Battery grabbing and positioning method, positioning device and battery replacement equipment

Abstract

The present invention relates to the field of battery swapping technology, and provides a battery grabbing and positioning method, a positioning device, and a battery swapping device. The battery grabbing and positioning method includes: when it is determined that the battery swapping vehicle is in the battery swapping area, controlling the gripper to move from a relative initial position to a target edge of a battery positioning hole; when it is determined that the gripper moves to the target edge, controlling the gripper to start translational movement from the position where the target edge is located, and determining a first deflection angle of the gripper relative to the target edge according to the movement result; according to the first deflection angle of the gripper relative to the target edge, adjusting the gripper to a first target posture corresponding to the first deflection angle; according to the adjustment result, controlling the gripper to move to a preset target position, and when the gripper moves to the preset target position, controlling the gripper to extend into the interior of the battery positioning hole to grab the battery. The entire positioning process of the present invention is simple, and the positioning accuracy is high. At the same time, the number of sensors used is small, which can effectively reduce the cost of the positioning system.

Description

Technical Field

[0001] The present invention relates to the field of battery replacement technology, and in particular to a battery grasping and positioning method, a positioning device and a battery replacement device. Background Art

[0002] Electric vehicles that use batteries as a power source have surpassed fuel vehicles in terms of power performance and intelligence, and their cruising range has also increased with the battery energy density, but they still face the problem of difficulty in recharging. At present, there are two ways to recharge electric vehicles, namely battery replacement and charging. Since the recharging time is long in charging mode, it cannot meet the requirements of continuous operation. For this reason, some electric vehicles use battery replacement to recharge, that is, to achieve continuous operation by replacing the on-board power battery.

[0003] During the battery swap process, when an electric vehicle enters a battery swap station, the station uses visual positioning to determine the location of the power battery in order to achieve accurate battery swapping. Although visual positioning has a good positioning effect, it relies on cameras to obtain accurate positions, and cameras are easily affected by dust, lighting conditions and other factors, which can easily lead to positioning failures.

[0004] To this end, the related art uses multiple sensors installed on the battery swap device to detect the position of the battery, thereby adjusting the posture of the gripper on the battery swap device according to the positions detected by the multiple sensors, so that the gripper grabs the battery. However, when using this method to locate the battery, the cost is high, the positioning process is complicated, and the positioning effect is poor. Summary of the invention

[0005] The first aspect of the present invention provides a battery grasping and positioning method to solve the defects of battery positioning in the prior art, such as high cost, complicated positioning process and poor positioning effect. The positioning process is simple and the positioning accuracy is high. At the same time, the number of sensors used is small, which can effectively reduce the cost of the positioning system.

[0006] A second aspect of the present invention provides a battery grasping and positioning device.

[0007] A third aspect of the present invention provides a battery replacement device.

[0008] In order to achieve the above object, a first aspect of the present invention provides a battery grasping and positioning method, comprising:

[0009] When it is determined that the battery swapping vehicle is in the battery swapping area, the gripper is controlled to move from a relative initial position to a target edge of the battery positioning hole;

[0010] When it is determined that the gripper has moved to the target edge, the gripper is controlled to start translational movement from the position where the target edge is located, and a first deflection angle of the gripper relative to the target edge is determined according to the movement result;

[0011] According to a first deflection angle of the gripper relative to the target edge, adjusting the gripper to a first target posture corresponding to the first deflection angle;

[0012] The gripper is controlled to move to a preset target position according to the adjustment result, and when the gripper moves to the preset target position, the gripper is controlled to extend into the battery positioning hole, and the battery is gripped after being locked with the battery positioning hole.

[0013] According to the battery grasping and positioning method provided by the present invention, the control of the gripper to start translational movement from the position where the target edge is located, and determining a first deflection angle of the gripper relative to the target edge according to the movement result, comprises:

[0014] Acquire multiple sets of first distance values ​​between the gripper and the target edge during the translational movement of the gripper from the position where the target edge is located, and the servo position corresponding to the gripper during the translational movement;

[0015] A first deflection angle of the gripper relative to the target edge is determined according to a plurality of sets of the first distance values ​​and corresponding servo positions.

[0016] According to the battery grasping and positioning method provided by the present invention, determining the first deflection angle of the gripper relative to the target edge according to the multiple sets of the first distance values ​​and the corresponding servo positions includes:

[0017] Establishing a corresponding first coordinate system according to the plurality of sets of the first distance values ​​and the corresponding servo positions, and fitting a first oblique line close to the target edge in the first coordinate system by using a least square method;

[0018] A first deflection angle of the gripper relative to the target edge is determined according to the slope of the first oblique line.

[0019] According to the battery grasping and positioning method provided by the present invention, the gripper is controlled to move to a preset target position according to the adjustment result, and when the gripper moves to the preset target position, the gripper is controlled to extend into the battery positioning hole to grasp the battery, including:

[0020] When the gripper moves to the preset target position, the gripper is controlled to move in a first direction to obtain a first sampling point on a first side;

[0021] When it is determined that the gripper has acquired the first sampling point, controlling the gripper to move in a second direction away from the first direction to acquire a second sampling point on a second side;

[0022] The midpoint position of the gripper relative to the battery positioning hole is determined according to the first sampling point and the second sampling point, and when the gripper moves to the midpoint position, the gripper is controlled to extend into the battery positioning hole to grab the battery.

[0023] The battery grabbing and positioning method provided by the present invention also includes:

[0024] Controlling the gripper to move along the depth direction of the battery positioning hole, and determining a second deflection angle of the gripper relative to the side wall of the battery positioning hole according to the movement result;

[0025] According to a second deflection angle of the gripper relative to the side wall of the battery positioning hole, adjusting the gripper to a second target posture corresponding to the second deflection angle;

[0026] The gripper is controlled to extend to a preset gripping position of the battery positioning hole according to the adjustment result.

