Positioning method and system of palletizer, electronic device and storage medium

Abstract

The present disclosure provides a positioning method and system of a stacking machine, an electronic device and a storage medium, the positioning method comprising: detecting a marker image by a vision sensor within a preset distance range; the marker being arranged on a battery compartment; the vision sensor being arranged on the stacking machine; calculating a deviation distance according to the marker image; the deviation distance being a distance between a current position of the stacking machine and a target battery compartment position; and adjusting a running state of the stacking machine according to the deviation distance so that the stacking machine runs to a position corresponding to the target battery compartment position. The positioning method of the stacking machine can realize accurate alignment of the stacking machine and the target battery compartment position, accurately position the stacking machine to the position corresponding to the target battery compartment position, so that the stacking machine can accurately obtain the battery in the battery compartment position or accurately place the battery in the battery compartment position, thereby improving the overall battery transfer efficiency.

Description

Technical Field

[0001] This disclosure pertains to the field of smart battery swapping stations, and specifically relates to a positioning method, system, electronic device, and storage medium for a palletizing machine. Background Technology

[0002] In recent years, with the development of smart battery swapping station networks, electric vehicles have shifted from charging to battery swapping. During the battery swapping process, the swapping equipment removes the old battery from the vehicle and passes it to a palletizer. The palletizer places the old battery into the old battery compartment of the charging chamber, then retrieves the new battery from the new battery compartment. Finally, the new battery is passed to the swapping equipment, which installs it onto the vehicle.

[0003] During the battery replacement process of the palletizer, the horizontal movement of the palletizer is often affected by slippage or wear of parts, which makes it difficult for the palletizer to accurately position itself. As a result, the palletizer cannot accurately pick up the battery in the battery compartment or accurately place the battery in the battery compartment, thus reducing the overall battery transfer efficiency. Summary of the Invention

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

[0005] This disclosure solves the above-mentioned technical problems through the following technical solution:

[0006] Firstly, a positioning method for a palletizer is provided, the positioning method comprising:

[0007] A visual sensor detects an image of a marker within a preset distance range; the marker is located on the battery compartment; the visual sensor is located on the palletizer.

[0008] Based on the image of the marker, the deviation distance is calculated; the deviation distance is the distance between the current position of the palletizer and the target battery compartment.

[0009] Based on the deviation distance, the operating status of the palletizer is adjusted so that the palletizer moves to the position corresponding to the target battery compartment.

[0010] The positioning method of the palletizer disclosed herein involves setting a vision sensor on the palletizer and setting a marker on the battery compartment. The vision sensor on the palletizer can detect the image of the marker on the battery compartment within a preset distance range, thereby obtaining the deviation distance. This allows for accurate measurement of the position of the target battery compartment and the current position of the palletizer, which in turn controls the operation of the palletizer to achieve precise alignment between the palletizer and the target battery compartment. This accurately positions the palletizer to the position corresponding to the target battery compartment, enabling the palletizer to accurately acquire batteries from the battery compartment or accurately place batteries in the battery compartment, thereby improving the overall battery transfer efficiency.

[0011] Preferably, the step of adjusting the operating state of the palletizer to move the palletizer to the position corresponding to the target battery compartment includes:

[0012] After adjusting the operating status of the palletizer, a new marker image is obtained;

[0013] Calculate the new deviation distance based on the new marker image;

[0014] Based on the new deviation distance, the operating state of the palletizer is adjusted and the process returns to the step where the visual sensor detects a new marker image within the preset distance range, until the palletizer moves to the position corresponding to the target battery compartment.

[0015] The positioning method of the palletizer disclosed herein requires, after adjusting the operating state of the palletizer according to the deviation distance, acquiring a new marker image, and then calculating a new deviation distance to achieve real-time detection and updating of the deviation distance. Based on the new deviation distance, the operating state of the palletizer is adjusted until the palletizer moves to the position corresponding to the target battery compartment, achieving precise alignment between the palletizer and the target battery compartment. This enables the palletizer to accurately acquire the batteries in the battery compartment or accurately place the batteries in the battery compartment, thereby improving the overall battery transfer efficiency.

[0016] Preferably, the step of adjusting the operating status of the palletizer includes:

[0017] The palletizer is triggered to decelerate and move to the position corresponding to the target battery compartment.

[0018] The positioning method of the palletizer disclosed herein triggers the palletizer to decelerate and move to the position corresponding to the target battery compartment based on the deviation distance. This achieves control over the operation of the palletizer and prevents the palletizer from missing the target battery compartment due to excessive speed, which would require it to turn around and run to the position corresponding to the target battery compartment, thus reducing the overall battery transfer efficiency.

