Battery positioning method, device, and apparatus, storage medium, and battery swap station

Abstract

The application provides a battery positioning method, device, equipment, storage medium and battery swap station. The method determines initial center position coordinates of a battery frame and initial center position coordinates of a battery gripper by pre-positioning the battery and the battery gripper, the battery gripper is used for grabbing the battery frame, and a plurality of distance detection devices are arranged on the battery gripper. The battery gripper is controlled to walk from the initial center position coordinates of the battery gripper to the initial center position coordinates of the battery frame along the transportation direction of the battery. When the battery gripper walks to a target position, the battery gripper is controlled to translate from the target position to the initial center position coordinates of the battery frame along the vertical direction of the transportation direction. When the battery gripper translates, the first short side of the battery frame and the first long side or the second long side perpendicular to the first short side are respectively fitted based on the detection results of the plurality of distance detection devices. Then, the actual center position coordinates of the battery frame are fitted, the influence of ambient light is avoided, and the battery replacement efficiency is effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of battery replacement, and in particular to a battery positioning method, device, equipment, storage medium and battery replacement station. BACKGROUND

[0002] Electric working machines use power batteries as power sources, and the working time length in pure electric working mode is affected by the battery capacity. If a charging method is used, it generally cannot meet the customer's requirement for the continuous working time length of the electric working machine. To solve the problem of the working time length of the power battery, the electric working machine can use a battery replacement scheme, that is, to realize continuous work by replacing the on-board power battery. At present, most of the methods use camera recognition to detect the battery frame, and then control the battery gripper to grab the battery frame.

[0003] However, the camera recognition method is greatly affected by the environment and light, which affects the battery replacement efficiency. SUMMARY

[0004] The present application provides a battery positioning method, device, equipment, storage medium and battery replacement station to solve the defect of low battery replacement efficiency in the prior art.

[0005] The present application provides a battery positioning method, comprising:

[0006] Pre-positioning the battery and the battery gripper to determine the initial center position coordinates of the battery frame of the battery and the initial center position coordinates of the battery gripper, the battery gripper being used to grab the battery frame, and a plurality of distance detection devices being provided on the battery gripper;

[0007] Controlling the battery gripper to walk from the initial center position coordinates of the battery gripper to the initial center position coordinates of the battery frame along the transportation direction of the battery;

[0008] When the battery gripper walks to the target position, controlling the battery gripper to translate from the target position to the initial center position coordinates of the battery frame along the perpendicular direction of the transportation direction;

[0009] When the battery gripper translates, based on the detection results of the plurality of distance detection devices, the first short side of the battery frame and the first long side or the second long side perpendicular to the first short side are respectively fitted;

[0010] Based on the preset battery frame size, the first short side, the first long side or the second long side, the actual center position coordinates of the battery frame are fitted.

[0011] According to the battery positioning method provided by the present application, the gripper and the battery frame are both rectangular frames, including a first short side, a first long side, a second short side and a second long side connected in sequence;

[0012] The first short side of the battery gripper is provided with a first distance detection device, the second short side is provided with a second distance detection device, the first long side is provided with a third distance detection device and a fourth distance detection device, and the second long side is provided with a fifth distance detection device and a sixth distance detection device.

[0013] According to the battery positioning method provided by the application, the first short side of the battery frame is fitted based on the detection results of the plurality of distance detection devices, and the method comprises the following steps:

[0014] When at least two distance detection devices pass through the first short side, the short side position coordinates of each distance detection device passing through the first short side are determined.

[0015] The first short side of the battery frame is fitted based on at least two short side position coordinates by using the least square method.

[0016] According to the battery positioning method provided by the application, the first long side or the second long side perpendicular to the first short side is fitted based on the detection results of the plurality of distance detection devices, and the method comprises the following steps:

[0017] The inclination angle of the battery gripper relative to the battery frame is determined based on at least two short side position coordinates, and the battery gripper is rotated based on the inclination angle.

[0018] When the battery gripper is rotated, the long side detection results of the third distance detection device, the fourth distance detection device, the fifth distance detection device and the sixth distance detection device are determined respectively.

[0019] The long side detection results are used to control the battery gripper to move to the side long side of the battery frame which is not detected.

[0020] When at least two distance detection devices pass through the first long side or the second long side, the long side position coordinates of each distance detection device passing through the first long side or the second long side are determined.