[0027] According to the battery grasping and positioning method provided by the present invention, the controlling the gripper to move along the depth direction of the battery positioning hole, and determining the second deflection angle of the gripper relative to the side wall of the battery positioning hole according to the movement result, comprises:

[0028] Acquire multiple sets of second distance values ​​between the gripper and the side wall of the battery positioning hole during the movement of the gripper along the depth direction of the battery positioning hole, and the servo position corresponding to the movement of the gripper along the depth direction of the battery positioning hole;

[0029] Establishing a corresponding second coordinate system according to the plurality of sets of the second distance values ​​and the corresponding servo positions, and fitting a second oblique line close to the side wall of the battery positioning hole in the second coordinate system by using a least square method;

[0030] A second deflection angle of the gripper relative to the side wall of the battery positioning hole is determined according to the slope of the second oblique line.

[0031] According to the battery grasping and positioning method provided by the present invention, the grasping hand is controlled to extend into the preset grasping position of the battery positioning hole according to the adjustment result, including:

[0032] A third distance value between the end surface of the gripper and the inner wall of the battery positioning hole is obtained, and the gripper is controlled to extend to a preset gripping position of the battery positioning hole according to the third distance value.

[0033] The battery grabbing and positioning method provided by the present invention also includes:

[0034] Monitoring the number of positioning times of the gripper, and judging whether the battery is positioned successfully according to the number of positioning times;

[0035] If the gripper has been positioned for 3 or more times, a positioning failure abnormal alarm is issued to control the gripper's servo system to reset;

[0036] If the gripper has been positioned for less than three times, the gripper is controlled to move from a relative initial position to a target edge of the battery positioning hole.

[0037] A second aspect of the present invention provides a battery grasping and positioning device, comprising:

[0038] The first control module is used to control the gripper to move from a relative initial position to a target edge of the battery positioning hole when it is determined that the battery swapping vehicle is in the battery swapping area;

[0039] A second control module is used for controlling the gripper to start translational movement from the position where the target edge is located when it is determined that the gripper moves to the target edge, and determining a first deflection angle of the gripper relative to the target edge according to the movement result;

[0040] a posture adjustment module, configured to adjust the gripper to a first target posture corresponding to a first deflection angle of the gripper relative to the target edge;

[0041] The third control module is used to control the gripper to move to a preset target position according to the adjustment result, and when the gripper moves to the preset target position, control the gripper to extend into the battery positioning hole to grab the battery.

[0042] A third aspect of the present invention provides a battery replacement device, comprising a device body and the battery grasping and positioning device, wherein the battery grasping and positioning device is arranged on the device body.

[0043] The present invention provides a battery grasping and positioning method. When it is determined that a battery-swap vehicle is in a battery-swap area, a gripper is controlled to move from a relative initial position to a target edge of a battery positioning hole; when it is determined that the gripper has moved to the target edge, the gripper is controlled to start translational movement from the position where the target edge is located, and a first deflection angle of the gripper relative to the target edge is determined according to the movement result; according to the first deflection angle of the gripper relative to the target edge, the gripper is adjusted to a first target posture corresponding to the first deflection angle; according to the adjustment result, the gripper is controlled to move to a preset target position, and when the gripper moves to the preset target position, the gripper is controlled to extend into the interior of the battery positioning hole, and the battery is grasped after being locked with the battery positioning hole. The entire positioning process is simple, and the positioning accuracy is high. At the same time, a small number of sensors are used, which can effectively reduce the cost of the positioning system.

[0044] The battery grasping and positioning device provided by the present invention has a one-to-one correspondence with the above-mentioned battery grasping and positioning method, and therefore includes all the advantages of the above-mentioned battery grasping and positioning method.

[0045] The battery replacement equipment provided by the present invention has all the above-mentioned advantages because it includes the above-mentioned battery grasping and positioning device. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0047] Figure 1 is a schematic diagram of the structure of a battery provided by an embodiment of the present invention;

[0048] Figure 2 is a schematic diagram of the structure of a gripper provided by an embodiment of the present invention;

[0049] Figure 3 It is a structural schematic diagram of the gripper grasping and positioning provided by an embodiment of the present invention;

[0050] Figure 4 is a flowchart of a battery grabbing and positioning method provided by an embodiment of the present invention;

[0051] Figure 5 is a schematic diagram of the relative initial position of the gripper relative to the battery positioning hole provided by an embodiment of the present invention;

[0052] Figure 6 is a schematic diagram of a gripper provided by an embodiment of the present invention moving to a target edge;

[0053] Figure 7 is a schematic diagram of a gripper provided by an embodiment of the present invention starting a translational movement from a position where an edge of a target is located;

[0054] Figure 8 is a schematic diagram of adjusting a gripper to a first target posture corresponding to a first deflection angle provided by an embodiment of the present invention;

[0055] Fig. 9 is a schematic diagram of a gripper moving to a preset target position provided by an embodiment of the present invention;

[0056] Fig.10 is a schematic diagram of a gripper obtaining a first sampling point of a first side provided by an embodiment of the present invention;

[0057] Fig.11is a schematic diagram of a gripper according to an embodiment of the present invention acquiring a second sampling point on a second side;

[0058] Fig.12 is a schematic diagram of a gripper provided by an embodiment of the present invention moving to a midpoint position;

[0059] Fig.13 is a schematic diagram of the gripper provided by an embodiment of the present invention moving along the depth direction of the battery positioning hole;

[0060] Fig.14a This is one of the flow charts of the battery grabbing and positioning method provided by an embodiment of the present invention;

[0061] Fig.14b This is a second flow chart of the battery grabbing and positioning method provided by an embodiment of the present invention;

[0062] Fig.15 It is a schematic diagram of the physical structure of an electronic device.

[0063] Reference numerals:

[0064] 100. Battery positioning hole; 200. Grip. DETAILED DESCRIPTION

[0065] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0066] In the description of the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0067] In the embodiments of the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0068] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiments of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0069] At present, the most common battery positioning technology in the field of battery swapping is visual positioning, which uses a camera to obtain battery information, obtains the battery outline after processing to obtain the battery position or angle, etc., and then compares it with the calibrated position. After algorithm processing, the compensated grasping position is given to the grasping device. Although visual positioning has a good positioning effect, the cost of the visual positioning system is high, and it relies on the camera to take pictures to obtain the accurate position. The camera is easily affected by factors such as dust and lighting conditions, which can easily lead to positioning failure.