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

[0020] The palletizer is then triggered to stop.

[0021] The positioning method of the palletizer disclosed herein triggers the palletizer to stop when the visual sensor detects a marker image within a preset distance range. Based on the marker image, the deviation distance between the current position of the palletizer and the target battery compartment is calculated to ensure accurate acquisition of the deviation distance. This prevents the accuracy of the acquired deviation distance from decreasing due to the operation of the palletizer. This lays the foundation for adjusting the operating state of the palletizer based on the deviation distance to move the palletizer to the position corresponding to the target battery compartment. Accurately positioning the palletizer to the position corresponding to the target battery compartment enables the palletizer to accurately acquire the batteries in the battery compartment or accurately place the batteries in the battery compartment, thereby improving the overall battery transfer efficiency.

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

[0023] Within the preset distance range, the palletizer operates 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 herein operates at a first preset speed when the distance is outside a preset range, meaning the palletizer operates at a relatively fast speed when it is far from the target battery compartment; and at a second preset speed when the distance is within the preset range, meaning the palletizer operates at a relatively slow speed when it is close to the target battery compartment. This ensures both the efficiency and safety of the palletizer's operation. Simultaneously, it accurately positions the palletizer to the location corresponding to the target battery compartment, enabling the palletizer to accurately acquire or place batteries within the compartment, thereby improving the overall battery transfer efficiency.

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

[0027] Determine whether the visual sensor receives an image of the marker within the preset distance range; if so, the visual sensor detects the image of the marker.

[0028] The positioning method of the palletizer disclosed herein indirectly expands the search range of the visual sensor for the marker by receiving the marker image within a preset distance range, under the condition that the initial detection range of the visual sensor is determined, thereby improving the actual detection range of the obtained marker image and laying the foundation for subsequent deviation distance calculation. This accurately positions the palletizer to the position corresponding to the target battery compartment, enabling the palletizer to accurately acquire the battery in the battery compartment or accurately place the battery in the battery compartment, thereby improving the overall battery transfer efficiency.

[0029] Preferably, the positioning method includes:

[0030] The coordinates of the target battery compartment and the preset error coefficient are obtained respectively;

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

[0032] The positioning method of the palletizer disclosed herein determines a preset distance range based on coordinate position and error coefficient, and correlates the preset distance range with coordinate position and error coefficient. This overcomes the detection limitations of detection devices, including vision sensors, expands the search range of vision sensors for markers, and improves the actual detection range of the obtained marker images, thereby improving the operating efficiency and utilization rate of the palletizer. At the same time, it accurately positions the palletizer to the position corresponding to the target battery compartment, enabling the palletizer to accurately acquire the batteries in the battery compartment or accurately place the batteries in the battery compartment, thereby improving the overall battery transfer efficiency.

[0033] Preferably, if the visual sensor does not receive the image of the marker within the preset distance range, the palletizer is triggered to reverse and run within the preset distance range, returning to the step of determining whether the visual sensor has received the image of the marker within the preset distance range.

[0034] The positioning method of the palletizer disclosed herein, if the vision sensor does not receive the image of the marker within a preset distance range, triggers the palletizer to reverse to the preset distance range, realizing the back-and-forth movement of the palletizer to search for the target battery compartment, further improving the actual detection range of the marker image obtained by the vision sensor. At the same time, it accurately positions the palletizer to the position corresponding to the target battery compartment, thereby enabling the palletizer to accurately acquire the battery in the battery compartment or accurately place the battery in the battery compartment, thus improving the overall battery transfer efficiency.

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

[0036] Determine whether the number of times the palletizer has been triggered to reverse to the preset distance range has reached the preset number. If so, the palletizer stops running and sends a fault alarm signal.

[0037] The positioning method of the palletizer disclosed herein indicates that if the palletizer has performed multiple reverse runs, and the number of triggers within the preset distance range has reached a preset number, and the target battery compartment has not been found, then the palletizer has malfunctioned. The palletizer should be stopped and a fault alarm signal should be sent, thus realizing the monitoring of the palletizer's operating status.

[0038] Secondly, a positioning system for a palletizing machine is also provided, the positioning system comprising:

[0039] A detection module is used to detect an image of a marker within a preset distance range using a visual sensor; the marker is located on the battery compartment; the visual sensor is located on the palletizer.

[0040] The calculation module is used to calculate the deviation distance based on the marker image; the deviation distance is the distance between the current position of the palletizer and the target battery compartment.

