of the vehicle and the load state of the vehicle, which brings certain challenges to the battery replacement operation of electric vehicles at the battery replacement station.
  • an embodiment of the present application proposes a posture adjustment method. After the battery swap device moves to the projection area of the battery to be replaced on the ground, it will not start the battery swap operation directly, but will first obtain the posture information of the battery to be replaced in space. According to this posture information, the battery swap device will also adjust its own posture so that its own posture can eventually match the posture information of the battery to be replaced, thereby ensuring that the battery swap device can be smoothly docked with the battery to be replaced, and realize the rapid disassembly and replacement of the battery to be replaced.
  • the battery swap device After the battery swap device moves to the projection area of the battery to be replaced on the ground, it will not start the battery swap operation directly, but will first obtain the posture information of the battery to be replaced in space. According to this posture information, the battery swap device will also adjust its own posture so that its own posture can eventually match the posture information of the battery to be replaced, thereby ensuring that the battery swap device can be smoothly docked with the battery to be replaced, and realize the rapid disassembly and
  • the posture adjustment method can be applied to a control device.
  • the control device may include but is not limited to: a non-independent device integrated in a battery exchange device, or an independent device that establishes a communication connection with the battery exchange device. Please refer to Figure 1.
  • the posture adjustment method in the embodiment of the present application includes:
  • the target device refers to a device that currently needs to have its battery replaced, that is, a device whose battery is currently at a low power level.
  • a battery swap station for electric vehicles, when an electric vehicle enters the battery swap station, the electric vehicle is the target device, and the battery of the electric vehicle is the battery to be replaced.
  • the more mainstream battery swapping equipment is generally a battery swapping cart, such as a rail guide vehicle (RGV).
  • RUV rail guide vehicle
  • the control device can control the battery swapping equipment to move to the projection area of the battery to be replaced on the ground of the target device.
  • the projection area refers to the positive projection area of the battery to be replaced on the ground. It can be understood from this that the projection area of the battery to be replaced on the ground actually refers to the area directly below the battery to be replaced.
  • the battery swapping device can position itself in real time, and its positioning result represents the orthographic projection area of the battery swapping device on the ground.
  • the control device can determine whether the overlap rate of the orthographic projection area of the battery swapping device on the ground and the orthographic projection area of the battery to be replaced on the ground meets the preset in-place condition; once the in-place condition is met, it is considered that the battery swapping device has basically moved to the orthographic projection area of the battery to be replaced on the ground, and the control device can control the battery swapping device to stop moving, so that the battery swapping device stops steadily in the orthographic projection area of the battery to be replaced on the ground.
  • the in-place condition can be: the overlap rate reaches a preset overlap rate threshold, such as 80%.
  • the control device can trigger the battery exchange device to detect the posture of the battery to be replaced, thereby obtaining the posture information of the battery to be replaced. This is achieved by relying on the sensors carried by the battery replacement equipment.
  • Step 103 adjust the posture of the battery swap device according to the posture information of the battery to be replaced until the posture of the battery swap device matches the posture information of the battery to be replaced.
  • the control device can control the battery swap device to adjust its own posture.
  • the purpose of this adjustment is to make the posture of the battery swap device match the posture information of the battery to be replaced, that is, to match the posture of the battery swap device with that of the battery to be replaced.
  • the control device can generate a corresponding posture adjustment instruction based on the difference between the posture information of the battery to be replaced and the initial posture of the battery swap device, and adjust the posture of the battery swap device based on the posture adjustment instruction until the posture of the battery swap device matches that of the battery to be replaced.
  • the posture of the battery swap device matches that of the battery to be replaced, it can be considered that the battery swap device has been aligned with the battery to be replaced, that is, the battery swap device has completed the preparation for battery replacement; at this time, the battery swap device can start to dock with the battery to be replaced based on its current posture, and remove the bolts and other mounting parts of the battery to be replaced, thereby successfully removing the battery to be replaced from the target device.
  • the battery exchange device can continue to install the new battery according to the posture it took when removing the battery to be replaced. That is, the control device can record the posture information of the battery exchange device when it matches the posture information of the battery to be replaced. Subsequently, whether it is removing the battery to be replaced or installing a new battery for the current target device, the battery exchange device can be controlled to work based on the recorded posture information.
  • the device shape of the battery swapping device is usually expressed as an approximate rectangular parallelepiped. Based on the device shape, in order to realize accurate posture detection of the battery to be replaced, the ranging sensor can be set on other planes other than the lower plane of the battery swapping device, as long as the ranging device is not blocked by other device components of the battery swapping device.
  • the ranging sensor can be set on the upper plane of the battery swapping device, or on the side plane of the ranging device; in the case where there are more than two ranging sensors, the ranging sensors can all be set on the upper plane of the battery swapping device, or all be set on the side plane of the battery swapping device, or partly be set on the upper plane of the battery swapping device, and partly be set on the side plane of the battery swapping device.
  • the control device determines that the battery swapping device has moved to the projection area of the battery to be replaced on the ground based on the positioning result of the battery swapping device, the control device can trigger the ranging sensor to start working.
  • the posture information of the battery to be replaced that the control device is concerned about may actually be equivalent to the posture information of the lower plane of the battery to be replaced.
  • the posture information can be represented by a posture angle, and the posture angle of the lower plane of the battery to be replaced can be considered to be the posture angle of the battery to be replaced; wherein, the posture angle of the lower plane of the battery to be replaced specifically refers to: the angle between the lower plane of the battery to be replaced and the upper plane of the initial battery replacement device. That is, in the embodiment of the present application, the posture information of the battery to be replaced includes: the angle between the lower plane of the battery to be replaced and the upper plane of the initial battery replacement device.
  • the control device needs to obtain at least three ranging points for the lower plane of the battery to be replaced through the ranging sensor, so as to accurately obtain the posture information of the lower plane of the battery to be replaced, that is, the posture information of the battery to be replaced.
  • the control device can measure the posture of the battery to be replaced in the following way:
  • A1 Obtain at least three distance measurement values by measuring the lower plane of the battery to be replaced through various distance measurement sensors.
  • the upper plane of the battery swap device is parallel or approximately parallel to the ground. Since the battery swap device has been moved to the projection area of the battery to be replaced on the ground, and the distance sensor is measuring upward perpendicular to the upper plane of the battery swap device, the distance sensor will actually mark the distance measurement point on the lower plane of the battery to be replaced; that is, according to the position of the battery swap device and the measurement direction of the distance sensor, it can be known that the distance sensor actually measures: the distance between the lower plane of the battery to be replaced and the distance sensor.
  • each distance measuring sensor can measure a corresponding distance measuring value; therefore, when there are at least three distance measuring sensors, the control device can obtain at least three distance measuring values accordingly.
  • A2 Calculate the posture information of the battery to be replaced based on each ranging value and the position information of each ranging sensor.
  • the position information of the ranging sensor may include the distance information between each ranging sensor and other ranging sensors, and may also include the coordinate information of each ranging sensor in the plane coordinate system of the upper plane of the battery swapping device, which is not limited in the embodiments of the present application.
