Battery positioning method, device, apparatus, and storage medium

Abstract

The application provides a battery positioning method, device, equipment and storage medium, and relates to the technical field of engineering machinery. The method is applied to a battery replacement device, wherein the battery replacement device comprises a radar, a battery replacement gripper and a distance measuring sensor arranged on the battery replacement gripper. Specifically, the pose of a battery vehicle to be replaced is collected through the radar, and when the pose indicates that the battery vehicle to be replaced meets the battery replacement condition, the distance measuring sensor is combined to control the battery replacement gripper to move to above the edge of the battery vehicle to be replaced closest to the battery replacement device. Next, the battery replacement gripper is controlled to continue moving in a direction parallel to the ground to the inside of the battery vehicle to be replaced, and a first height is acquired in real time through the distance measuring sensor. Finally, according to a first height change amount of the first height and a first preset height change amount, the battery position of the battery vehicle to be replaced is determined. The method provided in the application improves the accuracy of positioning the battery in the battery vehicle to be replaced.

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

[0002] At present, most engineering machinery vehicles are electrically driven. In order to ensure that the engineering machinery vehicle can work continuously during the working process, a battery pack is usually provided for the engineering machinery vehicle. However, the working intensity of the engineering machinery vehicle is large, and the power consumption is large, and the provided battery pack cannot completely meet the endurance requirement of the engineering machinery. Therefore, power supplement needs to be performed before the battery pack is depleted, so as to ensure the continuous work of the engineering machinery vehicle.

[0003] There are two ways for the engineering machinery vehicle at the construction site to supplement the power after the battery pack is out of power: one is to charge by dragging a high-voltage wire harness when the engineering machinery vehicle is working; and the other is to immediately replace a new full-power battery pack at a fixed battery replacement station after the power of the engineering machinery vehicle is too low.

[0004] However, the prior art has the technical problem that the battery in the engineering machinery vehicle to be replaced is not accurately positioned. SUMMARY

[0005] The present application provides a battery positioning method, device, equipment and storage medium to solve the technical problem that the battery in the engineering machinery vehicle to be replaced is not accurately positioned in the prior art.

[0006] In a first aspect, the present application provides a battery positioning method applied to a battery replacement device, wherein the battery replacement device comprises a radar, a battery replacement gripper and a distance measuring sensor arranged on the battery replacement gripper, the distance measuring sensor is used to measure the height of the battery replacement gripper relative to the object below the battery replacement gripper, and the method comprises:

[0007] Collecting the pose of the battery vehicle to be replaced by the radar;

[0008] If it is determined according to the pose that the battery vehicle to be replaced meets the battery replacement condition, then the battery replacement gripper is controlled to move to a first area according to the pose and the distance measuring sensor, and the battery replacement gripper is controlled to continue moving along a direction parallel to the ground to the inside of the battery vehicle to be replaced, and a second height is obtained in real time by the distance measuring sensor; wherein the first area is outside the battery vehicle to be replaced, and the distance from the first area to a first edge is less than a second preset distance, and the first edge is the edge of the battery vehicle to be replaced closest to the battery replacement device;

[0009] If the second height variation is greater than a second preset height variation, 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 battery vehicle to be replaced.

[0010] controlling the battery swap gripper to move a first preset distance in a direction parallel to the ground towards the inside of the battery vehicle to be swapped;

[0011] determining the battery position of the battery vehicle to be swapped according to a first height change amount of the first height and a first preset height change amount.

[0012] In a possible design, the controlling the battery swap gripper to move to the first region according to the pose and the ranging sensor includes:

[0013] determining coordinates of the first edge according to the pose;

[0014] controlling the battery swap gripper to move to the coordinates in a direction parallel to the ground;

[0015] determining whether the battery swap gripper is above the battery vehicle to be swapped according to the height collected by the ranging sensor;

[0016] if the battery swap gripper is not above the battery vehicle to be swapped, determining that the battery swap gripper is in the first region;

[0017] if the battery swap gripper is above the battery vehicle to be swapped, controlling the battery swap gripper to move in a direction parallel to the ground towards the outside of the battery vehicle to be swapped, and collecting a third height in real time by the ranging sensor;

[0018] if the third height change amount is greater than a third preset height change amount, controlling the battery swap gripper to stop moving, so as to control the battery swap gripper to move to the first region.

[0019] In a possible design, the method further includes:

[0020] if it is determined according to the pose that the battery vehicle to be swapped does not satisfy the battery swap condition, outputting guidance information, where the guidance information is used to guide a driver to drive the battery vehicle to be swapped, so that the pose of the battery vehicle to be swapped satisfies the battery swap condition.

[0021] In a possible design, the determining the battery position of the battery vehicle to be swapped according to a first height change amount of the first height and a first preset height change amount includes:

[0022] If the first height change amount is greater than the first preset height change amount, a second edge of the first battery is determined according to a current position of the battery replacing gripper, the second edge being an edge of the first battery closest to the battery replacing device;

[0023] The coordinates of the first battery are determined according to the size of the first battery and the second edge.

[0024] The coordinates of the second battery are determined according to a geometric distance offset between the second battery and the first battery in the battery vehicle to be replaced and the coordinates of the first battery.

[0025] In a second aspect, the application provides a battery positioning device applied to a battery replacing device, the battery replacing device comprising a radar, a battery replacing gripper, and a distance measuring sensor arranged on the battery replacing gripper, the distance measuring sensor being used to measure the height of the battery replacing gripper relative to an object below the battery replacing gripper, and the device comprising:

[0026] A collection module is configured to collect the pose of the battery vehicle to be replaced by using the radar.

[0027] A control module is configured to, if it is determined that the battery vehicle to be replaced meets the battery replacing condition according to the pose, control the battery replacing gripper to move to a first region and continue to move along a direction parallel to the ground to the inside of the battery vehicle to be replaced according to the pose and the distance measuring sensor, wherein the first region is outside the battery vehicle to be replaced and the distance from the first edge is less than a second preset distance, and the first edge is an edge of the battery vehicle to be replaced closest to the battery replacing device.

[0028] An acquisition module is configured to acquire the second height in real time by using the distance measuring sensor.

