Positioning method and system of stacker crane, electronic equipment and storage medium

Abstract

The invention provides a positioning method and system of a stacker crane, electronic equipment and a storage medium. The positioning method comprises the steps that a visual sensor detects a marker image within a preset distance range; the marker is arranged on the battery compartment; the visual sensor is arranged on the stacking machine; calculating a deviation distance according to the marker image; the deviation distance is the distance between the position of the current stacker crane and the target battery bin position; and according to the deviation distance, the running state of the stacker crane is adjusted so that the stacker crane can run to the position corresponding to the target battery bin position. According to the positioning method of the stacker crane, accurate alignment of the stacker crane and the target battery bin position can be achieved, and the stacker crane is accurately positioned to the position corresponding to the target battery bin position, so that the stacker crane can accurately obtain the battery in the battery bin position or accurately place the battery in the battery bin position; and the whole battery transfer efficiency is further improved.

Description

Technical Field

[0001] The present invention belongs to the field of application of smart battery swap stations, and in particular relates to a positioning method, system, electronic device and storage medium for a palletizer. Background Art

[0002] In recent years, with the development of smart battery swapping station networks, electric vehicles have changed from charging to battery swapping. During the battery swapping process of electric vehicles, the battery swapping equipment needs to remove the old battery from the vehicle and pass the old battery to the palletizer. The palletizer puts the old battery into the old bin of the charging room, and then takes the new battery from the new bin of the charging room. After that, the new battery is passed to the battery swapping equipment, and the battery swapping equipment installs the new battery on the vehicle.

[0003] During the process of the palletizer replacing batteries, the palletizer often cannot be accurately positioned due to slipping or component wear when moving in the horizontal direction, so that the palletizer cannot accurately obtain the batteries in the battery bin or accurately place the batteries in the battery bin, thereby reducing the overall battery transportation efficiency. Summary of the invention

[0004] The technical problem to be solved by the present disclosure is to overcome the defect of inaccurate positioning of a palletizer in the prior art, and to provide a positioning method, system, electronic device and storage medium for a palletizer.

[0005] The present invention solves the above technical problems through the following technical solutions:

[0006] In a first aspect, a positioning method for a palletizer is provided, the positioning method comprising:

[0007] The visual sensor detects a marker image within a preset distance range; the marker is arranged on the battery compartment; the visual sensor is arranged on the palletizer;

[0008] Calculate the deviation distance according to the marker image; the deviation distance is the distance between the current position of the palletizer and the target battery bin;

[0009] According to the deviation distance, the operating state of the palletizer is adjusted so that the palletizer runs to a position corresponding to the target battery bin position.

[0010] The positioning method of the palletizer disclosed in the present invention arranges a visual sensor on the palletizer and arranges a marker on the battery bin, so that the visual sensor on the palletizer can detect the marker image on the battery bin within a preset distance range, and then obtain the deviation distance, accurately measure the position of the target battery bin and the current palletizer, and then adjust the operating state of the palletizer, so as to achieve precise alignment between the palletizer and the target battery bin position, and accurately position the palletizer to the position corresponding to the target battery bin position, so that the palletizer can accurately obtain the battery in the battery bin position or accurately place the battery in the battery bin position, thereby improving the overall battery transportation efficiency.

[0011] Preferably, the step of adjusting the operating state of the palletizer so that the palletizer runs to a position corresponding to the target battery position includes:

[0012] Acquiring a new marker image after adjusting the operating state of the palletizer;

[0013] Calculating a new deviation distance according to the new marker image;

[0014] According to the new deviation distance, the operating state of the palletizer is adjusted and the step of detecting a new marker image by the visual sensor within the preset distance range is returned to, until the palletizer runs to the position corresponding to the target battery bin.

[0015] The positioning method of the palletizer disclosed in the present invention needs to obtain a new marker image after adjusting the operating state of the palletizer according to the deviation distance, and then calculate the new deviation distance to achieve real-time detection and update of the deviation distance, and adjust the operating state of the palletizer according to the new deviation distance until the palletizer runs to the position corresponding to the target battery bin, so as to achieve precise alignment between the palletizer and the target battery bin, so that the palletizer can accurately obtain the battery in the battery bin or accurately place the battery in the battery bin, thereby improving the overall battery transportation efficiency.

[0016] Preferably, the step of adjusting the operating state of the palletizer comprises:

[0017] The palletizer is triggered to slow down and run to a position corresponding to the target battery position.

[0018] The positioning method of the palletizer disclosed in the present invention triggers the palletizer to slow down according to the deviation distance and makes the palletizer run to the position corresponding to the target battery bin, thereby realizing the regulation of the operation process of the palletizer to prevent the palletizer from missing the target battery bin due to excessive speed, resulting in the need to turn around and run again to the position corresponding to the target battery bin, so as to prevent the overall battery transportation efficiency from being reduced.

[0019] Preferably, after the step of detecting the image of the marker by the visual sensor within the preset distance range, the positioning method comprises:

[0020] Trigger the palletizer to stop.