[0070] To this end, the related art uses multiple sensors to cooperate with the movement of the battery exchange device to calculate information such as the battery angle or position, that is, at least 6 sensors are set, and the shape of the battery positioning hole is approximately rectangular. The 6 sensors are divided into 4 groups, and 4 sensors are used to correspond to the two long sides of the battery positioning hole respectively, and the other 2 sensors are used to correspond to the two short sides of the battery positioning hole. By moving the battery exchange device, the multiple sensors installed on the battery exchange device are moved synchronously to monitor the 4 sides of the battery positioning hole, so as to calculate the equations of the 4 sides in the space coordinate system in combination with the servo feedback position of the battery exchange device to guide the battery exchange device to adjust its posture and then grab the battery. However, there are at least the following problems with positioning using this method: First, the cost is high, the unit price of each sensor is more than 2,000 yuan, and the overall price of using at least 6 sensors is more than 13,000 yuan; second, the positioning process is complicated and the amount of calculation is large, which makes the controller operation load high. To this end, the present invention provides an improved battery grasping and positioning method.

[0071] Figure 1 is a schematic diagram of the structure of a battery provided by an embodiment of the present invention; Figure 2 is a schematic diagram of the structure of a gripper provided by an embodiment of the present invention; Figure 3 It is a structural schematic diagram of the gripper grasping and positioning provided by an embodiment of the present invention.

[0072] See also Figures 1 to 3 The battery grasping and positioning method provided in the embodiment of the present invention is mainly used to match the battery structure of a wide-body vehicle. Due to the body of the wide-body vehicle itself (such as the body having a brim), the gripper 200 cannot grasp the battery from above the battery, and can only grasp the battery from a position avoiding the top of the battery, such as grasping the side of the battery.

[0073] To this end, a battery positioning hole 100 is provided on the side of the battery. Figure 1 As shown, the convenient gripper 200 extends into the battery positioning hole 100 to grab the battery.

[0074] like Figure 2 and Figure 3 As shown, the shape of the gripper 200 matches the shape of the battery positioning hole 100 . In the process of grabbing the battery, the gripper 200 is controlled to extend into the battery positioning hole 100 to achieve the grabbing of the battery.

[0075] Figure 4 It is a flowchart of a battery grabbing and positioning method provided in an embodiment of the present invention. Figure 5 is a schematic diagram of the relative initial position of the gripper relative to the battery positioning hole provided by an embodiment of the present invention; Figure 6 It is a schematic diagram of the gripper provided by an embodiment of the present invention moving to the edge of the target.

[0076] See also Figures 4 to 6The embodiment of the present invention provides a battery gripping and positioning method. The execution subject of the control method can be a gripper control system, which mainly includes the following steps:

[0077] Step S100: When it is determined that the battery-swapping vehicle is in the battery-swapping area, the gripper 200 is controlled to move from a relative initial position toward a target edge of the battery positioning hole 100 .

[0078] It is understandable that the battery is provided with a battery positioning hole 100 on the side of the battery. When grabbing the battery, the gripper 200 needs to be aligned with the position of the battery positioning hole 100, and then extend into the battery positioning hole 100 to grab the battery through the battery positioning hole 100. In order to achieve smooth battery replacement, in the process of grabbing the battery, it is necessary to accurately locate the relative position between the gripper 200 and the battery positioning hole 100 to avoid the relative position deviation between the gripper 200 and the battery positioning hole 100, which causes the gripper 200 to be unable to extend into the battery positioning hole 100, thereby causing the battery replacement to fail.

[0079] Among them, when it is determined that the battery swap vehicle is in the battery swap area, it can be understood that a mechanical mechanism is used to roughly position the battery swap vehicle, such as using an external grating for positioning, that is, controlling the parking position (parking position) of the battery swap vehicle so that the battery to be replaced on the battery swap vehicle can be monitored by the external grating. At this time, the position information of the battery can be monitored by the external grating, and the position information can be fed back to the gripper control system. The gripper control system can determine that the battery swap vehicle is in the battery swap area at this time, and realize the rough positioning of the gripper 200 relative to the battery positioning hole 100.

[0080] The above-mentioned method of realizing the rough positioning of the gripper 200 relative to the battery positioning hole 100 is not limited to this, as long as the rough positioning position of the gripper 200 relative to the battery positioning hole 100 can be preliminarily obtained. Under normal circumstances, the rough positioning position is that the end surface of the gripper 200 facing the battery positioning hole 100 and the cross section of the battery positioning hole 100 intersect with each other, that is, the gripper 200 is not completely facing the battery positioning hole 100; if the gripper 200 is directly extended into the battery positioning hole 100 according to the current position, the gripper 200 will collide with the frame of the battery positioning hole 100, and the gripper 200 cannot be extended into the battery positioning hole 100. Therefore, after the rough positioning is completed, it is necessary to adjust the position and posture of the gripper 200 according to the positional relationship between the gripper 200 and the battery positioning hole 100 to ensure that the gripper 200 faces the battery positioning hole 100 and can smoothly extend into the battery positioning hole 100.

[0081] Among them, when the gripper 200 is controlled to move from the relative initial position to the target edge, it can be understood that after the positioning is started, the gripper control system first determines which gripper 200 to select for battery replacement. For example, there are two grippers 200 at the same time in the battery replacement station. According to the rough positioning position of the battery replacement vehicle, it is determined to select one of the grippers 200 for positioning. The gripper control system locally transfers the axis variables / IO variables of the selected gripper 200 to return the selected gripper 200, that is, to make the selected gripper 200 located at the initial zero position, and then controls the translation axis of the gripper 200 to move to the middle position of the grating (the position of the grating outside the battery replacement device), and then controls the lifting axis and walking axis of the gripper 200 to move to the relative initial position. The relative initial position can be understood as the end position of the rough positioning of the gripper 200, or the starting position of the fine positioning of the gripper 200, that is, starting from the relative initial position, the gripper 200 will enter the fine positioning program.