[0029] The control module is further configured to, if the second height change amount is greater than a second preset height change amount, control the battery replacing gripper to stop moving, so as to control the battery replacing gripper to move above the first edge of the battery vehicle to be replaced.

[0030] The control module is further configured to control the battery replacing gripper to move a first preset distance along a direction parallel to the ground to the inside of the battery vehicle to be replaced and control the battery replacing gripper to move along a direction parallel to the ground to the outside of the battery vehicle to be replaced.

[0031] The acquisition module is further configured to acquire the first height in real time by using the distance measuring sensor.

[0032] A determination module is configured to determine the battery position of the battery vehicle to be replaced according to the first height change amount of the first height and a first preset height change amount.

[0033] In a possible design, the determining module is further configured to determine coordinates of the first edge according to the pose.

[0034] The control module is further configured to control the battery swap gripper to move to the coordinates in a direction parallel to the ground.

[0035] The determining module is further configured to determine, according to the height collected by the ranging sensor, whether the battery swap gripper is above the battery vehicle to be swapped; if the battery swap gripper is not above the battery vehicle to be swapped, it is determined that the battery swap gripper is in the first region.

[0036] The control module is further configured to, if the battery swap gripper is above the battery vehicle to be swapped, control the battery swap gripper to move to the outside of the battery vehicle to be swapped in a direction parallel to the ground.

[0037] The obtaining module is further configured to obtain, in real time, a third height by using the ranging sensor.

[0038] The control module is further configured to, if the third height variation is greater than a third preset height variation, control the battery swap gripper to stop moving, so as to control the battery swap gripper to move to the first region.

[0039] In a possible design, the battery positioning apparatus further includes an output module, configured to:

[0040] If it is determined according to the pose that the battery vehicle to be swapped does not satisfy the battery swap condition, the output module outputs guidance information, where the guidance information is used to guide a driver to drive the battery vehicle to be swapped, so that the pose of the battery vehicle to be swapped satisfies the battery swap condition.

[0041] In a possible design, the determining module is further configured to:

[0042] If the first height variation is greater than the first preset height variation, the determining module determines, according to a current position of the battery swap gripper, a second edge of the first battery, where the second edge is an edge of the first battery closest to the battery swap device.

[0043] The determining module determines, according to the size of the first battery and the second edge, coordinates of the first battery.

[0044] The determining module determines, according to a geometric distance offset between a second battery and the first battery in the battery vehicle to be swapped and the coordinates of the first battery, coordinates of the second battery.

[0045] In a third aspect, an electronic device is provided, including 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 in the first aspect and various possible designs.

[0046] In a fourth aspect, a computer-readable storage medium is provided, and the computer-readable storage medium stores computer-executable instructions, when a processor executes the computer-executable instructions, the method in the first aspect and various possible designs is implemented.

[0047] In a fifth aspect, a computer program product is provided, including a computer program, when a processor executes the computer program, the method in the first aspect and various possible designs of the first aspect is implemented.

[0048] The present application provides a battery positioning method, device, equipment and storage medium, which is applied to a battery replacement device. The battery replacement device includes a radar, a battery replacement gripper, and a distance measuring sensor arranged on the battery replacement gripper and used to measure the height of the battery replacement gripper relative to an object below. First, the pose of a battery vehicle to be replaced is collected by the radar, and whether the battery vehicle to be replaced meets the battery replacement condition is further determined according to the pose. When the battery vehicle to be replaced meets the battery replacement condition, the battery replacement gripper is controlled to move above the edge of the battery vehicle to be replaced closest to the battery replacement device according to the pose of the battery vehicle to be replaced and the distance measuring sensor. Then, the battery replacement gripper is controlled to continue moving in a direction parallel to the ground to the inside of the battery vehicle to be replaced, and a first height is obtained in real time by the distance measuring sensor. Then, the battery position of the battery vehicle to be replaced is determined according to the first height change of the first height and a first preset height change. The present application confirms that the battery vehicle to be replaced meets the battery replacement condition based on the radar, and further determines the battery position of the battery vehicle to be replaced in combination with the distance measuring sensor. Through the combination of the radar and the distance measuring sensor, double positioning is equivalent to being performed, which avoids the error caused by using only the radar or only the distance measuring sensor, establishes a foundation for accurate battery grabbing, and improves the accuracy of positioning the battery in the battery vehicle to be replaced. BRIEF DESCRIPTION OF DRAWINGS

[0049] The accompanying drawings, which are incorporated herein and form part of the specification, illustrate embodiments consistent with the present application and, together with the description, further serve to explain the principles of the application.

[0050] Figure 1 A hardware structure diagram of a battery replacement method of a battery replacement station in the prior art;

[0051] Figure 2 A scene schematic diagram of a battery replacement method of a battery replacement station in the prior art;

[0052] Figure 3 The overall architecture diagram of the battery positioning method suitable for the embodiments of the present application is shown in the following figure:

[0053] Figure 4 The control system hardware structure diagram of the battery replacing gripper suitable for the embodiments of the present application is shown in the following figure:

[0054] Figure 5 The flowchart of the battery positioning method provided by the embodiments of the present application is shown in the following figure Figure 1 ;

[0055] Figure 6 The flowchart of the battery positioning method provided by the embodiments of the present application is shown in the following figure Figure 2 ;

[0056] Figure 7 The structural diagram of the battery positioning device provided by the present application is shown in the following figure:

[0057] Figure 8 The structural diagram of the electronic device provided by the embodiments of the present application is shown in the following figure.

[0058] The specific embodiments of the present application have been shown in the above figures, and will be described in more detail hereinafter. These figures and textual descriptions are not intended to limit the scope of the concept 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

[0059] The exemplary embodiments will be described in detail herein with reference to the attached drawings. In the following description, the same numbers are used to indicate the same or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not meant to represent all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as detailed in the appended claims.

[0060] In the technical solutions of the present application, the collection, storage, use, processing, transmission, provision and disclosure of the financial data or user data and other information involved in the technical solutions comply with the relevant legal regulations and do not violate public order and good customs.