[0021] The positioning method of the palletizer disclosed in the present invention triggers the palletizer to stop running when the visual sensor detects a marker image within a preset distance range, and calculates the deviation distance between the current position of the palletizer and the target battery bin according to the marker image, so as to ensure the accurate acquisition of the deviation distance, so as to prevent the accuracy of the obtained deviation distance from being reduced due to the operation of the palletizer, thereby laying a foundation for subsequently adjusting the operating state of the palletizer according to the deviation distance so that the palletizer runs to the position corresponding to the target battery bin, accurately positioning the palletizer to the position corresponding to the target battery bin, so that the palletizer can accurately obtain the battery in the battery bin or accurately place the battery in the battery bin, thereby improving the overall battery transportation efficiency.

[0022] Preferably, outside the preset distance range, the palletizer runs at a first preset speed;

[0023] Within the preset distance range, the palletizer runs at a second preset speed;

[0024] The first preset speed is greater than the second preset speed.

[0025] The positioning method of the palletizer disclosed in the present invention operates at a first preset speed when the palletizer is outside the preset distance range, that is, when the palletizer is far from the target battery position, the operating speed is relatively fast; when the palletizer is within the preset distance range, the palletizer operates at a second preset speed, that is, when the palletizer is close to the target battery position, the operating speed is relatively slow, thereby ensuring both the operating efficiency and the operating safety of the palletizer; at the same time, the palletizer is accurately positioned to the position corresponding to the target battery position, so that the palletizer can accurately obtain the batteries in the battery position or accurately place the batteries in the battery position, thereby improving the overall battery transportation efficiency.

[0026] Preferably, the step of detecting the image of the marker by the visual sensor within the preset distance range comprises:

[0027] It is determined whether the visual sensor receives the marker image within the preset distance range. If so, the visual sensor detects the marker image.

[0028] The positioning method of the palletizer disclosed in the present invention indirectly expands the search range of the visual sensor for searching the marker under the condition that the initial detection range of the visual sensor is determined by receiving the marker image within a preset distance range, thereby increasing the actual detection range of the marker image, laying a foundation for the subsequent calculation of the deviation distance, and accurately positioning the palletizer to the position corresponding to the target battery bin, so that the palletizer can accurately obtain the battery in the battery bin or accurately place the battery in the battery bin, thereby improving the overall battery transportation efficiency.

[0029] Preferably, the positioning method includes:

[0030] Respectively obtaining the coordinate position of the target battery compartment and a preset error coefficient;

[0031] The preset distance range is determined according to the coordinate position and the error coefficient.

[0032] The positioning method of the palletizer disclosed in the present invention determines a preset distance range according to the coordinate position and the error coefficient, and associates the preset distance range with the coordinate position and the error coefficient, thereby overcoming the detection limitations of detection devices including visual sensors, expanding the search range of the visual sensor for searching for markers, and increasing the actual detection range for obtaining marker images, thereby improving the operating efficiency and utilization rate of the palletizer; at the same time, the palletizer is accurately positioned to the position corresponding to the target battery bin, so that the palletizer can accurately obtain the battery in the battery bin or accurately place the battery in the battery bin, thereby improving the overall battery transportation efficiency.

[0033] Preferably, if the visual sensor does not receive the marker image within the preset distance range, the palletizer is triggered to run reversely to the preset distance range, and the process returns to the step of determining whether the visual sensor receives the marker image within the preset distance range.

[0034] The positioning method of the palletizer disclosed in the present invention triggers the palletizer to run in the reverse direction to the preset distance range if the visual sensor does not receive the marker image within the preset distance range, thereby realizing the retraction (backward) operation of the palletizer and searching back and forth for the target battery storage position, further improving the actual detection range of the visual sensor for obtaining the marker image, and at the same time, accurately positioning the palletizer to the position corresponding to the target battery storage position, so that the palletizer can accurately obtain the battery in the battery storage position or accurately place the battery in the battery storage position, thereby improving the overall battery transportation efficiency.

[0035] Preferably, before returning to the step of determining whether the visual sensor receives the image of the marker within the preset distance range, the positioning method further includes:

[0036] It is determined whether the number of times the palletizer is triggered to run in reverse to within the preset distance range reaches a preset number. If so, the palletizer stops running and sends a fault alarm signal.

[0037] The positioning method of the palletizer disclosed in the present invention, if the palletizer has performed multiple reverse operations, and the number of trigger times of its reverse operation within a preset distance range reaches a preset number, and the target battery compartment position is not found, it indicates that the palletizer has a fault, and the palletizer should be controlled to stop running and send a fault alarm signal, thereby realizing the monitoring of the operating status of the palletizer.

[0038] In a second aspect, a positioning system for a palletizer is also provided, the positioning system comprising:

[0039] A detection module, used for a visual sensor to detect a marker image within a preset distance range; the marker is arranged on the battery compartment; the visual sensor is arranged on the palletizer;

[0040] A calculation module, used for calculating a deviation distance according to the marker image; the deviation distance is the distance between the current position of the palletizer and the target battery bin;

[0041] The adjustment module is used to adjust the operation state of the palletizer according to the deviation distance so that the palletizer runs to a position corresponding to the target battery storage position.

