Flexible hoisting type battery replacement method and device

Abstract

The embodiment of the invention provides a flexible hoisting type battery replacing method and device. The method comprises the following steps: parking a mining truck to be subjected to battery replacement at a target battery replacement station; respectively acquiring images of a new battery and a battery interface area of the mining truck by using a high-definition camera arranged in the target battery replacement station; based on the images of the new battery and the battery interface area of the mining truck, respectively determining the position information of the new battery and the position information of the battery interface area of the mining truck; based on the position information of the new battery and the position information of the battery interface area of the mining truck, the new battery is hoisted to the battery interface position of the mining truck through flexible hoisting equipment, and battery replacement of the mining truck is completed. Through the combination of the image recognition technology and the flexible hoisting equipment, the battery replacement precision and speed are improved, human intervention and potential risks are reduced, and powerful support is provided for efficient operation of mining trucks.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of rapid replacement of power batteries for mining trucks, and in particular to a flexible hoisting-type battery replacement method and device. Background Art

[0002] As electric mining trucks are increasingly used, rapid battery replacement has become the key to improving vehicle operating efficiency.

[0003] Traditional battery replacement methods rely on manual operations, including removing old batteries, carrying new batteries, and reinstalling them. These manual operations are not only time-consuming, but also prone to errors, increasing replacement time and costs. In addition, traditional battery replacement methods usually do not integrate automated equipment and intelligent systems, resulting in low accuracy in key links such as battery positioning, docking, and fixing, affecting replacement speed and quality.

[0004] Therefore, it is particularly important to develop a technology that can complete battery replacement efficiently and safely. Summary of the invention

[0005] The embodiments of the present invention aim to solve at least one of the technical problems existing in the prior art, and provide a flexible hoisting type battery replacement method and device.

[0006] In the first aspect, an embodiment of the present invention provides a flexible suspension type battery replacement method.

[0007] The methods include:

[0008] Park the mining truck to be replaced at the target battery replacement station;

[0009] Using a high-definition camera installed at the target battery swap station, images of the new battery and the battery interface area of ​​the mining truck are respectively acquired;

[0010] Based on the images of the new battery and the battery interface area of ​​the mining truck, respectively determining the position information of the new battery and the position information of the battery interface area of ​​the mining truck;

[0011] Based on the location information of the new battery and the location information of the battery interface area of ​​the mining truck, the new battery is hoisted to the battery interface position of the mining truck by flexible hoisting equipment to complete the battery replacement of the mining truck.

[0012] In some possible embodiments, the determining the position information of the new battery and the position information of the battery interface area of ​​the mining truck respectively based on the images of the new battery and the battery interface area of ​​the mining truck includes:

[0013] Based on the contour recognition algorithm, respectively identifying the contour pixel coordinates of the battery interface area of ​​the new battery and the mining truck from the images of the battery interface area of ​​the new battery and the mining truck;

[0014] The identified outline pixel coordinates of the new battery and the battery interface area of ​​the mining truck are converted into their position coordinates in the world coordinate system, and the position information of the new battery and the battery interface area of ​​the mining truck are obtained respectively.

[0015] In some possible embodiments, the method of hoisting the new battery to the battery interface position of the mining truck by a flexible hoisting device based on the position information of the new battery and the position information of the battery interface area of ​​the mining truck includes:

[0016] Determine a hoisting path from the new battery to the battery interface position of the mining truck based on the position coordinates of the contours of the new battery and the battery interface area of ​​the mining truck in the world coordinate system;

[0017] Based on the lifting path, the new battery is lifted to the battery interface position of the mining truck by flexible lifting equipment.

[0018] In some possible embodiments, the flexible lifting equipment includes a steel wire rope and a spring shock absorber.

[0019] In a second aspect, an embodiment of the present invention provides a flexible suspension type power exchange device, the device comprising:

[0020] An acquisition module, used to acquire images of the battery interface area of ​​the new battery and the mining truck respectively using a high-definition camera set up at the target battery swap station;

[0021] a processing module, configured to determine position information of the new battery and position information of the battery interface area of ​​the mining truck, respectively, based on images of the new battery and the battery interface area of ​​the mining truck;

[0022] The lifting module is used to lift the new battery to the battery interface position of the mining truck through flexible lifting equipment based on the position information of the new battery and the position information of the battery interface area of ​​the mining truck, so as to complete the battery replacement of the mining truck.

[0023] In some possible embodiments, the processing module is further configured to:

[0024] Based on the contour recognition algorithm, respectively identifying the contour pixel coordinates of the battery interface area of ​​the new battery and the mining truck from the images of the battery interface area of ​​the new battery and the mining truck;

[0025] The identified outline pixel coordinates of the new battery and the battery interface area of ​​the mining truck are converted into their position coordinates in the world coordinate system, and the position information of the new battery and the battery interface area of ​​the mining truck are obtained respectively.