[0061] It should be noted that in the embodiments of the present application, some software, components, models and other industry existing solutions may be mentioned, which should be considered as exemplary, and the purpose is only to illustrate the feasibility of the implementation of the technical solutions of the present application, but it does not mean that the applicant has or will necessarily use the solution.

[0062] For environmental protection, efficiency or technological progress, modern engineering machinery vehicles are generally powered by battery packs. Since engineering machinery vehicles usually need to work in high-intensity environments, their power consumption is very large. Although the battery pack provides power support, the capacity of the battery pack may not be sufficient to meet the continuous work requirements during long-time and high-intensity operation. In order to avoid the stoppage of engineering machinery vehicles due to insufficient power, power replenishment must be carried out before the battery pack is depleted.

[0063] The two main power replenishment methods for engineering machinery vehicles at construction sites when the battery pack is insufficient are as follows:

[0064] One is to charge while working, that is, to charge by dragging a high-voltage wire bundle while the engineering 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 wire bundle needs to be avoided, the work is inconvenient and the work efficiency is affected. In addition, because the high-voltage wire bundle needs to be connected, the range of movement of the engineering machinery vehicle may be limited.

[0065] The other is to replace the battery at the battery replacement station, that is, when the vehicle power is too low, go to a fixed battery replacement station to replace a new, fully charged battery pack. This means that the vehicle must be able to reach these battery replacement stations within a certain distance to replenish power. Since the location of the battery replacement station is fixed, the range of movement of the engineering machinery vehicle is limited by the location of the battery replacement station. If the construction site is far from the battery replacement station, the engineering machinery vehicle needs to spend extra time and resources to go back and forth between the battery replacement station and the work site. In some remote or temporary construction sites, there may not be enough battery replacement station facilities, further limiting the use of the vehicle.

[0066] In one possible implementation, Figure 1 The hardware structure diagram of the prior art battery replacement station battery replacement method is shown in FIG. 1. Figure 1 As shown in FIG. 1, after the engineering machinery vehicle goes to the battery replacement station, the battery replacement station uses the radar data acquisition unit to navigate the battery replacement robot using the Simultaneous Localization and Mapping (SLAM) technology to perform the battery replacement operation.

[0067] In order to achieve precise operation, the Programmable Logic Controller (PLC) and the servo motion control unit are also used to coordinate and control the movement of the mechanical hand of the battery replacement robot, to ensure the smooth progress of the battery replacement process.

[0068] Specifically, Figure 2 The scene schematic diagram of the prior art battery replacement station battery replacement method is shown in FIG. 2.Figure 2 As shown, four laser reflectors (A, B, C, and D) need to be installed on the wall of the battery swapping station. A lidar system receives reflected signals through these reflectors and, in conjunction with a PLC, switch, and microcontroller, calculates the coordinates of a fixed spatial location within the station to navigate the battery swapping robot. The robot's robotic arm then grabs the depleted battery from the construction machinery vehicle for battery swapping. The lidar system is deployed on the construction machinery vehicle.

[0069] However, when lidar is affected by external factors (such as dust or water droplets on the lidar mirror), the error is large, and using lidar alone for positioning may result in a large difference between the positioning position and the target position.

[0070] To address the aforementioned technical issues, and considering that lidar is susceptible to measurement errors due to external influences, the inventors devised a dual positioning method to ensure positioning accuracy. First, the radar guides the construction machinery vehicle to a suitable battery swapping area. Then, a ranging sensor is installed on the battery swapping gripper of the equipment to achieve precise battery positioning. Since the battery swapping area has a defined range, any errors that may occur with the radar will have minimal impact on the parking position of the construction machinery vehicle, and consequently, will not affect the ranging sensor's accurate battery positioning.

[0071] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0072] In one possible implementation, Figure 3 This is an overall architecture diagram of the battery positioning method applicable to embodiments of this application, such as... Figure 3 As shown, this battery positioning method involves a vehicle to be replaced and a battery swapping device. Specifically, the vehicle to be replaced is the left side equipped with a power battery for electric drive. Additionally, a display screen for human-machine interaction can be installed in the driver's cab of the vehicle to be replaced; no specific limitations are specified here. The battery swapping device is... Figure 3 The right side of the diagram shows the battery swapping equipment, where a fully charged backup battery is mounted on the frame, and it is equipped with radar, a voice broadcaster, and a control system. The battery swapping gripper is installed below the rotating floating hoist, and a distance sensor is also installed on one side of the gripper. The traveling lifting gantry, the three-stage telescopic boom, and the rotating floating hoist work together to move and grip the battery swapping gripper. It is worth noting that the battery swapping equipment can be a mobile battery swapping vehicle.

[0073] Explanatory Figure 4 The following is a hardware structure diagram of the control system for the battery swapping gripper applicable to the embodiments of this application:Figure 4 As shown, the control system installed on the battery swapping equipment is implemented by a controller. The controller is used to control the voice broadcaster, radar, ranging sensor, and servo system for coordinating and controlling the actions of the battery swapping gripper. Specifically, the controller communicates with the voice broadcaster based on the open Modbus protocol, with the radar based on the Transmission Control Protocol (TCP) or Internet Protocol (IP), with the ranging sensor through an analog input / output interface (AIO), and with the servo system through the Ethernet for Control Automation Technology (EtherCAT) protocol.

[0074] It should be noted that this application applies to the field of construction machinery technology, and the vehicles involved in the battery replacement can be construction machinery equipment such as electric excavators and electric loaders that require battery replacement.

[0075] based on Figure 3 As shown in the overall architecture, this application embodiment also provides a battery positioning method. Figure 5 Flowchart of the battery positioning method provided in the embodiments of this application Figure 1 ,like Figure 5 As shown, the battery positioning method includes:

[0076] S501: The position and orientation of the vehicle whose battery needs to be replaced are acquired by radar.

[0077] Understandably, radar continuously emits radio waves and receives reflected signals to scan the surrounding environment. By analyzing the reflected signals, the vehicle whose battery needs to be replaced is detected, along with information such as its distance, intensity, and angle from the radar, thereby determining the vehicle's position and orientation.