  • the control device can calculate the angle between the lower plane of the battery to be replaced and the upper plane of the initial battery swapping device, thereby obtaining the posture information of the battery to be replaced.
  • the number of ranging sensors can be set to three.
  • the control device can calculate the posture information of the battery to be replaced according to the ranging value and the position information of the ranging sensor in the following way:
  • the coordinates of each distance measurement point on the lower plane of the battery to be replaced in the specified coordinate system are determined.
  • the designated coordinate system refers to: a spatial coordinate system established based on the upper plane of the initial battery swap device and any ranging sensor. It can be understood that the designated coordinate system first establishes a plane coordinate system on the upper plane of the battery swap device with any ranging sensor as the origin; and then, on the basis of the plane coordinate system, a Z axis perpendicular to the plane coordinate system is added (that is, the measurement direction of the ranging sensor corresponding to the origin is the Z axis), and the spatial coordinate system thus obtained is the designated coordinate system.
  • the upper plane of the initial battery swap device described above is actually the XY plane of the designated coordinate system; that is, the angle between the lower plane of the battery to be replaced and the upper plane of the initial battery swap device refers to the angle between the lower plane of the battery to be replaced and the XY plane.
  • the control device can determine the coordinates of each ranging sensor in the designated coordinate system (wherein the Z coordinate of each ranging sensor is 0) according to the position information of each ranging sensor; and since the Z axis of the designated coordinate system is actually parallel to the measurement direction of each ranging sensor, it is only necessary to replace the Z coordinate in the coordinates of each ranging sensor from 0 to the corresponding ranging value to obtain the coordinates of the ranging point corresponding to each ranging sensor in the designated coordinate system.
  • the position distribution of the three ranging sensors on the upper plane of the battery exchange device can be as follows: It is now a right triangle; that is, when designing the hardware structure of the battery swapping device, the position of the ranging sensor on the upper plane of the battery swapping device can be set based on the position distribution of the right triangle.
  • the distance between any two ranging sensors may be greater than a preset distance, wherein the preset distance is set according to the side length of the upper plane of the battery swapping device.
  • the preset distance may be half of the short side of the upper plane of the battery swapping device.
  • the preset distance may also be set in other ways, which are not limited here.
  • the three ranging points can be grouped in pairs to form three vectors.
  • the control device can arbitrarily select two vectors from the three vectors to calculate the normal vector of the lower plane of the battery to be replaced in the specified coordinate system.
  • the two vectors used to calculate the normal vector can be recorded as the first vector and the second vector, respectively, then: the dot product of the first vector and the normal vector is zero, and the dot product of the second vector and the normal vector is also zero. Since the coordinates of the three ranging points in the specified coordinate system are known, the first vector and the second vector can be obtained according to the coordinates, and the normal vector can be obtained on this basis.
  • the posture information of the battery to be replaced (that is, the angle between the lower plane of the battery to be replaced and the XY plane) can be represented by the unit vector and the normal vector calculated in this step.
  • the specified coordinate system remains unchanged in space. It can be understood that the posture of the battery swap device matches the posture information of the battery to be replaced, which actually means that the upper plane of the battery swap device is parallel to the lower plane of the battery to be replaced. Therefore, in step 103, the angle between the lower plane of the battery to be replaced and the upper plane of the initial battery swap device can be determined by the normal vector of the lower plane of the battery to be replaced and the normal vector of the upper plane of the initial battery swap device (that is, the unit vector of the Z axis); the control device can thereby adjust the posture of the battery swap device.
  • the normal vector of the lower plane of the battery to be replaced remains unchanged, but the normal vector of the upper plane of the battery swap device is continuously updated due to adjustment.
  • the normal vector of the upper plane of the battery swap device is adjusted to be parallel or approximately parallel to the normal vector of the lower plane of the battery to be replaced, it can be known that the upper plane of the battery swap device and the lower plane of the battery to be replaced are parallel or approximately parallel, that is, the posture of the battery swap device has matched the posture information of the battery to be replaced.
  • the ranging sensor corresponding to the origin can be used as the center point for adjustment (that is, the ranging sensor can be the fulcrum for adjustment) to avoid changes in the position of the ranging sensor in space, thereby achieving orderly adjustment of the posture of the battery swapping equipment.
  • the control device can also determine whether the posture of the battery swapping device matches the posture information of the battery to be replaced by other means. For example, when the ranging values measured by each ranging sensor are equal, it can be determined that the posture of the battery swapping device matches the posture information of the battery to be replaced, which will not be described in detail in the embodiments of the present application.
  • the black dots a, b and c respectively represent the three distance measuring sensors set on the upper plane of the battery replacement device, where ab and ac are at right angles, that is, the distance measuring sensors a, b and c form a right triangle with ⁇ a as a right angle; the black dots a', b' and c' respectively represent the corresponding distance measuring points when the distance measuring sensors a, b and c measure the lower plane of the battery to be replaced; h1, h2 and h3 respectively represent the distance measuring values of the distance measuring sensors a, b and c, that is, the distances between the distance measuring sensors a, b and c and the corresponding distance measuring points a', b' and c'; the distance between the distance measuring sensors a and b is L1, the distance between the distance measuring sensors a and c is L2, and the
  • the direction of sensor a pointing to distance sensor b is the positive direction of the Y axis.
  • the direction of sensor a pointing to distance sensor c is the positive direction of the X axis, and the measuring direction of distance sensor a is the positive direction of the Z axis, and the specified coordinate system is constructed.
  • the coordinates of distance sensor a are (0,0,0)
  • the coordinates of distance sensor b are (0,L1,0)
  • the coordinates of distance sensor c are (L2,0,0)
  • the coordinates of distance point a' are (0,0,h1)
  • the coordinates of distance point b' are (0,L1,h2)
  • the coordinates of distance point c' are (L2,0,h3).
  • the number of ranging sensors can be set to one.
  • the measuring direction of the ranging sensor is not fixed, that is, its measuring direction can be controlled and adjusted.
  • the measurement error of the ranging sensor can be at the millimeter level. Based on the ranging sensor set up in this way, the control device can measure the posture of the battery to be replaced in the following way:
  • any three different distance measurement directions should not be in the same plane.
  • the distance measurement points corresponding to any three different distance measurement directions on the lower plane of the battery to be replaced will not be in the same straight line. That is, the distance measurement points formed in this way can fully and accurately express the lower plane of the battery to be replaced.
  • the control device can establish a specified coordinate system, which is still a spatial coordinate system established based on the upper plane of the initial battery exchange device and the ranging sensor. It can be seen that the ranging sensor is at the origin of the specified coordinate system. According to each ranging value and the ranging direction corresponding to each ranging value, the control device can determine the coordinates of the ranging points corresponding to each ranging direction based on spatial geometry knowledge. Based on the coordinates of each ranging point, the control device can obtain the normal vector of the lower plane of the battery to be replaced to represent the posture information of the battery to be replaced, which will not be repeated here.
