A control method for battery replacement, a control device, and a battery replacement system

Abstract

The present application discloses a control method for battery replacement, including: on the control unit side, controlling a transfer mechanism for transferring batteries to perform at least one of the following control processes: a first control process of acquiring a first battery at a first target position where the first battery to be replaced is located; a second control process of releasing the acquired first battery to a first storage position; a third control process of acquiring a second battery from a second storage position; a fourth control process of transferring the acquired second battery to a second target position; and adjusting the pose of the transfer mechanism based on image data in all of the control processes. The present application avoids deviations between calibration parameters and actual operation parameters, and reduces the failure rate.

Description

Technical Field

[0001] The present invention relates to the field of automatic control, and particularly to a control method for battery replacement. Background Art

[0002] With the increasing application of a large number of battery-driven movable machine devices, such as automated guided vehicles, the automatic replacement of batteries in movable devices has become a requirement.

[0003] After the equipment for battery replacement has been used for a long time, there will be a deviation between the calibrated parameters and the actual operating parameters, which leads to a high failure rate and reduces the battery replacement efficiency. Summary of the Invention

[0004] The present invention provides a control method for battery replacement to improve the reliability of battery replacement.

[0005] The present invention provides a control method for battery replacement, which includes: on the control unit side,

[0006] When a battery replacement task is triggered, controlling the transfer mechanism for transporting the battery to perform at least one of the following control processes:

[0007] Obtaining a first control process of the first battery at a first target position where the first battery to be replaced is located;

[0008] A second control process of releasing the first battery to a first storage location;

[0009] A third control process of obtaining a second battery from a second storage location;

[0010] A fourth control process of transporting the second battery to a second target position;

[0011] Wherein,

[0012] In the first control process, based on the first image data, obtaining the current pose information of the first battery, using the obtained pose information to determine the first motion parameters of the transfer mechanism, and controlling the movement of the transfer mechanism according to the first motion parameters, the first image data at least includes: image data of a first beacon for visual positioning;

[0013] In the second control process, based on the second image data, obtaining a first deviation between the current pose of the transfer mechanism and the calibrated pose of the first storage location, and adjusting the pose of the transfer mechanism according to the first deviation, the second image data at least includes: image data of a second beacon for visual positioning;

[0014] In the third control process, based on the third image data, a second deviation between the current pose of the transfer mechanism and the calibrated pose of the second storage location is obtained, and the pose of the transfer mechanism is adjusted according to the second deviation. The third image data at least includes: image data of a third beacon for visual positioning;

[0015] In the fourth control process, based on the fourth image data, the current pose information of the battery accommodation space is obtained, the second motion parameter of the transfer mechanism is determined by using the obtained pose information, and the transfer mechanism is controlled to move according to the second motion parameter. The fourth image data at least includes: image data of a fourth beacon for visual positioning.

[0016] Preferably, the first battery is located in the body of the mobile robot.

[0017] In the case where a battery replacement task for battery replacement is triggered, it further includes:

[0018] Detecting whether the battery disassembly condition is met, and in the case where the battery disassembly condition is met, executing the first control process.

[0019] Wherein,

[0020] The battery disassembly condition includes: the battery is in an off state;

[0021] The battery disassembly condition further includes: the pre-task is completed and the mobile robot body is successfully pre-charged;

[0022] The completion of the pre-task includes: the electronic lock for locking the battery in the mobile robot is in an unlocked state and the mobile robot is positioned. The positioning completion includes: the distance between the current position of the mobile robot and the destination position sent by the scheduling system for mobile robot scheduling is less than a set distance threshold. Wherein, the mobile robot unlocks the electronic lock after the positioning is completed.

[0023] Preferably, before detecting whether the battery disassembly condition is met, it includes:

[0024] Parallelly executing any two or more of the following steps:

[0025] Receiving the pre-task completion information from the mobile robot;

[0026] Performing serial communication with the charging port of the mobile robot through the charging interface connector, obtaining a battery information message, detecting the docking state between the charging interface and the charging port of the mobile robot according to the battery information message, and determining whether the pre-charging is successful according to the docking state;

[0027] Control the push - pull motor to push the movable robot to the first target position, and control the clamping motor to clamp and fix the movable robot.

[0028] Preferably, before detecting whether the battery disassembly condition is met, it further includes:

[0029] Detect whether the pre - charge is successful at every set time interval. If the pre - charge is detected to be successful, send a pre - charge success message to the movable robot, so that the movable robot performs a shutdown operation on the battery corresponding to this pre - charge success message;

[0030] The transfer mechanism further includes a telescopic push - pull part; the transfer mechanism includes an image acquisition device,

[0031] The first control process includes:

[0032] Control the transfer mechanism to move to the first target position,

[0033] After the transfer mechanism reaches the first target position, control the image acquisition device to collect the current first image data,

[0034] After controlling the transfer mechanism to move according to the first motion parameters, control the push - pull part to dock with the first battery,

[0035] Control the push - pull part so that the first battery is removed from the movable robot body and docked to the transfer mechanism.

[0036] Preferably, the second control process includes:

[0037] Detect the current state of the first storage location,

[0038] In the case where the current state of the first storage location is the idle state, obtain the calibrated pose information of the first storage location, and control the transfer mechanism to move to the first storage location according to this calibrated pose information,

[0039] After the transfer mechanism reaches the first storage location, control the image acquisition device to collect the current second image data,

[0040] After adjusting the transfer mechanism according to the first deviation, control the push - pull part so that the first battery is docked to the first storage location,

[0041] Control the push - pull part to disengage from the first battery.

[0042] Preferably, the second control process further includes:

[0043] Detect the current state of the electronic lock for locking the battery in the first storage location, and

[0044] Detect whether the push - pull part is currently located at the first limit,

[0045] When the current state of the electronic lock is the unlocked state and the pushing and pulling part is currently located at the first limit position, perform the step of obtaining the calibrated pose information of the first storage position;

[0046] After the first battery is docked to the first storage position, perform a locking operation on the electronic lock in the first storage position and charge the first battery.

[0047] Preferably, the third control process includes:

[0048] Detect the current state of the transfer mechanism,

[0049] When the current state of the transfer mechanism is the idle state, obtain the calibrated pose information of the second storage position, and control the transfer mechanism to move to the second storage position according to the calibrated pose information,

[0050] After the transfer mechanism reaches the second storage position, control the image acquisition device to acquire the current third image data,

[0051] After adjusting the transfer mechanism according to the second deviation, control the pushing and pulling part to be docked with the second battery and perform a power-off operation on the charger,

[0052] Control the pushing and pulling part so that the second battery is docked from the second storage position to the transfer mechanism.