[0082] See also Figure 5 The relative initial position can be understood as the gripper 200 being located above the battery positioning hole 100. In the relative initial position, there is a certain gap between the gripper 200 and the battery, which facilitates the lifting and lowering movement of the gripper 200. In the relative initial position, even if the gripper 200 is translated toward the battery, it cannot effectively extend into the battery positioning hole 100, but directly collides with the upper frame of the battery positioning hole 100.

[0083] Among them, the above-mentioned target edge can be understood as the upper edge of the battery positioning hole 100, that is, the relative initial position of the gripper 200 is located above the battery positioning hole 100. When the gripper 200 moves from the relative initial position to the target edge, the lifting axis of the gripper 200 can descend at a speed of 8 mm / s. When the gripper 200 is at a certain distance from the upper edge of the battery positioning hole 100, such as 300 mm, the speed of the lifting axis of the gripper 200 can be reduced to allow the gripper 200 to slowly approach the upper edge of the battery positioning hole 100, thereby avoiding the lifting axis from moving too fast and exceeding the upper edge of the battery positioning hole 100, thereby causing the "beam finding" to fail, that is, the upper edge of the battery positioning hole 100 cannot be accurately positioned.

[0084] In some other embodiments, the target edge may also be the lower edge of the battery positioning hole 100, that is, when the gripper 200 moves from the relative initial position to the target edge, the lifting shaft of the gripper 200 may rise at a speed of, for example, 8 mm / s. When the gripper 200 is a certain distance away from the lower edge of the battery positioning hole 100, such as 300 mm, the speed of the lifting shaft of the gripper 200 may be reduced to allow the gripper 200 to slowly approach the lower edge of the battery positioning hole 100. In addition, the target edge may also be both the upper and lower edges of the battery positioning hole 100, as long as at least one of the two upper and lower edges of the battery positioning hole 100 can be monitored.

[0085] like Figure 5 and Figure 6 As shown, since the cross-sectional shape of the battery positioning hole 100 is a rectangle, that is, it includes two long sides and two short sides arranged oppositely, the two long sides arranged oppositely are respectively recorded as the first long side and the second long side; the two short sides arranged oppositely are respectively recorded as the first short side and the second short side, the above-mentioned target edge can be the first long side or the second long side. When the target edge is the first long side, it is equivalent to the gripper 200 being located above the battery positioning hole 100, and the gripper 200 needs to be lowered to "find the beam". When the target edge is the second long side, it is equivalent to the gripper 200 being located below the battery positioning hole 100, and the gripper 200 needs to be raised to "find the beam".

[0086] Figure 7 It is a schematic diagram of the gripper 200 provided by an embodiment of the present invention starting the translational movement from the position where the edge of the target is located.

[0087] Step S200: Refer to Figure 7 When it is determined that the gripper 200 has moved to the target edge, the gripper 200 is controlled to start translational movement from the position where the target edge is located, and a first deflection angle of the gripper 200 relative to the target edge is determined according to the movement result.

[0088] It can be understood that when the gripper 200 moves downward along the vertical direction (Z-axis direction) to a position aligned with the target edge (first long side) of the battery positioning hole 100, the gripper control system controls the gripper 200 to stop moving downward along the Z-axis. At this time, the gripper control system controls the gripper 200 to start moving from the position where the target edge is located, that is, the gripper 200 starts moving from the position where the target edge is located along the Z-axis. Figure 7 The gripper 200 can move along the Y-axis direction shown in FIG. Figure 7 The left side of the Y axis can also be moved along Figure 7 As shown in the right movement in the Y-axis direction, during the movement, the gripper control system can obtain multiple groups of first distance values ​​between a certain position on the gripper 200 and the first long side, and the servo position corresponding to each group of first distance values, so that the first deflection angle of the gripper 200 relative to the first long side can be determined based on the multiple groups of first distance values ​​and their corresponding servo positions.

[0089] Figure 8 It is a schematic diagram of adjusting the gripper 200 to a first target posture corresponding to a first deflection angle provided by an embodiment of the present invention.

[0090] Step 300, see Figure 8 , according to a first deflection angle of the gripper 200 relative to the target edge, the gripper 200 is adjusted to a first target posture corresponding to the first deflection angle.

[0091] It is understandable that after accurately determining the first deflection angle of the gripper 200 relative to the battery positioning hole 100, it is necessary to adjust the gripper 200 to a first target posture corresponding to the first deflection angle according to the first deflection angle to ensure that the gripper 200 can be aligned with the battery positioning hole 100 so as to accurately extend into the interior of the battery positioning hole 100.

[0092] Specifically, a specific method for adjusting the gripper 200 to the first target posture corresponding to the first deflection angle according to the first deflection angle may be to first determine the position of the gripper 200 in the battery positioning hole 100. For example, if the first deflection angle of the gripper 200 relative to the battery positioning hole 100 is positive, the gripper 200 is tilted relative to the upper right of the battery positioning hole 100, and then the gripper 200 is controlled to rotate clockwise at the first deflection angle so that the gripper 200 is aligned with the battery positioning hole 100. As long as the gripper 200 can be controlled to rotate to a position directly opposite to the battery positioning hole 100, any rotation method may be used.

[0093] Fig. 9 It is a schematic diagram of the gripper 200 moving to a preset target position according to an embodiment of the present invention.

[0094] Step 400, see Fig. 9 According to the adjustment result, the gripper 200 is controlled to move to the preset target position, and when the gripper 200 moves to the preset target position, the gripper 200 is controlled to extend into the battery positioning hole 100, and the battery is grabbed after locking with the battery positioning hole 100.