  • the control device in order to accurately implement the battery replacement operation for batteries in different postures, can first control the battery replacement device to move to the projection area of the battery to be replaced on the ground of the target device, so that the battery replacement device is directly below the battery to be replaced. In this way, the battery replacement device can observe the battery to be replaced well from directly below the battery to be replaced, thereby obtaining the posture information of the battery to be replaced. Finally, the control device adjusts the posture of the battery replacement device based on the posture information of the battery to be replaced, so that the posture of the battery replacement device can match the posture information of the battery to be replaced, that is, the posture of the battery replacement device matches the posture of the battery to be replaced.
  • the battery replacement device When the postures of the two match, the battery replacement device can be smoothly docked with the battery to be replaced, and the battery to be replaced can be quickly disassembled and replaced.
  • the battery replacement equipment of the battery replacement station can replace it, realizing the compatible replacement of batteries of different electric vehicles by the battery replacement station.
  • the embodiment of the present application further provides a posture adjustment device.
  • the posture adjustment device 3 in the embodiment of the present application includes:
  • the moving module 301 is used to control the battery-changing device to move to the projection area of the battery to be replaced of the target device on the ground;
  • An acquisition module 302 is used to acquire the posture information of the battery to be replaced through a distance measuring sensor on the battery replacement device;
  • the adjustment module 303 is used to adjust the posture of the battery swap device according to the posture information of the battery to be replaced until the posture of the battery swap device matches the posture information of the battery to be replaced.
  • the ranging sensor is arranged on a plane other than the lower plane of the battery exchange device.
  • the number of ranging sensors is at least three, all ranging sensors are arranged on the upper plane of the battery swapping device, and the measuring direction of each ranging sensor is perpendicular to the upper plane of the battery swapping device;
  • the acquisition module 302 includes:
  • a first measuring unit configured to obtain at least three ranging values by measuring the lower plane of the battery to be replaced through various ranging sensors
  • the second calculation unit is used to calculate the posture information of the battery to be replaced according to each ranging value and the position information of each ranging sensor.
  • the computing unit includes:
  • a coordinate determination subunit for determining the coordinates of each ranging point on the lower plane of the battery to be replaced in a specified coordinate system according to the ranging values corresponding to each ranging sensor and the position information of each ranging sensor when there are three ranging sensors.
  • the specified coordinate system is a spatial coordinate system established based on the upper plane of the battery replacement device and any ranging sensor;
  • the normal vector calculation subunit is used to calculate the normal vector of the lower plane of the battery to be replaced in the specified coordinate system according to the coordinates of each ranging point in the specified coordinate system.
  • the normal vector is used to represent the posture information of the battery to be replaced.
  • the position distribution of the ranging sensors on the upper plane of the battery exchange device presents a right triangle.
  • the distance between any two ranging sensors is greater than a preset distance, and the preset distance is set according to the side length of the upper plane of the battery exchange device.
  • the number of the ranging sensor is one, and the acquisition module 302 includes:
  • a second measuring unit is used to control the distance measuring sensor to measure the lower plane of the battery to be replaced in at least three different distance measuring directions to obtain at least three distance measuring values;
  • the second calculation unit is used to calculate the posture information of the battery to be replaced according to each ranging value, the ranging direction corresponding to each ranging value and the position information of the ranging sensor.
  • the posture adjustment device in order to accurately realize the battery replacement operation of batteries with different postures, can first control the battery replacement equipment to move to the projection area of the battery to be replaced of the target device on the ground, so that the battery replacement equipment is directly below the battery to be replaced. In this way, the battery replacement equipment can observe the battery to be replaced well from directly below the battery to be replaced through its ranging sensor, thereby obtaining the posture information of the battery to be replaced. Finally, the posture adjustment device adjusts the posture of the battery replacement equipment based on the posture information of the battery to be replaced, so that the posture of the battery replacement equipment can match the posture information of the battery to be replaced, that is, the posture of the battery replacement equipment matches the posture of the battery to be replaced.
  • the battery replacement equipment can be smoothly docked with the battery to be replaced, and the battery to be replaced can be quickly disassembled and replaced.
  • the battery replacement equipment of the battery replacement station can replace it, realizing the compatible replacement of batteries of different electric vehicles by the battery replacement station.
  • the embodiment of the present application also provides a control device.
  • the control device 4 in the embodiment of the present application includes: a memory 401, one or more processors 402 (only one is shown in FIG4 ), and a computer program stored in the memory 401 and executable on the processor.
  • the memory 401 is used to store software programs and modules, and the processor 402 executes the software programs and units stored in the memory 401, thereby Execute various functional applications and data processing to obtain the resources corresponding to the above-mentioned preset events.
  • the processor 402 implements the following steps when running the above-mentioned computer program stored in the memory 401:
  • the posture information of the battery to be replaced is obtained through the distance measuring sensor on the battery replacement equipment;
  • the distance measuring sensor is arranged on a plane other than the lower plane of the battery exchange device.
  • the number of ranging sensors is at least three, all ranging sensors are arranged on the upper plane of the battery swapping device, and the measuring direction of each ranging sensor is perpendicular to the upper plane of the battery swapping device; obtaining the posture of the battery to be replaced by the ranging sensor on the battery swapping device includes:
  • At least three distance measurement values are obtained by measuring the lower plane of the battery to be replaced by each distance measurement sensor;
  • the posture information of the battery to be replaced is calculated based on each ranging value and the position information of each ranging sensor.
  • the posture information of the battery to be replaced is calculated according to each ranging value and the position information of each ranging sensor, including:
  • the coordinates of each ranging point on the lower plane of the battery to be replaced in the specified coordinate system are determined.
  • the specified coordinate system is a spatial coordinate system established based on the upper plane of the battery replacement equipment and any ranging sensor;
  • the normal vector of the lower plane of the battery to be replaced in the specified coordinate system is calculated, and the normal vector is used to represent the posture information of the battery to be replaced.
  • the distance between any two ranging sensors is greater than a preset distance, and the preset distance is set according to the side length of the upper plane of the battery exchange device.
  • the number of the ranging sensor is one
  • the posture information of the battery to be replaced is obtained by the ranging sensor on the battery replacement device, including:
  • the posture information of the battery to be replaced is calculated based on each ranging value, the ranging direction corresponding to each ranging value and the position information of the ranging sensor.
  • the processor 402 may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • DSP digital signal processors
  • ASIC application-specific integrated circuits
  • FPGA field-programmable gate arrays
  • a general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.
  • the memory 401 may include a read-only memory and a random access memory, and provide instructions and data to the processor 402. A part or all of the memory 401 may also include a non-volatile random access memory. For example, the memory 401 may also store information on the device type.
  • the control device in order to accurately implement the battery replacement operation for batteries in different postures, can first control the battery replacement device to move to the projection area of the battery to be replaced on the ground of the target device, so that the battery replacement device is directly below the battery to be replaced. In this way, the battery replacement device can observe the battery to be replaced well from directly below the battery to be replaced through its ranging sensor, thereby obtaining the posture information of the battery to be replaced. Finally, the control device adjusts the posture of the battery replacement device based on the posture information of the battery to be replaced, so that the posture of the battery replacement device can match the posture information of the battery to be replaced, that is, the posture of the battery replacement device matches the posture of the battery to be replaced.