[0053] Preferably, the third control process further includes:

[0054] Detect the current state of the electronic lock for locking the battery in the second storage position, and

[0055] Detect whether the pushing and pulling part is currently located at the second limit position,

[0056] When the current state of the electronic lock in the second storage position is the unlocked state and the pushing and pulling part is currently located at the second limit position, perform the step of obtaining the calibrated pose information of the second storage position.

[0057] Preferably, the fourth control process includes:

[0058] Control the transfer mechanism to move to the second target position,

[0059] After the transfer mechanism reaches the second target position, control the image acquisition device to acquire the current fourth image data,

[0060] After controlling the transfer mechanism to move according to the second motion parameter, control the pushing and pulling part so that the second battery is installed in the movable robot body,

[0061] Control the pushing and pulling part to disengage from the second battery.

[0062] Preferably, the method further includes:

[0063] When the battery swapping task is completed, control the clamping mechanism to release the clamping of the movable robot, and send a battery swapping task completion message to the movable robot, so that the movable robot leaves the second target position in response to the battery swapping task completion message.

[0064] Preferably, the first deviation includes at least one of the lifting deviation, rotation deviation, and translation deviation of the transfer mechanism.

[0065] Further adjusting the transfer mechanism according to the first deviation includes:

[0066] Set the first number threshold for the lifting adjustment, rotation adjustment, and translation adjustment respectively.

[0067] When any adjustment times is greater than its first number threshold, end the second control process.

[0068] Preferably, adjusting the transfer mechanism according to the second deviation includes at least one of the lifting deviation, rotation deviation, and translation deviation of the transfer mechanism.

[0069] Further adjusting the transfer mechanism according to the second deviation includes:

[0070] Set the second number threshold for the lifting adjustment, rotation adjustment, and translation adjustment respectively.

[0071] When any adjustment times is greater than its second number threshold, end the third control process.

[0072] The present application also provides a control device for battery replacement, and the device includes:

[0073] A control unit, configured to control a transfer mechanism for transferring a battery to perform at least one of the following control processes when a battery swapping task for battery replacement is triggered:

[0074] Obtain a first control process of the first battery at a first target position where the first battery to be replaced is located;

[0075] A second control process of releasing the first battery to a first storage location;

[0076] A third control process of obtaining a second battery from a second storage location;

[0077] A fourth control process of transferring the second battery to a second target position;

[0078] Wherein,

[0079] In the first control process, based on the first image data, the current pose information of the first battery is obtained, the first motion parameters of the transfer mechanism are determined by using the obtained pose information, and the transfer mechanism is controlled to move according to the first motion parameters. The first image data at least includes: image data of a first beacon for visual positioning;

[0080] In the second control process, based on the second image data, a first deviation between the current pose of the transfer mechanism and the calibrated pose of the first storage position is obtained, and the pose of the transfer mechanism is adjusted according to the first deviation. The second image data at least includes: image data of a second beacon for visual positioning;

[0081] In the third control process, based on the third image data, a second deviation between the current pose of the transfer mechanism and the calibrated pose of the second storage position is obtained, and the pose of the transfer mechanism is adjusted according to the second deviation. The third image data at least includes: image data of a third beacon for visual positioning;

[0082] In the fourth control process, based on the fourth image data, the current pose information of the battery accommodation space is obtained, the second motion parameters of the transfer mechanism are determined by using the obtained pose information, and the transfer mechanism is controlled to move according to the second motion parameters. The fourth image data at least includes: image data of a fourth beacon for visual positioning.

[0083] This application further provides a battery replacement system, which includes:

[0084] A battery replacement station for storing batteries and replacing batteries for movable robots entering the battery replacement station;

[0085] A transfer mechanism for transferring batteries;

[0086] The above control device.

[0087] In the embodiments of this application, the image data collected in the control process is used to adjust the pose of the transfer mechanism for transferring batteries in real time, avoiding deviations between the calibration parameters and the actual operation parameters, reducing the failure rate, and improving the reliability of battery replacement. This application realizes the automatic replacement of side-out removal of the battery, side-out storage in the storage position, side-out picking in the storage position, and side-out installation of the battery.

[0088] This application also provides a method for battery replacement, which includes: on the side of the movable robot,

[0089] Performing a positioning operation on the movable robot body;

[0090] When the positioning is successful, performing an unlocking operation on the battery lock;

[0091] Combine the current positioning status and the unlocking status of the electronic lock into a pre-task for triggering battery replacement, and report it to the battery replacement station side for battery replacement, so that the battery replacement station determines whether to perform battery replacement according to the pre-task.

[0092] Preferably, the positioning operation on the movable robot body includes:

[0093] Use a positioning algorithm to obtain the current position information of the movable robot body,

[0094] Judge whether the distance between the current position information and the destination position information from the dispatching system is less than the set distance threshold. If so, determine that the positioning is successful.

[0095] Preferably, after reporting to the battery replacement station side for battery replacement, it further includes:

[0096] The movable robot triggers a battery replacement task for the battery replacement station;

[0097] The step of enabling the battery replacement station to determine whether to perform battery replacement according to the pre-task includes:

[0098] During the process of waiting to receive the pre-task, the battery replacement station detects the battery power,

[0099] In response to the battery replacement task from the movable robot, when the pre-task meets the set conditions, the battery replacement station executes the battery replacement task. Otherwise, it verifies the pre-task according to the log of the movable robot.

[0100] Preferably, the detecting the battery power includes:

[0101] The battery replacement station docks with the movable robot to pre-charge the movable robot body, and sends a docking success message and / or a battery shutdown instruction to the movable robot;

[0102] The battery replacement station performs serial communication through the charging interface of the battery replacement station and the charging port of the movable robot to obtain battery power information;

[0103] Before the movable robot triggers the battery replacement task for the battery replacement station, it further includes:

[0104] In response to the docking success message and / or the battery shutdown instruction, the movable robot shuts down the battery, reports the battery shutdown status to the battery replacement station, and verifies the battery replacement station information obtained from the dispatching system with the battery replacement station.

[0105] If the verification is successful, the movable robot triggers the battery replacement task for the battery replacement station.

[0106] Preferably, the method further includes:

[0107] In response to the battery replacement task, when the pre-task and the battery power are detected, the swapping station performs a battery disassembly operation.

[0108] Preferably, the method further includes:

[0109] When the positioning is successful, the mobile robot triggers a fixing operation on the mobile robot body to be performed before the battery disassembly at the swapping station.