[0095] It is understandable that after adjusting the relative position of the gripper 200 and the battery positioning hole 100, the gripper 200 can be extended from the side of the battery positioning hole 100 into the inside of the battery positioning hole 100, and the precise adjustment of the position of the gripper 200 is completed. Then the gripper 200 and the battery positioning hole 100 are controlled to be locked or fixed to complete the gripping of the battery. For example, when the gripper 200 extends from the side of the battery positioning hole 100 into the inside of the battery positioning hole 100, two pins are controlled by a driving member such as a cylinder to extend from the side of the gripper respectively, so as to be inserted into the pin holes on the side walls of the battery positioning hole 100, so as to fix the gripper 200 and the battery positioning hole 100.

[0096] The specific method of controlling the movement of the gripper 200 is not specifically limited, as long as the gripper 200 can be moved to the inside of the battery positioning hole 100, for example, the gripper control system controls the translation axis of the gripper 200 to move along the following Fig.12 The X-direction movement shown is to allow the gripper 200 to extend from the outside of the battery into the inside of the battery positioning hole 100 , thereby completing the relative positioning between the battery and the gripper 200 .

[0097] In addition, when the gripper 200 moves to the inside of the battery positioning hole 100 and is locked or fixed with the battery positioning hole 100, the existing locking or fixing method is adopted, which will not be elaborated here. As long as the position between the gripper 200 and the battery positioning hole 100 can be fixed, it is ensured that the gripper 200 can grab the corresponding battery for battery replacement.

[0098] The battery grasping and positioning method provided by the embodiment of the present invention controls the gripper 200 to move from a relative initial position to a target edge of the battery positioning hole 100 when it is determined that the battery swapping vehicle is in a battery swapping area; when it is determined that the gripper 200 has moved to the target edge, the gripper 200 is controlled to start translational movement from the position where the target edge is located, and a first deflection angle of the gripper 200 relative to the target edge is determined according to the movement result; according to the first deflection angle of the gripper 200 relative to the target edge, the gripper 200 is adjusted to a first target posture corresponding to the first deflection angle; according to the adjustment result, the gripper 200 is controlled to move to a preset target position, and when the gripper 200 moves to the preset target position, the gripper 200 is controlled to extend into the interior of the battery positioning hole 100 to grab the battery. The entire positioning process is simple and the positioning accuracy is high. At the same time, the number of sensors used is small, which can effectively reduce the cost of the positioning system.

[0099] In some embodiments of the present invention, in the above step S200, controlling the gripper 200 to start translational motion from the position where the target edge is located, and determining the first deflection angle of the gripper 200 relative to the target edge according to the motion result specifically includes the following steps:

[0100] Step S201: acquiring a plurality of sets of first distance values ​​between the gripper 200 and the target edge during the translational movement from the position where the target edge is located, and the servo position corresponding to the gripper 200 during the translational movement.

[0101] It is understandable that at least two distance sensors are arranged at intervals on the front end surface of the gripper 200 facing the battery. The distance sensor may be a laser distance measuring sensor, or may be an ultrasonic sensor, a line scanning laser, a laser radar, or other sensors that can obtain distance information. The following description is made by taking two distance sensors, namely S1 and S2, as an example. Among them, the number of distance sensors S1 and distance sensors S2 installed on the front end surface of the gripper 200 facing the battery is not clearly limited, and can be increased or decreased accordingly according to actual usage. When the number of distance sensors S1 and distance sensors S2 is reduced, the positioning time is correspondingly extended; when the number of distance sensors S1 and distance sensors S2 is increased, the positioning time is correspondingly shortened. In particular, when two or less distance sensors are used on the front end surface of the gripper 200 facing the battery, the present invention can achieve the best use effect, with low positioning cost and can maximize the application efficiency of each sensor.

[0102] When the gripper 200 starts the translational movement from the position where the target edge is located, for example, the translation axis of the gripper 200 translates forward or backward by 100 mm to collect multiple sets of data points of the target edge (beam), the position information of the translation axis is fed back to the gripper control system accordingly. That is, the distance sensor S1 monitors multiple sets of first distance values ​​ZD1 between the gripper 200 and the target edge (i.e., the first long side), and the distance sensor S2 monitors multiple sets of first distance values ​​ZD2 between the gripper 200 and the target edge (i.e., the first long side), and each set of first distance values ​​ZD1 and each set of first distance values ​​ZD2 correspond to a servo position.

[0103] Step S202: determining a first deflection angle of the gripper 200 relative to the target edge according to a plurality of sets of first distance values ​​and corresponding servo positions.

[0104] It is understandable that a corresponding first coordinate system is established according to multiple sets of first distance values ​​and corresponding servo positions, for example, a rectangular coordinate system is established with the servo position as the horizontal coordinate and multiple sets of first distance values ​​as the vertical coordinate. The least square method is used to fit a first oblique line close to the target edge (i.e., the first long side) in the first coordinate system. Since the least square method is used to fit a straight line, it is not specifically limited. When the least square method is used to fit a straight line, the slope of the fitted straight line can be obtained. Therefore, the first deflection angle of the gripper 200 relative to the target edge can be determined according to the slope of the oblique line. Then, the gripper 200 is controlled to rotate the first deflection angle to align with the position of the battery positioning hole 100.

[0105] In addition, it should be noted that when the least squares method is used to calculate the first deflection angle of the gripper 200 relative to the target edge (i.e., the battery), the parking angle can be checked to see if it satisfies plus or minus 2°. If the parking angle satisfies plus or minus 2°, the gripper control system controls the assistant to rotate the first deflection angle so that the gripper 200 is aligned with the battery positioning hole 100; if the parking angle does not satisfy plus or minus 2°, the gripper control system issues an abnormal positioning failure alarm, and then the various axes of the gripper 200 return to their original positions, and the positioning fails.

[0106] Fig.10 is a schematic diagram of the gripper 200 provided in an embodiment of the present invention obtaining a first sampling point on a first side; Fig.11 It is a schematic diagram of the gripper 200 provided in an embodiment of the present invention acquiring a second sampling point on a second side.