  • the battery replacement device When the postures of the two match, the battery replacement device can be smoothly docked with the battery to be replaced, and the battery to be replaced can be quickly disassembled and replaced.
  • the battery replacement equipment of the battery replacement station can replace it, realizing the compatible replacement of batteries of different electric vehicles at the battery replacement station.
  • the technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration.
  • the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the above-mentioned device can be divided into different functional units or modules to complete all or part of the functions described above.
  • the functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit.
  • the above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units.
  • the units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium.
  • the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the associated hardware through a computer program.
  • the above-mentioned computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor.
  • the above-mentioned computer program includes computer program code, and the above-mentioned computer program code can be in source code form, object code form, executable file or some intermediate form.
  • the above-mentioned computer-readable storage medium may include: any entity or device capable of carrying the above-mentioned computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer-readable memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc.
  • ROM Read-Only Memory
  • RAM Random Access Memory
  • electric carrier signal telecommunication signal and software distribution medium, etc.
  • the content contained in the above-mentioned computer-readable storage medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction.
  • computer-readable storage media does not include electrical carrier signals and telecommunication signals.

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Abstract

一种姿态调整方法，包括：控制换电设备移动至目标设备的待换电池在地面的投影区域；通过换电设备上的测距传感器获取待换电池的姿态信息；根据待换电池的姿态信息调整换电设备的姿态，直至换电设备的姿态与待换电池的姿态信息相匹配。通过本申请方案，有助于实现换电站对不同电动汽车的电池的兼容更换。另外，还涉及一种姿态调整装置、控制设备以及存储介质。

Description

一种姿态调整方法、姿态调整装置、控制设备及存储介质
本申请要求于2023年06月13日在中国专利局提交的、申请号为202310696526.7、发明名称为“一种姿态调整方法、姿态调整装置、控制设备及存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请属于换电技术领域，尤其涉及一种姿态调整方法、姿态调整装置、控制设备及计算机可读存储介质。
背景技术
为了保障电动汽车的续航，换电已成为一种较为主流的能源供应模式。然而，不同电动汽车的电池通常会因各种外界因素而导致存在姿态差异，这为换电站对不同电动汽车的换电操作带来了一定挑战。
申请内容
本申请提供了一种姿态调整方法、姿态调整装置、控制设备及计算机可读存储介质，有助于实现换电站对不同电动汽车的电池的兼容更换。
第一方面，本申请提供了一种姿态调整方法，包括：
控制换电设备移动至目标设备的待换电池在地面的投影区域；
通过换电设备上的测距传感器获取待换电池的姿态信息；
根据待换电池的姿态信息调整换电设备的姿态，直至换电设备的姿态与待换电池的姿态信息相匹配。
第二方面，本申请提供了一种姿态调整装置，包括：
移动模块，用于控制换电设备移动至目标设备的待换电池在地面的投影区域；
获取模块，用于通过换电设备上的测距传感器获取待换电池的姿态信息；
调整模块，用于根据待换电池的姿态信息调整换电设备的姿态，直至换电设备的姿态与待换电池的姿态信息相匹配。
第三方面，本申请提供了一种控制设备，上述控制设备包括存储器、处理器以及存储在上述存储器中并可在上述处理器上运行的计算机程序，上述处理器执行上述计算机程序时实现如上述第一方面的方法。
第四方面，本申请提供了一种计算机可读存储介质，上述计算机可读存储介质存储有计算机程序，上述计算机程序被处理器执行时实现如上述第一方面的方法。
第五方面，本申请提供了一种计算机程序产品，上述计算机程序产品包括计算机程序，上述计算机程序被一个或多个处理器执行时实现如上述第一方面的方法。
本申请与现有技术相比存在的有益效果是：为了准确实现对不同姿态的电池的换电操作，本申请首先可控制换电设备移动至目标设备的待换电池在地面的投影区域，使得换电设备处于待换电池的正下方。这样一来，换电设备即可通过其测距传感器从待换电池的正下方很好地对待换电池进行观察，由此获取到待换电池的姿态信息。最后，本申请再基于该待换电池的姿态信息来调整换电设备的姿态，使得换电设备的姿态能够与待换电池的姿态信息相匹配，也即换电设备的姿态与待换电池的姿态相匹配。在二者姿态相匹配的情况 下，换电设备即可顺利地与待换电池对接，实现对待换电池的快速拆卸及更换。通过以上过程，不管待换电池在目标设备上拥有怎样的姿态，换电站的换电设备均可对其进行更换处理，实现了换电站对不同电动汽车的电池的兼容更换。