[0110] The present application further provides a method for battery replacement, the method including: on the side of the swapping station for battery replacement,

[0111] determining whether to perform battery replacement according to the pre-task reported by the mobile robot for triggering battery replacement;

[0112] wherein,

[0113] the pre-task is obtained by the mobile robot performing a positioning operation on the mobile robot body, when the positioning is successful, performing an unlocking operation on the battery lock, and combining the current positioning state and the electronic lock unlocking state.

[0114] Preferably, the method further includes:

[0115] During the process of waiting to receive the pre-task, the swapping station detects the battery power,

[0116] In response to the battery replacement task from the mobile robot, when the pre-task meets the set conditions, the swapping station executes the battery replacement task; otherwise, the pre-task is verified according to the log of the mobile robot.

[0117] Preferably, the detecting of the battery power includes:

[0118] The swapping station docks with the mobile robot to pre-charge the mobile robot body, and sends a docking success message and / or a battery shutdown instruction to the mobile robot, so that: in response to the docking success message and / or the battery shutdown instruction, the mobile robot performs a shutdown operation on the battery, reports the battery shutdown state to the swapping station, and verifies the swapping station information obtained from the scheduling system with the swapping station. When the verification is successful, the mobile robot triggers the battery replacement task to the swapping station;

[0119] Serial communication is performed through the charging interface of the swapping station and the charging port of the mobile robot to obtain battery power information.

[0120] Preferably, the method further includes:

[0121] In response to the battery replacement task, when the pre-task and the battery power are detected, the battery swapping station performs a battery disassembly operation.

[0122] Preferably, the method further includes:

[0123] In response to a control request triggered by the movable robot when the positioning is successful, the battery swapping station performs a fixing operation on the movable robot body before battery disassembly.

[0124] In the embodiment of the present application, by combining the current positioning state and the electronic lock unlocking state and reporting them as a pre-task to the battery swapping station for battery replacement, the battery swapping station determines whether to perform battery replacement according to the pre-task, which is beneficial to simplifying the interaction process between the movable robot and the battery swapping station and improving the battery replacement efficiency; further, through the interaction logic of pre-charging and battery shutdown, both the charged plugging and unplugging of the battery are avoided, and the loss of connection due to power-off is also avoided. Description of the Drawings

[0125] Figure 1 It is a schematic flowchart of a control method for battery replacement in an embodiment of the present application.

[0126] Figure 2 It is a schematic diagram of the interaction between an AGV and a battery swapping station (control unit) from the perspective of interaction.

[0127] Figure 3 It is a schematic diagram of the communication between an AGV and a battery swapping station.

[0128] Figure 4 It is a schematic structural diagram of a battery replacement system in an embodiment of the present application.

[0129] Figures 5a - 5b It is a schematic diagram of the control process performed by the control unit on the battery swapping station side.

[0130] Figures 6a - 6d It is a schematic diagram of a state during the battery replacement process in this embodiment.

[0131] Figure 7 It is a schematic diagram of a battery replacement control device.

[0132] Figure 8 It is a schematic diagram of a battery replacement system. Detailed Embodiments

[0133] In order to make the purpose, technical means and advantages of the present application clearer, the following further describes the present application in detail with reference to the accompanying drawings.

[0134] A control method for battery replacement provided by the present application uses the image data collected during the control process to obtain the real-time deviation between the calibration parameters and the actual operating parameters, and adjusts the operating parameters of the transfer mechanism for battery transfer according to the real-time deviation, reducing the failure rate and thus improving the reliability during the battery replacement process.

[0135] See Figure 1 as shown in Figure 1 It is a schematic flow chart of a control method for battery replacement in an embodiment of the present application. The method includes:

[0136] In the case where the battery replacement task is triggered, control the transfer mechanism for transporting the battery to perform the following control process:

[0137] Step 101, obtain the first control process of the first battery at the first target position where the first battery to be replaced is located;

[0138] Step 102, release the obtained first battery to the second control process of the first storage location;

[0139] Step 103, obtain the third control process of the second battery from the second storage location;

[0140] Step 104, transfer the obtained second battery to the fourth control process at the second target position;

[0141] Among them,

[0142] the transfer mechanism includes an image acquisition device,

[0143] In the first control process, based on the first image data, obtain the current pose information of the first battery, use the obtained pose information to determine the first motion parameters of the transfer mechanism, and control the movement of the transfer mechanism according to the first motion parameters. The first image data includes: the image data collected when the transfer mechanism reaches the first target position, which at least includes the image data of the first beacon for visual positioning;

[0144] In the second control process, based on the second image data, obtain the first deviation between the current pose of the transfer mechanism and the calibrated pose of the first storage location, and adjust the transfer mechanism according to the first deviation. The second image data includes: the image data collected when the transfer mechanism reaches the first storage location, which at least includes the image data of the second beacon for visual positioning;

[0145] In the third control process, based on the third image data, obtain the second deviation between the current pose of the transfer mechanism and the calibrated pose of the second storage location, and adjust the transfer mechanism according to the second deviation. The third image data includes: the image data collected when the transfer mechanism reaches the second storage location, which at least includes the image data of the third beacon for visual positioning;

[0146] In the fourth control process, based on the fourth image data, the current pose information of the battery accommodation space is obtained, and the second motion parameters of the transfer mechanism are determined by using the obtained pose information, and the transfer mechanism is controlled to move according to the second motion parameters. The fourth image data includes: image data collected when the transfer mechanism reaches the second target position, which at least includes the fourth beacon for visual positioning.

[0147] The first beacon is located on the first battery, the fourth beacon is located in the battery accommodation space, the second beacon is located in the first storage position, and the third beacon is located in the second storage position. The global pose information of the beacons is stored in advance.

[0148] The first target position and the second target position may be the same or different.

[0149] For the convenience of understanding this application, the following takes the battery replacement of an automatic guided vehicle (AGV) as an example to illustrate. It should be understood that this application is not limited to automatic guided vehicles, and is applicable to movable robots that need to replace batteries and the like.

[0150] In industrial applications, a large number of AGVs need to replace batteries, which is usually carried out through a battery replacement system for battery replacement. In this embodiment, the battery replacement system includes:

[0151] A battery replacement station for storing batteries and replacing the batteries of the AGVs entering the battery replacement station through a transfer platform. The battery replacement station includes storage positions for storing batteries and charging interfaces. In this embodiment, each storage position has an identifiability for image acquisition as a beacon, for example, a two-dimensional code, which contains storage position information, such as storage position ID information, calibrated pose information of the storage position, spatial pose information of the beacon itself, and the like.

[0152] A transfer mechanism, which is a mechanism for transferring batteries and can be composed of a rotation motor, a lifting motor, and a translation motor. In this embodiment, an image acquisition device is installed on the transfer mechanism for obtaining image data. As an example, the transfer mechanism further includes a push-pull mechanism, which includes a telescopic push-pull part and a push-pull rod motor.