[0021] The first long side or the second long side perpendicular to the first short side is fitted based on at least two long side position coordinates by using the least square method.

[0022] According to the battery positioning method provided by the application, after the actual center position coordinates of the battery frame are fitted, the method further comprises the following steps:

[0023] The actual center position coordinates of the battery frame are used to determine the axis coordinates of the battery gripper moving device through coordinate transformation.

[0024] Based on the coordinates of each axis, the current center position coordinates of the battery gripper are controlled to move to the actual center position coordinates of the battery frame.

[0025] According to a battery positioning method provided by the present invention, after controlling the current center position coordinates of the battery gripper to move to the actual center position coordinates of the battery frame, the method further includes:

[0026] Detect the detection results of each of the distance detection devices;

[0027] If each of the test results is less than the preset value, the battery gripper position calibration is considered complete; otherwise, the position of the battery gripper is adjusted.

[0028] The present invention also provides a battery positioning device, comprising:

[0029] The pre-positioning module is used to pre-position the battery and the battery gripper, and to determine the initial center position coordinates of the battery frame and the battery gripper. The battery gripper is used to grip the battery frame and is equipped with multiple distance detection devices.

[0030] The control module is used to control the battery gripper to move along the transport direction of the battery from the initial center position coordinates of the battery gripper to the initial center position coordinates of the battery frame; when the battery gripper moves to the target position, the module controls the battery gripper to translate along the direction perpendicular to the transport direction from the target position to the initial center position coordinates of the battery frame.

[0031] The fitting module is used to fit the first short side and the first long side or the second long side perpendicular to the first short side of the battery frame based on the detection results of the multiple distance detection devices when the battery gripper is translated; and to fit the actual center position coordinates of the battery frame based on the preset battery frame size, the first short side, the first long side or the second long side.

[0032] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the battery positioning method as described above.

[0033] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the battery positioning method as described above.

[0034] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the battery positioning method as described above.

[0035] The present invention also provides a battery swapping station for performing battery replacement using the battery positioning method described in any of the preceding claims.

[0036] This invention provides a battery positioning method, apparatus, device, storage medium, and battery swapping station. The method involves pre-positioning the battery and battery gripper to determine the initial center coordinates of the battery frame and the battery gripper. The battery gripper, equipped with multiple distance detection devices, is used to grasp the battery frame. The method controls the battery gripper to move along the battery transport direction from its initial center coordinates to the initial center coordinates of the battery frame. When the battery gripper reaches the target position, it is controlled to translate perpendicularly from the target position to the initial center coordinates of the battery frame. During this translation, based on the detection results from the multiple distance detection devices, a first short side of the battery frame and a first or second long side perpendicular to the first short side are fitted. Based on the preset battery frame size, the first short side, and the first or second long side, the actual center coordinates of the battery frame are fitted. By fitting the actual center coordinates of the battery frame based on the detection results of the distance detection devices, the accuracy of battery frame position acquisition is effectively guaranteed, and the influence of ambient light is minimal, effectively improving battery swapping efficiency. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0038] Figure 1 This is a flowchart illustrating the battery positioning method provided by the present invention;

[0039] Figure 2 This is a schematic diagram illustrating the positioning principle of the battery gripper and battery frame provided by the present invention;

[0040] Figure 3 This is a schematic diagram of the battery positioning device provided by the present invention;

[0041] Figure 4 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0043] The following is combined Figures 1-4 This invention describes a battery positioning method, apparatus, device, storage medium, and battery swapping station.

[0044] The power batteries on construction machinery are typically assembled using a frame structure, which is defined as the battery frame. The power batteries on the construction machinery can be replaced through operations such as positioning, gripping, and hoisting the battery frame. The battery frame is generally located at the rear of the vehicle's front. When the construction machinery enters a battery swapping station, it needs to enter a designated battery swapping parking area, where a specialized battery swapping device will perform the battery swapping operation.

[0045] A battery swapping device generally includes a battery gripper and a moving device. The battery gripper is mounted on the moving device and is used to grip the battery frame containing the power battery. The moving device is used to move between the power battery storage area and the battery swapping parking area to complete the transportation of the power battery. The moving device can include two types: a large vehicle and a small vehicle. For example, the large vehicle controls the battery gripper to move back and forth, and the small vehicle controls the gripper to move left and right. In this case, the forward and backward direction is the direction of travel of the working machinery carrying the power battery.

