Battery positioning method, device and equipment and storage medium

Abstract

The invention provides a battery positioning method, device and equipment and a storage medium, and relates to the technical field of engineering machinery. The method is applied to the battery replacing equipment, and the battery replacing equipment comprises a radar, a battery replacing gripper and a distance measuring sensor arranged on the battery replacing gripper. Specifically, the pose of a vehicle with a battery to be replaced is collected through a radar, and when the pose indicates that the vehicle with the battery to be replaced meets the battery replacement condition, a distance measuring sensor is combined to control a battery replacement gripper to move to the position above the edge, closest to battery replacement equipment, of the vehicle with the battery to be replaced. Then, the battery replacing gripper is controlled to continue to move towards the interior of the vehicle to be subjected to battery replacing in the direction parallel to the ground, and a first height is obtained in real time through a distance measuring sensor; and finally, according to the first height variable quantity of the first height and the first preset height variable quantity, the battery position of the vehicle with the battery to be replaced is determined. According to the method, the accuracy of positioning the battery in the to-be-replaced battery vehicle is improved.

Description

Technical Field

[0001] The present application relates to the technical field of engineering machinery, and in particular to a battery positioning method, device, equipment and storage medium. Background Art

[0002] Currently, most construction machinery vehicles are powered by electricity. During operation, in order to ensure that the construction machinery vehicles can continue to work, they are usually equipped with battery packs. However, the construction machinery vehicles have high working intensity and high power consumption, and the equipped battery packs cannot fully meet the endurance requirements of the construction machinery. Therefore, it is necessary to replenish the power before the battery pack is exhausted to ensure the continuous operation of the construction machinery vehicles.

[0003] There are two ways to replenish the power of construction vehicles at existing construction sites after the battery pack is out of power: one is to charge by dragging the high-voltage wire harness while the construction vehicle is working; the other is to immediately go to a fixed battery swap station to replace a new fully charged battery pack when the power of the construction vehicle is too low.

[0004] However, the prior art has the technical problem of inaccurate positioning of batteries in engineering machinery vehicles to be replaced. Summary of the invention

[0005] The present application provides a battery positioning method, device, equipment and storage medium, which are used to solve the technical problem of inaccurate battery positioning in engineering machinery vehicles to be replaced in the prior art.

[0006] In a first aspect, the present application provides a battery positioning method, which is applied to a battery swapping device, wherein the battery swapping device includes a radar, a battery swapping gripper, and a ranging sensor disposed on the battery swapping gripper, wherein the ranging sensor is used to measure the height of the battery swapping gripper relative to an object below the battery swapping gripper, and the method includes:

[0007] The position of the vehicle whose battery is to be replaced is collected through radar;

[0008] If it is determined according to the posture that the vehicle with the battery to be replaced meets the battery replacement conditions, then according to the posture and the distance measuring sensor, the battery replacement gripper is controlled to move to above the first edge of the vehicle with the battery to be replaced, where the first edge is the edge of the vehicle with the battery to be replaced that is closest to the battery replacement equipment;

[0009] Control the battery replacement gripper to continue moving in a direction parallel to the ground toward the interior of the vehicle to be replaced, and obtain the first height in real time through the distance measuring sensor;

[0010] The battery position of the vehicle to be replaced is determined based on the first height change amount of the first height and the first preset height change amount.

[0011] In a possible design, controlling the battery replacement gripper to continue to move in a direction parallel to the ground toward the interior of the vehicle to be replaced, and obtaining the first height in real time through the ranging sensor, includes:

[0012] Control the battery replacement gripper to move a first preset distance toward the interior of the vehicle to be replaced along a direction parallel to the ground;

[0013] The battery replacement gripper is controlled to move toward the outside of the vehicle whose battery is to be replaced in a direction parallel to the ground, and the first height is acquired in real time through the ranging sensor.

[0014] In a possible design, controlling the battery replacement gripper to move to above the first edge of the vehicle to be replaced with a battery according to the posture and the ranging sensor includes:

[0015] According to the posture and the distance measuring sensor, the battery replacement gripper is controlled to move to a first area, where the first area is outside the vehicle whose battery is to be replaced and the distance from the first edge is less than a second preset distance;

[0016] Control the battery replacement gripper to continue moving in a direction parallel to the ground toward the interior of the vehicle to be replaced, and obtain the second height in real time through the distance measuring sensor;

[0017] If the second height change is greater than the second preset height change, the battery replacement gripper is controlled to stop moving, so as to control the battery replacement gripper to move above the first edge of the vehicle whose battery is to be replaced.

[0018] In a possible design, controlling the battery swap gripper to move to the first area according to the posture and the ranging sensor includes:

[0019] Determining the coordinates of the first edge according to the position and posture;

[0020] Controlling the battery-swapping gripper to move to the coordinate in a direction parallel to the ground;

[0021] Determine whether the battery replacement gripper is above the vehicle whose battery is to be replaced by using the height collected by the distance measuring sensor;

[0022] If the battery replacement gripper is not located above the vehicle whose battery is to be replaced, it is determined that the battery replacement gripper is located in the first area;

[0023] If the battery-changing gripper is above the vehicle with the battery to be replaced, the battery-changing gripper is controlled to move toward the outside of the vehicle with the battery to be replaced in a direction parallel to the ground, and the third height is acquired in real time through the distance measuring sensor;

[0024] If the third height change is greater than the third preset height change, the battery swap handle is controlled to stop moving, so as to control the battery swap handle to move to the first area.

[0025] In one possible design, the method further includes:

[0026] If it is determined based on the posture that the vehicle with the battery to be replaced does not meet the battery replacement condition, guidance information is output, and the guidance information is used to guide the driver to drive the vehicle with the battery to be replaced so that the posture of the vehicle with the battery to be replaced meets the battery replacement condition.