[0153] In this embodiment, the control process of battery replacement includes: a first control process of removing the battery (the first battery) from the AGV, a second control process of releasing the removed battery to the first storage position, a third control process of picking up the battery (the second battery) from the second storage position, and a fourth control process of installing the picked-up battery onto the AGV.

[0154] See Figure 2 As shown in Figure 2 This is a schematic diagram of the interaction between the AGV and the battery replacement station (control unit) from the perspective of interaction. The interaction process includes:

[0155] Step 201, the AGV receives the scheduling instruction from the scheduling system, performs path planning according to the destination location information included in the scheduling instruction, and moves based on the planned path until the destination location, where the destination location information is the location information of the battery swapping station, and the scheduling system is used to schedule the AGV.

[0156] As an example, the AGV obtains the positioning identification information, performs positioning according to the positioning identification information. When the distance between the current position and the destination location is less than the set distance threshold, it is determined that the positioning is successful, that is, it is determined that the destination location is reached, and the AGV enters the battery swapping station currently.

[0157] Step 202, after the AGV enters the battery swapping station, its body is equivalent to the client, and the battery swapping station is equivalent to the server. The AGV body does not have to wait for the battery unlocking instruction from the battery swapping station, but unlocks the electronic lock of its battery by itself after successful positioning, and reports the current positioning status and the electronic lock unlocking status to the battery swapping station, where the electronic lock is used for locking the battery, and the positioning status and the electronic lock unlocking status correspond to the positioning flag and the electronic lock unlocking flag respectively.

[0158] Step 203, after the battery swapping station receives the positioning status and the unlocking status reported by the AGV, the battery swapping station performs serial communication with the AGV charging port through the charging interface connector, obtains the AGV battery information message, and can obtain the battery power through this message to detect the AGV docking status according to the obtained battery information. That is, it is judged whether the charging interface is successfully docked with the charging port on the AGV body through the battery information message.

[0159] After the charging interface is successfully docked with the AGV, the charging interface pre-charges the AGV to prevent the AGV from shutting down.

[0160] Step 204, the battery swapping station sends the docking success information and / or the battery shutdown instruction to the AGV.

[0161] Step 205, the AGV responds to the docking success information and / or the battery shutdown instruction, and performs a battery shutdown operation to avoid damage to the battery and the AGV body caused by live operation during battery disassembly operation.

[0162] As an example, the AGV can retry the battery shutdown instruction n times, and n can be set as needed. Step 206, the AGV reports the current battery shutdown status to the battery swapping station.

[0163] Step 207, the battery swapping station returns an acknowledgement to the AGV in response to the received battery shutdown status.

[0164] Step 208, in response to the confirmation from the battery swapping station, the AGV reports the battery swapping station information obtained from the dispatching system to the battery swapping station, such as the battery swapping station equipment information and the IP address information, for the battery swapping station to perform verification.

[0165] Step 209, after receiving the battery swapping station equipment information and the IP address information from the AGV, the battery swapping station performs verification based on the battery swapping station equipment information and the IP address information, and returns verification information to the AGV after the verification is successful.

[0166] Step 210, in response to the verification success information in the verification information, the AGV triggers a battery swapping task for battery replacement to the battery swapping station.

[0167] Step 211, in response to the battery swapping task, the battery swapping station controls the push-pull motor to push the AGV to the first target position, and controls the clamping motor to clamp and fix the AGV, and performs battery disassembly operations when the pre-task completion information and the battery power are detected.

[0168] To improve the battery swapping efficiency, the battery swapping station may not send an electronic lock unlocking instruction to the AGV. Instead, in Step 203, after the AGV completes positioning, the electronic lock is automatically unlocked, and only reports whether the unlocking is completed. In this way, the electronic lock unlocking state and the AGV positioning state are combined and reported as the pre-task completion information, and the battery swapping station only needs to know whether the AGV has completed the pre-task. In this embodiment, whether the pre-task meets the set conditions is used as a constraint condition for the battery swapping station to perform the battery swapping task. If the pre-task fails to complete, specifically, the unlocking is not successful or the positioning fails, it can be investigated according to the AGV's own log.

[0169] To further improve the battery swapping efficiency, whether the battery swapping station detects battery information through serial communication in Step 203 is not used as a blocking condition for triggering the battery swapping task. That is to say, regardless of whether the battery swapping station detects the battery power and what the battery power is, it does not affect the mobile robot to unidirectionally trigger the battery swapping task to the battery swapping station. Therefore, the battery power is not used as a blocking condition for the AGV to trigger the battery swapping task to the battery swapping station. In this way, after the AGV arrives at the battery swapping station, it can trigger the battery swapping task to the battery swapping station. The battery swapping station responds to this battery swapping task, first triggers the battery swapping station to control the push-pull motor to push the AGV to the first target position, and after clamping and fixing the AGV through the clamping motor, during the process of waiting for the upload of the AGV pre-task completion information, it waits to receive the AGV battery information message. That is, during the process of waiting for the upload of the AGV pre-task completion information, it detects the battery power. In this way, Steps 202 and 203 do not have a strict sequence and can be executed in parallel, thus saving the time for obtaining the AGV battery information; and it is equivalent to realizing the parallel execution of Step 211 and Steps 202 and 203.

[0170] As another example, the battery swapping station detects whether the pre-charging is successful at regular time intervals. If the pre-charging is detected to be successful, it sends a pre-charging success message to the mobile robot. The pre-charging success message can be a pre-charging success flag. When the AGV receives the pre-charging success message, in response to this message, it performs a battery shutdown operation.

[0171] In this embodiment, to prevent the AGV from losing contact due to power failure, the battery removal operation in the battery swapping task is only performed when the pre-task and the battery power are detected. If the pre-task and the battery power are not detected, the battery swapping station waits. When the waiting time exceeds the set time threshold, it can return a battery swapping failure notice to the AGV. In response to this failure notice, the AGV re-triggers the battery swapping task. If the number of times of re-triggering the battery swapping task reaches the set number threshold, it returns to step 201.

[0172] The AGV communicates with the battery swapping station via RUDP.

[0173] See Figure 3 as shown Figure 3 is a schematic diagram of the communication between the AGV and the battery swapping station. Among them, the information reported by the AGV to the battery swapping station includes: AGV device information, pre-task information, battery shutdown information, battery swapping task trigger information, battery swapping station device information, IP address information; the information sent by the battery swapping station to the AGV includes: pre-charging information, verification information, battery swapping station device information, etc. The verification information includes the data packet sequence and the data packet timestamp.