[0026] In some possible embodiments, the hoisting module is further used for:

[0027] Determine a hoisting path from the new battery to the battery interface position of the mining truck based on the position coordinates of the contours of the new battery and the battery interface area of ​​the mining truck in the world coordinate system;

[0028] Based on the lifting path, the new battery is lifted to the battery interface position of the mining truck by flexible lifting equipment.

[0029] In some possible embodiments, the flexible lifting equipment includes a steel wire rope and a spring shock absorber.

[0030] In a third aspect, an embodiment of the present invention provides an electronic device, including:

[0031] one or more processors;

[0032] A storage unit is used to store one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors can implement the method described above.

[0033] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, can implement the method described above.

[0034] In a fifth aspect, an embodiment of the present invention provides a computer program product, including a computer program, which, when executed by a processor, can implement the method described above.

[0035] The flexible hoisting battery replacement method and device of the embodiment of the present invention, combined with a high-definition camera and intelligent image recognition technology, realizes the efficient and safe replacement of mining truck batteries. The high-definition camera can capture high-resolution images of the battery and the mining car interface area, and the image recognition technology can accurately determine their position and posture. In addition, taking images from multiple angles ensures the comprehensiveness and accuracy of the position information and reduces errors. The image recognition system can provide position information in real time, guide the flexible hoisting equipment to automatically complete the hoisting and installation of the battery, and reduce human intervention. During the entire hoisting process, the system can update the position information in real time, dynamically adjust the position and posture of the hoisting equipment, and ensure that the battery is installed smoothly and accurately. Finally, through image recognition technology, the position of the battery and the interface can be determined quickly and accurately, shortening the positioning time, and the automated operation reduces the need for human intervention and improves the overall efficiency of battery replacement. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1 This is a flow chart of a flexible hoisting type battery replacement method according to an embodiment of the present invention;

[0038] Figure 2 It is a schematic structural diagram of a flexible hanging type battery exchange device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0039] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the described embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work are within the scope of protection of the present invention.

[0040] Unless otherwise specified, the technical terms or scientific terms used in the embodiments of the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. "Including" or "comprising" used in the embodiments of the present invention neither limit the shapes, numbers, steps, actions, operations, components, originals and / or their groups mentioned, nor exclude the appearance or addition of one or more other different shapes, numbers, steps, actions, operations, components, originals and / or their groups, or the addition of these. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number and order of the indicated technical features. Thus, the features defined as "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the embodiments of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0041] Unless otherwise specifically stated, the relative arrangement of the components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship, and the techniques, methods and devices known to ordinary technicians in the relevant fields may not be discussed in detail, but where appropriate, the techniques, methods and devices shown should be considered as part of the authorized specification. In all examples shown and discussed here, any specific other examples may have different values. It should be noted that similar symbols and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0042] In the description of the embodiments of the present invention, 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 present invention. In the embodiments of the present invention, the schematic representations of the above terms do not necessarily refer to the same embodiments or examples. 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 the embodiments of the present invention and the features of the different embodiments or examples, without contradiction.

[0043] Below, the exemplary embodiments according to the present invention will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments of the present invention, and it should be understood that the present invention is not limited to the exemplary embodiments described here.

[0044] like Figure 1 As shown, an embodiment of the present invention relates to a flexible suspension type battery replacement method, the method comprising the following steps S101 to S104:

[0045] Step S101: Park the mining truck to be replaced at the target battery replacement station.

[0046] Specifically, in this step, the current battery status of the mining truck can be determined through the vehicle-mounted system or external detection equipment to determine whether it needs to be replaced. If it is determined that the current battery of the mining truck needs to be replaced, the mining truck is parked at the target battery swap station, and the current old battery on the mining truck is removed and enters the waiting for replacement state.

[0047] Step S102: using a high-definition camera installed at the target battery swap station, respectively obtain images of the new battery and the battery interface area of ​​the mining truck.

[0048] Specifically, in this step, after the mining truck stops at the target battery swap station, one or more high-definition cameras installed at the target battery swap station are activated to start capturing images of the battery interface area of ​​the mining truck and images of the new battery area.

[0049] It should be noted that, in this step, in order to obtain accurate images, the high-definition camera can shoot the battery interface area of ​​the mining truck from different angles to generate multiple high-resolution images.

[0050] Step S103: Based on the images of the new battery and the battery interface area of ​​the mining truck, respectively determine the position information of the new battery and the position information of the battery interface area of ​​the mining truck.

[0051] Specifically, in this step, the collected images of the new battery and the battery interface area of ​​the mining truck can be pre-processed by denoising and enhancement to ensure image quality. After that, the image processing and analysis algorithm can be used to determine the location information of the new battery and the battery interface area of ​​the mining truck.