[0027] In a possible design, determining the battery position of the vehicle to be replaced with a battery according to the first height change amount and the first preset height change amount of the first height includes:

[0028] If the first height change is greater than the first preset height change, determining the second edge of the first battery according to the current position of the battery swap gripper, the second edge being the edge of the first battery closest to the battery swap device;

[0029] determining the coordinates of the first battery according to the size of the first battery and the second edge;

[0030] The coordinates of the second battery are determined based on the geometric distance offset between the second battery and the first battery in the vehicle with the battery to be replaced and the coordinates of the first battery.

[0031] In a second aspect, the present application provides a battery positioning device, which is applied to a battery swapping device, wherein the battery swapping device includes a radar, a battery swapping gripper, and a ranging sensor disposed on the battery swapping gripper, wherein the ranging sensor is used to measure the height of the battery swapping gripper relative to an object below the battery swapping gripper, and the device includes:

[0032] A collection module, used to collect the position and posture of the vehicle whose battery is to be replaced through radar;

[0033] A control module, for controlling the battery-changing gripper to move to above a first edge of the vehicle to be replaced with a battery, according to the posture and the distance-measuring sensor, if it is determined that the vehicle to be replaced with a battery satisfies the battery-changing condition according to the posture, wherein the first edge is the edge of the vehicle to be replaced with a battery that is closest to the battery-changing device;

[0034] The control module is further used to control the battery replacement gripper to continue moving in a direction parallel to the ground toward the interior of the vehicle to be replaced;

[0035] An acquisition module, used for acquiring the first height in real time through the ranging sensor;

[0036] A determination module is used to determine the battery position of the vehicle to be replaced with a battery according to a first height change of a first height and a first preset height change.

[0037] In a possible design, the control module is further used for:

[0038] Control the battery replacement gripper to move a first preset distance toward the interior of the vehicle to be replaced along a direction parallel to the ground;

[0039] The battery replacement gripper is controlled to move toward the outside of the vehicle whose battery is to be replaced in a direction parallel to the ground.

[0040] In a possible design, the control module is further used for:

[0041] According to the posture and the distance measuring sensor, the battery replacement gripper is controlled to move to a first area, where the first area is outside the vehicle whose battery is to be replaced and the distance from the first edge is less than a second preset distance;

[0042] Controlling the battery replacement gripper to continue moving in a direction parallel to the ground toward the interior of the vehicle to be replaced;

[0043] The acquisition module is further used to acquire the second height in real time through the ranging sensor;

[0044] The control module is also used to control the battery replacement gripper to stop moving if the second height change is greater than a second preset height change, so as to control the battery replacement gripper to move above the first edge of the vehicle whose battery is to be replaced.

[0045] In a possible design, the determination module is further used to determine the coordinates of the first edge according to the posture;

[0046] The control module is further used to control the battery-swapping gripper to move to the coordinate in a direction parallel to the ground;

[0047] The determination module is further used to determine whether the battery replacement gripper is above the vehicle whose battery is to be replaced by using the height collected by the ranging sensor; if the battery replacement gripper is not above the vehicle whose battery is to be replaced, then determine that the battery replacement gripper is in the first area;

[0048] The control module is further used to control the battery replacement gripper to move toward the outside of the battery replacement vehicle in a direction parallel to the ground if the battery replacement gripper is above the battery replacement vehicle;

[0049] The acquisition module is further used to acquire the third height in real time through the ranging sensor;

[0050] The control module is also used to control the battery swap gripper to stop moving if the third height change is greater than a third preset height change, so as to control the battery swap gripper to move to the first area.

[0051] In a possible design, the battery positioning device further includes: an output module, configured to:

[0052] If it is determined based on the posture that the vehicle with the battery to be replaced does not meet the battery replacement condition, guidance information is output, and the guidance information is used to guide the driver to drive the vehicle with the battery to be replaced so that the posture of the vehicle with the battery to be replaced meets the battery replacement condition.

[0053] In a possible design, the determining module is further used to:

[0054] If the first height change is greater than the first preset height change, determining the second edge of the first battery according to the current position of the battery swap gripper, the second edge being the edge of the first battery closest to the battery swap device;

[0055] determining the coordinates of the first battery according to the size of the first battery and the second edge;

[0056] The coordinates of the second battery are determined based on the geometric distance offset between the second battery and the first battery in the vehicle with the battery to be replaced and the coordinates of the first battery.

[0057] In a third aspect, an embodiment of the present application provides an electronic device, comprising: at least one processor and a memory; the memory stores computer-executable instructions; the at least one processor executes the computer-executable instructions stored in the memory, so that the at least one processor executes the method described in the first aspect above and various possible designs.

[0058] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the method described in the first aspect and various possible designs is implemented.

[0059] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program. When the computer program is executed by a processor, it implements the method described in the first aspect and various possible designs of the first aspect.

[0060] The present application provides a battery positioning method, device, equipment and storage medium, which are applied to battery swapping equipment. Among them, the battery swapping equipment includes a radar, a battery swapping gripper, and a ranging sensor arranged on the battery swapping gripper for measuring the height of the battery swapping gripper relative to the object below. First, the position and posture of the vehicle to be replaced by the radar is collected, and further determined whether the vehicle to be replaced by the battery meets the battery swapping conditions based on the position and posture. When the vehicle to be replaced by the battery meets the battery swapping conditions, the battery swapping gripper is controlled to move above the edge of the vehicle to be replaced by the battery closest to the battery swapping equipment according to the position and posture of the vehicle to be replaced by the battery and the ranging sensor. Then, the battery swapping gripper is controlled to continue to move toward the inside of the vehicle to be replaced by the battery in a direction parallel to the ground, and the first height is obtained in real time by the ranging sensor. Then, the battery position of the vehicle to be replaced by the battery is determined according to the first height change of the first height and the first preset height change. The present application confirms that the vehicle to be replaced by the battery meets the battery swapping conditions based on the radar, and further locates the battery position of the vehicle to be replaced by the battery in combination with the ranging sensor. The combination of radar and ranging sensors is equivalent to dual positioning, avoiding the errors caused by using only radar or only ranging sensors, laying the foundation for precise battery grasping and improving the accuracy of positioning batteries in vehicles waiting for battery replacement. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0062] Figure 1 A hardware structure diagram of a battery replacement method in a battery swap station in the prior art;