[0174] See Figure 4 as shown Figure 4 is a schematic structural diagram of the battery replacement system according to the embodiment of the present application. In the figure, the transfer mechanism is a transfer table with a bearing surface, and the bearing surface is used to carry the battery. The pushing and pulling part is a push rod. In this embodiment, the stroke of the push rod ranges from the first position where the push rod is fully retracted to the second position where it is fully extended. Considering that the battery is picked up and stored from the side of the storage location in the battery swapping station, this battery swapping station is called a side-mounted battery swapping station. In the figure, the direction of the transfer table translating in the depth direction of the battery swapping station storage location is front-back translation, the direction of translating in the left-right direction of the battery swapping station storage location is left-right translation, and the direction of translating in the up-down direction of the battery swapping station storage location is lifting translation. The rotation angles of the transfer table include: the rotation angle with the front-back translation direction as the axis, the rotation angle with the left-right translation direction as the axis, and the rotation angle with the lifting translation direction as the axis.

[0175] See Figures 5a - 5b as shown Figures 5a - 5b is a schematic diagram of the control process performed by the control unit on the battery swapping station side. This control process includes the following controls:

[0176] Step 501, detect whether the battery replacement task is triggered.

[0177] If yes, control the push-pull motor to push the AGV to the target position, and control the clamping motor to clamp and fix the AGV.

[0178] Otherwise, return to Step 501.

[0179] Step 502, detect whether the execution conditions for battery removal are met.

[0180] If yes, execute Step 503.

[0181] Otherwise, return to Step 502.

[0182] Among them, the execution conditions are satisfied: the previous task is completed and the pre-charging is successful.

[0183] To avoid the occurrence of electric arcs due to hot plugging of the battery, resulting in shortened battery life and high failure rate, the execution conditions also satisfy: the battery is in the off state.

[0184] Step 503, execute the first control process for obtaining the battery at the first target position where the battery to be replaced is located.

[0185] In this embodiment, the first control process is used to remove the battery to be replaced (the first battery) from the AGV body. In this control process, it includes:

[0186] Step 5031, control the transfer table to move to the first target position where the AGV is currently located.

[0187] Step 5032, control the camera to collect the current first image data.

[0188] Step 5033, obtain the pose of the first battery based on the first image data, and calculate the first motion parameters of the transfer table.

[0189] In this step, according to the method of machine vision estimation, the current pose of the battery can be calculated based on the global pose of the first beacon in the first image data, and then based on the current pose of the battery, determine the moving distances of the transfer table in the translation direction, lifting direction, and rotation angle. Among them, the translation includes front-back translation and left-right translation, and the first beacon is located on the first battery body.

[0190] This step can be executed on the camera side or on the control unit side. When executed on the camera side, the camera sends the determined first motion parameters to the control unit; when executed on the control unit side, the camera sends the first image data to the control unit.

[0191] Step 5034: Control the movement of the transfer table according to the calculated first motion parameter, so that the transfer table is docked with the battery, and then the battery can be pulled to the transfer table by the push-pull rod.

[0192] Step 5035: After the transfer table moves into place, control the push-pull rod to extend until it inserts into the battery. At this time, the battery stopper rotates, so that a grasping force is formed between the push-pull rod and the battery.

[0193] Step 5036: Control the push-pull rod to retract. For example, control the push-pull rod to retract to the first position, so as to pull the battery out of the AGV body, for example, pull it out from the side of the AGV and pull it to the transfer table.

[0194] Preferably, the front end of the push-pull rod is equipped with an optoelectronic distance detection device for obtaining the position information of the push-pull rod, and this information is reported to the control unit, so that the control unit can control the stroke of the push-pull rod according to the position information.

[0195] Step 504: Execute the second control process of releasing the disassembled battery to the first storage position;

[0196] As an example, control the transfer table to perform at least one of rotation, translation, and lifting operations to control the transfer table to move to the first storage position, control the camera to collect the current second image data, obtain the first deviation between the current pose of the transfer table and the calibrated pose of the first storage position based on the current second image, and adjust the pose of the transfer table according to the first deviation data.

[0197] Specifically,

[0198] Step 5041: Detect whether the first storage position is in an idle state. If so, execute Step 5042; otherwise, search for the next storage position.

[0199] Step 5042: Detect whether the electronic lock of the first storage position is in an unlocked state. If so, execute Step 5043; otherwise, perform an unlocking operation on the electronic lock of the first storage position to prevent the battery from not being released in place due to the current locked state of the electronic lock of the first storage position.

[0200] Step 5043: Detect whether the push-pull rod is at the first limit position, for example, the first position. If so, execute Step 5044; otherwise, control the stroke of the push-pull rod to reach the first limit position to prevent the push-pull rod from being stuck during the movement of the transfer table due to its extension, resulting in damage to the push rod.

[0201] Step 5044: Obtain the position information in the calibrated pose of the first storage position. According to the obtained position information, control the transfer table to perform lifting, rotation, and translation operations until it reaches the first storage position. Among them, the calibrated pose of the first storage position is stored in advance.

[0202] Step 5045: Control the push rod to extend to a set position in front of the first storage location. For example, extend the push rod to a position 10 - 20 cm away from the storage location to prepare for the acquisition of the second image data, and control the camera to acquire the current second image data by obtaining the optimal recognition radius.

[0203] Step 5046: Calculate the first deviation based on the acquired current second image data, for example, the last frame of image data, and perform an adjustment operation on the pose of the transfer platform so that the transfer platform docks with the first storage location.

[0204] In this step, according to the method of machine vision estimation, the global pose of the second beacon in the second image data can be used to calculate the current pose of the transfer platform, and then calculate the first deviation between the current pose of the transfer platform and the calibrated pose of the first storage location. According to the first deviation, adjust the moving distances in the translation direction, lifting direction, and rotation angle of the transfer platform.

[0205] The calculation of the current pose of the transfer platform and the calculation of the first deviation above can be executed on the camera side or on the control unit side.

[0206] Preferably, a first number threshold is defined for rotation, lifting, and translation respectively. When the adjustment times of any one of them are greater than their first number thresholds, the second control process ends. Among them, the first number thresholds for rotation, lifting, and translation can be the same or different.

[0207] Step 5047: When the adjustment of the transfer platform is completed, control the push rod to extend until the battery is pushed to the first storage location. In this way, the battery is docked to the first storage location under the push of the push rod.

[0208] Step 5048: Control the photoelectric distance detection device at the front end of the push rod to detect. According to the detection result from the photoelectric distance detection device, judge whether the push rod still extends into the battery. If so, control the push rod to disengage from the battery, and the battery block returns to its original position, so that the grasping force between the push rod and the battery disappears, and control the push rod to retract to the first limit position. Otherwise, directly control the push rod to retract to the first limit position.