[0042] In a third aspect, an electronic device is also provided, comprising a memory, a processor, and a computer program stored in the memory and used to run on the processor, wherein the processor implements the above-mentioned positioning method of the palletizer when executing the computer program.

[0043] In a fourth aspect, a computer-readable storage medium is further provided, on which a computer program is stored, and when the computer program is executed by a processor, the positioning method of the palletizer is implemented.

[0044] On the basis of being in accordance with the common sense in the art, the above-mentioned preferred conditions can be arbitrarily combined to obtain the preferred embodiments of the present disclosure.

[0045] The positive and progressive effects of this disclosure are:

[0046] The present disclosure provides a positioning method, system, electronic device and storage medium for a palletizer, which realizes precise alignment between the palletizer and a target battery bin, and accurately positions the palletizer to a position corresponding to the target battery bin, so that the palletizer can accurately obtain the battery in the battery bin or accurately place the battery in the battery bin, thereby improving the overall battery transportation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1A first flow chart of the positioning method of the palletizer provided in Embodiment 1 of the present disclosure;

[0048] Figure 2 A second flow chart of the positioning method of the palletizer provided in Embodiment 1 of the present disclosure;

[0049] Figure 3 A third flow chart of the positioning method of the palletizer provided in Embodiment 1 of the present disclosure;

[0050] Figure 4 A fourth flow chart of the positioning method of the palletizer provided in Embodiment 1 of the present disclosure;

[0051] Figure 5 A fifth flow chart of the positioning method of the palletizer provided in Embodiment 1 of the present disclosure;

[0052] Figure 6 A sixth flow chart of the positioning method of the palletizer provided in Embodiment 1 of the present disclosure;

[0053] Figure 7 A seventh flow chart of the positioning method of the palletizer provided in Embodiment 1 of the present disclosure;

[0054] Figure 8 This is a schematic diagram of an eighth process flow of the positioning method of the palletizer provided in Embodiment 1 of the present disclosure;

[0055] Fig. 9 A schematic structural diagram of a positioning system for a palletizer provided in Embodiment 2 of the present disclosure;

[0056] Fig.10 This is a schematic diagram of the structure of an electronic device provided in Embodiment 3 of the present disclosure. DETAILED DESCRIPTION

[0057] The present disclosure is further described below by way of examples, but the present disclosure is not limited to the scope of the examples.

[0058] It should be noted that references in the specification to "an embodiment," "an alternative embodiment," "another embodiment," etc. indicate that the described embodiment may include a particular feature, structure, or characteristic, but each embodiment may not necessarily include the particular feature, structure, or characteristic. Moreover, such phrases do not necessarily refer to the same embodiment. In addition, when a particular feature, structure, or characteristic is described in conjunction with an embodiment, whether or not explicitly described, it is within the knowledge of a person skilled in the relevant art to implement such feature, structure, or characteristic in conjunction with other embodiments.

[0059] In the description of the present disclosure, it should be understood that the terms "center", "lateral", "up", "down", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present disclosure. In addition, the terms "first" and "second" are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present disclosure, unless otherwise specified, "multiple" means two or more. In addition, the term "including" and any variation thereof are intended to cover non-exclusive inclusions.

[0060] In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0061] The terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments. Unless the context clearly indicates otherwise, the singular forms "one", "one" and "item" used herein are also intended to include plural numbers. It should also be understood that the terms "include" and / or "comprise" used herein specify the existence of stated features, integers, steps, operations, units and / or components, without excluding the existence or addition of one or more other features, integers, steps, operations, units, components and / or combinations thereof.

[0062] Example 1

[0063] This embodiment provides a positioning method for a palletizer, such as Figure 1 As shown, the positioning method includes:

[0064] S1. The visual sensor detects the image of the marker within a preset distance range.

[0065] Among them, the marker is set on the battery compartment and the visual sensor is set on the palletizer.

[0066] S2. Calculate the deviation distance based on the landmark image.

[0067] The deviation distance is the distance between the current position of the palletizer and the target battery bin.

[0068] S3. According to the deviation distance, the operation state of the palletizer is adjusted so that the palletizer runs to a position corresponding to the target battery bin.

[0069] The traditional positioning method of the palletizer relies on the servo motor to control the movement of the palletizer to the specified position, which can only achieve rough alignment between the palletizer and the target battery position. Since the palletizer is prone to slipping during operation, the palletizer and the target battery position cannot be accurately aligned, affecting the subsequent battery pick-up and placement operations.

[0070] The positioning method of the palletizer of the present embodiment, by arranging a visual sensor on the palletizer and arranging a marker on the battery bin, enables the visual sensor on the palletizer to detect the marker image on the battery bin within a preset distance range, thereby obtaining the deviation distance, accurately measuring the position of the target battery bin and the current palletizer, thereby regulating the operating state of the palletizer, achieving precise alignment of the palletizer with the target battery bin position, and accurately positioning the palletizer to the position corresponding to the target battery bin position, so that the palletizer can accurately obtain the battery in the battery bin position or accurately place the battery in the battery bin position, thereby improving the overall battery transportation efficiency.