[0046] Figure 1 This is a flowchart illustrating the battery positioning method provided by the present invention. Figure 2 This is a schematic diagram illustrating the positioning principle of the battery gripper and battery frame provided by the present invention.

[0047] like Figure 1 As shown in the figure, this embodiment provides a battery positioning method, the execution subject of which can be the battery swapping station control system, and the method mainly includes the following steps:

[0048] 101. Pre-position the battery and battery gripper, determine the initial center position coordinates of the battery frame and the battery gripper. The battery gripper is used to grip the battery frame and is equipped with multiple distance detection devices.

[0049] Specifically, first, a spatial coordinate system is established, placing the battery-loaded machinery, battery, battery gripper, and moving device within the same coordinate system. The parking position of the machinery is fixed, and the position of the battery gripper when not in operation is also fixed. Therefore, the initial positions of the battery and battery gripper in the coordinate system are determined. Thus, the initial center coordinates of the battery frame and the battery gripper can be determined. Multiple distance detection devices are installed on the battery gripper. Since the installation position of each distance detection device is fixed, the position coordinates of each distance detection device are also determined.

[0050] The distance detection device is used to detect the distance between the gripper and the battery frame. Establishing a spatial coordinate system can be achieved by using different sensors within the battery swapping space to determine the relative positions of various devices. Based on these relative positions and the dimensions of each device, a spatial coordinate system is established that encompasses all devices within the battery swapping space.

[0051] The purpose of pre-positioning is to perform preliminary positioning of the battery frame and battery gripper. The positioning result is not the final result. Pre-positioning means first determining the approximate position of the battery frame and battery gripper, and then performing precise positioning control.

[0052] 102. Control the battery gripper to move along the battery transport direction from the initial center position coordinates of the battery gripper to the initial center position coordinates of the battery frame.

[0053] Specifically, after the pre-positioning is completed, the battery gripper is controlled to move according to the pre-positioning result. The direction of travel is the same as the direction of the working machinery transporting the battery, and the direction of translation is the direction perpendicular to the direction of travel. That is, the direction of travel is on the X-axis, and the direction of translation is on the Y-axis.

[0054] Taking a three-dimensional coordinate system as an example, to complete the final movement of the battery gripper, it is necessary to control the battery gripper to move along each of the three coordinate axes before it can grasp the battery frame. Therefore, after pre-positioning, the battery gripper is first controlled to move to the target position along the X-axis.

[0055] 103. When the battery gripper moves to the target position, control the battery gripper to translate from the target position to the initial center position coordinate of the battery frame in the direction perpendicular to the transport direction.

[0056] Specifically, when the battery gripper reaches the target position, it indicates that it has reached the position in the first direction. At this point, it is necessary to control the gripper to move in the second direction, which is perpendicular to the first direction, so as to control the movement of the battery gripper in both directions and move the battery gripper directly above the battery frame, so as to facilitate the control of the battery gripper to complete the gripping of the battery frame.

[0057] 104. When the battery gripper is translating, based on the detection results of multiple distance detection devices, the first short side of the battery frame and the first long side or the second long side perpendicular to the first short side are respectively fitted.

[0058] like Figure 2 As shown, 1# represents the first distance detection device, 2# represents the second distance detection device, 3# represents the third distance detection device, 4# represents the fourth distance detection device, 5# represents the fifth distance detection device, 6# represents the sixth distance detection device, L1 represents the first short side, L2 represents the second short side, L3 represents the first long side, and L4 represents the second long side.

[0059] Multiple distance detection devices are installed on the battery gripper. The distance detection devices detect the distance between the battery gripper and the battery frame. When the top view of the battery gripper overlaps or partially overlaps with the top view of the battery frame, the distance value detected by the distance detection device is within a preset range. If the distance value detected by the distance detection device is greater than the value within the preset range, it indicates that the position of the battery gripper corresponding to the distance sensor does not coincide with the battery frame.

[0060] like Figure 2 As shown, the translation process of the battery gripper controls the direction of distance detection device #2's translation from side L1 to side L2. During this translation, the six distance detection devices will have different detection results. Therefore, based on the distance values ​​detected by different distance detection devices, we can determine at what moment a distance detection device passed through side L1 and side L2. Taking distance detection device #2 as an example, when distance detection device #2 passes through side L1, its detection result will change abruptly, that is, a large distance value will suddenly change to a small distance value. This indicates that distance detection device #2 has passed through side L1. Similarly, distance detection devices #3 and #4 follow the same principle and will not be explained in detail. When distance detection device #2 experiences a second abrupt change in its detection result, it indicates that distance detection device #2 has crossed side L2 of the battery frame. At the same time, distance detection devices #3 and #4 have also crossed side L1. Therefore, we can fit the detection results of multiple different distance detection devices to determine side L1.