[0209] Step 5049: Perform an operation to lock the electronic lock of the first storage location to fix the battery, and control the charger to power on to charge the battery.

[0210] Among them, the first storage location can be determined according to the scheduling strategy of the idle storage locations.

[0211] There is no strict sequence for the above steps 5042 and 5043.

[0212] Step 505: Execute the third control process of picking up the second battery from the second storage location.

[0213] As an example, control the transfer table to perform at least one of rotation, translation, and lifting operations to move the transfer table to the second storage location, control the camera to collect the current third image, obtain the current second deviation data of the transfer table based on the current third image, and adjust the transfer table according to the second deviation data.

[0214] Specifically,

[0215] Step 5051, detect whether there is currently space on the transfer table for transferring the battery, that is, whether it is in an idle state. If so, execute Step 5052; otherwise, exit the third control process.

[0216] Step 5052, detect whether the electronic lock of the second storage location is in the unlocked state. If so, execute Step 5053; otherwise, perform an unlocking operation on the electronic lock of the second storage location to prevent the battery from being locked and unable to be taken out due to the current locked state of the electronic lock of the second storage location, and perform a power-off operation on the charger.

[0217] Step 5053, detect whether the push-pull rod is at the second limit position. If so, execute Step 5054; otherwise, control the stroke of the push-pull rod to reach the second limit position to prevent the push-pull rod from being stuck in the storage location due to being in the extended state, causing damage to the push rod.

[0218] Step 5054, obtain the position information in the calibrated pose of the second storage location, and control the transfer table to perform lifting, rotation, and translation operations according to the obtained position information until it reaches the second storage location. Among them, the calibrated pose of the second storage location is pre-stored.

[0219] Step 5055, control the push-pull rod to extend to a set position in front of the second storage location. For example, the push-pull rod extends to a position 10 - 20 cm away from the storage location, and control the camera to collect the current image data by obtaining the best recognition radius.

[0220] Step 5056, calculate the second deviation through the obtained current third image data, such as the last frame of image data, and perform an adjustment operation on the transfer table to dock the transfer table with the second storage location.

[0221] In this step, in the way of machine vision estimation, the global pose of the third beacon in the third image data can be used to calculate the current pose of the transfer table, then calculate the second deviation between the current pose of the transfer table and the calibrated pose of the second storage location, and adjust the moving distance in the translation direction and lifting direction of the transfer table, as well as the rotation angle according to the second deviation.

[0222] The calculation of the current pose of the above transfer table and the calculation of the first deviation can be performed on the camera side or on the control unit side.

[0223] Preferably, second number thresholds are defined for rotation, lifting, and translation respectively. When any adjustment number is greater than its second number threshold, this third control process ends. Among them, the second number thresholds for rotation, lifting, and translation can be the same or different.

[0224] Step 5057, after the transfer table is adjusted, control the push-pull rod to extend until the push-pull rod is inserted into the second battery so that the push-pull rod is docked with the second battery.

[0225] Step 5058, control the photoelectric distance detection device at the front end of the push-pull rod to detect the position of the push-pull rod, and judge whether it extends into the second battery according to the detection result from the photoelectric distance detection device.

[0226] If so, wait for the battery stop to reset to form a grasping force between the push-pull rod and the battery, control the push-pull rod to retract, so that the second battery moves from the second storage position to the transfer table under the pulling of the push-pull rod. In this way, the second battery is docked to the transfer table.

[0227] Otherwise, control the push-pull rod to extend, return to step 5058 until the number of repetitions reaches the set third threshold, and end this third control process.

[0228] Among them, the second storage position can be determined according to the scheduling strategy of the fully charged battery storage position.

[0229] There is no strict order between the above steps 5052 and 5053.

[0230] Step 506, execute the fourth control process of transporting the obtained second battery to the second target position;

[0231] In this embodiment, the fourth control process is used to install the second battery on the AGV body. This control process includes:

[0232] Step 5061, control the transfer table to move to the second target position where the AGV is located. In this embodiment, the second target position can be the same as the first target position.

[0233] Step 5062, control the camera to collect the current fourth image;

[0234] Step 5063, obtain the global pose of the accommodation space for installing the battery based on the fourth image data, and calculate the second motion parameters of the transfer table;

[0235] In this step, according to the method of machine vision estimation, the current pose of the accommodation space can be calculated based on the global pose of the fourth beacon in the fourth image data, and then based on the current pose of the accommodation space, determine the moving distance of the transfer table in the translation direction and the lifting direction, and the rotation angle.

[0236] This step can be executed on the camera side or on the control unit side.

[0237] Step 5064: Control the movement of the transfer table according to the calculated second motion parameter so that the transfer table docks with the accommodation space, and then the battery can be pushed onto the transfer table through the push-pull rod.

[0238] Step 5065: After the transfer table moves into place, control the push-pull rod to extend until the battery is pushed onto the AGV body, so that the battery docks with the AGV body;

[0239] Step 5066: Control the push-pull rod to disengage from the battery, and the battery block rotates so that the grasping force formed between the push-pull rod and the battery disappears;

[0240] Step 5067: Control the push-pull rod to retract. For example, control the push-pull rod to retract to the first position.

[0241] Step 507: Determine whether the current battery replacement task is completed. If so, control the clamping motor to release the AGV and notify the AGV that the battery replacement task has been completed, so that the AGV can respond to this notification message and drive away from the current target position. Otherwise, execute the incomplete control process or end.

[0242] The above-mentioned first limit and second limit can be the first position.

[0243] See Figures 6a - 6d as shown in Figures 6a - 6d which is a schematic diagram of a state during the battery replacement process of this embodiment. Among them, Figure 6a is the state where the transfer table reaches the storage position but has not yet docked with the storage position, Figure 6b is the state where the transfer table is docked with the storage position, Figure 6c is the state where the push-pull rod is docked with the battery when picking up the battery, Figure 6d is the state where the battery is pulled out from the storage position.

[0244] The battery replacement control method of this embodiment adjusts the pose of the transfer table through the collected image data, avoids the error brought to the actual operation parameters due to the long-term use of the transfer table, greatly reduces the failure between the transfer table and the target to be docked, and improves the reliability during the battery replacement process.