[0052] In some embodiments, the determining the position information of the new battery and the position information of the battery interface area of ​​the mining truck based on the images of the new battery and the battery interface area of ​​the mining truck, respectively, includes: identifying the contour pixel coordinates of the new battery and the battery interface area of ​​the mining truck from the images of the battery interface area of ​​the new battery and the mining truck based on a contour recognition algorithm; converting the identified contour pixel coordinates of the new battery and the battery interface area of ​​the mining truck into their position coordinates in the world coordinate system, to obtain the position information of the new battery and the position information of the battery interface area of ​​the mining truck, respectively.

[0053] Step S104: Based on the location information of the new battery and the location information of the battery interface area of ​​the mining truck, the new battery is hoisted to the battery interface position of the mining truck by flexible hoisting equipment to complete the battery replacement of the mining truck.

[0054] Specifically, in this step, the lifting path from the new battery to the battery interface position of the mining truck can be determined based on the position coordinates of the contours of the new battery and the battery interface area of ​​the mining truck in the world coordinate system; based on the lifting path, the new battery can be lifted to the battery interface position of the mining truck by flexible lifting equipment.

[0055] In some possible embodiments, the flexible lifting equipment includes a steel wire rope and a spring shock absorber, etc.

[0056] The flexible hoisting battery replacement method of the embodiment of the present invention, combined with a high-definition camera and intelligent image recognition technology, realizes the efficient and safe replacement of mining truck batteries. The high-definition camera can capture high-resolution images of the battery and the mine car interface area, and the image recognition technology can accurately determine their position and posture. In addition, images are captured from multiple angles to ensure the comprehensiveness and accuracy of the position information and reduce errors. The image recognition system can provide position information in real time, guide the flexible hoisting equipment to automatically complete the hoisting and installation of the battery, and reduce human intervention. During the entire hoisting process, the system can update the position information in real time, dynamically adjust the position and posture of the hoisting equipment, and ensure that the battery is installed smoothly and accurately. Finally, through image recognition technology, the position of the battery and the interface can be quickly and accurately determined, shortening the positioning time. Automated operation reduces the need for human intervention and improves the overall efficiency of battery replacement.

[0057] Based on the same inventive concept, an embodiment of the present invention provides a flexible hanging type battery replacement device, which can be applied to the method described above. For details, please refer to the relevant records in the above text and will not be repeated here.

[0058] like Figure 2 As shown, the device includes: an acquisition module 201, a processing module 202 and a hoisting module 203. The acquisition module 201 is used to use a high-definition camera set at the target battery swap station to respectively acquire images of the new battery and the battery interface area of ​​the mining truck. The processing module 202 is used to determine the position information of the new battery and the position information of the battery interface area of ​​the mining truck based on the images of the new battery and the battery interface area of ​​the mining truck. The hoisting module 203 is used to hoist the new battery to the battery interface position of the mining truck through a flexible hoisting device based on the position information of the new battery and the position information of the battery interface area of ​​the mining truck to complete the battery swap of the mining truck.

[0059] The flexible hoisting battery exchange device of the embodiment of the present invention, combined with a high-definition camera and intelligent image recognition technology, realizes the efficient and safe replacement of mining truck batteries. The high-definition camera can capture high-resolution images of the battery and the mine car interface area, and the image recognition technology can accurately determine their position and posture. In addition, taking images from multiple angles ensures the comprehensiveness and accuracy of the position information and reduces errors. The image recognition system can provide position information in real time, guide the flexible hoisting equipment to automatically complete the hoisting and installation of the battery, and reduce human intervention. During the entire hoisting process, the system can update the position information in real time, dynamically adjust the position and posture of the hoisting equipment, and ensure that the battery is installed smoothly and accurately. Finally, through image recognition technology, the position of the battery and the interface can be determined quickly and accurately, shortening the positioning time, and the automated operation reduces the need for human intervention and improves the overall efficiency of battery replacement.

[0060] In some embodiments, Figure 2 As shown, the processing module 202 is further specifically used for:

[0061] Based on the contour recognition algorithm, respectively identifying the contour pixel coordinates of the battery interface area of ​​the new battery and the mining truck from the images of the battery interface area of ​​the new battery and the mining truck;

[0062] The identified outline pixel coordinates of the new battery and the battery interface area of ​​the mining truck are converted into their position coordinates in the world coordinate system, and the position information of the new battery and the battery interface area of ​​the mining truck are obtained respectively.

[0063] In some embodiments, Figure 2 As shown, the hoisting module 203 is also specifically used for:

[0064] Determine a hoisting path from the new battery to the battery interface position of the mining truck based on the position coordinates of the contours of the new battery and the battery interface area of ​​the mining truck in the world coordinate system;

[0065] Based on the lifting path, the new battery is lifted to the battery interface position of the mining truck by flexible lifting equipment.