[0061] After the L1 edge is fitted, the #2 distance detection device moves to the side of L2. Therefore, it is necessary to control the battery gripper to move in the direction of L3 or L4. During the movement, multiple distance detection devices will detect different distance detection results. Similarly, the L3 edge or L4 edge can be fitted using different distance detection results.

[0062] 105. Based on the preset battery frame size, the first short side, the first long side, or the second long side, the actual center position coordinates of the battery frame are obtained by fitting.

[0063] Since the dimensions of the battery frame are known, i.e., the preset dimensions of the battery frame are known, and after the above calculations, any one of the first short side, the first long side, and the second long side is known, the shape outline of the battery frame and the actual center position coordinates of the battery frame can be obtained by fitting these three dimensions.

[0064] The battery frame is a rectangular frame with the same shape as the battery gripper. When the two intersecting sides of the rectangle are known and the lengths of each side of the rectangle are known, the specific shape and position of the rectangle can be quickly calculated through geometric operations. Then, the center position of the rectangle can be determined, and the actual center position coordinates of the battery frame can be obtained.

[0065] The battery positioning method in this embodiment positions the battery by fitting the battery frame. It is not affected by the environment and light. By fitting any two overlapping edges, the final battery frame can be obtained, which effectively improves the battery frame positioning efficiency and thus improves the battery picking and replacement efficiency.

[0066] Furthermore, based on the above embodiments, both the gripper and the battery frame are rectangular frames, including a first short side, a first long side, a second short side, and a second long side connected in sequence; wherein, a first distance detection device is provided on the first short side of the battery gripper, a second distance detection device is provided on the second short side, a third distance detection device and a fourth distance detection device are provided on the first long side, and a fifth distance detection device and a sixth distance detection device are provided on the second long side.

[0067] like Figure 2As shown, the first distance detection device can be positioned at the midpoint of the first short side, the second distance detection device at the midpoint of the second short side, the third and fourth distance detection devices at the trisection points of the first long side, and the fourth and fifth distance detection devices at the trisection points of the second long side. By evenly distributing the distance detection devices along the edges of the battery gripper, it can be ensured that the battery gripper accurately grasps the battery frame. If the detection results of all six distance detection devices are less than the preset distance value, it indicates that the battery gripper and battery frame are positioned correctly. In this case, controlling the battery gripper to lower will successfully grasp the battery frame. Evenly distributing the distance detection devices also improves the efficiency of battery grasping.

[0068] Furthermore, based on the above embodiments, this embodiment fits the first short side of the battery frame based on the detection results of multiple distance detection devices, including: when at least two distance detection devices are detected passing through the first short side, determining the short side position coordinates when each distance detection device passes through the first short side; and using the least squares method, fitting the first short side of the battery frame based on the position coordinates of at least two short sides.

[0069] like Figure 2 As shown, the initial center position coordinates of the battery gripper are known. Since the installation positions of each distance detection device on the battery gripper are fixed, the position coordinates of each distance detection device are also known. The travel distance of the battery gripper is determined. Therefore, when the battery gripper travels to the target position, the real-time coordinates of the battery gripper at the target position can be quickly calculated.

[0070] When controlling the battery gripper to translate, the position coordinates of the distance detection device when it passes the first short side are as follows: Figure 2 As shown, these are the real-time coordinates (i.e., short-side coordinates) of the second, third, and fourth distance detection devices as they pass through the first short side L1. Then, by combining at least two short-side coordinates with the least squares method, the first short side of the battery frame is obtained. The least squares method finds the best function matching for the data by minimizing the square of the error. It can easily obtain unknown data while minimizing the sum of squares of the errors between the obtained data and the actual data. Therefore, the first short side L1 can be quickly fitted using the least squares method.