[0063] Figure 2 A schematic diagram of a scenario of replacing batteries at a battery swap station in the prior art;

[0064] Figure 3 is an overall architecture diagram of a battery positioning method applicable to an embodiment of the present application;

[0065] Figure 4 A hardware structure diagram of a control system for a battery-swapping gripper applicable to an embodiment of the present application;

[0066] Figure 5 Schematic diagram of the process of the battery positioning method provided in the embodiment of the present application Figure 1 ;

[0067] Figure 6 Schematic diagram of the process of the battery positioning method provided in the embodiment of the present application Figure 2 ;

[0068] Figure 7 A schematic diagram of the structure of the battery positioning device provided in this application;

[0069] Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0070] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0071] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0072] In the technical solution of this application, the collection, storage, use, processing, transmission, provision and disclosure of information such as financial data or user data involved shall comply with the provisions of relevant laws and regulations and shall not violate public order and good morals.

[0073] It should be noted that in the embodiments of the present application, certain software, components, models and other existing solutions in the industry may be mentioned, and they should be regarded as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of the present application, but it does not mean that the applicant has or will necessarily use the solution.

[0074] For environmental protection, efficiency or technological advancement, modern construction machinery vehicles are generally equipped with battery packs to achieve electric drive. Since construction machinery vehicles usually need to work in a high-intensity environment, they consume a lot of electricity. Although the battery packs they are equipped with provide power support, the capacity of the battery packs may not be enough to meet the needs of continuous work during long-term, high-intensity operations. In order to avoid construction machinery vehicles from stopping due to insufficient power, the battery packs must be replenished before they are exhausted.

[0075] There are two main ways to replenish the battery power of construction machinery vehicles at the construction site when the battery power is insufficient:

[0076] One is to charge while working, that is, to charge by dragging the high-voltage harness while the construction machinery vehicle continues to work. This method allows the vehicle to continue working while charging, which can theoretically reduce downtime. However, because the risk of damage to the high-voltage harness needs to be avoided, it makes the operation inconvenient and affects the work efficiency. In addition, the range of movement of the construction machinery vehicle may be limited due to the need to connect the high-voltage harness.

[0077] The other is to replace the battery at a battery swap station, that is, when the vehicle's battery is too low, go to a fixed battery swap station to replace a new, fully charged battery pack. This means that the vehicle must be able to reach these battery swap stations within a certain distance to recharge. Since the location of the battery swap station is fixed, the range of activities of construction machinery vehicles will be limited by the location of the battery swap station. If the construction site is far away from the battery swap station, the construction machinery vehicle will need to spend extra time and resources to travel back and forth between the battery swap station and the work site. At some remote or temporary construction sites, there may not be enough battery swap station facilities, further limiting the use of vehicles.

[0078] In one possible implementation, Figure 1 The hardware structure diagram of the battery replacement method in the prior art battery swap station is shown below. Figure 1 As shown, after the construction machinery vehicle drives to the battery swap station, the battery swap station uses the radar data acquisition unit and the Simultaneous Localization and Mapping (SLAM) technology to navigate the battery swap robot to perform the battery swap operation.

[0079] In order to achieve precise operation, a programmable logic controller (PLC) and a servo motion control unit are used to coordinate and control the movements of the battery swap robot's manipulator to ensure the smooth progress of the battery swap process.

[0080] Specifically, Figure 2 The following is a schematic diagram of a battery replacement method in a battery replacement station in the prior art. Figure 2 As shown, four laser reflectors A, B, C, and D need to be installed on the wall of the battery swap station. The laser radar receives the reflected signals through the four laser reflectors, and calculates the fixed spatial position coordinates in the battery swap station in combination with the PLC, switch, and microcontroller to navigate the battery swap robot, and then the robot grabs the depleted battery of the engineering vehicle through the robot's manipulator for battery swap. Among them, the laser radar is deployed on the engineering vehicle.

[0081] However, when the laser radar is affected by external factors (such as dust or water droplets on the radar mirror), the error is large, and using laser radar positioning alone may result in a large difference between the positioning position and the target position.

[0082] In response to the above technical problems, since the laser radar is easily affected by external factors and may produce measurement errors, the inventors considered using a dual positioning method to ensure the accuracy of positioning. That is, first, the radar is used to guide the engineering machinery vehicle to the appropriate battery swap area, and then a ranging sensor is set on the battery swap gripper of the battery swap equipment to achieve accurate positioning of the battery. Since the battery swap area has a certain range, the error that may be caused by the radar will have almost no effect on the parking position of the engineering machinery vehicle, and will not affect the positioning of the battery by the ranging sensor.

[0083] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0084] In one possible implementation, Figure 3 is an overall architecture diagram of a battery positioning method applicable to an embodiment of the present application, such as Figure 3 As shown, the battery positioning method involves a battery replacement vehicle and a battery replacement device. Specifically, the battery replacement vehicle is the left part equipped with a power battery for electric drive. At the same time, a display screen for human-computer interaction can also be installed in the cab of the battery replacement vehicle, which is not specifically limited here. The battery replacement device is Figure 3 The right side part shown in the figure, in which the frame of the battery swapping equipment is loaded with a fully charged spare power battery, and is equipped with a radar, a voice announcer, and a control system. The battery swapping gripper is installed below the rotating floating sling, and a distance measuring sensor is also provided on one side of the battery swapping gripper. The walking lifting gantry, the three-stage telescopic arm, and the rotating floating sling work together to realize the movement and grasping of the battery swapping gripper. It is worth noting that the battery swapping equipment can be a movable battery swapping vehicle.

[0085] Explanatory, Figure 4 The hardware structure diagram of the control system of the battery replacement gripper applicable to the embodiment of the present application is as follows: Figure 4As shown in the figure, the control system set on the battery swapping equipment is implemented by a controller. The controller is used to control the voice announcer, radar, ranging sensor, and the servo system used to coordinate and control the battery swapping gripper action. Among them, the controller and the voice announcer communicate based on the open protocol Modbus, and the radar communicates based on the Transmission Control Protocol (TCP) or Internet Protocol (IP), and the ranging sensor communicates through the analog input and output interface (Analog Input / Output, AIO), and communicates with the servo system through the Ethernet communication protocol (Ethernet for Control Automation Technology, EtherCAT).