[0078] In one possible implementation, the received reflected signal is denoised (transition point processing), and the distance, intensity, and angle of each polar coordinate point in the processed reflected signal are converted into Cartesian coordinates in the Cartesian coordinate system where the battery swapping device is located. These Cartesian coordinates are formed into a set, and the neighborhood points near the extreme coordinate points are used as a subset to describe the edge feature values ​​of the vehicle to be swapped (which can be fitted as a feature curve, usually a straight line). The position and angle of the vehicle to be swapped relative to the radar are determined by these edge feature values, thereby determining the pose of the vehicle.

[0079] Explanatorily, due to the installation position of the radar and the base coordinate system and origin of the battery swap device having a certain angle and deviation, it is necessary to convert the radar coordinate system point coordinates into the battery swap device coordinate system point coordinates, so as to guide the action of the battery swap gripper. Generally, the radar coordinate system is a polar coordinate system, and the battery swap device coordinate system is a rectangular coordinate system.

[0080] Specifically, considering that the battery swap device and the battery vehicle to be replaced are basically in the same horizontal plane, only a horizontal plane two-dimensional Cartesian coordinate system is considered. In one possible implementation, the method of coordinate matrix transformation is adopted to convert the radar coordinate system point coordinates into the battery swap device coordinate system point coordinates.

[0081] Suppose that the radar coordinate system point coordinates are (X a ,Y a ), the battery swap device coordinate system point coordinates are (X b ,Y b ), the deflection angle of the radar coordinate system and the battery swap device coordinate system is θ, and the position offset in the X and Y directions is represented as (Δx, Δy). Since only two-dimensional coordinate rotation and offset transformation (affine transformation) are involved, the transformation matrix is a 3×3 matrix.

[0082] In order to facilitate matrix coordinate transformation, it is necessary to represent the radar coordinate system point coordinates (X a ,Y a ) as a 1×3 matrix |a 11 ,a 12 ,1|, and the battery swap device coordinate system point coordinates (X b ,Y b ) as |b 11 ,b 12 ,1|. Since there are three unknown numbers (θ, Δx, Δy) in the transformation matrix T, three different coordinate points need to be found to form the radar coordinate system 3×3 matrix A and the battery swap device coordinate system 3×3 matrix B in the radar coordinate system and the battery swap device coordinate system, respectively.

[0083] Wherein, the radar coordinate system matrix A and the battery swap device coordinate system matrix B are as follows:

[0084]

[0085] Wherein, a 11 , a 12 are radar coordinate system point coordinates (X a ,Y a ), b 11 , b 12 are battery swap device coordinate system point coordinates (X b ,Y b ).

[0086] According to the affine transformation coordinate conversion formula T = A-1 B can obtain the transformation matrix T, so that in the case of knowing the point coordinates of the radar coordinate system, the corresponding point coordinates of the battery swap device coordinate system can be obtained according to the formula AT = B. Wherein, the form of the transformation matrix T is as follows:

[0087]

[0088] Wherein, cosθ, -sinθ, sinθ, cosθ are linear rotation parts; Δx, Δy are translation parts.

[0089] After converting the point coordinates of the radar coordinate system into the point coordinates of the battery swap device coordinate system, according to the battery swap coordinate range set by the battery swap device, the coordinate points outside the range are filtered out to obtain a coordinate point set A. Since the edge coordinate points of the battery vehicle to be replaced can be approximately fitted as a straight line, and the straight line is more convenient to describe the distance and angle of the battery vehicle to be replaced relative to the battery swap device. Therefore, the coordinate points with small linear correlation degree in the coordinate point set A are removed to obtain a coordinate point set B with large linear correlation degree, and the edge features of the battery vehicle to be replaced are defined by fitting the set B as a straight line.

[0090] The linear correlation degree of the coordinate point set A (X i ,Y i ) can be described by the Pearson correlation coefficient, which defines the quotient of the covariance and the standard deviation between two variables, and the sample definition formula is as follows:

[0091]

[0092] Wherein, σ X are the standard score, sample mean and sample standard deviation of the sample X i .

[0093] Specifically, the value of r is between -1 and 1, if the sample point (X i ,Y i ) falls exactly on the same straight line, then the absolute value of r is 1. In actual operation, the absolute value of r can be set to be greater than 0.95, so that the coordinate point set with good linear correlation degree can be obtained.

[0094] S502, if the battery vehicle to be replaced satisfies the battery swap condition according to the pose, then according to the pose and the distance measuring sensor, the battery swap gripper is controlled to move to the first area, and the battery swap gripper is controlled to continue moving along the direction parallel to the ground to the inside of the battery vehicle to be replaced, and the second height is obtained in real time by the distance measuring sensor.

[0095] The first region is outside the battery replacement vehicle to be replaced and is less than a second preset distance from the first edge, and the first edge is an edge of the battery replacement vehicle to be replaced close to the battery replacement device.

[0096] It needs to be explained that the detection range of the radar is limited, and usually only objects within a certain range can be detected. Therefore, the battery replacement vehicle to be replaced can only be moved into the range that can be detected by the radar to perform subsequent battery positioning operations. That is, the battery replacement condition refers to the battery replacement vehicle to be replaced moving into the range that can be detected by the radar.

[0097] In the case where the battery replacement vehicle to be replaced does not satisfy the battery replacement condition according to the pose, the guidance information for guiding the driver to drive the battery replacement vehicle to be replaced is outputted so that the pose of the battery replacement vehicle to be replaced satisfies the battery replacement condition.

[0098] For example, according to the collected pose of the battery replacement vehicle to be replaced, the real-time vehicle position is broadcast to the driver through the voice broadcaster, guiding the driver to park the battery replacement vehicle to be replaced at a suitable battery replacement position. After the battery replacement vehicle to be replaced is parked stably, the control system sends the corresponding parking position to the display screen for human-computer interaction through the communication module of the battery replacement vehicle to be replaced, so as to facilitate the driver to confirm whether the final parking position is suitable.

[0099] Further, after the driver confirms that the battery replacement vehicle to be replaced is parked at a suitable battery replacement position, the coordinates of the first edge are determined according to the pose of the battery replacement vehicle to be replaced, and the battery replacement gripper is controlled to move to the coordinates of the first edge along a direction parallel to the ground.