[0066] In some embodiments, the flexible lifting equipment includes a steel wire rope and a spring shock absorber.

[0067] Based on the same inventive concept, an embodiment of the present invention provides an electronic device, including:

[0068] one or more processors;

[0069] A storage unit is used to store one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors can implement the method described above.

[0070] Based on the same inventive concept, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method described above can be implemented.

[0071] The computer-readable medium may be included in the apparatus, device, or system of the present invention, or may exist independently.

[0072] Among them, computer-readable storage media can be any tangible media that contains or stores a program, which can be an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment. More specific examples include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, an optical fiber, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0073] The computer-readable storage medium may also include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code, specific examples of which include but are not limited to electromagnetic signals, optical signals, or any suitable combination thereof.

[0074] Based on the same inventive concept, an embodiment of the present invention provides a computer program product, including a computer program, which can implement the method described above when executed by a processor.

[0075] It is to be understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of the present invention, but the present invention is not limited thereto. For those of ordinary skill in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A flexible hoisting type battery replacement method, characterized in that: The method comprises: Park the mining truck to be replaced at the target battery replacement station; Using a high-definition camera installed at the target battery swap station, images of the new battery and the battery interface area of ​​the mining truck are respectively acquired; Based on the images of the new battery and the battery interface area of ​​the mining truck, respectively determining the position information of the new battery and the position information of the battery interface area of ​​the mining truck; Based on the location information of the new battery and the location information of the battery interface area of ​​the mining truck, the new battery is hoisted to the battery interface position of the mining truck by flexible hoisting equipment to complete the battery replacement of the mining truck.

2. The method according to claim 1, characterized in that The determining, based on the images of the new battery and the battery interface area of ​​the mining truck, respectively, the position information of the new battery and the position information of the battery interface area of ​​the mining truck comprises: Based on the contour recognition algorithm, respectively identifying the contour pixel coordinates of the battery interface area of ​​the new battery and the mining truck from the images of the battery interface area of ​​the new battery and the mining truck; The identified outline pixel coordinates of the new battery and the battery interface area of ​​the mining truck are converted into their position coordinates in the world coordinate system, and the position information of the new battery and the battery interface area of ​​the mining truck are obtained respectively.

3. The method according to claim 2, characterized in that The method of hoisting the new battery to the battery interface position of the mining truck by a flexible hoisting device based on the position information of the new battery and the position information of the battery interface area of ​​the mining truck comprises: Determine a hoisting path from the new battery to the battery interface position of the mining truck based on the position coordinates of the contours of the new battery and the battery interface area of ​​the mining truck in the world coordinate system; Based on the lifting path, the new battery is lifted to the battery interface position of the mining truck by flexible lifting equipment.

4. The method according to any one of claims 1 to 3, characterized in that: The flexible lifting equipment comprises a steel wire rope and a spring shock absorber.

5. A flexible hoisting type battery replacement device, characterized in that: The device comprises: An acquisition module, used to acquire images of the battery interface area of ​​the new battery and the mining truck respectively using a high-definition camera set up at the target battery swap station; a processing module, configured to determine position information of the new battery and position information of the battery interface area of ​​the mining truck, respectively, based on images of the new battery and the battery interface area of ​​the mining truck; The lifting module is used to lift the new battery to the battery interface position of the mining truck through flexible lifting equipment based on the position information of the new battery and the position information of the battery interface area of ​​the mining truck, so as to complete the battery replacement of the mining truck.

6. The device according to claim 5, characterized in that The processing module is further specifically used for: Based on the contour recognition algorithm, respectively identifying the contour pixel coordinates of the battery interface area of ​​the new battery and the mining truck from the images of the battery interface area of ​​the new battery and the mining truck; The identified outline pixel coordinates of the new battery and the battery interface area of ​​the mining truck are converted into their position coordinates in the world coordinate system, and the position information of the new battery and the battery interface area of ​​the mining truck are obtained respectively.

7. The device according to claim 6, characterized in that The hoisting module is also specifically used for: Determine a hoisting path from the new battery to the battery interface position of the mining truck based on the position coordinates of the contours of the new battery and the battery interface area of ​​the mining truck in the world coordinate system; Based on the lifting path, the new battery is lifted to the battery interface position of the mining truck by flexible lifting equipment.

8. The device according to any one of claims 5 to 7, characterized in that The flexible lifting equipment comprises a steel wire rope and a spring shock absorber.

9. An electronic device, characterized in that: include: one or more processors; A storage unit, used to store one or more programs, which, when executed by the one or more processors, enable the one or more processors to implement the method according to any one of claims 1 to 4.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 4 can be implemented.

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