[0086] It should be noted that the present application is applied to the field of engineering machinery technology, and the vehicles to be replaced with batteries may be engineering machinery equipment such as electric excavators and electric loaders that require battery replacement.

[0087] based on Figure 3 The overall architecture shown, the embodiment of the present application also provides a battery positioning method. Figure 5 Schematic diagram of the process of the battery positioning method provided in the embodiment of the present application Figure 1 ,like Figure 5 As shown, the battery positioning method includes:

[0088] S501. Collect the position and posture of the vehicle whose battery is to be replaced by radar.

[0089] As can be understood, the radar continuously transmits radio waves and receives reflected signals to scan the surrounding environment. By analyzing the reflected signals, the vehicle to be replaced with the battery is detected, as well as the distance, strength and angle between it and the radar, and then the position of the vehicle to be replaced with the battery is determined.

[0090] In one possible implementation, the received reflected signal is subjected to denoising (mutation point) processing, and the distance, intensity, and angle of each polar coordinate point in the processed reflected signal are converted into rectangular coordinate points in the rectangular coordinate system where the battery swap device is located. These rectangular coordinate points form a set, in which the neighborhood points near the maximum coordinate point are used as a subset to describe the edge feature values ​​of the vehicle to be replaced (which can be fitted into a characteristic curve, usually a straight line). The edge feature values ​​are used to determine the front, back, left, right, and right positions and angles of the vehicle to be replaced relative to the radar, thereby determining the posture of the vehicle to be replaced.

[0091] Explanatory, since the installation position of the radar has a certain angle and deviation from the basic coordinate system and origin of the battery swapping device, it is necessary to convert the radar coordinate system point coordinates into the battery swapping device coordinate system point coordinates to guide the battery swapping gripper action. Generally speaking, the radar coordinate system is a polar coordinate system, and the battery swapping device coordinate system is a rectangular coordinate system.

[0092] Specifically, considering that the battery swapping device and the battery to be swapped are basically on the same horizontal plane, only the horizontal plane two-dimensional Cartesian coordinate system is considered. In a possible implementation method, the coordinate matrix transformation method is used to convert the radar coordinate system point coordinates into the battery swapping device coordinate system point coordinates.

[0093] Assume that the coordinates of the radar coordinate system point are (X a ,Y a ), the coordinates of the battery swap equipment coordinate system point are (X b ,Y b ), the deflection angle between the radar coordinate system and the battery exchange equipment coordinate system is θ, and the position offset in the X and Y directions is expressed as (Δx, Δy). Since only the rotation and offset transformation (affine transformation) of two-dimensional coordinates is involved, the transformation matrix is ​​a 3×3 matrix.

[0094] In order to facilitate matrix coordinate transformation, it is necessary to transform the radar coordinate system point coordinates (X a ,Y a ) is represented as a 1×3 matrix |a 11 ,a 12 ,1|,Coordinates of the battery swapping equipment coordinate system point (X b ,Y b ) is represented by |b 11 ,b 12 ,1|. Since there are three unknowns (θ, Δx, Δy) in the transformation matrix T, it is necessary to find three different coordinate points in the radar coordinate system and the battery swapping device coordinate system to form a 3×3 matrix A in the radar coordinate system and a 3×3 matrix B in the battery swapping device coordinate system respectively.

[0095] Among them, the radar coordinate system matrix A and the battery swapping equipment coordinate system matrix B are as follows:

[0096]

[0097] Among them, a 11 、a 12 is the radar coordinate system point coordinate (X a ,Y a ), b 11 , b 12 is the coordinate of the battery swapping equipment coordinate system point (X b ,Y b ).

[0098] According to the affine transformation coordinate conversion formula T=A -1 B can be used to calculate the transformation matrix T, so that when the coordinates of the radar coordinate system point are known, the coordinates of the corresponding point in the battery swapping device coordinate system can be calculated according to the formula AT=B. Among them, the form of the transformation matrix T is as follows:

[0099]

[0100] Among them, cosθ, -sinθ, sinθ, cosθ are the linear rotation parts; Δx, Δy are the translation parts.

[0101] After converting the radar coordinate system point coordinates into the battery swap device coordinate system point coordinates, filter out the coordinate points outside the range according to the battery swap coordinate range set by the battery swap device to obtain a coordinate point set A. Since most of the edge coordinate points of the vehicle to be replaced with batteries can be approximately fitted as a straight line, and a straight line is more convenient for describing the distance and angle of the vehicle to be replaced with batteries relative to the battery swap device. Therefore, the coordinate points in the coordinate point set A with a small linear correlation with the plane coordinate system are removed to obtain a set of coordinate points B with a large linear correlation. The edge features of the vehicle to be replaced with batteries are defined by fitting set B as a straight line.

[0102] Coordinate point set A (X i ,Y i ) can be described by the Pearson product matrix correlation coefficient, which defines the quotient of the covariance and standard deviation between two variables. The sample definition formula is as follows:

[0103]

[0104] in, , , They are respectively i The standard score of the sample, the sample mean, and the sample standard deviation.

[0105] Specifically, the value of r is between -1 and 1. If the sample point (X i ,Y i ) fall exactly on the same straight line, the absolute value of r is 1. In actual operation, the absolute value of r can be set to be greater than 0.95, and a set of coordinate points with good linear correlation can be obtained.

[0106] S502. If it is determined based on the position and posture that the vehicle with the battery to be replaced meets the battery replacement conditions, then the battery replacement gripper is controlled to move to above the first edge of the vehicle with the battery to be replaced based on the position and posture and the ranging sensor.

[0107] Among them, the first edge is the edge of the vehicle where the battery to be replaced is close to the battery replacement equipment.

[0108] It should be explained that the detection range of radar is limited and can usually only detect objects within a certain range. Therefore, the subsequent battery positioning operation can only be performed when the vehicle to be replaced moves into the range that the radar can detect. In other words, the battery replacement condition refers to the vehicle to be replaced moving into the range that the radar can detect.