[0107] See also Fig.10 and Fig.11In some embodiments of the present invention, in the above step S400, the gripper 200 is controlled to move to a preset target position according to the adjustment result, and when the gripper 200 moves to the preset target position, the gripper 200 is controlled to extend into the battery positioning hole 100 to grab the battery, which specifically includes the following steps:

[0108] Step S401: when the gripper 200 moves to a preset target position, the gripper 200 is controlled to move in a first direction to obtain a first sampling point on a first side.

[0109] It is understood that after the gripper 200 is aligned with the battery positioning hole 100, Fig. 9 , the gripper control system controls the gripper 200 to descend to a position where it can translate and extend into the battery positioning hole 100. This position is recorded as the preset target position, that is, the preset target position is where the gripper 200 can translate and extend into the battery positioning hole 100. However, in fact, at this preset target position, there is still a certain gap between the gripper 200 and the battery. In this way, when the gripper 200 is controlled to move in the first direction to obtain the first sampling point on the first side, the gripper 200 will not interfere with or collide with the inner wall of the battery positioning hole 100. Therefore, at this preset target position, Fig.10 As shown, the gripper 200 can be controlled to move in a first direction to obtain a first sampling point on the first side. The first sampling point can be understood as the distance value between the gripper 200 and the left side frame of the battery positioning hole 100 when the gripper 200 is facing the battery positioning hole 100. The position of the left side frame of the battery positioning hole 100 can be determined based on the distance value.

[0110] Step S402: when it is determined that the gripper 200 has acquired the first sampling point, the gripper 200 is controlled to move in a second direction away from the first direction to acquire a second sampling point on the second side.

[0111] It is understandable that if Fig.11 As shown, the second sampling point can be understood as the distance value between the gripper 200 and the right side frame of the battery positioning hole 100 when the gripper 200 is facing the battery positioning hole 100. The position of the right side frame of the battery positioning hole 100 can be determined according to the distance value.

[0112] Fig.12 It is a schematic diagram of the gripper provided by an embodiment of the present invention moving to the midpoint position.

[0113] Step S403: Determine the midpoint position of the gripper 200 relative to the battery positioning hole 100 according to the first sampling point and the second sampling point, and when the gripper 200 moves to the midpoint position, control the gripper 200 to extend into the battery positioning hole 100 to grab the battery.

[0114] See also Fig.12 It can be understood that by monitoring the first sampling point and the second sampling point, the midpoint position of the battery positioning hole 100 in the width direction can be determined, so that the gripper 200 can be moved to the midpoint position to ensure that after the gripper 200 is translated into the interior of the battery positioning hole 100, the distances between the two sides of the gripper 200 and the hole wall of the battery positioning hole 100 are almost equal, which can further improve the position accuracy of the gripper 200 relative to the battery positioning hole 100.

[0115] In addition, after the midpoint position of the battery positioning hole 100 in the width direction can be determined by monitoring the first sampling point and the second sampling point, the accuracy of the midpoint position can be determined by centering verification. After the centering verification, the translation axis of the gripper 200 moves to the theoretical position. After the translation axis of the gripper 200 moves to the theoretical position, it can also be verified by anti-collision photoelectric verification. After the verification is completed, the translation axis of the gripper 200 continues to translate forward.

[0116] Fig.13 Schematic diagram of the gripper 200 provided by an embodiment of the present invention moving along the depth direction of the battery positioning hole 100 .

[0117] See also Fig.13 In some embodiments of the present invention, the battery grabbing and positioning method further includes the following steps:

[0118] Step S500: Control the gripper 200 to move along the depth direction of the battery positioning hole 100, and determine the second deflection angle of the gripper 200 relative to the side wall of the battery positioning hole 100 according to the movement result; adjust the gripper 200 to a second target posture corresponding to the second deflection angle according to the second deflection angle of the gripper 200 relative to the side wall of the battery positioning hole 100; and control the gripper 200 to extend into a preset gripping position of the battery positioning hole 100 according to the adjustment result.

[0119] It can be understood that the battery grasping and positioning method provided in the embodiment of the present invention also includes secondary positioning of the gripper 200 to further improve the positioning accuracy.

[0120] Specifically, at least two distance sensors are installed at intervals on the side wall of the gripper 200. The distance sensor may be a laser distance measuring sensor, or may be an ultrasonic sensor, a line scanning laser, a laser radar, or other sensors that can obtain distance information. The following description is made by taking two distance sensors, namely S3 and S4, as an example. Among them, the number of distance sensors S3 and S4 installed on the side wall of the gripper 200 is not clearly limited, and can be increased or decreased accordingly according to actual usage. When the number of distance sensors S3 and S4 is reduced, the positioning time is correspondingly extended; when the number of distance sensors S3 and S4 is increased, the positioning time is correspondingly shortened. In particular, when two or less distance sensors are used on the side wall of the gripper 200, the present invention can achieve the best use effect, with low positioning cost and can maximize the application efficiency of each sensor.

[0121] When the gripper 200 is controlled to move along the depth direction of the battery positioning hole 100, multiple groups of data points are collected between the side wall of the gripper 200 and the inner wall of the battery positioning hole 100. That is, the distance sensor S3 monitors multiple groups of first distance values ​​CD1 between the side wall of the gripper 200 and the inner wall of the battery positioning hole 100, and the distance sensor S2 monitors multiple groups of first distance values ​​CD2 between the side wall of the gripper 200 and the inner wall of the battery positioning hole 100, and each group of first distance values ​​CD1 and each group of first distance values ​​CD2 correspond to a servo position.

[0122] A corresponding second coordinate system is established according to multiple sets of second distance values ​​and corresponding servo positions, and a second oblique line close to the side wall of the battery positioning hole 100 is fitted in the second coordinate system using the least square method; a second deflection angle of the gripper 200 relative to the side wall of the battery positioning hole 100 is determined according to the slope of the second oblique line. The deflection positioning method is the same as the above positioning method, and the above positioning method can be found in detail, which will not be described here.