[0100] For example, the coordinates of the first edge of the battery replacement vehicle to be replaced are calculated by the radar, which is the positioning starting point of the ranging sensor scanning the battery replacement vehicle to be replaced for guiding the battery replacement gripper to position the battery replacement vehicle to be replaced. It needs to be noted that the ranging sensor is arranged on the side of the battery replacement gripper close to the battery replacement vehicle to be replaced.

[0101] After the battery replacement gripper is positioned to the first edge, it is judged whether the edge of the battery replacement gripper where the ranging sensor is located is above the battery replacement vehicle to be replaced according to the height value collected by the ranging sensor arranged on the battery replacement gripper. If the above-mentioned edge of the battery replacement gripper is above the battery replacement vehicle to be replaced, the battery replacement gripper is controlled to move to the outside of the battery replacement vehicle to be replaced, so as to ensure that the above-mentioned edge of the battery replacement gripper is outside the battery replacement vehicle to be replaced. The purpose of this is to ensure that the scanning by the ranging sensor is always started from the outside of the battery replacement vehicle to be replaced to the inside, so as to ensure that the scanned battery is the first battery of the battery replacement vehicle to be replaced and has a height variation of the ranging sensor scanning.

[0102] In a possible implementation, the height collected by the ranging sensor is used to determine whether the battery swap gripper is above the battery vehicle to be swapped. If the battery swap gripper is not above the battery vehicle to be swapped, it is determined that the battery swap gripper is outside the battery vehicle to be swapped and in a first region that is less than a second preset distance from the first edge. The value of the second preset distance can be set to a very small value, i.e., the first region is a region outside the battery vehicle to be swapped and very close to the first edge.

[0103] If the battery swap gripper is above the battery vehicle to be swapped, the battery swap gripper is controlled to move outward of the battery vehicle to be swapped in a direction parallel to the ground, and a third height is obtained in real time by the ranging sensor. If the third height change is greater than a third preset height change, it indicates that the battery swap gripper has moved to the first region, and the battery swap gripper is controlled to stop moving.

[0104] After the battery swap gripper is moved to the first region, the battery swap gripper is controlled to continue moving inward of the battery vehicle to be swapped in a direction parallel to the ground, and a second height is obtained in real time by the ranging sensor.

[0105] S503, if the second height change is greater than a second preset height change, the battery swap gripper is controlled to stop moving, so as to control the battery swap gripper to move above the first edge of the battery vehicle to be swapped.

[0106] At this time, the battery swap gripper has moved above the first edge of the battery vehicle to be swapped.

[0107] It should be understood that the ground and the vehicle edge, the battery and the vehicle edge are located at different heights, and when the laser beam of the ranging sensor scans from the ground outside the battery vehicle to be swapped to the vehicle edge, or from the vehicle edge to the battery (the battery scans to the vehicle edge), the measured height naturally changes, i.e., a corresponding height change is generated, such as the third height change and the second height change.

[0108] S504, the battery swap gripper is controlled to move inward of the battery vehicle to be swapped in a direction parallel to the ground by a first preset distance; the battery swap gripper is controlled to move outward of the battery vehicle to be swapped in a direction parallel to the ground, and a first height is obtained in real time by the ranging sensor.

[0109] It can be understood that, since the thickness of the first edge of the battery-requiring vehicle is usually large (e.g., greater than 150 mm), and various arc surfaces and concave-convex surfaces exist, when the ranging sensor scans these arc surfaces or concave-convex surfaces, a corresponding height change amount will also be generated, which is easy to cause the ranging sensor to detect these arc surfaces or concave-convex surfaces as battery edges. Therefore, after the battery-changing gripper is controlled to move above the first edge of the battery-requiring vehicle, the battery-changing gripper needs to be first moved a fixed distance (a first preset distance) in a direction parallel to the ground to the inside of the battery-requiring vehicle, and then the detection of the battery edge is started.

[0110] The purpose of controlling the battery-changing gripper to move the first preset distance to the inside of the battery-requiring vehicle is to avoid the false measurement caused by the arc surfaces and concave-convex surfaces existing on the edge of the vehicle. Therefore, after the battery-changing gripper moves the first preset distance, it should have already moved above the battery. Specifically, whether the battery-changing gripper is above the battery can also be judged by the height value obtained by the ranging sensor.

[0111] For example, the battery-changing gripper is moved a first preset distance from the first edge of the battery-requiring vehicle to the inside, the height value at this time is obtained by the ranging sensor, and if the height value is within the set range detected by the battery, it indicates that the battery-changing gripper has moved above the battery, and the movement of the battery-changing gripper is stopped.

[0112] Next, the battery-changing gripper is controlled to move to the outside of the battery-requiring vehicle in a direction parallel to the ground, and the height value (a first height) is obtained in real time by the ranging sensor.

[0113] S505, determining the battery position of the battery-requiring vehicle according to the first height change amount of the first height and the first preset height change amount.

[0114] It can be understood that, if the ranging sensor detects a height change amount (a first height change amount) again, i.e., the first height change amount is greater than the first preset height change amount, it indicates that the battery-changing gripper has been positioned to the battery edge, i.e., the second edge of the first battery. The second edge is the edge of the first battery closest to the battery-changing device.

[0115] The other edge adjacent to the second edge of the first battery can also be detected in the same positioning manner, so as to determine the coordinates of the first battery, which will not be described here again. In addition, the coordinates of the first battery can also be determined according to the size of the first battery and the second edge.

[0116] Based on the coordinates of the first battery and the geometric distance offset of each power battery (second battery) in the vehicle to be replaced relative to the first battery, the coordinates of the 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 using the angular offset value of the vehicle to be replaced relative to the radar, to ensure that the positioning accuracy of each battery is not affected by the parking angle.