[0109] When it is determined based on the position and posture that the vehicle with the battery to be replaced does not meet the battery replacement conditions, guidance information is output to guide the driver to drive the vehicle with the battery to be replaced so that the position and posture of the vehicle with the battery to be replaced meets the battery replacement conditions.

[0110] For example, based on the collected position of the vehicle to be replaced, the real-time vehicle position is broadcasted to the driver through a voice announcer to guide the driver to park the vehicle to be replaced at a suitable battery replacement position. After the vehicle to be replaced stops steadily, the control system sends the corresponding parking position to a display screen for human-computer interaction through the communication module of the vehicle to be replaced, so that the driver can confirm whether the final parking position is appropriate.

[0111] Furthermore, after the driver confirms that the vehicle with the battery to be replaced is parked at a suitable battery replacement position, the coordinates of the first edge are determined according to the posture of the vehicle with the battery to be replaced, and the battery replacement gripper is controlled to move to the coordinates of the first edge in a direction parallel to the ground.

[0112] Explanatory, the coordinates of the first edge of the battery replacement vehicle are calculated by radar as the positioning starting point for the ranging sensor to scan the battery replacement vehicle, and used to navigate the battery replacement gripper to locate the battery replacement vehicle. It should be noted that the ranging sensor is set on the side of the battery replacement gripper close to the battery replacement vehicle.

[0113] After positioning the battery swap gripper at the first edge, the height value collected by the distance measuring sensor set on the battery swap gripper is used to determine whether the edge of the battery swap gripper where the distance measuring sensor is located is above the vehicle whose battery is to be replaced. If the edge of the battery swap gripper is above the vehicle whose battery is to be replaced, the battery swap gripper is controlled to move to the outside of the vehicle whose battery is to be replaced to ensure that the edge of the battery swap gripper is outside the vehicle whose battery is to be replaced. The purpose of this is to ensure that when the distance measuring sensor is used to scan, it must start from the outside of the vehicle whose battery is to be replaced and scan to the inside, to ensure that the scanned battery must be the first battery of the vehicle whose battery is to be replaced, and has the height change scanned by the distance measuring sensor.

[0114] In a possible implementation, the height collected by the distance measuring sensor is used to determine whether the battery swap gripper is above the vehicle to be replaced. If the battery swap gripper is not above the vehicle to be replaced, it is determined that the battery swap gripper is outside the vehicle to be replaced and the distance from the first edge is less than the second preset distance in the first area. The value of the second preset distance can be set to a very small value, that is, the first area is outside the vehicle to be replaced and very close to the first edge.

[0115] If the battery swap gripper is above the vehicle whose battery is to be swapped, the battery swap gripper is controlled to move toward the outside of the vehicle whose battery is to be swapped in a direction parallel to the ground, and the third height is acquired in real time through the distance measuring sensor. If the third height change is greater than the third preset height change, it indicates that the battery swap gripper has moved to the first area, and the battery swap gripper is controlled to stop moving.

[0116] After the battery swap gripper is moved to the first area, the battery swap gripper is controlled to continue to move from the outside of the battery vehicle to be replaced in a direction parallel to the ground toward the inside of the battery vehicle to be replaced, and the second height is obtained in real time through the distance measuring sensor. If the second height change is greater than the second preset height change, the battery swap gripper is controlled to stop moving, and at this time the battery swap gripper has moved above the first edge of the battery vehicle to be replaced.

[0117] It should be understood that the ground and the edge of the vehicle, the battery and the edge of the vehicle are located at different heights. When the laser beam of the ranging sensor scans from the ground outside the vehicle whose battery is to be replaced to the edge of the vehicle, or from the edge of the vehicle to the battery (battery scans to the edge of the vehicle), the measured height will naturally change, that is, a corresponding height change will be generated, such as the third height change and the second height change.

[0118] S503, control the battery replacement gripper to continue moving in a direction parallel to the ground toward the interior of the vehicle to be replaced, and obtain the first height in real time through the distance measuring sensor.

[0119] It is understandable that since the thickness of the first edge of the vehicle to be replaced is usually large (such as greater than 150mm), and there are various curved surfaces and concave-convex surfaces, when the ranging sensor scans these curved surfaces or concave-convex surfaces, a corresponding height change will also occur, which can easily cause the ranging sensor to detect these curved surfaces or concave-convex surfaces as battery edges. Therefore, after controlling the battery replacement gripper to move above the first edge of the vehicle to be replaced, it is necessary to first move the battery replacement gripper in a direction parallel to the ground toward the inside of the vehicle to be replaced by a fixed distance (first preset distance), and then start detecting the battery edge.

[0120] Among them, the purpose of controlling the battery swap gripper to move the first preset distance toward the inside of the vehicle to be replaced is to avoid misdetection caused by the curved and concave and convex surfaces on the edge of the vehicle. Therefore, after the battery swap gripper moves the first preset distance, it should have moved above the battery. Specifically, the height value obtained by the distance measuring sensor can also be used to determine whether the battery swap gripper is above the battery.

[0121] For example, the battery swap gripper is moved from the first edge of the vehicle whose battery is to be replaced to the inside by a first preset distance, and the height value at this time is obtained by the ranging sensor. If the height value is within the set range detected by the battery, it indicates that the battery swap gripper has moved to the top of the battery, and the movement of the battery swap gripper is stopped.

[0122] Next, the battery replacement gripper is controlled to move toward the outside of the vehicle whose battery is to be replaced in a direction parallel to the ground, and the height value (first height) is obtained in real time through the ranging sensor.

[0123] S504. Determine a battery position of the vehicle to be replaced with a battery according to a first height change amount of the first height and a first preset height change amount.

[0124] It is understandable that if the ranging sensor detects the height change (first height change) again, that is, the first height change is greater than the first preset height change, it indicates that the battery swap gripper has been positioned at the edge of the battery, that is, the second edge of the first battery. The second edge is the edge of the first battery closest to the battery swap device.