[0245] See Figure 7 as shown in Figure 7 which is a schematic diagram of a battery replacement control device. The device includes:

[0246] A control unit, configured to control a transfer mechanism for transferring a battery to execute at least one of the following control processes when a battery replacement task for battery replacement is triggered:

[0247] Obtain the first control process of the first battery at the first target position where the first battery to be replaced is located;

[0248] Release the obtained first battery to the first storage position through the second control process;

[0249] Obtain the second battery from the second storage position through the third control process;

[0250] Transport the obtained second battery to the second target position through the fourth control process;

[0251] Among them,

[0252] In the first control process, based on the first image data, obtain the current pose information of the first battery, use the obtained pose information to determine the first motion parameters of the transfer mechanism, and control the movement of the transfer mechanism according to the first motion parameters. The first image data at least includes: image data of the first beacon for visual positioning;

[0253] In the second control process, based on the second image data, obtain the first deviation between the current pose of the transfer mechanism and the calibrated pose of the first storage position, and adjust the pose of the transfer mechanism according to the first deviation. The second image data at least includes: image data of the second beacon for visual positioning;

[0254] In the third control process, based on the third image data, obtain the second deviation between the current pose of the transfer mechanism and the calibrated pose of the second storage position, and adjust the pose of the transfer mechanism according to the second deviation. The third image data at least includes: image data of the third beacon for visual positioning;

[0255] In the fourth control process, based on the fourth image data, obtain the current pose information of the battery accommodation space, use the obtained pose information to determine the second motion parameters of the transfer mechanism, and control the movement of the transfer mechanism according to the second motion parameters. The fourth image data at least includes: image data of the fourth beacon for visual positioning.

[0256] Among them, the control unit includes:

[0257] The first control module is used to execute the first control process,

[0258] The second control module is used to execute the second control process,

[0259] The third control module is used to execute the third control process,

[0260] The fourth control module is used to execute the fourth control process,

[0261] The communication module is used to interact with the mobile robot for information,

[0262] The control unit further includes:

[0263] A battery swapping trigger module, configured to detect whether the battery removal condition is met, and trigger the first control module when the battery removal condition is satisfied.

[0264] A pre-charging module, configured to perform serial communication with the charging port of the mobile robot through a charging interface connector, obtain a battery information message, detect the docking state between the charging interface and the charging port of the mobile robot according to the battery information message, and determine whether the pre-charging is successful based on the docking state;

[0265] A fifth control module, configured to control a push-pull motor to push the mobile robot to a first target position, control a clamping motor to clamp and fix the mobile robot, and control the clamping motor to release the clamping of the mobile robot after the battery swapping task is completed;

[0266] The communication module is configured to: receive pre-task completion information from the mobile robot, and send a battery swapping task completion message to the mobile robot after the battery swapping task is completed;

[0267] The pre-charging module is further configured to: detect whether the pre-charging is successful at each set time interval, and if it is detected that the pre-charging is successful, send a pre-charging success message to the mobile robot through the communication module, so that the mobile robot performs a turn-off operation on the battery in response to the pre-charging success message.

[0268] See Figure 8 as shown in Figure 8 is a schematic diagram of a battery replacement system. The system includes:

[0269] A battery swapping station, configured to store batteries and perform battery replacement on mobile robots entering the battery swapping station,

[0270] A transfer mechanism, which is a mechanism for battery transfer,

[0271] The control device.

[0272] The memory may include a Random Access Memory (RAM), and may also include a Non-Volatile Memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located far from the aforementioned processor.

[0273] The above-mentioned processor may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0274] An embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the steps of the battery replacement control method are implemented.

[0275] For the embodiments of the device / network-side device / storage medium, since they are basically similar to the method embodiments, the description is relatively simple, and for the relevant parts, please refer to the partial description of the method embodiments.

[0276] In this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the existence of additional identical elements in the process, method, article or device comprising the element.

[0277] The above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A control method for battery replacement, characterized in that Applied to a battery swapping station including storage positions for storing batteries, the method includes: on the control unit side, When a battery swapping task for battery replacement is triggered, controlling a transfer mechanism for transferring batteries to perform at least one of the following control processes: A first control process of obtaining the first battery at the first target position where the first battery to be replaced is located; A second control process of releasing the first battery to the first storage position; A third control process of obtaining a second battery from the second storage position; A fourth control process of transferring the second battery to the second target position; Wherein, In the first control process, based on the first image data, obtain the current pose information of the first battery, use the obtained pose information to determine the first motion parameters of the transfer mechanism, and control the transfer mechanism to move according to the first motion parameters so that the transfer mechanism docks with the first battery. The first image data at least includes: image data of a first beacon for visual positioning; In the second control process, based on the second image data, obtain a first deviation between the current pose of the transfer mechanism and the calibrated pose of the first storage position, and adjust the pose of the transfer mechanism according to the first deviation so that the transfer mechanism docks with the first storage position. The second image data at least includes: image data of a second beacon for visual positioning; In the third control process, based on the third image data, obtain a second deviation between the current pose of the transfer mechanism and the calibrated pose of the second storage position, and adjust the pose of the transfer mechanism according to the second deviation so that the transfer mechanism docks with the second storage position. The third image data at least includes: image data of a third beacon for visual positioning; In the fourth control process, based on the fourth image data, obtain the current pose information of the battery accommodation space, use the obtained pose information to determine the second motion parameters of the transfer mechanism, and control the transfer mechanism to move according to the second motion parameters so that the transfer mechanism docks with the battery accommodation space. The fourth image data at least includes: image data of a fourth beacon for visual positioning; The first beacon is located on the first battery body, the fourth beacon is located in the battery accommodation space where the first battery is located, and the second beacon and the third beacon are storage position beacons corresponding to their respective storage positions, The first storage position is determined according to the scheduling strategy of idle storage positions in the battery swapping station, and the second storage position is determined according to the scheduling strategy of fully charged battery storage positions in the battery swapping station.

2. The control method according to claim 1, characterized in that, The first battery is located in the body of a mobile robot, When a battery swapping task for battery replacement is triggered, it further includes: Detecting whether the battery disassembly condition is met, and if the battery disassembly condition is met, performing the first control process, Wherein, The battery disassembly condition includes: the battery is in the off state; The battery disassembly condition further includes: the previous task is completed, and the pre-charging of the mobile robot body is successful; The completion of the foregoing pre-task includes: the electronic lock for locking the battery in the mobile robot is in the unlocked state, and the mobile robot has completed positioning, where the completion of the positioning includes: the distance between the current position of the mobile robot and the destination position sent by the scheduling system for scheduling the mobile robot is less than a set distance threshold. Among them, after the mobile robot completes the positioning, it performs an unlocking operation on the electronic lock.