[0117] This application provides a battery positioning method applied to a battery swapping device. The battery swapping device includes a radar, a battery swapping gripper, and a ranging sensor mounted on the gripper to measure the height of the gripper relative to an object below. First, the radar acquires the pose of the vehicle to be swapped, and the coordinates of the first edge of the vehicle are determined based on the pose. Further, based on these coordinates, it is determined whether the vehicle meets the battery swapping conditions. If not, guidance information is output to guide the driver to adjust the vehicle's pose to meet the swapping conditions. If the conditions are met, the gripper is moved above the first edge of the vehicle based on the pose and the ranging sensor readings. Next, the gripper is moved a first preset distance inwards from the vehicle along a direction parallel to the ground. Then, the gripper is moved outwards from the vehicle along a direction parallel to the ground, and a first height is acquired in real time using the ranging sensor. Based on the first height change and a first preset height change, combined with the dimensions of the first battery, the coordinates of the first battery are determined. Based on the coordinates of the first battery and the geometric distance offset of the second battery relative to the first battery in the vehicle to be replaced, the coordinates of the second battery are determined, providing a basis for the subsequent precise positioning of each battery's starting position by the battery swapping gripper. This application confirms that the vehicle to be replaced meets the battery swapping conditions based on radar, and further combines this with a ranging sensor to locate the battery position in the vehicle to be replaced. The combination of radar and a ranging sensor is equivalent to dual positioning, avoiding errors caused by using only radar or only a ranging sensor, establishing a foundation for accurate battery grabbing, and improving the accuracy of battery positioning in the vehicle to be replaced. Furthermore, the battery swapping equipment can be mobile, so the working area of ​​the vehicle to be replaced is no longer limited to a fixed range and can be expanded or moved according to actual needs.

[0118] In summary, a specific embodiment demonstrates... Figure 5 The battery positioning method shown is summarized below. Figure 6 Flowchart of the battery positioning method provided in the embodiments of this application Figure 2 ,like Figure 6 As shown, the complete battery positioning process includes the following steps:

[0119] S601, activate radar and voice broadcast;

[0120] S602, collecting the pose of the battery-requiring vehicle by the radar;

[0121] S603, voice-prompting the driver of the battery-requiring vehicle about the current coordinate and angle of the battery-requiring vehicle;

[0122] S604, confirming by the driver whether the battery-requiring vehicle meets the battery replacement condition;

[0123] If not, returning to step S602; if yes, executing step S605.

[0124] S605, calculating the coordinate of the first edge of the battery-requiring vehicle by the radar;

[0125] S606, controlling the battery replacement gripper to move to the coordinate of the first edge in a direction parallel to the ground;

[0126] S607, determining the position of the battery replacement gripper relative to the battery-requiring vehicle according to the height collected by the ranging sensor;

[0127] S608, judging whether the battery replacement gripper is outside the battery-requiring vehicle;

[0128] If not, executing step S609; if yes, executing step S610.

[0129] S609, controlling the battery replacement gripper to move to the outside of the battery-requiring vehicle, and returning to step S607;

[0130] S610, controlling the battery replacement gripper to move to the inside of the battery-requiring vehicle;

[0131] S611, detecting the height change amount by the ranging sensor to determine the first edge of the battery-requiring vehicle;

[0132] S612, controlling the battery replacement gripper to move to the inside of the battery-requiring vehicle by a first preset distance;

[0133] S613, judging whether the real-time height value obtained by the ranging sensor is within the set range of the battery;

[0134] If not, returning to step S612; if yes, executing step S614.

[0135] S614, controlling the battery replacement gripper to move to the outside of the battery-requiring vehicle;

[0136] S615, detecting the height change amount by the ranging sensor to determine the edge of the first battery of the battery-requiring vehicle and the coordinate of the first battery;

[0137] S616, determining the coordinate of the second battery according to the coordinate of the first battery and the geometric distance offset of the second battery relative to the first battery.

[0138] Therefore, the pose of the battery vehicle to be replaced is collected based on the radar, and the current coordinates and angle of the battery vehicle to be replaced are prompted to the driver to ensure that the battery vehicle to be replaced meets the battery replacement condition. Further, the battery position of the battery vehicle to be replaced is accurately positioned by repeatedly moving the battery replacement gripper and according to the height change amount detected by the ranging sensor. Through the combination of the radar and the ranging sensor, double positioning is equivalent to being performed, avoiding errors caused by using only the radar or only the ranging sensor, establishing a foundation for accurate battery grabbing, and improving the accuracy of positioning the battery in the battery vehicle to be replaced.

[0139] Figure 7 The structural schematic diagram of the battery positioning device provided in the present application is shown in FIG. 7, which is applied to a battery replacement device. The battery replacement device includes a radar, a battery replacement gripper, and a ranging sensor arranged on the battery replacement gripper for measuring the height of the battery replacement gripper relative to an object below the battery replacement gripper. The battery positioning device 700 includes an acquisition module 701, a control module 702, an acquisition module 703, and a determination module 704. Figure 7 The acquisition module 701 is configured to collect the pose of the battery vehicle to be replaced by the radar.

[0140] The control module 702 is configured to, if it is determined according to the pose that the battery vehicle to be replaced meets the battery replacement condition, control the battery replacement gripper to move to a first region and continue to move along a direction parallel to the ground to the inside of the battery vehicle to be replaced according to the pose and the ranging sensor. The first region is outside the battery vehicle to be replaced and has a distance to a first edge less than a second preset distance. The first edge is the edge of the battery vehicle to be replaced closest to the battery replacement device.

[0141] The acquisition module 703 is configured to acquire the second height in real time by the ranging sensor.

[0142] The control module 702 is further configured to, if the second height change amount is greater than a second preset height change amount, control the battery replacement gripper to stop moving, so as to control the battery replacement gripper to move above the first edge of the battery vehicle to be replaced.

[0143] The control module 702 is further configured to control the battery replacement gripper to move a first preset distance along a direction parallel to the ground to the inside of the battery vehicle to be replaced, and control the battery replacement gripper to move along a direction parallel to the ground to the outside of the battery vehicle to be replaced.

[0144] The acquisition module 703 is further configured to acquire the first height in real time by the ranging sensor. The determination module 704 is configured to determine the battery position of the battery vehicle to be replaced according to the first height change amount of the first height and a first preset height change amount.

[0145] ​

[0146] In a possible design, the control module 702 is further configured to:

[0147] control the battery swap gripper to move a first preset distance in a direction parallel to the ground towards the inside of the battery swap target vehicle;

[0148] control the battery swap gripper to move in a direction parallel to the ground towards the outside of the battery swap target vehicle.