[0125] The same positioning method can be used to detect another edge of the first battery adjacent to the second edge, thereby determining the coordinates of the first battery, which will not be described in detail here. In addition, the coordinates of the first battery can also be determined based on the size of the first battery and the second edge.

[0126] According to the coordinates of the first battery and the geometric distance offset of each power battery (second battery) in the battery-to-be-replaced vehicle relative to the first battery, the coordinates of other power batteries (second batteries) are calculated. It is worth noting that the coordinate offset of the second battery relative to the first battery can also be compensated by the angle offset of the battery-to-be-replaced vehicle relative to the radar to ensure that the positioning accuracy of each battery is not affected by the parking angle.

[0127] The present application provides a battery positioning method, which is applied to a battery swapping device. Among them, the battery swapping device includes a radar, a battery swapping gripper, and a ranging sensor arranged on the battery swapping gripper for measuring the height of the battery swapping gripper relative to the object below. First, the position and posture of the vehicle to be replaced with the battery is collected by the radar, and the coordinates of the first edge of the vehicle to be replaced with the battery are determined according to the position and posture. Further, it is determined whether the vehicle to be replaced with the battery meets the battery swapping conditions according to the coordinates. If not, the guidance information for guiding the driver to drive the vehicle to be replaced with the battery is output so that the position and posture of the vehicle to be replaced with the battery meets the battery swapping conditions. If it meets, the battery swapping gripper is controlled to move above the first edge of the vehicle to be replaced with the battery according to the position and the ranging sensor. Next, the battery swapping gripper is controlled to continue to move a first preset distance toward the inside of the vehicle to be replaced with the battery in a direction parallel to the ground. After that, the battery swapping gripper is controlled to continue to move toward the outside of the vehicle to be replaced with the battery in a direction parallel to the ground, and the first height is obtained in real time through the ranging sensor. According to the first height change amount and the first preset height change amount of the first height, and combined with the size of the first battery, the coordinates of the first battery are determined. According to the coordinates of the first battery and the geometric distance offset of the second battery in the vehicle to be replaced relative to the first battery, the coordinates of the second battery are determined, which provides a basis for the subsequent battery replacement gripper to accurately locate the starting position of each battery. This application is based on radar to confirm that the vehicle to be replaced meets the battery replacement conditions, and further combines the ranging sensor to locate the battery position of the vehicle to be replaced. The combination of radar and ranging sensor is equivalent to dual positioning, avoiding errors caused by using only radar or only ranging sensors, establishing a foundation for accurate battery grasping, and improving the accuracy of positioning the battery in the vehicle to be replaced. In addition, the battery replacement equipment can be a battery replacement equipment that can be moved at any time, so the working site of the vehicle to be replaced is no longer limited to a fixed range, and can be expanded or moved according to actual needs.

[0128] In summary, through a specific embodiment Figure 5 The battery positioning method shown is summarized. Figure 6 Schematic diagram of the process of the battery positioning method provided in the embodiment of the present application Figure 2 ,like Figure 6 As shown, the complete battery positioning process includes the following steps:

[0129] S601, turn on radar and voice broadcast;

[0130] S602, collecting the position and posture of the vehicle whose battery is to be replaced by radar;

[0131] S603, voice prompting the driver of the current coordinates and angle of the vehicle whose battery is to be replaced;

[0132] S604: The driver confirms whether the vehicle to be replaced with a battery meets the battery replacement conditions;

[0133] If not, return to step S602; if so, execute step S605.

[0134] S605, the radar calculates the coordinates of the first edge of the vehicle whose battery is to be replaced;

[0135] S606, controlling the battery swap gripper to move in a direction parallel to the ground to the coordinates of the first edge;

[0136] S607, determining the position of the battery swap gripper relative to the vehicle to be swapped based on the height collected by the distance measuring sensor;

[0137] S608, determining whether the battery replacement gripper is outside the vehicle whose battery is to be replaced;

[0138] If not, execute step S609; if so, execute step S610.

[0139] S609, control the battery replacement gripper to move to the outside of the vehicle to be replaced with a battery, and return to step S607;

[0140] S610, controlling the battery replacement gripper to move toward the interior of the vehicle where the battery is to be replaced;

[0141] S611, the distance measuring sensor detects the height change and determines the first edge of the vehicle to be replaced with a battery;

[0142] S612, controlling the battery replacement gripper to move a first preset distance toward the interior of the vehicle where the battery is to be replaced;

[0143] S613, determining whether the real-time altitude value acquired by the ranging sensor is within a set range detected by the battery;

[0144] If not, return to step S612; if so, execute step S614.

[0145] S614, controlling the battery replacement gripper to move toward the outside of the vehicle whose battery is to be replaced;

[0146] S615, the distance measuring sensor detects the height change, determines the edge of the first battery of the vehicle to be replaced, and the coordinates of the first battery;

[0147] S616: Determine the coordinates of the second battery according to the coordinates of the first battery and the geometric distance offset of the second battery relative to the first battery.

[0148] It can be seen that the radar is used to collect the position of the vehicle to be replaced, and the driver is prompted with the current coordinates and angle of the vehicle to be replaced, to ensure that the vehicle to be replaced meets the battery replacement conditions. Furthermore, the battery position of the vehicle to be replaced is accurately located based on the height change detected by the ranging sensor by repeatedly moving the battery replacement gripper. The combination of radar and ranging sensor is equivalent to dual positioning, avoiding errors caused by using only radar or only ranging sensor, laying the foundation for accurate battery grasping and improving the accuracy of positioning the battery in the vehicle to be replaced.