3. The control method according to claim 2, wherein Before detecting whether the battery removal condition is met, it includes: Parallelly execute any two or more of the following steps: Receive the pre-task completion information from the mobile robot; Perform serial communication with the charging port of the mobile robot through the charging interface connector to obtain the battery information message. According to the battery information message, detect the docking state between the charging interface and the charging port of the mobile robot, and determine whether the pre-charging is successful based on the docking state; Control the push-pull motor to push the mobile robot to the first target position, and control the clamping motor to clamp and fix the mobile robot.

4. The control method according to claim 3, wherein Before detecting whether the battery removal condition is met, it further includes: Detect whether the pre-charging is successful at regular time intervals. If it is detected that the pre-charging is successful, send a pre-charging success message to the mobile robot, so that the mobile robot responds to the pre-charging success message and performs a shutdown operation on the battery; The transfer mechanism further includes a telescopic push-pull part; the transfer mechanism includes an image acquisition device, The first control process includes: Control the transfer mechanism to move to the first target position, After the transfer mechanism reaches the first target position, control the image acquisition device to acquire the current first image data, After controlling the transfer mechanism to move according to the first motion parameters, control the push-pull part to dock with the first battery, Control the push-pull part so that the first battery is removed from the mobile robot body and docked to the transfer mechanism.

5. The control method according to claim 4, wherein, The second control process includes: Detect the current state of the first storage location, In the case where the current state of the first storage location is the idle state, obtain the standard pose information of the first storage location, and control the transfer mechanism to move to the first storage location according to the standard pose information, After the transfer mechanism reaches the first storage location, control the image acquisition device to acquire the current second image data, After adjusting the transfer mechanism according to the first deviation, control the push-pull part so that the first battery is docked to the first storage location, Control the push-pull part to disengage from the first battery.

6. The control method according to claim 5, characterized in that, The second control process further includes: Detect the current state of the electronic lock for locking the battery in the first storage location, and Detect whether the push-pull part is currently at the first limit position, In the case where the current state of the electronic lock is the unlocked state and the push-pull part is currently at the first limit position, execute the step of obtaining the standard pose information of the first storage location; After the first battery is docked to the first storage location, perform a locking operation on the electronic lock in the first storage location and charge the first battery.

7. The control method according to claim 6, characterized in that The third control process includes: Detect the current state of the transfer mechanism, In the case where the current state of the transfer mechanism is the idle state, obtain the standard pose information of the second storage location, and control the transfer mechanism to move to the second storage location according to the standard pose information, After the transfer mechanism reaches the second storage location, control the image acquisition device to acquire the current third image data. After adjusting the transfer mechanism according to the second deviation, control the push-pull part to dock with the second battery and perform a power-off operation on the charger. Control the push-pull part so that the second battery is docked from the second storage location to the transfer mechanism.

8. The control method according to claim 6, wherein The third control process further includes: Detect the current state of the electronic lock for locking the battery in the second storage location, and Detect whether the push-pull part is currently at the second limit position, In the case where the current state of the electronic lock in the second storage location is the unlocked state and the push-pull part is currently at the second limit position, perform the step of obtaining the calibrated pose information of the second storage location.

9. The control method according to claim 8, wherein The fourth control process includes: Control the transfer mechanism to move to the second target position. After the transfer mechanism reaches the second target position, control the image acquisition device to acquire the current fourth image data. After controlling the transfer mechanism to move according to the second motion parameter, control the push-pull part so that the second battery is installed in the movable robot body. Control the push-pull part to disengage from the second battery.

10. The control method according to claim 8, characterized in that, The method further includes: When the current battery swapping task is completed, control the clamping mechanism to release the movable robot, and send a battery swapping task completion message to the movable robot, so that the movable robot drives away from the second target position in response to the battery swapping task completion message.

11. The control method according to any one of claims 1 to 10, characterized in that, The first deviation includes at least one of the lifting deviation, rotation deviation, and translation deviation of the transfer mechanism. The further adjustment of the transfer mechanism according to the first deviation includes: Set the first number threshold for the lifting adjustment, rotation adjustment, and translation adjustment respectively. When any adjustment count is greater than its first number threshold, end the second control process.

12. The control method according to any one of claims 1 to 10, characterized in that, The adjustment of the transfer mechanism according to the second deviation includes at least one of the lifting deviation, rotation deviation, and translation deviation of the transfer mechanism. The further adjustment of the transfer mechanism according to the second deviation includes: Set the second number threshold for the lifting adjustment, rotation adjustment, and translation adjustment respectively. When any adjustment count is greater than its second number threshold, end the third control process.

13. A control device for battery replacement, characterized in that, Applied to a battery swapping station including storage locations for storing batteries, the device includes: A control unit for controlling a transfer mechanism for transferring batteries to perform at least one of the following control processes when a battery swapping task for battery replacement is triggered: The first control process of obtaining the first battery at the first target position where the first battery to be replaced is located; The second control process of releasing the first battery to the first storage location; The third control process of obtaining the second battery from the second storage location; The fourth control process of transporting the second battery to the second target position; Wherein, In the first control process, based on the first image data, obtain the current pose information of the first battery, determine the first motion parameter of the transfer mechanism using the obtained pose information, and control the transfer mechanism to move according to the first motion parameter so that the transfer mechanism docks with the first battery. The first image data at least includes the image data of the first beacon for visual positioning. In the second control process, based on the second image data, a first deviation between the current pose of the transfer mechanism and the calibrated pose of the first storage location is obtained, and the pose of the transfer mechanism is adjusted according to the first deviation so that the transfer mechanism is docked with the first storage location. The second image data at least includes: image data of a second beacon for visual positioning; In the third control process, based on the third image data, a second deviation between the current pose of the transfer mechanism and the calibrated pose of the second storage location is obtained, and the pose of the transfer mechanism is adjusted according to the second deviation so that the transfer mechanism is docked with the second storage location. The third image data at least includes: image data of a third beacon for visual positioning; In the fourth control process, based on the fourth image data, the current pose information of the battery accommodation space is obtained, the second motion parameter of the transfer mechanism is determined by using the obtained pose information, and the transfer mechanism is controlled to move according to the second motion parameter so that the transfer mechanism is docked with the battery accommodation space. The fourth image data at least includes: image data of a fourth beacon for visual positioning; The first beacon is located on the first battery body, the fourth beacon is located in the battery accommodation space where the first battery is located, and the second beacon and the third beacon are storage location beacons corresponding to their respective storage locations; The first storage location is determined according to the scheduling strategy of the idle storage locations in the battery swapping station, and the second storage location is determined according to the scheduling strategy of the fully charged battery storage locations in the battery swapping station.

14. A battery replacement system, characterized in that, The system includes: A battery swapping station for storing batteries and replacing the batteries of the movable robots entering the battery swapping station; A transfer mechanism, which is a mechanism for transferring batteries; The control device according to claim 13.

Images