[0071] In an optional embodiment, if Figure 2 As shown, step S3 includes:

[0072] S31. After adjusting the operating state of the palletizer according to the deviation distance, a new marker image is obtained.

[0073] S32. Calculate a new deviation distance based on the new marker image.

[0074] S33, adjusting the operating state of the palletizer according to the new deviation distance, and returning to step S31 until the palletizer runs to the position corresponding to the target battery bin.

[0075] When the palletizer is precisely aligned with the target battery position, there is a certain preset deviation distance. During the actual operation of the palletizer, the deviation distance will be gradually updated. When the new deviation distance meets the preset deviation distance, it indicates that the palletizer is precisely aligned with the target battery position, and the palletizer has run to the position corresponding to the target battery position.

[0076] The positioning method of the palletizer of the present embodiment needs to obtain a new marker image after adjusting the operating state of the palletizer according to the deviation distance, and then calculate the new deviation distance to achieve real-time detection and update of the deviation distance, and adjust the operating state of the palletizer according to the new deviation distance until the palletizer runs to the position corresponding to the target battery bin, so as to achieve precise alignment of the palletizer with the target battery bin, so that the palletizer can accurately obtain the battery in the battery bin or accurately place the battery in the battery bin, thereby improving the overall battery transportation efficiency.

[0077] In an optional embodiment, if Figure 3 As shown, step S3 includes:

[0078] S34, triggering the palletizer to decelerate according to the deviation distance and causing the palletizer to move to a position corresponding to the target battery bin.

[0079] When the visual sensor detects the marker image within the preset distance range, it indicates that the palletizer has arrived near the target battery bin and is close to the position corresponding to the target battery bin. The palletizer and the target battery bin are roughly aligned. At this time, the palletizer should be triggered to decelerate to prevent it from not stopping at the target battery bin in time due to inertia.

[0080] The positioning method of the palletizer in this embodiment triggers the palletizer to slow down and run to the position corresponding to the target battery bin according to the deviation distance, thereby realizing the regulation of the operation process of the palletizer to prevent the palletizer from missing the target battery bin due to excessive speed, resulting in the need to turn around and run again to the position corresponding to the target battery bin, so as to prevent the overall battery transportation efficiency from being reduced.

[0081] Specifically, the marker may be a circular marker with a diameter of about 2 mm.

[0082] Infrared reflective sensors can also be set on the palletizer for photoelectric positioning, and visual sensors use visual technology to perform visual positioning. Combining photoelectric positioning and visual positioning can more accurately obtain the current position of the palletizer, and thus more accurately obtain the deviation distance.

[0083] In an optional embodiment, the step of triggering the palletizer to decelerate includes: triggering the palletizer to decelerate at preset speeds of different gradients according to the deviation distance.

[0084] According to the specific numerical value of the deviation distance, the palletizer is triggered to decelerate at a preset speed of different gradients. For example, three gradients are pre-divided, the first gradient is to decelerate by 30%-40% based on the initial running speed of the palletizer (the speed before deceleration), the second gradient is to decelerate by 50%-60% based on the initial running speed of the palletizer, and the third gradient is to decelerate by 70%-80% based on the initial running speed of the palletizer.

[0085] The specific numerical values ​​in this embodiment are only exemplary and should not limit the protection scope of the present disclosure.

[0086] The positioning method of the palletizer in this embodiment triggers the palletizer to decelerate at preset speeds of different gradients according to the deviation distance, so that as the deviation distance gradually decreases, the running speed of the palletizer gradually decreases, thereby ensuring the stability and safety of the palletizer's deceleration process to prevent problems such as tipping due to excessive inertia during sudden deceleration; at the same time, the palletizer is accurately positioned to the position corresponding to the target battery bin, so that the palletizer can accurately obtain the batteries in the battery bin or accurately place the batteries in the battery bin, thereby improving the overall battery transportation efficiency.

[0087] In an optional embodiment, if Figure 4 As shown, step S1 includes:

[0088] S4, trigger the palletizer to stop.

[0089] When the visual sensor detects the marker image within the preset distance range, it indicates that the palletizer has arrived near the target battery bin and is close to the position corresponding to the target battery bin. The palletizer and the target battery bin are roughly aligned. At this time, the palletizer should be controlled to stop; for example, the palletizer can be controlled to slide smoothly for about 10 mm (millimeter) to stop, so as to achieve smooth braking of the palletizer.

[0090] The positioning method of the palletizer of the present embodiment triggers the palletizer to stop running when the visual sensor detects a marker image within a preset distance range, and calculates the deviation distance between the current position of the palletizer and the target battery bin according to the marker image, so as to ensure the accurate acquisition of the deviation distance, so as to prevent the accuracy of the obtained deviation distance from being reduced due to the operation of the palletizer, thereby laying a foundation for subsequently adjusting the operating state of the palletizer according to the deviation distance so that the palletizer runs to the position corresponding to the target battery bin, accurately positioning the palletizer to the position corresponding to the target battery bin, so that the palletizer can accurately obtain the battery in the battery bin or accurately place the battery in the battery bin, thereby improving the overall battery transportation efficiency.