[0123] In some embodiments of the present invention, controlling the gripper 200 to extend into the preset gripping position of the battery positioning hole 100 according to the adjustment result further includes:

[0124] The third distance value of the end face of the gripper 200 relative to the inner wall of the battery positioning hole 100 is obtained, and the gripper 200 is controlled to extend to the preset gripping position of the battery positioning hole 100 according to the third distance value. The preset gripping position can be understood as the gripping position of the gripper 200 extending into the battery positioning hole 100. That is, when at least one of the distance sensors S1 and S2 detects that the distance value ZD between the front end face of the gripper 200 and the inner wall of the battery positioning hole 100 is less than the preset distance threshold, the gripper control system controls the gripper 200 to stop moving. If the gripper 200 continues to move, it will hit the inner wall of the battery positioning hole 100.

[0125] It can be understood that when the gripper 200 is extended into the battery positioning hole 100, the distance sensors S1 and S2 can also monitor the distance between the gripper 200 and the inner wall of the battery positioning hole 100, so that the gripper control system controls the gripper 200 to extend into the appropriate position of the battery positioning hole 100, avoiding the gripper 200 from extending too deep or too shallow, and ensuring that the gripper 200 does not touch the inner wall of the battery positioning hole 100 when extending into the battery positioning hole 100, thereby improving the efficiency of battery grasping.

[0126] The battery grasping and positioning method provided in the embodiment of the present invention can complete the positioning between the gripper 200 and the battery positioning hole 100 by installing at least two distance sensors S1 and S2 on the same mounting surface. Compared with the related technology, the number of sensors can be reduced, and the cost of the battery grasping and positioning system can be reduced. At the same time, fewer sensors are used, which reduces the monitoring data, and can further simplify the positioning process to ensure a better positioning effect.

[0127] Fig.14a This is one of the flow charts of the battery grabbing and positioning method provided by an embodiment of the present invention; Fig.14b FIG. 2 is a flow chart of a battery grabbing and positioning method provided by an embodiment of the present invention, wherein Fig.14a and Fig.14b Can be combined into a flow chart, for easy viewing, split it into Fig.14a and Fig.14b .

[0128] See also Fig.14a and Fig.14b ,In some embodiments of the present invention, the battery grasping and positioning method further includes: monitoring the positioning times of the gripper 200, and judging whether the battery is positioned successfully according to the positioning times;

[0129] If the number of positioning times of the gripper 200 is greater than or equal to 3 times, a positioning failure abnormal alarm is issued to control the servo system of the gripper 200 to reset.

[0130] If the number of positioning times of the gripper 200 is less than 3 times, the gripper 200 is controlled to move from the relative initial position to the target edge of the battery positioning hole 100 .

[0131] The present invention also provides a battery grabbing and positioning device, which comprises a first control module, a second control module, a posture adjustment module and a third control module.

[0132] Among them, the first control module is used to control the gripper 200 to move from a relative initial position to a target edge of the battery positioning hole 100 when it is determined that the battery-swapping vehicle is in the battery-swapping area.

[0133] The second control module is used to control the gripper 200 to start translational motion from the position of the target edge when it is determined that the gripper 200 has moved to the target edge, and determine a first deflection angle of the gripper 200 relative to the target edge according to the motion result.

[0134] The posture adjustment module is used to adjust the gripper 200 to a first target posture corresponding to the first deflection angle according to the first deflection angle of the gripper 200 relative to the target edge.

[0135] The third control module is used to control the gripper 200 to move to a preset target position according to the adjustment result, and when the gripper 200 moves to the preset target position, control the gripper 200 to extend into the battery positioning hole 100 to grab the battery.

[0136] The battery grasping and positioning device provided in the embodiment of the present invention controls the gripper 200 to move from a relative initial position to a target edge of the battery positioning hole 100 when the first control module determines that the battery swapping vehicle is in the battery swapping area; the second control module controls the gripper 200 to start translational movement from the position where the target edge is located when it is determined that the gripper 200 has moved to the target edge, and determines a first deflection angle of the gripper 200 relative to the target edge according to the movement result; the posture adjustment module adjusts the gripper 200 to a first target posture corresponding to the first deflection angle according to the first deflection angle of the gripper 200 relative to the target edge; the third control module controls the gripper 200 to move to a preset target position according to the adjustment result, and when the gripper 200 moves to the preset target position, controls the gripper 200 to extend into the interior of the battery positioning hole 100 to grab the battery. The entire positioning process is simple and the positioning accuracy is high. At the same time, a small number of sensors are used, which can effectively reduce the cost of the positioning system and improve the battery grabbing efficiency.

[0137] Furthermore, the second control module in the embodiment of the present invention is specifically used for:

[0138] The gripper 200 is controlled to start translational movement from the position where the target edge is located, so as to obtain multiple sets of first distance values ​​between the gripper 200 and the target edge during the translational movement from the position where the target edge is located, and the corresponding servo position of the gripper 200.

[0139] Furthermore, the second control module in the embodiment of the present invention is also specifically used for:

[0140] When the gripper 200 moves to the preset target position, the gripper 200 is controlled to move in a first direction to obtain a first sampling point on the first side; and when it is determined that the gripper 200 has obtained the first sampling point, the gripper 200 is controlled to move in a second direction away from the first direction to obtain a second sampling point on the second side.

[0141] Furthermore, the third control module in the embodiment of the present invention is specifically used to control the gripper 200 to move along the depth direction of the battery positioning hole 100 .

[0142] The present invention also provides a battery exchange device, which includes a device body and the above-mentioned battery grasping and positioning device, and the battery grasping and positioning device is arranged on the mechanical body.

[0143] Fig.15 An example of a physical structure diagram of an electronic device is shown.

[0144] like Fig.15 As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication interface 820 and the memory 830 communicate with each other through the communication bus 840. The processor 810 may call the logic instructions in the memory 830 to execute the above-mentioned battery grasping and positioning method.

[0145] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0146] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the battery grasping and positioning methods provided by the above methods.

[0147] On the other hand, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the computer program is executed by a processor to execute the battery grasping and positioning methods provided by the above methods.