可以理解的是，上述第二方面至第五方面的有益效果可以参见上述第一方面中的相关描述，在此不再赘述。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，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是本申请实施例提供的姿态调整方法的实现流程示意图；
图2是本申请实施例提供的姿态调整方法中，通过测距传感器获取待换电池的姿态信息的示意图；
图3是本申请实施例提供的姿态调整装置的结构框图；
图4是本申请实施例提供的控制设备的结构示意图。
具体实施方式
下面将结合附图对本申请技术方案的实施例进行详细的描述。以下实施例仅用于更加清楚地说明本申请的技术方案，因此只作为示例，而不能以此来限制本申请的保护范围。
除非另有定义，本文所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同；本文中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本申请；本申请的说明书和权利要求书及上述附图说明中的术语“包括”和“具有”以及它们的任何变形，意图在于覆盖不排他的包含。
在本申请实施例的描述中，技术术语“第一”“第二”等仅用于区别不同对象，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量、特定顺序或主次关系。
在本文中提及“实施例”意味着，结合实施例描述的特定特征、结构或特性可以包含在本申请的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例，也不是与其它实施例互斥的独立的或备选的实施例。本领域技术人员显式地和隐式地理解的是，本文所描述的实施例可以与其它实施例相结合。
在本申请实施例的描述中，术语“和/或”仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。
在本申请实施例的描述中，术语“多个”指的是两个以上(包括两个)，除非另有明确具体的限定。
目前，电池的应用越加广泛，其不仅可被应用于水力、火力、风力和太阳能电站等储能电源系统，还可被应用于电动自行车、电动摩托车及电动汽车等电动交通工具，甚至可被应用于军事装备和航空航天等领域。随着电池应用领域的不断扩大，其市场的需求量也 在不断地扩增。
针对电动汽车的电池的能源供应而言，除了传统的插充模式之外，近年来还发展出了换电模式。考虑到换电所需时长远短于充电所需时长，且换电的电池实际为租赁的电池，因而换电模式在便捷性及成本方面均优于插充模式，这使得换电模式受到了人们的关注。
然而，由于不同电动汽车的设计存在区别，导致不同电动汽车的电池通常会存在姿态差异；除此之外，即使是同一电动汽车，其不同的负载状态也会导致不同的车辆姿态(例如，电动重卡在满负载和空负载的状态下会呈现不同的车辆倾角)，进而导致不同的电池姿态。也即，电动汽车的电池的姿态会因车辆的型号及车辆的负载状态而有所不同，这为换电站对电动汽车的换电操作带来了一定挑战。
基于以上考虑，本申请实施例提出了一种姿态调整方法，在换电设备移动至待换电池在地面的投影区域之后，不会直接开始换电操作，而是会先获取到待换电池在空间中所呈现的姿态信息。根据这一姿态信息，换电设备会对自己的姿态也进行调整，使得自己的姿态能够最终与待换电池的姿态信息相匹配，由此保障换电设备可以顺利地与待换电池对接，实现对待换电池的快速拆卸及更换。为了说明本申请实施例所提出的技术方案，下面通过具体实施例来进行说明。
下面对本申请实施例提供的一种姿态调整方法进行描述。该姿态调整方法可应用于控制设备。仅作为示例，该控制设备可包括但不限于：集成于换电设备中的非独立设备，或者与换电设备建立有通讯连接的独立设备。该请参阅图1，本申请实施例中的姿态调整方法包括：
步骤101，控制换电设备移动至目标设备的待换电池在地面的投影区域。
目标设备指的是当前存在电池更换需求的设备，也即当前其电池已处于低电量的设备。仅作为示例，一般而言，在针对电动汽车的换电站内，当有电动汽车进入该换电站时，该电动汽车即为目标设备，该电动汽车的电池即为待换电池。
由于电池一般重量较重，因而换电操作往往需要依赖于机械式的换电设备而实现。仅作为示例，较为主流的换电设备一般为换电小车，例如可以是导轨导航小车(Rail Guide Vehicle，RGV)。在目标设备已停放于换电站所指定的换电位置的情况下，控制设备可控制换电设备移动至目标设备的待换电池在地面的投影区域。具体而言，该投影区域指的是待换电池在地面的正投影区域。由此可以理解，该待换电池在地面的投影区域，实际指的是该待换电池的正下方。
在一些实施例中，在换电设备向待换电池在地面的正投影区域移动的过程中，换电设备可实时对自身进行定位，其定位结果即表示了该换电设备在地面的正投影区域。这样一来，控制设备即可判断该换电设备在地面的正投影区域及该待换电池在地面的正投影区域的重合率是否满足预设的到位条件；一旦满足该到位条件，即认为换电设备已基本移动至待换电池在地面的正投影区域，控制设备可控制换电设备停止移动，使得换电设备停稳于待换电池在地面的正投影区域。考虑到指令发送延时及惯性等因素，仅作为示例，该到位条件可以是：重合率达到预设的重合率阈值，例如80％。
步骤102，通过换电设备上的测距传感器获取待换电池的姿态信息。
在换电设备已停稳于待换电池在地面的投影区域的情况下，控制设备可触发该换电设备对待换电池的姿态检测，由此得到该待换电池的姿态信息。其中，该姿态检测具体可依 赖于换电设备所搭载的传感器而实现。
仅作为示例，该传感器包括但不限于视觉传感器及测距传感器；其中，视觉传感器可以是双目摄像头或深度摄像头等；测距传感器可以是红外测距传感器、激光测距传感器或超声波测距传感器等，本申请实施例不对该传感器的类型作出限定。
步骤103，根据待换电池的姿态信息调整换电设备的姿态，直至换电设备的姿态与待换电池的姿态信息相匹配。
在得到待换电池的姿态信息后，控制设备即可控制换电设备调整自身的姿态，该调整的目的是：使换电设备的姿态与待换电池的姿态信息相匹配，也即使换电设备与待换电池的姿态相匹配。具体地，控制设备可以是根据待换电池的姿态信息及换电设备的初始姿态之间的差异，生成相应的姿态调整指令，并基于该姿态调整指令调整换电设备的姿态，直至换电设备与待换电池的姿态相匹配。
可以理解，在换电设备与待换电池的姿态相匹配的情况下，可认为换电设备已经与待换电池对齐，也即换电设备已完成换电准备工作；此时，换电设备可以开始基于自身当前的姿态与待换电池进行对接，对待换电池的螺栓等安装部件进行拆除，由此可顺利从目标设备上拆卸下该待换电池。
进一步地，在待换电池拆卸成功，换电设备已拿取到了新的电池的情况下，该换电设备可以继续根据其在拆卸该待换电池时的姿态对该新的电池进行安装。也即，控制设备可记录下与待换电池的姿态信息相匹配时，该换电设备的姿态信息，后续不管是为当前的目标设备拆卸待换电池还是安装新的电池，均可控制换电设备基于该已记录的姿态信息进行工作。
在一些实施例中，可以理解，换电设备的设备形态通常表现为近似长方体。基于该设备形态，为实现对待换电池的准确姿态检测，可将测距传感器设置于换电设备的下平面之外的其它平面，只要保障测距设备不被换电设备的其它设备组件所遮挡即可。仅作为示例，在测距传感器仅为一个的情况下，该测距传感器可以设置于换电设备的上平面，也可以设置于测距设备的侧平面；在测距传感器为两个以上的情况下，测距传感器可以全部设置于换电设备的上平面，也可以全部设置于换电设备的侧平面，还可以部分设置于换电设备的上平面，部分设置于换电设备的侧平面。在控制设备根据换电设备的定位结果，确定该换电设备已移动至待换电池在地面的投影区域的情况下，控制设备即可触发测距传感器启动工作。