[0091] In an optional embodiment, outside the preset distance range, the palletizer runs at a first preset speed; within the preset distance range, the palletizer runs at a second preset speed.

[0092] The first preset speed is greater than the second preset speed.

[0093] The positioning method of the palletizer of the present embodiment is that when the palletizer is outside the preset distance range, the palletizer runs at a first preset speed, that is, when the palletizer is far away from the target battery position, the running speed is relatively fast; when the palletizer is within the preset distance range, the palletizer runs at a second preset speed, that is, when the palletizer is close to the target battery position, the running speed is relatively slow, which ensures both the running efficiency and the running safety of the palletizer; at the same time, the palletizer is accurately positioned to the position corresponding to the target battery position, so that the palletizer can accurately obtain the battery in the battery position or accurately place the battery in the battery position, thereby improving the overall battery transportation efficiency.

[0094] In an optional embodiment, if Figure 5 As shown, step S1 includes:

[0095] S11. Determine whether the visual sensor receives a marker image within a preset distance range.

[0096] If yes, execute S12.

[0097] S12. The visual sensor detects the landmark image.

[0098] For example, if the palletizer needs to move to a target position of 2m (meters) in the horizontal direction under the control of a servo motor, the preset distance range can be set to 2m. + 0.05m, that is, 1.95m-2.05m, then it starts to judge whether the marker appears and whether the visual sensor receives the marker image at around 1.95m, until it reaches 2.05m. Under the condition that the initial detection range of the visual sensor is determined, the search range of the visual sensor for the marker is indirectly expanded, and the actual detection range of the marker image is improved.

[0099] The specific numerical values ​​in this embodiment are only exemplary and should not limit the protection scope of the present disclosure.

[0100] The positioning method of the palletizer in this embodiment, by receiving the marker image by the visual sensor within a preset distance range, indirectly expands the search range of the visual sensor for the marker under the condition that the initial detection range of the visual sensor is determined, and improves the actual detection range of the marker image, laying a foundation for the subsequent calculation of the deviation distance, and accurately positioning the palletizer to the position corresponding to the target battery bin, so that the palletizer can accurately obtain the battery in the battery bin or accurately place the battery in the battery bin, thereby improving the overall battery transportation efficiency.

[0101] In an optional embodiment, if Figure 6 As shown, the positioning method includes:

[0102] S5. Obtain the coordinate position of the target battery compartment and the preset error coefficient respectively.

[0103] S6. Determine a preset distance range according to the coordinate position and the error coefficient.

[0104] Specifically, the target battery bin is provided with a locator for locating the coordinate position corresponding to the target battery bin. When the visual sensor is used to detect the image of the marker, the visual sensor itself will have a certain detection error. Within the detection error range, the visual sensor cannot perform effective detection. At the same time, the palletizer moves under the control of the servo motor, corresponding to a certain walking positioning error. Therefore, a preset error coefficient can be obtained by combining the detection error of the visual sensor itself and the walking positioning error of the palletizer, as well as other parameters that affect the detection accuracy. According to the coordinate position corresponding to the target battery bin and the preset error coefficient, a preset distance range can be determined. When the palletizer enters the preset distance range, the visual sensor is turned on to detect the marker, which indirectly expands the search range of the visual sensor for searching for the marker and improves the actual detection range of the marker image.

[0105] For example, under the control of the servo motor, the palletizer needs to move to the coordinate position (2m, 3m), that is, the horizontal direction needs to move from 0 to 2m. If the preset error coefficient is + 0.06m, then the preset distance range can be set to 2m + 0.06m, that is, 1.94m-2.06m.

[0106] The specific numerical values ​​in this embodiment are only exemplary and should not limit the protection scope of the present disclosure.

[0107] The positioning method of the palletizer of the present embodiment determines a preset distance range according to the coordinate position and the error coefficient, and associates the preset distance range with the coordinate position and the error coefficient, thereby overcoming the detection limitations of detection devices including visual sensors, expanding the search range of the visual sensor for searching for markers, and increasing the actual detection range for obtaining marker images, thereby improving the operating efficiency and utilization rate of the palletizer; at the same time, the palletizer is accurately positioned to the position corresponding to the target battery bin, so that the palletizer can accurately obtain the batteries in the battery bin or accurately place the batteries in the battery bin, thereby improving the overall battery transportation efficiency.

[0108] In an optional embodiment, if Figure 7 As shown, step S1 includes:

[0109] S11. Determine whether the visual sensor receives a marker image within a preset distance range.

[0110] If not, execute S13.

[0111] S13, triggering the palletizer to run in the reverse direction within a preset distance range, and returning to step S11.