[0148] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0149] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0150] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A battery grabbing and positioning method, characterized in that: include: When it is determined that the battery swapping vehicle is in the battery swapping area, the gripper is controlled to move from a relative initial position to a target edge of the battery positioning hole; When it is determined that the gripper moves to the target edge, the gripper is controlled to start translational movement from the position where the target edge is located, and two distance sensors S1 and S2 on the front end surface of the gripper are used to obtain multiple groups of first distance values ​​between the gripper and the target edge during the translational movement from the position where the target edge is located, as well as the servo position corresponding to the gripper during the translational movement; a first deflection angle of the gripper relative to the target edge is determined based on the multiple groups of the first distance values ​​and the corresponding servo positions; According to a first deflection angle of the gripper relative to the target edge, adjusting the gripper to a first target posture corresponding to the first deflection angle; Control the gripper to move to a preset target position according to the adjustment result, and when the gripper moves to the preset target position, control the gripper to move in a first direction to obtain a first sampling point of a first side edge by using a distance sensor S1; When it is determined that the gripper obtains the first sampling point, the gripper is controlled to move in a second direction away from the first direction, and a second sampling point of a second side is obtained by using a distance sensor S2; Determining a midpoint position of the gripper relative to the battery positioning hole according to the first sampling point and the second sampling point; When it is determined that the gripper moves to the midpoint position, the gripper is controlled to extend into the battery positioning hole and move along the depth direction of the battery positioning hole, and a second deflection angle of the gripper relative to the side wall of the battery positioning hole is determined according to the movement result; Based on the second deflection angle, adjusting the gripper to move to a second target posture corresponding to the second deflection angle; The gripper is controlled to extend into the battery positioning hole according to the adjustment result, and a third distance value of the end face of the gripper relative to the inner wall of the battery positioning hole is obtained by using the distance sensor S1 or S2. The gripper is controlled to extend into a preset gripping position of the battery positioning hole according to the third distance value, and the battery is gripped after locking with the battery positioning hole.

2. The battery grabbing and positioning method according to claim 1, characterized in that: Determining a first deflection angle of the gripper relative to the target edge according to a plurality of sets of the first distance values ​​and corresponding servo positions includes: Establishing a corresponding first coordinate system according to the plurality of sets of the first distance values ​​and the corresponding servo positions, and fitting a first oblique line close to the target edge in the first coordinate system by using a least square method; A first deflection angle of the gripper relative to the target edge is determined according to the slope of the first oblique line.

3. The battery grabbing and positioning method according to claim 1, characterized in that: Controlling the gripper to move along the depth direction of the battery positioning hole, and determining a second deflection angle of the gripper relative to the side wall of the battery positioning hole according to the movement result, comprising: Acquire multiple sets of second distance values ​​between the gripper and the side wall of the battery positioning hole during the gripper's movement along the depth direction of the battery positioning hole, and the servo position corresponding to the gripper's movement along the depth direction of the battery positioning hole; Establishing a corresponding second coordinate system according to the plurality of sets of the second distance values ​​and the corresponding servo positions, and fitting a second oblique line close to the side wall of the battery positioning hole in the second coordinate system by using the least square method; A second deflection angle of the gripper relative to the side wall of the battery positioning hole is determined according to the slope of the second oblique line.

4. The battery grabbing and positioning method according to any one of claims 1 to 3, characterized in that: Also includes: Monitoring the number of positioning times of the gripper, and judging whether the battery is positioned successfully according to the number of positioning times; If the gripper has been positioned for 3 or more times, a positioning failure abnormal alarm is issued to control the gripper's servo system to reset; If the gripper has been positioned for less than three times, the gripper is controlled to move from a relative initial position to a target edge of the battery positioning hole.

5. A battery grabbing and positioning device, characterized in that: include: The first control module is used to control the gripper to move from a relative initial position to a target edge of the battery positioning hole when it is determined that the battery swapping vehicle is in the battery swapping area; A second control module is used for controlling the gripper to start translational movement from the position where the target edge is located when it is determined that the gripper moves to the target edge, and obtaining multiple groups of first distance values ​​between the gripper and the target edge during the translational movement from the position where the target edge is located, and the servo position corresponding to the gripper during the translational movement by using two distance sensors S1 and S2 on the front end surface of the gripper; determining a first deflection angle of the gripper relative to the target edge according to the multiple groups of the first distance values ​​and the corresponding servo positions; a posture adjustment module, configured to adjust the gripper to a first target posture corresponding to a first deflection angle of the gripper relative to the target edge; The third control module is used to control the gripper to move to a preset target position according to the adjustment result, and when the gripper moves to the preset target position, control the gripper to extend into the battery positioning hole to grab the battery, including: When the gripper moves to the preset target position, the gripper is controlled to move in a first direction to obtain a first sampling point of a first side edge by using the distance sensor S1; When it is determined that the gripper obtains the first sampling point, the gripper is controlled to move in a second direction away from the first direction, and a second sampling point of a second side is obtained by using a distance sensor S2; and a midpoint position of the gripper relative to the battery positioning hole is determined according to the first sampling point and the second sampling point; When it is determined that the gripper moves to the midpoint position, controlling the gripper to extend into the battery positioning hole; The battery gripping and positioning device is also used to control the gripper to move along the depth direction of the battery positioning hole, and determine a second deflection angle of the gripper relative to the side wall of the battery positioning hole according to the movement result; based on the second deflection angle, adjust the gripper to move to a second target posture corresponding to the second deflection angle; The gripper is controlled to extend into the battery positioning hole according to the adjustment result, and a third distance value of the end face of the gripper relative to the inner wall of the battery positioning hole is obtained by using the distance sensor S1 or S2. The gripper is controlled to extend into a preset gripping position of the battery positioning hole according to the third distance value, and the battery is gripped after locking with the battery positioning hole.

6. A battery replacement device, characterized in that: It comprises a device body and the battery grabbing and positioning device according to claim 5, wherein the battery grabbing and positioning device is arranged on the device body.

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