[0071] Furthermore, based on the above embodiments, this embodiment fits the detection results of multiple distance detection devices to obtain a first long side or a second long side perpendicular to the first short side, including: determining the tilt angle of the battery gripper relative to the battery frame based on the position coordinates of at least two short sides, and rotating the battery gripper based on the tilt angle; after the battery gripper has rotated, determining the long side detection results of the third, fourth, fifth, and sixth distance detection devices respectively; based on the long side detection results, controlling the battery gripper to move towards the long side of the side where the battery frame has not been detected; when at least two distance detection devices are detected passing through the first long side or the second long side, determining the long side position coordinates when each distance detection device passes through the first long side or the second long side; and using the least squares method, fitting the first long side or the second long side perpendicular to the first short side based on the position coordinates of at least two long sides.

[0072] Specifically, after obtaining the first short side, it is necessary to determine any one of the long sides adjacent to the first short side, such as... Figure 2 As shown, there is a certain angle between the battery gripper and the battery frame. Therefore, the position of the battery gripper needs to be adjusted. The tilt angle of the battery frame can be calculated using any two short side coordinates, such as... Figure 2 By using the X and Y axes, the coordinates of any two points on any side L1 can be obtained, allowing for the rapid calculation of the tilt angle of side L1. The battery gripper can then be controlled to rotate according to this tilt angle, ensuring it aligns with the battery frame.

[0073] Once the battery gripper rotates and aligns with the battery frame, it needs to be controlled to move. This means controlling the battery gripper to move along either the first or second long side. Specifically, this is done by determining the distance detection results on both the first and second long sides, and controlling the battery gripper to move from the side with the larger distance detection result to the side with the smaller result. Figure 3 As shown, the battery gripper is controlled to move from side L4 to side L3. The distance detection value on the side where the battery frame is not detected is greater than the distance detection value on the side where the battery frame is detected.

[0074] Similarly, during the movement of the battery gripper in the L3 or L4 direction, different distance detection devices will cross the first or second long side. Similar to determining the first short side, after obtaining the coordinates of at least two long side positions when the distance detection devices cross the first or second long side, the first or second long side can be fitted using the least squares method combined with these coordinates. Only one long side needs to be fitted, and the fitted long side intersects the short side; that is, the first short side is perpendicular to either the fitted first or second long side.

[0075] Furthermore, based on the above embodiments, after fitting the actual center position coordinates of the battery frame in this embodiment, it further includes: determining the coordinates of each axis of the battery gripper moving device through coordinate transformation based on the actual center position coordinates of the battery frame; and controlling the current center position coordinates of the battery gripper to move to the actual center position coordinates of the battery frame based on each axis coordinate.

[0076] Specifically, after fitting one short side and one long side of the battery frame, the overall outline of the battery frame can be obtained, and thus the actual center position coordinates of the battery frame can be obtained. Having obtained the actual center position coordinates of the battery frame, and having already adjusted the orientation of the battery gripper to match the orientation of the battery frame, it is only necessary to control the current center position coordinates of the battery gripper to remain consistent with the actual center position coordinates of the battery frame. The control of the battery gripper's movements includes the trolley servo for the walking direction, the trolley servo for the translation direction, the gripper lifting servo for the lifting and lowering direction, and the rotation servo for the angle rotation. Therefore, it is only necessary to control the corresponding axis coordinates to move to the target position based on the actual center position coordinates of the battery frame. This achieves the alignment of the center of the battery gripper with the center of the battery frame.

[0077] Furthermore, based on the above embodiments, after the current center position coordinates of the control battery gripper are moved to the actual center position coordinates of the battery frame in this embodiment, it may also include: detecting the detection results of each distance detection device; if each detection result is less than a preset value, it is determined that the battery gripper position calibration is completed; otherwise, the position of the battery gripper is adjusted.

[0078] Once the center of the battery gripper coincides with the center of the battery frame, if all sides of the battery gripper correspond to all sides of the battery frame, then all six distance detection devices should detect the battery frame. This means the distance detection results from the six devices should have minimal differences and be within the preset distance range. However, if any one or more distance detection devices show a significantly larger distance, it indicates a deviation between the battery gripper and the battery frame. Therefore, the angle of the battery gripper needs to be calibrated. Calibration involves rotating the battery gripper from the side where the detection result is greater than the preset value to the side where it is less than the preset value, until all distance detection devices detect distances within the preset values. At this point, it indicates that all distance detection devices can detect the battery frame, meaning the battery gripper and battery frame are perfectly matched. The gripping process only requires controlling the battery gripper to move linearly up and down in the vertical direction of the battery frame. Calibrating the position of the battery gripper effectively ensures efficient battery gripping. The distance detection device can be a point laser sensor.