[0149] In a possible design, the control module 702 is further configured to:

[0150] control the battery swap gripper to move to the first region according to the pose and the ranging sensor, the first region being outside the battery swap target vehicle and being less than a second preset distance from the first edge;

[0151] control the battery swap gripper to continue to move in a direction parallel to the ground towards the inside of the battery swap target vehicle;

[0152] The acquisition module 703 is further configured to acquire the second height in real time through the ranging sensor.

[0153] The control module 702 is further configured to control the battery swap gripper to stop moving, to control the battery swap gripper to move above the first edge of the battery swap target vehicle, if the second height variation is greater than a second preset height variation.

[0154] In a possible design, the determination module 704 is further configured to determine the coordinates of the first edge according to the pose.

[0155] The control module 702 is further configured to control the battery swap gripper to move to the coordinates in a direction parallel to the ground.

[0156] The determination module 704 is further configured to determine, according to the height collected by the ranging sensor, whether the battery swap gripper is above the battery swap target vehicle; if the battery swap gripper is not above the battery swap target vehicle, it is determined that the battery swap gripper is in the first region.

[0157] The control module 702 is further configured to control the battery swap gripper to move in a direction parallel to the ground towards the outside of the battery swap target vehicle, if the battery swap gripper is above the battery swap target vehicle.

[0158] The acquisition module 703 is further configured to acquire the third height in real time through the ranging sensor.

[0159] The control module 702 is further configured to control the battery swap gripper to stop moving, to control the battery swap gripper to move to the first region, if the third height variation is greater than a third preset height variation.

[0160] In a possible design, the battery positioning apparatus 700 further includes an output module 705, configured to:

[0161] If it is determined according to the pose that the to-be-changed battery vehicle does not satisfy the battery changing condition, the guidance information is output, and the guidance information is used to guide the driver to drive the to-be-changed battery vehicle, so that the pose of the to-be-changed battery vehicle satisfies the battery changing condition.

[0162] In a possible design, the determining module 704 is further configured to:

[0163] If the first height change amount is greater than the first preset height change amount, the second edge of the first battery is determined according to the current position of the battery changing gripper, and the second edge is an edge of the first battery closest to the battery changing device.

[0164] The coordinates of the first battery are determined according to the size of the first battery and the second edge.

[0165] The coordinates of the second battery are determined according to the geometric distance offset amount between the second battery and the first battery in the to-be-changed battery vehicle and the coordinates of the first battery.

[0166] The battery positioning apparatus provided by the embodiments of the present application can be used to execute the battery positioning method in any of the above embodiments, and has similar implementation principles and technical effects, which will not be described here again.

[0167] It should be noted that the division of each module of the above apparatus is only a logical function division, and all or part of the modules can be integrated into one physical entity, or can be physically separated. The modules can all be implemented in the form of software invoked by a processing element; or all be implemented in the form of hardware; or part of the modules are implemented in the form of software invoked by a processing element, and part of the modules are implemented in the form of hardware. In addition, all or part of the modules can be integrated together, or can be independently implemented. The processing element mentioned herein can be an integrated circuit having a signal processing capability. In the implementation process, each step of the above method or each module can be completed by an integrated logic circuit of hardware in the processing element or an instruction in the form of software.

[0168] Figure 8 A structural schematic diagram of an electronic device provided by the embodiments of the present application is shown in FIG. 1. As shown in FIG. 1, the electronic device can include a transceiver 81, a processor 82, and a memory 83. Figure 8

[0169] ​The processor 82 executes computer-executed instructions stored in the memory to cause the processor 82 to perform the solutions in the above embodiments. The processor 82 can be a general-purpose processor, including a central processing unit CPU, a network processor NP, etc.; can also be a digital signal processor DSP, an application-specific integrated circuit ASIC, a field programmable gate array FPGA or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component.

[0170] The memory 83 is connected with the processor 82 through the system bus and completes mutual communication, and the memory 83 is used for storing computer program instructions.

[0171] The transceiver 81 can be used for communication interaction with other devices.

[0172] 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 the convenience 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 can include random access memory RAM, and can also include non-volatile memory.

[0173] The electronic device provided by the embodiments of the present application can be used to execute the method provided by any of the above embodiments, and has similar implementation principles and technical effects, which will not be described here.

[0174] The embodiments of the present application also provide a computer readable storage medium, which stores computer instructions, and when the computer instructions run on a computer, the computer executes the method provided by any of the above embodiments.

[0175] The embodiments of the present application also provide 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, and when the at least one processor executes the computer program, the method provided by any of the above embodiments can be implemented.

[0176] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other manners. For example, the embodiments of the device described above are merely schematic. For example, the division of the modules is merely logical function division. There can be another division manner for the actual implementation. For example, a plurality of modules or a component can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some interfaces, devices or modules, and can be electrical, mechanical or in other forms.

[0177] The modules illustrated as separated components can or can not be physically separated, and the components illustrated as modules can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Some or all of the modules can be selected according to actual needs to implement the embodiments of the present application.

[0178] In addition, each function module in each embodiment of the present application can be integrated in one processing unit, or each module can be physically present separately, or two or more modules can be integrated in one unit. The unit formed by the above modules can be realized in the form of hardware, or in the form of hardware plus software function unit.

[0179] The integrated module realized in the form of software function module can be stored in a computer readable storage medium. The software function module stored in the storage medium includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute part of the steps of the method of each embodiment of the present application.

[0180] It should be understood that the processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), etc. The general-purpose processor can be a microprocessor, or the processor can also be any conventional processor. The steps of the method disclosed in the present application can be directly embodied as a hardware processor to execute, or be executed by a combination of hardware and software modules in the processor.

[0181] The memory can include a high-speed RAM memory, and can also include a non-volatile storage NVM, such as at least one disk memory, and can also be a U disk, a mobile hard disk, a read-only memory, a magnetic disk or an optical disk, etc.

[0182] 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 the present application does not limit to only one bus or one type of bus.