[0112] The positioning method of the palletizer of the present embodiment, if the visual sensor does not receive the marker image within the preset distance range, triggers the palletizer to run in the reverse direction to within the preset distance range, realizes the retreat (backward) operation of the palletizer, and realizes the back and forth search for the target battery storage position, further improving the actual detection range of the visual sensor to obtain the marker image, and at the same time, accurately positioning the palletizer to the position corresponding to the target battery storage position, so that the palletizer can accurately obtain the battery in the battery storage position or accurately place the battery in the battery storage position, thereby improving the overall battery transportation efficiency.

[0113] In an optional embodiment, if Figure 8 As shown, step S13 includes:

[0114] S131, triggering the palletizer to run in reverse within a preset distance range.

[0115] S132, determining whether the number of times the palletizer is triggered to run in reverse within a preset distance range reaches a preset number.

[0116] If yes, execute S133, if no, return to step S11.

[0117] S133: The palletizer stops running and sends a fault alarm signal.

[0118] In the positioning method of the palletizer of this embodiment, if the palletizer has performed multiple reverse runs, and the number of trigger times of its reverse run within a preset distance range reaches a preset number, and the target battery bin position is not found, it indicates that the palletizer has a fault, and the palletizer should be controlled to stop running and send a fault alarm signal, thereby realizing the monitoring of the operating status of the palletizer.

[0119] Example 2

[0120] This embodiment provides a positioning system for a palletizer, such as Fig. 9 As shown, the positioning system includes:

[0121] Detection module 1, used for the visual sensor to detect the image of the marker within a preset distance range; the marker is set on the battery compartment; the visual sensor is set on the palletizer;

[0122] Calculation module 2, used to calculate the deviation distance according to the marker image; the deviation distance is the distance between the current position of the palletizer and the target battery bin;

[0123] The adjustment module 3 is used to adjust the operation state of the palletizer according to the deviation distance so that the palletizer runs to a position corresponding to the target battery bin position.

[0124] The positioning system of the palletizer of the present embodiment, by arranging a visual sensor on the palletizer and arranging a marker on the battery bin, enables the visual sensor on the palletizer to detect the marker image on the battery bin within a preset distance range, realizes the rough alignment of the palletizer with the target battery bin, and then obtains the deviation distance, accurately measures the position of the target battery bin and the current palletizer, and then regulates the operating state of the palletizer, realizes the precise alignment of the palletizer with the target battery bin, and accurately positions the palletizer to the position corresponding to the target battery bin, so that the palletizer can accurately obtain the battery in the battery bin or accurately place the battery in the battery bin, thereby improving the overall battery transportation efficiency.

[0125] In an optional embodiment, the adjustment module 3 is used to obtain a new marker image after adjusting the operating state of the palletizer; calculate a new deviation distance based on the new marker image; adjust the operating state of the palletizer based on the new deviation distance, and obtain a new marker image after adjusting the operating state of the palletizer until the palletizer runs to the position corresponding to the target battery bin.

[0126] The positioning system of the palletizer in this embodiment needs to obtain a new marker image after adjusting the operating state of the palletizer according to the deviation distance, and then calculate the new deviation distance to achieve real-time detection and update of the deviation distance, and adjust the operating state of the palletizer according to the new deviation distance until the palletizer runs to the position corresponding to the target battery bin, so as to achieve precise alignment between the palletizer and the target battery bin, so that the palletizer can accurately obtain the batteries in the battery bin or accurately place the batteries in the battery bin, thereby improving the overall battery transportation efficiency.

[0127] In an optional embodiment, the adjustment module 3 is used to trigger the palletizer to slow down and run to a position corresponding to the target battery storage position.

[0128] The positioning system of the palletizer in this embodiment triggers the palletizer to slow down and run to the position corresponding to the target battery bin according to the deviation distance, thereby realizing the regulation of the operation process of the palletizer to prevent the palletizer from missing the target battery bin due to excessive speed, resulting in the need to turn around and run again to the position corresponding to the target battery bin, so as to prevent the overall battery transportation efficiency from being reduced.

[0129] In an optional embodiment, the positioning system of the palletizer further includes a control module 4, which is used to trigger the palletizer to stop after the visual sensor detects the marker image within a preset distance range.

[0130] The positioning system of the palletizer in this embodiment, when the visual sensor detects a marker image within a preset distance range, triggers the palletizer to stop running, and calculates the deviation distance between the current position of the palletizer and the target battery bin based on the marker image, to ensure accurate acquisition of the deviation distance, so as to prevent the accuracy of the obtained deviation distance from being reduced due to the operation of the palletizer, thereby laying a foundation for subsequently adjusting the operating state of the palletizer based on the deviation distance so that the palletizer runs to the position corresponding to the target battery bin, accurately positioning the palletizer to the position corresponding to the target battery bin, so that the palletizer can accurately obtain the batteries in the battery bin or accurately place the batteries in the battery bin, thereby improving the overall battery transportation efficiency.

[0131] In an optional embodiment, outside the preset distance range, the palletizer runs at a first preset speed; within the preset distance range, the palletizer runs at a second preset speed; and the first preset speed is greater than the second preset speed.