在一些实施例中，考虑到电池的形态也通常表现为近似长方体，因而，控制设备所关注的待换电池的姿态信息，实际也可等价于待换电池的下平面的姿态信息。在一些示例中，该姿态信息可通过姿态角进行表示，可认为待换电池的下平面的姿态角即为待换电池的姿态角；其中，待换电池的下平面的姿态角，具体指的是：待换电池的下平面相对初始的换电设备的上平面的夹角。也即，本申请实施例中，待换电池的姿态信息包括：待换电池的下平面相对初始的换电设备的上平面的夹角。
根据几何知识可知，三点确定一个平面，因而在本申请实施例中，控制设备需要通过测距传感器获得针对待换电池的下平面的至少三个测距点，才可准确得知待换电池的下平面的姿态信息，也即待换电池的姿态信息。
在一种应用场景下，为降低姿态检测时的计算量，设置在换电设备的上平面的测距传感器可为至少三个，其中，每个测距传感器的测量方向均垂直于换电设备的上平面；也即，针对每个测距传感器而言，其均为垂直于换电设备的上平面向上进行测量。为了保障对应所得的测距点可以构成一个平面，这至少三个测距传感器中的任意三个测距传感器可不处于同一直线。以及，为了保障测量结果的准确性，所采用的测距传感器可为相同型号，且其测量误差可为毫米级。基于这种方式所设置的测距传感器，控制设备可通过如下方式测得待换电池的姿态：
A1、通过各个测距传感器对待换电池的下平面的测量，获得至少三个测距值。
一般而言，默认状态下，换电设备的上平面会平行或近似平行于地面。由于换电设备已经移动至待换电池在地面的投影区域，而测距传感器又是垂直于换电设备的上平面向上进行测量，因而测距传感器实际上会在待换电池的下平面打上测距点；也即，根据换电设备的位置和测距传感器的测量方向可知，测距传感器实际上测量的是：待换电池的下平面与该测距传感器的距离。
可以理解，每个测距传感器都可测得一个对应的测距值；因而，在有至少三个测距传感器的情况下，控制设备可相应获得至少三个测距值。
A2、根据各个测距值及各个测距传感器的位置信息，计算待换电池的姿态信息。
测距传感器的位置信息，可以包括每个测距传感器与其它测距传感器的距离信息，也可以包括每个测距传感器在换电设备的上平面的平面坐标系中的坐标信息，本申请实施例对此不作限定。根据每个测距传感器的位置信息，以及每个测距传感器所对应测得的测距值，控制设备可计算出待换电池的下平面相对初始的换电设备的上平面的夹角，由此得到待换电池的姿态信息。
为了在减轻计算量的同时降低硬件成本，可设置测距传感器的数量为三个。在这种情况下，控制设备可通过以下方式根据测距值及测距传感器的位置信息计算出待换电池的姿态信息：
B1、根据各个测距传感器所对应的测距值，以及各个测距传感器的位置信息，确定待换电池的下平面的各个测距点在指定坐标系的坐标。
其中，指定坐标系指的是：基于初始的换电设备的上平面及任一测距传感器而建立的空间坐标系。可以理解为，该指定坐标系是先在换电设备的上平面上，以任一测距传感器为原点建立一平面坐标系；然后再在该平面坐标系的基础上，新增垂直于该平面坐标系的Z轴(也即以原点所对应的测距传感器的测量方向为Z轴)，由此得到的空间坐标系即为指定坐标系。可以理解，前文所描述的初始的换电设备的上平面，实际即为指定坐标系的XY平面；也即，待换电池的下平面相对初始的换电设备的上平面的夹角，指的是待换电池的下平面相对该XY平面的夹角。
由于各个测距传感器的位置信息已知，而指定坐标系是基于换电设备的上平面及任一测距传感器而建立的空间坐标系，因而根据各个测距传感器的位置信息，控制设备可确定出各个测距传感器在该指定坐标系中的坐标(其中，各个测距传感器的Z坐标为0)；又由于指定坐标系的Z轴实际上与各个测距传感器的测量方向相平行，因而，只需将各个测距传感器的坐标中的Z坐标由0替换为对应的测距值，即可得到各个测距传感器所对应的测距点在该指定坐标系的坐标。
在一些实施例中，为便于计算，三个测距传感器在换电设备的上平面的位置分布可呈 现为直角三角形；也即，在设计换电设备的硬件结构时，可基于直角三角形的位置分布设置测距传感器在换电设备的上平面的位置。
在一些实施例中，为提升位姿检测的准确性，任意两个测距传感器之间的距离可大于预设距离，其中，该预设距离根据换电设备的上平面的边长而设定。仅作为示例，该预设距离可以是换电设备的上平面的短边的一半。当然，该预设距离也可以通过其它方式设定，此处不作限定。
B2、根据各个测距点在指定坐标系的坐标，计算待换电池的下平面在指定坐标系中的法向量。
三个测距点可以两两为一组，由此构成三个向量。控制设备可从这三个向量中任意挑选两个向量计算出待换电池的下平面在指定坐标系中的法向量。为便于说明，可将用于计算法向量的两个向量分别记作第一向量及第二向量，则有：第一向量与法向量的点乘为零，第二向量与法向量的点乘也为零。由于三个测距点在指定坐标系的坐标已知，因而根据该坐标即可求得第一向量及第二向量，并在此基础上可再求得法向量。由于初始的换电设备的上平面的法向量可表达为指定坐标系的Z轴的单位向量，因而待换电池的姿态信息(也即待换电池的下平面相对XY平面的夹角)可通过该单位向量及本步骤计算所得的法向量进行表示。
需要注意的是，调整换电设备的姿态的过程中，指定坐标系在空间中保持不变。可以理解，换电设备的姿态与待换电池的姿态信息相匹配，实际即为换电设备的上平面与待换电池的下平面相平行。因而，在步骤103中，通过待换电池的下平面的法向量及初始的换电设备的上平面的法向量(也即Z轴的单位向量)，即可确定出待换电池的下平面与初始的换电设备的上平面之间的夹角；控制设备由此即可调整换电设备的姿态。在该调整过程中，待换电池的下平面的法向量保持不变，但换电设备的上平面的法向量不断因调整而更新。在换电设备的上平面的法向量被调整至与待换电池的下平面的法向量平行或近似平行的情况下，即可知换电设备的上平面与待换电池的下平面已平行或近似平行，也即换电设备的姿态已与待换电池的姿态信息相匹配。在调整换电设备的姿态的过程中，可将该原点所对应的测距传感器作为中心点进行调整(也即该测距传感器可为调整的支点)，以避免该测距传感器在空间中的位置发生改变，由此实现对换电设备的姿态的有序调整。
当然，在调整换电设备的姿态的过程中，控制设备也可通过其它方式判断换电设备的姿态与待换电池的姿态信息是否已经匹配。例如，可以是当各个测距传感器所测得的测距值均相等时，确定该换电设备的姿态与该待换电池的姿态信息已经匹配，本申请实施例对此不再赘述。
请参阅图2，图2给出了在换电设备的初始姿态下，通过测距传感器获取待换电池的姿态信息的示意。在图2中，黑色圆点a、b及c分别表示换电设备的上平面所设置的三个测距传感器，其中，ab与ac呈直角，也即测距传感器a、b及c构成以∠a为直角的直角三角形；黑色圆点a'、b'及c'分别表示测距传感器a、b及c对待换电池的下平面进行测量时的对应测距点；h1、h2及h3分别表示测距传感器a、b及c的测距值，也即测距传感器a、b及c分别与对应的测距点a'、b'及c'之间的距离；测距传感器a及b之间的距离为L1，测距传感器a及c之间的距离为L2，测距传感器b及c之间的距离为L3。
以测距传感器a为坐标原点，测距传感器a指向测距传感器b为Y轴正方向，测距传 感器a指向测距传感器c为X轴正方向，测距传感器a的测量方向为Z轴正方向，构建指定坐标系。则有：测距传感器a的坐标为(0,0,0)，测距传感器b的坐标为(0,L1,0)，测距传感器c的坐标为(L2,0,0)，测距点a'的坐标为(0,0,h1)，测距点b'的坐标为(0,L1,h2)，测距点c'的坐标为(L2,0,h3)。
测距点a'、b'及c'所组成的平面，即为待换电池的下平面。根据测距点a'、b'及c'的坐标可知，向量为(0,L1,h2-h1)，向量为(L2,0,h3-h1)。记待换电池的下平面的法向量为则根据和可求出
在另一种应用场景下，为最大程度节约换电设备的硬件成本，可设置测距传感器的数量为一个。其中，该测距传感器的测量方向并不固定，也即其测量方向是可被控制调整的。为了保障测量结果的准确性，该测距传感器的测量误差可以为毫米级。基于这种方式所设置的测距传感器，控制设备可通过如下方式测得待换电池的姿态：