[0149] Figure 7 The schematic diagram of the structure of the battery positioning device provided in this application is as follows: Figure 7 As shown, the battery positioning device 700 is applied to a battery swapping device. The battery swapping device includes a radar, a battery swapping gripper, and a distance measuring sensor disposed on the battery swapping gripper for measuring the height of the battery swapping gripper relative to an object below the battery swapping gripper. The battery positioning device 700 includes: a collection module 701, a control module 702, an acquisition module 703, and a determination module 704;

[0150] The acquisition module 701 is used to acquire the position and posture of the vehicle whose battery is to be replaced by radar;

[0151] The control module 702 is used to control the battery replacement gripper to move to above the first edge of the vehicle to be replaced based on the posture and the distance measurement sensor if it is determined that the vehicle to be replaced meets the battery replacement conditions according to the posture, and the first edge is the edge of the vehicle to be replaced that is closest to the battery replacement equipment;

[0152] The control module 702 is also used to control the battery replacement gripper to continue moving in a direction parallel to the ground toward the interior of the vehicle to be replaced with a battery;

[0153] An acquisition module 703 is used to acquire a first height in real time through a distance measuring sensor;

[0154] The determination module 704 is used to determine the battery position of the vehicle to be replaced with a battery according to the first height change amount of the first height and the first preset height change amount.

[0155] In one possible design, the control module 702 is further configured to:

[0156] Control the battery replacement gripper to move a first preset distance in a direction parallel to the ground toward the interior of the vehicle to be replaced;

[0157] Control the battery replacement gripper to move toward the outside of the vehicle whose battery is to be replaced in a direction parallel to the ground.

[0158] In one possible design, the control module 702 is further configured to:

[0159] According to the position and distance measuring sensor, the battery replacement gripper is controlled to move to the first area, where the first area is outside the vehicle whose battery is to be replaced and the distance from the first edge is less than the second preset distance;

[0160] Control the battery replacement gripper to continue moving in a direction parallel to the ground toward the interior of the vehicle to be replaced;

[0161] The acquisition module 703 is further used to acquire the second height in real time through the ranging sensor;

[0162] The control module 702 is also used to control the battery swap gripper to stop moving if the second height change is greater than the second preset height change, so as to control the battery swap gripper to move above the first edge of the vehicle whose battery is to be replaced.

[0163] In one possible design, the determination module 704 is further configured to determine the coordinates of the first edge according to the posture;

[0164] The control module 702 is also used to control the battery swap gripper to move to the coordinate in a direction parallel to the ground;

[0165] The determination module 704 is further used to determine whether the battery swap gripper is above the vehicle whose battery is to be replaced by using the height collected by the ranging sensor; if the battery swap gripper is not above the vehicle whose battery is to be replaced, it is determined that the battery swap gripper is in the first area;

[0166] The control module 702 is further used to control the battery replacement gripper to move toward the outside of the battery replacement vehicle in a direction parallel to the ground if the battery replacement gripper is above the battery replacement vehicle;

[0167] The acquisition module 703 is further used to acquire the third height in real time through the ranging sensor;

[0168] The control module 702 is also used to control the battery swap gripper to stop moving if the third height change is greater than the third preset height change, so as to control the battery swap gripper to move to the first area.

[0169] In a possible design, the battery positioning device 700 further includes: an output module 705, which is used to:

[0170] If it is determined based on the position and posture that the vehicle with the battery to be replaced does not meet the battery replacement conditions, guidance information is output, and the guidance information is used to guide the driver to drive the vehicle with the battery to be replaced so that the position and posture of the vehicle with the battery to be replaced meets the battery replacement conditions.

[0171] In one possible design, the determination module 704 is further configured to:

[0172] If the first height change is greater than the first preset height change, the second edge of the first battery is determined according to the current position of the battery swap gripper, and the second edge is the edge of the first battery closest to the battery swap device;

[0173] Determining the coordinates of the first battery according to the size of the first battery and the second edge;

[0174] The coordinates of the second battery are determined based on the geometric distance offset between the second battery and the first battery in the vehicle whose battery is to be replaced and the coordinates of the first battery.

[0175] The battery positioning device provided in the embodiment of the present application can be used to execute the battery positioning method in any of the above embodiments. Its implementation principle and technical effect are similar and will not be repeated here.

[0176] It should be noted that it should be understood that the division of the various modules of the above device is only a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated. And these modules can all be implemented in the form of software calling through processing elements; they can also be all implemented in the form of hardware; some modules can also be implemented in the form of software calling through processing elements, and some modules can be implemented in the form of hardware. In addition, all or part of these modules can be integrated together, or they can be implemented independently. The processing element described here can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each module above can be completed by an integrated logic circuit of hardware in the processor element or instructions in the form of software.

[0177] Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 8 As shown, the electronic device may include: a transceiver 81 , a processor 82 , and a memory 83 .

[0178] The processor 82 executes the computer execution instructions stored in the memory, so that the processor 82 executes the scheme in the above embodiment. The processor 82 can be a general-purpose processor, including a central processing unit CPU, a network processor (NP), etc.; it can also be a digital signal processor DSP, an application-specific integrated circuit ASIC, a field programmable gate array FPGA or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0179] The memory 83 is connected to the processor 82 via a system bus and completes communication between them. The memory 83 is used to store computer program instructions.

[0180] The transceiver 81 may be used to communicate with other devices.

[0181] The system bus can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The system bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus. The transceiver is used to realize the communication between the database access device and other computers (such as clients, read-write libraries, and read-only libraries). The memory may include random access memory (RAM) and may also include non-volatile memory.

[0182] The electronic device provided in the embodiments of the present application can be used to execute the method provided in any of the above embodiments. The implementation principles and technical effects are similar and will not be repeated here.

[0183] An embodiment of the present application further provides a computer-readable storage medium, in which computer instructions are stored. When the computer instructions are executed on a computer, the computer executes the method provided in any of the above embodiments.

[0184] An embodiment of the present application also provides a computer program product, which includes a computer program stored in a computer-readable storage medium. At least one processor can read the computer program from the computer-readable storage medium. When at least one processor executes the computer program, the method provided in any of the above embodiments can be implemented.

[0185] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules is only a logical function division, and there may be other division methods in actual implementation, such as multiple modules can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules, which can be electrical, mechanical or other forms.

[0186] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to implement the solution of this embodiment.

[0187] In addition, each functional module in each embodiment of the present application can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit. The above-mentioned module-composed unit can be implemented in the form of hardware or in the form of hardware plus software functional units.