[0132] The positioning system of the palletizer in this embodiment operates at a first preset speed when the palletizer is outside the preset distance range, that is, when the palletizer is far away from the target battery position, the operating speed is relatively fast; when the palletizer is within the preset distance range, the palletizer operates at a second preset speed, that is, when the palletizer is close to the target battery position, the operating speed is relatively slow, thereby ensuring both the operating efficiency and the operating safety of the palletizer; at the same time, the palletizer is accurately positioned to the position corresponding to the target battery position, so that the palletizer can accurately obtain the batteries in the battery position or accurately place the batteries in the battery position, thereby improving the overall battery transportation efficiency.

[0133] In an optional implementation, the detection module 1 is used to determine whether the visual sensor receives the marker image within a preset distance range. If so, the visual sensor detects the marker image.

[0134] The positioning system of the palletizer in this embodiment indirectly expands the search range of the visual sensor for searching for the marker under the condition that the initial detection range of the visual sensor is determined by receiving the marker image through the visual sensor within a preset distance range, thereby increasing the actual detection range of the marker image, laying a foundation for the subsequent calculation of the deviation distance, and accurately positioning the palletizer to the position corresponding to the target battery bin, so that the palletizer can accurately obtain the battery in the battery bin or accurately place the battery in the battery bin, thereby improving the overall battery transportation efficiency.

[0135] In an optional embodiment, the positioning system of the palletizer further includes a range acquisition module 5 for respectively acquiring the coordinate position of the target battery bin and a preset error coefficient; and determining a preset distance range according to the coordinate position and the error coefficient.

[0136] The positioning system of the palletizer in this embodiment determines a preset distance range according to the coordinate position and the error coefficient, and associates the preset distance range with the coordinate position and the error coefficient, thereby overcoming the detection limitations of detection devices including visual sensors, expanding the search range of visual sensors for searching for markers, and increasing the actual detection range for obtaining marker images, thereby improving the operating efficiency and utilization rate of the palletizer; at the same time, the palletizer is accurately positioned to the position corresponding to the target battery bin, so that the palletizer can accurately obtain the batteries in the battery bin or accurately place the batteries in the battery bin, thereby improving the overall battery transportation efficiency.

[0137] In an optional embodiment, the positioning system of the palletizer further includes a reverse motion module 6. If the visual sensor does not receive the marker image within a preset distance range, the reverse motion module 6 is used to trigger the palletizer to reversely run within the preset distance range, and call the detection module 1 to determine whether the visual sensor receives the marker image within the preset distance range.

[0138] The positioning system of the palletizer in this embodiment, if the visual sensor does not receive the marker image within the preset distance range, triggers the palletizer to run in the reverse direction to the preset distance range, realizes the retreat (backward) operation of the palletizer, and realizes the back and forth search for the target battery storage position, further improving the actual detection range of the visual sensor to obtain the marker image, and at the same time, accurately positioning the palletizer to the position corresponding to the target battery storage position, so that the palletizer can accurately obtain the battery in the battery storage position or accurately place the battery in the battery storage position, thereby improving the overall battery transportation efficiency.

[0139] In an optional embodiment, the positioning system of the palletizer further includes a counting module 7. After the reverse motion module 7 triggers the palletizer to reversely run within a preset distance range, the counting module 7 is used to determine whether the number of triggering times to trigger the palletizer to reversely run within the preset distance range reaches a preset number. If so, the palletizer stops running and sends a fault alarm signal.

[0140] In the positioning system of the palletizer of this embodiment, if the palletizer has performed multiple reverse runs, and the number of trigger times of its reverse run within a preset distance range reaches a preset number, and the target battery bin position is not found, it indicates that the palletizer has a fault, and the palletizer should be controlled to stop running and send a fault alarm signal, thereby realizing the monitoring of the operating status of the palletizer.

[0141] Example 3

[0142] This embodiment provides an electronic device, Fig.10 This is a schematic diagram of the structure of an electronic device provided in this embodiment. The electronic device includes a memory, a processor, and a computer program stored in the memory and used to run on the processor. When the processor executes the computer program, the positioning method of the palletizer in the above-mentioned embodiment 1 is implemented. Fig.10 The electronic device 70 shown is only an example and should not limit the functions and scope of use of the embodiments of the present disclosure. Fig.10 As shown, the electronic device 70 may be in the form of a general-purpose computing device, for example, it may be a server device. The components of the electronic device 70 may include, but are not limited to: at least one processor 71, at least one memory 72, and a bus 73 connecting different system components (including the memory 72 and the processor 71).

[0143] The bus 73 includes a data bus, an address bus, and a control bus.

[0144] The memory 72 may include a volatile memory, such as a random access memory (RAM) 721 and / or a cache memory 722 , and may further include a read-only memory (ROM) 723 .

[0145] The memory 72 may also include a program tool 725 (or utility) having a set (at least one) of program modules 724, such program modules 724 including but not limited to: an operating system, one or more application programs, other program modules and program data, each of which or some combination may include an implementation of a network environment.