C1、控制测距传感器在至少三个不同的测距方向下对待换电池的下平面进行测量，获得至少三个测距值。
为保障测量的准确性及精度，任意三个不同的测距方向应不处于同一平面。这样一来，任意三个不同的测距方向在待换电池的下平面所分别对应的测距点不会处于同一直线。也即，这样所形成的测距点才能完整且准确的表达该待换电池的下平面。
C2、根据各个测距值、各个测距值所对应的测距方向及测距传感器的位置信息，计算待换电池的姿态信息。
与前文类似，控制设备可建立一指定坐标系，该指定坐标系仍为基于初始的换电设备的上平面及该测距传感器而建立的空间坐标系。由此可知，测距传感器处于该指定坐标系的原点。根据各个测距值以及各个测距值所对应的测距方向，控制设备可根据空间几何知识确定出各个测距方向所对应的测距点的坐标。再根据各个测距点的坐标，控制设备即可求得待换电池的下平面的法向量来表示该待换电池的姿态信息，此处不再赘述。
由上可见，本申请实施例中，为了准确实现对不同姿态的电池的换电操作，控制设备首先可控制换电设备移动至目标设备的待换电池在地面的投影区域，使得换电设备处于待换电池的正下方。这样一来，换电设备即可从待换电池的正下方很好地对待换电池进行观察，由此获取到待换电池的姿态信息。最后，控制设备再基于该待换电池的姿态信息来调整换电设备的姿态，使得换电设备的姿态能够与待换电池的姿态信息相匹配，也即换电设备的姿态与待换电池的姿态相匹配。在二者姿态相匹配的情况下，换电设备即可顺利地与待换电池对接，实现对待换电池的快速拆卸及更换。通过以上过程，不管待换电池在目标设备上拥有怎样的姿态，换电站的换电设备均可对其进行更换处理，实现了换电站对不同电动汽车的电池的兼容更换。
应理解，上述实施例中各步骤的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本申请实施例的实施过程构成任何限定。
对应于上文所提供的姿态调整方法，本申请实施例还提供了一种姿态调整装置。参见图3，本申请实施例中的姿态调整装置3包括：
移动模块301，用于控制换电设备移动至目标设备的待换电池在地面的投影区域；
获取模块302，用于通过换电设备上的测距传感器获取待换电池的姿态信息；
调整模块303，用于根据待换电池的姿态信息调整换电设备的姿态，直至换电设备的姿态与待换电池的姿态信息相匹配。
在一些实施例中，测距传感器设置于换电设备的下平面之外的其它平面。
在一些实施例中，测距传感器的数量为至少三个，所有测距传感器均设置于换电设备的上平面，且每个测距传感器的测量方向均垂直于换电设备的上平面；获取模块302，包括：
第一测量单元，用于通过各个测距传感器对待换电池的下平面的测量，获得至少三个测距值；
第二计算单元，用于根据各个测距值及各个测距传感器的位置信息，计算待换电池的姿态信息。
在一些实施例中，计算单元，包括：
坐标确定子单元，用于在测距传感器的数量为三个的情况下，根据各个测距传感器所对应的测距值，以及各个测距传感器的位置信息，确定待换电池的下平面的各个测距点在指定坐标系的坐标，指定坐标系为基于换电设备的上平面及任一测距传感器而建立的空间坐标系；
法向量计算子单元，用于根据各个测距点在指定坐标系的坐标，计算待换电池的下平面在指定坐标系中的法向量，法向量用于表示待换电池的姿态信息。
在一些实施例中，在测距传感器的数量为三个的情况下，测距传感器在换电设备的上平面的位置分布呈现为直角三角形。
在一些实施例中，在测距传感器的数量为三个的情况下，任意两个测距传感器之间的距离大于预设距离，预设距离根据换电设备的上平面的边长而设定。
在一些实施例中，测距传感器的数量为一个，获取模块302，包括：
第二测量单元，用于控制测距传感器在至少三个不同的测距方向下对待换电池的下平面进行测量，获得至少三个测距值；
第二计算单元，用于根据各个测距值、各个测距值所对应的测距方向及测距传感器的位置信息，计算待换电池的姿态信息。
由上可见，本申请实施例中，为了准确实现对不同姿态的电池的换电操作，姿态调整装置首先可控制换电设备移动至目标设备的待换电池在地面的投影区域，使得换电设备处于待换电池的正下方。这样一来，换电设备即可通过其测距传感器从待换电池的正下方很好地对待换电池进行观察，由此获取到待换电池的姿态信息。最后，姿态调整装置再基于该待换电池的姿态信息来调整换电设备的姿态，使得换电设备的姿态能够与待换电池的姿态信息相匹配，也即换电设备的姿态与待换电池的姿态相匹配。在二者姿态相匹配的情况下，换电设备即可顺利地与待换电池对接，实现对待换电池的快速拆卸及更换。通过以上过程，不管待换电池在目标设备上拥有怎样的姿态，换电站的换电设备均可对其进行更换处理，实现了换电站对不同电动汽车的电池的兼容更换。
对应于上文所提供的姿态调整方法，本申请实施例还提供了一种控制设备。参见图4，本申请实施例中的控制设备4包括：存储器401，一个或多个处理器402(图4中仅示出一个)及存储在存储器401上并可在处理器上运行的计算机程序。其中：存储器401用于存储软件程序以及模块，处理器402通过运行存储在存储器401的软件程序以及单元，从而 执行各种功能应用以及数据处理，以获取上述预设事件对应的资源。具体地，处理器402通过运行存储在存储器401的上述计算机程序时实现以下步骤：
控制换电设备移动至目标设备的待换电池在地面的投影区域；
通过换电设备上的测距传感器获取待换电池的姿态信息；
根据待换电池的姿态信息调整换电设备的姿态，直至换电设备的姿态与待换电池的姿态信息相匹配。
假设上述为第一种可能的实施方式，则在第一种可能的实施方式作为基础而提供的第二种可能的实施方式中，测距传感器设置于换电设备的下平面之外的其它平面。
在上述第二种可能的实施方式作为基础而提供的第三种可能的实施方式中，测距传感器的数量为至少三个，所有测距传感器均设置于换电设备的上平面，且每个测距传感器的测量方向均垂直于换电设备的上平面；通过换电设备上的测距传感器获取待换电池的姿态，包括：
通过各个测距传感器对待换电池的下平面的测量，获得至少三个测距值；
根据各个测距值及各个测距传感器的位置信息，计算待换电池的姿态信息。
在上述第三种可能的实施方式作为基础而提供的第四种可能的实施方式中，在测距传感器的数量为三个的情况下，根据各个测距值及各个测距传感器的位置信息，计算待换电池的姿态信息，包括：
根据各个测距传感器所对应的测距值，以及各个测距传感器的位置信息，确定待换电池的下平面的各个测距点在指定坐标系的坐标，指定坐标系为基于换电设备的上平面及任一测距传感器而建立的空间坐标系；
根据各个测距点在指定坐标系的坐标，计算待换电池的下平面在指定坐标系中的法向量，该法向量用于表示待换电池的姿态信息。
在上述第三种可能的实施方式作为基础，或者上述第四种可能的实施方式作为基础而提供的第五种可能的实施方式中，在测距传感器的数量为三个的情况下，测距传感器在换电设备的上平面的位置分布呈现为直角三角形。
在上述第三种可能的实施方式作为基础，或者上述第四种可能的实施方式作为基础而提供的第六种可能的实施方式中，在测距传感器的数量为三个的情况下，任意两个测距传感器之间的距离大于预设距离，预设距离根据换电设备的上平面的边长而设定。
在上述第二种可能的实施方式作为基础而提供的第七种可能的实施方式中，测距传感器的数量为一个，通过换电设备上的测距传感器获取待换电池的姿态信息，包括：
控制测距传感器在至少三个不同的测距方向下对待换电池的下平面进行测量，获得至少三个测距值；
根据各个测距值、各个测距值所对应的测距方向及测距传感器的位置信息，计算待换电池的姿态信息。
应当理解，在本申请实施例中，所称处理器402可以是中央处理单元(Central Processing Unit，CPU)，该处理器还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