[0079] Based on the same general inventive concept, this invention also protects a battery positioning device. The battery positioning device provided by this invention will be described below, and the battery positioning device described below can be referred to in correspondence with the battery positioning method described above.

[0080] Figure 3 This is a schematic diagram of the battery positioning device provided by the present invention.

[0081] like Figure 4 As shown, the present invention provides a battery positioning device, comprising:

[0082] The pre-positioning module 301 is used to pre-position the battery and the battery gripper, determine the initial center position coordinates of the battery frame and the initial center position coordinates of the battery gripper, and the battery gripper is used to grip the battery frame. The battery gripper is equipped with multiple distance detection devices.

[0083] The control module 302 is used to control the battery gripper to move from the initial center position coordinates of the battery gripper to the initial center position coordinates of the battery frame along the transport direction of the battery; when the battery gripper moves to the target position, it controls the battery gripper to translate from the target position to the initial center position coordinates of the battery frame along the perpendicular direction of the transport direction.

[0084] The fitting module 303 is used to fit the first short side and the first long side or the second long side perpendicular to the first short side of the battery frame based on the detection results of multiple distance detection devices when the battery gripper is translated; and to fit the actual center position coordinates of the battery frame based on the preset battery frame size, the first short side, the first long side or the second long side.

[0085] This embodiment provides a battery positioning device that pre-positions the battery and battery gripper to determine the initial center coordinates of the battery frame and the battery gripper. The battery gripper, equipped with multiple distance detection devices, is used to grasp the battery frame. The device controls the battery gripper to move along the battery transport direction from its initial center coordinates to the initial center coordinates of the battery frame. When the battery gripper reaches the target position, it is controlled to translate perpendicularly from the target position to the initial center coordinates of the battery frame. During this translation, based on the detection results of the multiple distance detection devices, a first short side of the battery frame and a first or second long side perpendicular to the first short side are fitted. Based on the preset battery frame size, the first short side, and the first or second long side, the actual center coordinates of the battery frame are fitted. By fitting the actual center coordinates of the battery frame based on the detection results of the distance detection devices, the device effectively ensures the accuracy of battery frame position acquisition and is less affected by ambient light, thus significantly improving battery replacement efficiency.

[0086] Furthermore, in this embodiment, both the gripper and the battery frame are rectangular frames, including a first short side, a first long side, a second short side, and a second long side connected in sequence.

[0087] A first distance detection device is provided on the first short side of the battery gripper, a second distance detection device is provided on the second short side, a third distance detection device and a fourth distance detection device are provided on the first long side, and a fifth distance detection device and a sixth distance detection device are provided on the second long side.

[0088] Furthermore, the fitting module 303 in this embodiment is specifically used for:

[0089] When at least two distance detection devices are detected passing through the first short side, the short side position coordinates of each distance detection device when passing through the first short side are determined.

[0090] Using the least squares method, the first short side of the battery frame is obtained by fitting based on at least two of the short side position coordinates.

[0091] Furthermore, the fitting module 303 in this embodiment is specifically used for:

[0092] Based on at least two of the short side position coordinates, the tilt angle of the battery gripper relative to the battery frame is determined, and the battery gripper is rotated based on the tilt angle;

[0093] After the battery gripper has rotated, the long side detection results of the third distance detection device, the fourth distance detection device, the fifth distance detection device, and the sixth distance detection device are determined respectively;

[0094] Based on the long side detection results, the battery gripper is controlled to move along the long side of the side where the battery frame was not detected.

[0095] When at least two of the distance detection devices are detected to pass through the first long side or the second long side, the long side position coordinates of each of the distance detection devices when it passes through the first long side or the second long side are determined;

[0096] Using the least squares method, based on at least two of the long side position coordinates, a first long side or a second long side perpendicular to the first short side is fitted.

[0097] Furthermore, this embodiment also includes a grasping module, specifically used for:

[0098] Based on the actual center position coordinates of the battery frame, the coordinates of each axis of the battery gripper moving device are determined through coordinate transformation.

[0099] Based on the coordinates of each axis, the current center position coordinates of the battery gripper are controlled to move to the actual center position coordinates of the battery frame.

[0100] Furthermore, this embodiment also includes a calibration module, specifically used for:

[0101] Detect the detection results of each of the distance detection devices;

[0102] If each of the test results is less than the preset value, the battery gripper position calibration is considered complete; otherwise, the position of the battery gripper is adjusted.