[0146] The processor 71 executes various functional applications and data processing by running the computer programs stored in the memory 72, such as the positioning method of the palletizer in the above-mentioned embodiment 1.

[0147] The electronic device 70 may also communicate with one or more external devices 74. Such communication may be performed via an input / output (I / O) interface 75. Furthermore, the model generating electronic device 70 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 76. Fig.10 As shown, the network adapter 76 communicates with other modules of the electronic device 70 via the bus 73. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with the electronic device 70, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (disk array) systems, tape drives, and data backup storage systems, etc.

[0148] It should be noted that although several units / modules or sub-units / modules of the electronic device are mentioned in the above detailed description, this division is merely exemplary and not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more units / modules described above can be embodied in one unit / module. Conversely, the features and functions of one unit / module described above can be further divided into multiple units / modules to be embodied.

[0149] Example 4

[0150] This embodiment provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the positioning method of the palletizer in the above-mentioned embodiment 1 is implemented.

[0151] The readable storage medium may include but is not limited to: a portable disk, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, an optical storage device, a magnetic storage device or any suitable combination of the above.

[0152] In a possible implementation, the present disclosure may also be implemented in the form of a program product, which includes program code. When the program product is run on a terminal device, the program code is used to enable the terminal device to execute the steps in the positioning method for the palletizer in the above embodiment 1.

[0153] Among them, the program code for executing the present disclosure can be written in any combination of one or more programming languages, and the program code can be executed completely on the user device, partially on the user device, as a separate software package, partially on the user device and partially on a remote device, or completely on the remote device.

[0154] Although the specific embodiments of the present disclosure are described above, those skilled in the art should understand that this is only an example, and the protection scope of the present disclosure is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present disclosure, but these changes and modifications all fall within the protection scope of the present disclosure.

Claims

1. A positioning method for a palletizer, characterized in that: The positioning method comprises: The visual sensor detects a marker image within a preset distance range; the marker is arranged on the battery compartment; the visual sensor is arranged on the palletizer; Calculate the deviation distance according to the marker image; the deviation distance is the distance between the current position of the palletizer and the target battery bin; According to the deviation distance, the operating state of the palletizer is adjusted so that the palletizer runs to a position corresponding to the target battery bin position.

2. The positioning method of the palletizer according to claim 1, characterized in that: The step of adjusting the operating state of the palletizer so that the palletizer runs to the position corresponding to the target battery position includes: Acquiring a new marker image after adjusting the operating state of the palletizer; Calculating a new deviation distance according to the new marker image; According to the new deviation distance, the operating state of the palletizer is adjusted and the process returns to the step of acquiring a new marker image after adjusting the operating state of the palletizer, until the palletizer runs to a position corresponding to the target battery bin.

3. The positioning method of the palletizer according to claim 1, characterized in that: The step of adjusting the operating state of the palletizer comprises: Triggering the palletizer to slow down and move the palletizer to a position corresponding to the target battery bin; and / or, After the step of detecting the image of the marker by the visual sensor within the preset distance range, the positioning method includes: Triggering the palletizer to stop; and / or, Outside the preset distance range, the palletizer runs at a first preset speed; Within the preset distance range, the palletizer runs at a second preset speed; The first preset speed is greater than the second preset speed.

4. The positioning method of the palletizer according to claim 1, characterized in that: The step of detecting the image of the marker by the visual sensor within the preset distance range comprises: It is determined whether the visual sensor receives the marker image within the preset distance range. If so, the visual sensor detects the marker image.

5. The method for positioning a palletizer according to claim 1, characterized in that: The positioning method comprises: Respectively obtaining the coordinate position of the target battery compartment and a preset error coefficient; The preset distance range is determined according to the coordinate position and the error coefficient.

6. The method for positioning a palletizer according to claim 4, characterized in that: If the visual sensor does not receive the marker image within the preset distance range, the palletizer is triggered to run in the reverse direction to the preset distance range, and the process returns to the step of determining whether the visual sensor receives the marker image within the preset distance range.

7. The method for positioning a palletizer according to claim 6, characterized in that: Before returning to the step of determining whether the visual sensor receives the image of the marker within the preset distance range, the positioning method further includes: It is determined whether the number of times the palletizer is triggered to run in reverse to within the preset distance range reaches a preset number. If so, the palletizer stops running and sends a fault alarm signal.

8. A positioning system for a palletizer, characterized in that: The positioning system comprises: A detection module, used for a visual sensor to detect a marker image within a preset distance range; the marker is arranged on the battery compartment; the visual sensor is arranged on the palletizer; A calculation module, used for calculating a deviation distance according to the marker image; the deviation distance is the distance between the current position of the palletizer and the target battery bin; The adjustment module is used to adjust the operation state of the palletizer according to the deviation distance so that the palletizer runs to a position corresponding to the target battery storage position.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and used to run on the processor, characterized in that: When the processor executes the computer program, the positioning method for the palletizer according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the positioning method of the palletizer according to any one of claims 1 to 7 is implemented.

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