存储器401可以包括只读存储器和随机存取存储器，并向处理器402提供指令和数据。存储器401的一部分或全部还可以包括非易失性随机存取存储器。例如，存储器401还可以存储设备类型的信息。
由上可见，本申请实施例中，为了准确实现对不同姿态的电池的换电操作，控制设备首先可控制换电设备移动至目标设备的待换电池在地面的投影区域，使得换电设备处于待换电池的正下方。这样一来，换电设备即可通过其测距传感器从待换电池的正下方很好地对待换电池进行观察，由此获取到待换电池的姿态信息。最后，控制设备再基于该待换电池的姿态信息来调整换电设备的姿态，使得换电设备的姿态能够与待换电池的姿态信息相匹配，也即换电设备的姿态与待换电池的姿态相匹配。在二者姿态相匹配的情况下，换电设备即可顺利地与待换电池对接，实现对待换电池的快速拆卸及更换。通过以上过程，不管待换电池在目标设备上拥有怎样的姿态，换电站的换电设备均可对其进行更换处理，实现了换电站对不同电动汽车的电池的兼容更换。
所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，仅以上述各功能单元、模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能单元、模块完成，即将上述装置的内部结构划分成不同的功能单元或模块，以完成以上描述的全部或者部分功能。实施例中的各功能单元、模块可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中，上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。另外，各功能单元、模块的具体名称也只是为了便于相互区分，并不用于限制本申请的保护范围。上述系统中单元、模块的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述或记载的部分，可以参见其它实施例的相关描述。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者外部设备软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
在本申请所提供的实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。例如，以上所描述的系统实施例仅仅是示意性的，例如，上述模块或单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨 论的相互之间的耦合或直接耦合或通讯连接可以是通过一些接口，装置或单元的间接耦合或通讯连接，可以是电性，机械或其它的形式。
上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单元来实现本实施例方案的目的。
上述集成的单元如果以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存储介质中。基于这样的理解，本申请实现上述实施例方法中的全部或部分流程，也可以通过计算机程序来指令相关联的硬件来完成，上述的计算机程序可存储于一计算机可读存储介质中，该计算机程序在被处理器执行时，可实现上述各个方法实施例的步骤。其中，上述计算机程序包括计算机程序代码，上述计算机程序代码可以为源代码形式、对象代码形式、可执行文件或某些中间形式等。上述计算机可读存储介质可以包括：能够携带上述计算机程序代码的任何实体或装置、记录介质、U盘、移动硬盘、磁碟、光盘、计算机可读存储器、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、电载波信号、电信信号以及软件分发介质等。需要说明的是，上述计算机可读存储介质包含的内容可以根据司法管辖区内立法和专利实践的要求进行适当的增减，例如在某些司法管辖区，根据立法和专利实践，计算机可读存储介质不包括是电载波信号和电信信号。
以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，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申请各实施例技术方案的精神和范围，均应包含在本申请的保护范围之内。

Claims (10)

  1. 一种姿态调整方法，其特征在于，包括：
    控制换电设备移动至目标设备的待换电池在地面的投影区域；
    通过所述换电设备上的测距传感器获取所述待换电池的姿态信息；
    根据所述待换电池的姿态信息调整所述换电设备的姿态，直至所述换电设备的姿态与所述待换电池的姿态信息相匹配。
  2. 如权利要求1所述的姿态调整方法，其特征在于，所述测距传感器设置于所述换电设备的下平面之外的其它平面。
  3. 如权利要求2所述的姿态调整方法，其特征在于，所述测距传感器的数量为至少三个，所有所述测距传感器均设置于所述换电设备的上平面，且每个所述测距传感器的测量方向均垂直于所述换电设备的上平面；所述通过所述换电设备上的测距传感器获取所述待换电池的姿态信息，包括：
    通过各个所述测距传感器对所述待换电池的下平面的测量，获得至少三个测距值；
    根据各个所述测距值及各个所述测距传感器的位置信息，计算所述待换电池的姿态信息。
  4. 如权利要求3所述的姿态调整方法，其特征在于，在所述测距传感器的数量为三个的情况下，所述根据各个所述测距值及各个所述测距传感器的位置信息，计算所述待换电池的姿态信息，包括：
    根据各个所述测距传感器所对应的测距值，以及各个所述测距传感器的位置信息，确定所述待换电池的下平面的各个测距点在指定坐标系的坐标，所述指定坐标系为基于所述换电设备的上平面及任一所述测距传感器而建立的空间坐标系；
    根据所述各个测距点在所述指定坐标系的坐标，计算所述待换电池的下平面在所述指定坐标系中的法向量，所述法向量用于表示所述待换电池的姿态信息。
  5. 如权利要求3或4所述的姿态调整方法，其特征在于，在所述测距传感器的数量为三个的情况下，所述测距传感器在所述换电设备的上平面的位置分布呈现为直角三角形。
  6. 如权利要求3或4所述的姿态调整方法，其特征在于，在所述测距传感器的数量为三个的情况下，任意两个所述测距传感器之间的距离大于预设距离，所述预设距离根据所述换电设备的上平面的边长而设定。
  7. 如权利要求2所述的姿态调整方法，其特征在于，所述测距传感器的数量为一个，所述通过所述换电设备上的测距传感器获取所述待换电池的姿态信息，包括：
    控制所述测距传感器在至少三个不同的测距方向下对所述待换电池的下平面进行测量，获得至少三个测距值；
    根据各个所述测距值、各个所述测距值所对应的测距方向及所述测距传感器的位置信息，计算所述待换电池的姿态信息。
  8. 一种姿态调整装置，其特征在于，包括：
    移动模块，用于控制换电设备移动至目标设备的待换电池在地面的投影区域；
    获取模块，用于通过所述换电设备上的测距传感器获取所述待换电池的姿态信息；
    调整模块，用于根据所述待换电池的姿态信息调整所述换电设备的姿态，直至所述换电设备的姿态与所述待换电池的姿态信息相匹配。
  9. 一种控制设备，包括存储器、处理器以及存储在所述存储器中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计算机程序时实现如权利要求1至7任一项所述的方法。
  10. 一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，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7任一项所述的方法。
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