[0103] Based on the same general inventive concept, the present invention also provides a battery swapping station for performing battery replacement using the battery positioning method as described in any of the above embodiments.

[0104] Figure 4 This is a schematic diagram of the structure of the electronic device provided by the present invention.

[0105] like ​As shown, the electronic device may include: a processor 410, a communication interface 420, a memory 430, and a communication bus 440, wherein the processor 410, the communication interface 420, and the memory 430 communicate with each other through the communication bus 440. The processor 410 can call logic instructions in the memory 430 to execute a battery positioning method, which includes: pre-positioning the battery and the battery gripper; determining the initial center position coordinates of the battery frame and the battery gripper, wherein the battery gripper is used to grip the battery frame and is equipped with multiple distance detection devices; controlling the battery gripper to move along the transport direction of the battery from the initial center position coordinates of the battery gripper to the initial center position coordinates of the battery frame; when the battery gripper reaches the target position, controlling the battery gripper to translate along the direction perpendicular to the transport direction from the target position to the initial center position coordinates of the battery frame; during the translation of the battery gripper, based on the detection results of the multiple distance detection devices, respectively fitting a first short side of the battery frame and a first long side or a second long side perpendicular to the first short side; and fitting the actual center position coordinates of the battery frame based on a preset battery frame size, the first short side, and the first long side or the second long side.

[0106] Furthermore, the logical instructions in the aforementioned memory 430 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0107] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the battery positioning method provided by the above methods. The method includes: pre-positioning the battery and the battery gripper; determining the initial center position coordinates of the battery frame and the initial center position coordinates of the battery gripper; the battery gripper is used to grip the battery frame and is provided with multiple distance detection devices; controlling the battery gripper to move along the transport direction of the battery from the initial center position coordinates of the battery gripper to the initial center position coordinates of the battery frame; when the battery gripper moves to the target position, controlling the battery gripper to translate along the direction perpendicular to the transport direction from the target position to the initial center position coordinates of the battery frame; during the translation of the battery gripper, based on the detection results of the multiple distance detection devices, respectively fitting a first short side of the battery frame and a first long side or a second long side perpendicular to the first short side; and fitting the actual center position coordinates of the battery frame based on a preset battery frame size, the first short side, and the first long side or the second long side.

[0108] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the battery positioning method provided by the above methods. The method includes: pre-positioning the battery and a battery gripper; determining the initial center position coordinates of the battery frame and the initial center position coordinates of the battery gripper; the battery gripper being used to grip the battery frame and equipped with multiple distance detection devices; controlling the battery gripper to move along the transport direction of the battery from the initial center position coordinates of the battery gripper to the initial center position coordinates of the battery frame; when the battery gripper reaches a target position, controlling the battery gripper to translate along the direction perpendicular to the transport direction from the target position to the initial center position coordinates of the battery frame; during the translation, based on the detection results of the multiple distance detection devices, respectively fitting a first short side of the battery frame and a first long side or a second long side perpendicular to the first short side; and fitting the actual center position coordinates of the battery frame based on a preset battery frame size, the first short side, and the first long side or the second long side.

[0109] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0110] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0111] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A battery positioning method, characterized in that, include: The battery and battery gripper are pre-positioned to determine the initial center position coordinates of the battery frame and the battery gripper. The battery gripper is used to grip the battery frame and is equipped with multiple distance detection devices. Control the battery gripper to move along the transport direction of the battery from the initial center position coordinates of the battery gripper to the initial center position coordinates of the battery frame; When the battery gripper moves to the target position, the battery gripper is controlled to translate from the target position to the initial center position coordinate of the battery frame in the direction perpendicular to the transport direction; When the battery gripper moves, based on the detection results of the multiple distance detection devices, the first short side of the battery frame and the first long side or the second long side perpendicular to the first short side are respectively fitted and obtained. Based on the preset battery frame size, the first short side, the first long side, or the second long side, the actual center position coordinates of the battery frame are obtained by fitting. Both the gripper and the battery frame are rectangular frames, including a first short side, a first long side, a second short side, and a second long side connected in sequence. A first distance detection device is provided on the first short side of the battery gripper, a second distance detection device is provided on the second short side, a third distance detection device and a fourth distance detection device are provided on the first long side, and a fifth distance detection device and a sixth distance detection device are provided on the second long side. The first short side of the battery frame is obtained by fitting the detection results of multiple distance detection devices, including: When at least two distance detection devices are detected passing through the first short side, the short side position coordinates of each distance detection device when passing through the first short side are determined. Using the least squares method, the first short side of the battery frame is obtained by fitting based on at least two of the short side position coordinates; The process of fitting a first long side or a second long side perpendicular to the first short side based on the detection results of multiple distance detection devices includes: Based on at least two of the short side position coordinates, the tilt angle of the battery gripper relative to the battery frame is determined, and the battery gripper is rotated based on the tilt angle; After the battery gripper has rotated, the long side detection results of the third distance detection device, the fourth distance detection device, the fifth distance detection device, and the sixth distance detection device are determined respectively; Based on the long side detection results, the battery gripper is controlled to move along the long side of the side where the battery frame was not detected. When at least two of the distance detection devices are detected to pass through the first long side or the second long side, the long side position coordinates of each of the distance detection devices when it passes through the first long side or the second long side are determined; Using the least squares method, based on at least two of the long side position coordinates, a first long side or a second long side perpendicular to the first short side is fitted.