[0188] The above-mentioned integrated module implemented in the form of a software function module can be stored in a computer-readable storage medium. The above-mentioned software function module is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to perform some steps of the methods of various embodiments of the present application.

[0189] It should be understood that the above processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the invention can be directly embodied as being executed by a hardware processor, or can be executed by a combination of hardware and software modules in the processor.

[0190] The memory may include a high-speed RAM memory, and may also include a non-volatile storage NVM, such as at least one disk memory, and may also be a USB flash drive, a mobile hard disk, a read-only memory, a magnetic disk or an optical disk, etc.

[0191] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of this application is not limited to only one bus or one type of bus.

[0192] The above storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The storage medium can be any available medium that can be accessed by a general or special purpose computer.

[0193] An exemplary storage medium is coupled to a processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the storage medium can also exist as discrete components in an electronic control unit or a main control device.

[0194] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0195] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application 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 replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A battery positioning method, characterized in that: Applied to a battery swapping device, the battery swapping device includes a radar, a battery swapping gripper, and a distance measuring sensor disposed on the battery swapping gripper, the distance measuring sensor is used to measure the height of the battery swapping gripper relative to an object below the battery swapping gripper, the method includes: The position of the vehicle whose battery is to be replaced is collected through radar; If it is determined according to the posture that the vehicle with the battery to be replaced meets the battery replacement conditions, then according to the posture and the distance measuring sensor, the battery replacement gripper is controlled to move to above the first edge of the vehicle with the battery to be replaced, where the first edge is the edge of the vehicle with the battery to be replaced that is closest to the battery replacement equipment; Control the battery replacement gripper to continue moving in a direction parallel to the ground toward the interior of the vehicle to be replaced, and obtain the first height in real time through the distance measuring sensor; The battery position of the vehicle to be replaced with a battery is determined based on the first height change amount of the first height and the first preset height change amount.

2. The method according to claim 1, characterized in that The step of controlling the battery replacement gripper to continue to move in a direction parallel to the ground toward the interior of the vehicle to be replaced, and obtaining the first height in real time through the distance measuring sensor, comprises: Control the battery replacement gripper to move a first preset distance toward the interior of the vehicle to be replaced along a direction parallel to the ground; The battery replacement gripper is controlled to move toward the outside of the vehicle whose battery is to be replaced in a direction parallel to the ground, and the first height is acquired in real time through the ranging sensor.

3. The method according to claim 1 or 2, characterized in that: The step of controlling the battery replacement gripper to move above the first edge of the vehicle to be replaced with a battery according to the position and the distance measuring sensor comprises: According to the posture and the distance measuring sensor, the battery replacement gripper is controlled to move to a first area, where the first area is outside the vehicle whose battery is to be replaced and the distance from the first edge is less than a second preset distance; Control the battery replacement gripper to continue moving in a direction parallel to the ground toward the interior of the vehicle to be replaced, and obtain the second height in real time through the distance measuring sensor; If the second height change is greater than the second preset height change, the battery replacement gripper is controlled to stop moving, so as to control the battery replacement gripper to move above the first edge of the vehicle whose battery is to be replaced.

4. The method according to claim 3, characterized in that The controlling the battery swap gripper to move to the first area according to the posture and the ranging sensor includes: Determining the coordinates of the first edge according to the position and posture; Controlling the battery-swapping gripper to move to the coordinate in a direction parallel to the ground; Determine whether the battery replacement gripper is above the vehicle whose battery is to be replaced by using the height collected by the distance measuring sensor; If the battery replacement gripper is not above the vehicle whose battery is to be replaced, it is determined that the battery replacement gripper is in the first area; If the battery-changing gripper is above the vehicle with the battery to be replaced, the battery-changing gripper is controlled to move toward the outside of the vehicle with the battery to be replaced in a direction parallel to the ground, and the third height is acquired in real time through the distance measuring sensor; If the third height change is greater than the third preset height change, the battery swap handle is controlled to stop moving, so as to control the battery swap handle to move to the first area.

5. The method according to claim 1 or 2, characterized in that: The method further comprises: If it is determined based on the posture that the vehicle with the battery to be replaced does not meet the battery replacement condition, guidance information is output, and the guidance information is used to guide the driver to drive the vehicle with the battery to be replaced so that the posture of the vehicle with the battery to be replaced meets the battery replacement condition.

6. The method according to claim 1 or 2, characterized in that: The method of determining the battery position of the vehicle to be replaced with a battery according to the first height change amount and the first preset height change amount of the first height includes: If the first height change is greater than the first preset height change, determining the second edge of the first battery according to the current position of the battery swap gripper, the second edge being the edge of the first battery closest to the battery swap device; determining the coordinates of the first battery according to the size of the first battery and the second edge; The coordinates of the second battery are determined based on the geometric distance offset between the second battery and the first battery in the vehicle with the battery to be replaced and the coordinates of the first battery.

7. A battery positioning device, characterized in that: Applied to a battery swapping device, the battery swapping device includes a radar, a battery swapping gripper, and a distance measuring sensor arranged on the battery swapping gripper, the distance measuring sensor is used to measure the height of the battery swapping gripper relative to the object below the battery swapping gripper, and the device includes: A collection module, used to collect the position and posture of the vehicle whose battery is to be replaced through radar; A control module, for controlling the battery-changing gripper to move to above a first edge of the vehicle to be replaced with a battery, according to the posture and the distance-measuring sensor, if it is determined that the vehicle to be replaced with a battery satisfies the battery-changing condition according to the posture, wherein the first edge is the edge of the vehicle to be replaced with a battery that is closest to the battery-changing device; The control module is further used to control the battery replacement gripper to continue moving in a direction parallel to the ground toward the interior of the vehicle to be replaced; An acquisition module, used for acquiring the first height in real time through the ranging sensor; A determination module is used to determine the battery position of the vehicle to be replaced with a battery according to a first height change of a first height and a first preset height change.

8. An electronic device, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 6 when executed by a processor.

10. A computer program product, characterized in that The invention comprises a computer program, which is used to implement the method according to any one of claims 1 to 6 when being executed by a processor.

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