[0183] The storage medium described above can be realized by any type of volatile or nonvolatile storage devices or a combination thereof, such as a static random access memory (SRAM), an electrically erasable programmable read-only memory (EEPROM), an erasable programmable read-only memory (EPROM), a programmable read-only memory (PROM), a read-only memory (ROM), a magnetic storage, a flash memory, a magnetic disk or an optical disk. The storage medium can be any available medium that can be accessed by a general or special purpose computer.

[0184] An exemplary storage medium is coupled to the processor so that the processor can read information from, and write information to, the storage medium. Of course, the storage medium can be part of the processor. The processor and the storage medium can be located in an application specific integrated circuits (ASIC). Of course, the processor and the storage medium can exist as discrete components in an electronic control unit or a host device.

[0185] Those of ordinary skill in the art can understand that all or part of the steps of the above-mentioned method embodiments can be completed by relevant hardware instructed by programs. The foregoing programs can be stored in a computer readable storage medium. When the programs are executed, the steps of the above-mentioned method embodiments are executed; and the foregoing storage medium includes ROM, RAM, magnetic or optical disk, and various media that can store program codes.

[0186] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method of positioning a battery, characterized by, The method is applied to a battery swap device, the battery swap device comprises a radar, a battery swap gripper, and a ranging sensor arranged on the battery swap gripper, the ranging sensor is used to measure the height of the battery swap gripper relative to an object below the battery swap gripper, and the method comprises the following steps: Collecting the pose of a battery vehicle to be swapped by the radar; If it is determined according to the pose that the battery vehicle to be swapped satisfies a battery swap condition, then according to the pose and the ranging sensor, the battery swap gripper is controlled to move to a first region, and the battery swap gripper is controlled to continue moving along a direction parallel to the ground to the inside of the battery vehicle to be swapped, and a second height is acquired in real time by the ranging sensor; wherein the first region is outside the battery vehicle to be swapped and is less than a second preset distance from a first edge, and the first edge is the edge of the battery vehicle to be swapped closest to the battery swap device; If the second height variation is greater than a second preset height variation, then the battery swap gripper is controlled to stop moving, so as to control the battery swap gripper to move above the first edge of the battery vehicle to be swapped; The battery swap gripper is controlled to move a first preset distance along a direction parallel to the ground to the inside of the battery vehicle to be swapped, and the battery swap gripper is controlled to move along a direction parallel to the ground to the outside of the battery vehicle to be swapped, and a first height is acquired in real time by the ranging sensor; According to the first height variation of the first height and a first preset height variation, the battery position of the battery vehicle to be swapped is determined.

2. The method of claim 1, wherein, The step of controlling the battery swap gripper to move to the first region according to the pose and the ranging sensor comprises the following steps: According to the pose, the coordinates of the first edge are determined; The battery swap gripper is controlled to move along a direction parallel to the ground to the coordinates; According to the height acquired by the ranging sensor, it is determined whether the battery swap gripper is above the battery vehicle to be swapped; If the battery swap gripper is not above the battery vehicle to be swapped, then it is determined that the battery swap gripper is in the first region; If the battery swap gripper is above the battery vehicle to be swapped, then the battery swap gripper is controlled to move along a direction parallel to the ground to the outside of the battery vehicle to be swapped, and a third height is acquired in real time by the ranging sensor; If the third height variation is greater than a third preset height variation, then the battery swap gripper is controlled to stop moving, so as to control the battery swap gripper to move to the first region.

3. The method according to claim 1 or 2, characterized in that, The method further comprises the following steps: If it is determined according to the pose that the battery vehicle to be swapped does not satisfy the battery swap condition, then guidance information is output, and the guidance information is used to guide the driver to drive the battery vehicle to be swapped, so that the pose of the battery vehicle to be swapped satisfies the battery swap condition.

4. The method according to claim 1 or 2, characterized in that, The step of determining the battery position of the battery vehicle to be swapped according to the first height variation of the first height and a first preset height variation comprises the following steps: If the first height variation is greater than the first preset height variation, then according to the current position of the battery swap gripper, a second edge of a first battery is determined, and the second edge is the edge of the first battery closest to the battery swap device; determining coordinates of the first battery according to a size of the first battery and the second edge; determining coordinates of the second battery according to a geometric distance offset of the second battery from the first battery in the battery-replacing vehicle and the coordinates of the first battery.

5. A battery positioning device, characterized by, The application is applied to a battery replacing device, the battery replacing device comprises a radar, a battery replacing gripper and a distance measuring sensor arranged on the battery replacing gripper, the distance measuring sensor is used to measure a height of the battery replacing gripper relative to an object below the battery replacing gripper, and the device comprises: a collection module, which is used to collect a pose of a battery-replacing vehicle through the radar; a control module, which is used to control the battery replacing gripper to move to a first region and control the battery replacing gripper to continue moving in a direction parallel to the ground to an inside of the battery-replacing vehicle according to the pose and the distance measuring sensor if it is determined that the battery-replacing vehicle meets a battery replacing condition according to the pose; wherein the first region is outside the battery-replacing vehicle and is less than a second preset distance from a first edge, and the first edge is an edge of the battery-replacing vehicle closest to the battery replacing device; an acquisition module, which is used to acquire a second height in real time through the distance measuring sensor; the control module is further used to control the battery replacing gripper to stop moving if the second height variation is greater than a second preset height variation, so as to control the battery replacing gripper to move above the first edge of the battery-replacing vehicle; the control module is further used to control the battery replacing gripper to move in a direction parallel to the ground to the inside of the battery-replacing vehicle by a first preset distance and control the battery replacing gripper to move in a direction parallel to the ground to the outside of the battery-replacing vehicle; the acquisition module is further used to acquire a first height in real time through the distance measuring sensor; a determination module, which is used to determine a battery position of the battery-replacing vehicle according to a first height variation of the first height and a first preset height variation.

6. An electronic device, comprising: comprise: a processor and a memory connected with the processor in communication; the memory stores computer execution instructions; the processor executes the computer execution instructions stored in the memory to realize the method in any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer execution instructions, and the computer execution instructions are executed by the processor to realize the method in any one of claims 1-4.

8. A computer program product, characterised in that, The computer program is executed by the processor to realize the method in any one of claims 1-4.

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