2. The battery positioning method according to claim 1, characterized in that, After obtaining the actual center position coordinates of the battery frame through fitting, the process further includes: Based on the actual center position coordinates of the battery frame, the coordinates of each axis of the battery gripper moving device are determined through coordinate transformation. Based on the coordinates of each axis, the current center position coordinates of the battery gripper are controlled to move to the actual center position coordinates of the battery frame.

3. The battery positioning method according to claim 2, characterized in that, After controlling the current center position coordinates of the battery gripper to move to the actual center position coordinates of the battery frame, the method further includes: Detect the detection results of each of the distance detection devices; If each of the test results is less than the preset value, the battery gripper position calibration is considered complete; otherwise, the position of the battery gripper is adjusted.

4. A battery positioning device, characterized in that, include: The pre-positioning module is used to pre-position the battery and the battery gripper, and to determine the initial center position coordinates of the battery frame and the battery gripper. The battery gripper is used to grip the battery frame and is equipped with multiple distance detection devices. The control module is used to control the battery gripper to move along the transport direction of the battery from the initial center position coordinates of the battery gripper to the initial center position coordinates of the battery frame; when the battery gripper moves to the target position, the module controls the battery gripper to translate along the direction perpendicular to the transport direction from the target position to the initial center position coordinates of the battery frame. The fitting module is used to fit the first short side and the first long side or the second long side perpendicular to the first short side of the battery frame based on the detection results of the multiple distance detection devices when the battery gripper is translated; and to fit the actual center position coordinates of the battery frame based on the preset battery frame size, the first short side, the first long side or the second long side. Both the gripper and the battery frame are rectangular frames, including a first short side, a first long side, a second short side, and a second long side connected in sequence. A first distance detection device is provided on the first short side of the battery gripper, a second distance detection device is provided on the second short side, a third distance detection device and a fourth distance detection device are provided on the first long side, and a fifth distance detection device and a sixth distance detection device are provided on the second long side. The first short side of the battery frame is obtained by fitting the detection results of multiple distance detection devices, including: When at least two distance detection devices are detected passing through the first short side, the short side position coordinates of each distance detection device when passing through the first short side are determined. Using the least squares method, the first short side of the battery frame is obtained by fitting based on at least two of the short side position coordinates; The process of fitting a first long side or a second long side perpendicular to the first short side based on the detection results of multiple distance detection devices includes: Based on at least two of the short side position coordinates, the tilt angle of the battery gripper relative to the battery frame is determined, and the battery gripper is rotated based on the tilt angle; After the battery gripper has rotated, the long side detection results of the third distance detection device, the fourth distance detection device, the fifth distance detection device, and the sixth distance detection device are determined respectively; Based on the long side detection results, the battery gripper is controlled to move along the long side of the side where the battery frame was not detected. When at least two of the distance detection devices are detected to pass through the first long side or the second long side, the long side position coordinates of each of the distance detection devices when it passes through the first long side or the second long side are determined; Using the least squares method, based on at least two of the long side position coordinates, a first long side or a second long side perpendicular to the first short side is fitted.

5. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the battery positioning method as described in any one of claims 1 to 3.

6. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the battery positioning method as described in any one of claims 1 to 3.

7. A battery swapping station, characterized in that, The battery swapping station is used to perform battery replacement by executing the battery positioning method as described in any one of claims 1 to 3.

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