[0041] An adjustment module is used to adjust the operating state of the palletizer according to the deviation distance so that the palletizer moves to the position corresponding to the target battery compartment.

[0042] Thirdly, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and used to run on the processor, wherein the processor executes the computer program to implement the above-described positioning method for a palletizer.

[0043] Fourthly, a computer-readable storage medium is also provided, on which a computer program is stored, which, when executed by a processor, implements the above-described positioning method for a palletizer.

[0044] Based on common knowledge in the field, the above-mentioned preferred conditions can be combined arbitrarily to obtain various preferred embodiments of this disclosure.

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

[0046] This disclosure provides a positioning method, system, electronic device, and storage medium for a palletizer, enabling precise alignment between the palletizer and the target battery compartment, accurately positioning the palletizer to the position corresponding to the target battery compartment, thereby allowing the palletizer to accurately acquire the batteries in the battery compartment or accurately place the batteries in the battery compartment, thus improving the overall battery transfer efficiency. Attached Figure Description

[0047] Figure 1This is a first flowchart illustrating the positioning method of the palletizer provided in Embodiment 1 of this disclosure;

[0048] Figure 2 This is a second flowchart illustrating the positioning method of the palletizer provided in Embodiment 1 of this disclosure;

[0049] Figure 3 This is a third flowchart illustrating the positioning method of the palletizer provided in Embodiment 1 of this disclosure;

[0050] Figure 4 This is a schematic diagram of the fourth process of the positioning method for a palletizer provided in Embodiment 1 of this disclosure;

[0051] Figure 5 This is a fifth flowchart illustrating the positioning method of the palletizer provided in Embodiment 1 of this disclosure;

[0052] Figure 6 This is a sixth flowchart illustrating the positioning method of the palletizer provided in Embodiment 1 of this disclosure;

[0053] Figure 7 This is a seventh flowchart illustrating the positioning method of the palletizer provided in Embodiment 1 of this disclosure;

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

[0055] Figure 9 This is a schematic diagram of the positioning system of the palletizer provided in Embodiment 2 of this disclosure;

[0056] Figure 10 This is a schematic diagram of the structure of the electronic device provided in Embodiment 3 of this disclosure. Detailed Implementation

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

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

[0059] In the description of this disclosure, it should be understood that the terms "center," "lateral," "upper," "lower," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this disclosure. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this disclosure, unless otherwise stated, "a plurality of" means two or more. Additionally, the term "comprising" and any variations thereof are intended to cover non-exclusive inclusion.

[0060] In the description of this disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure based on the specific circumstances.

[0061] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments. Unless the context clearly indicates otherwise, the singular forms “a” and “an” as used herein are also intended to include the plural. It should also be understood that the terms “comprising” and / or “including” as used herein specify the presence of the stated features, integers, steps, operations, units, and / or components, without excluding the presence 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] The markers are placed on the battery compartment, and the vision sensors are placed on the palletizer.

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

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

[0068] S3. Adjust the operating status of the palletizer according to the deviation distance so that the palletizer moves to the position corresponding to the target battery compartment.

[0069] Traditional palletizer positioning methods rely on servo motors to control the palletizer's movement to a designated position, which can only achieve a rough alignment between the palletizer and the target battery compartment. Because the palletizer is prone to slippage during operation, it cannot be accurately aligned with the target battery compartment, affecting subsequent battery handling operations.

[0070] The positioning method of the palletizer in this embodiment uses a vision sensor on the palletizer and a marker on the battery compartment. The vision sensor on the palletizer can detect the image of the marker on the battery compartment within a preset distance range, thereby obtaining the deviation distance. This allows for accurate measurement of the position of the target battery compartment and the current position of the palletizer, which in turn controls the operation of the palletizer to achieve precise alignment between the palletizer and the target battery compartment. This accurately positions the palletizer to the position corresponding to the target battery compartment, enabling the palletizer to accurately acquire batteries from the battery compartment or accurately place batteries in the battery compartment, thereby improving the overall battery transfer efficiency.

[0071] In an alternative implementation, such as Figure 2 As shown, step S3 includes:

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

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

[0074] S33. Adjust the operating status of the palletizer according to the new deviation distance, and return to step S31 until the palletizer runs to the position corresponding to the target battery compartment.

[0075] When the palletizer is precisely aligned with the target battery compartment, 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 and the target battery compartment are precisely aligned and the palletizer has moved to the position corresponding to the target battery compartment.

[0076] The positioning method of the palletizer in this embodiment requires, after adjusting the operating state of the palletizer according to the deviation distance, to acquire a new marker image, and then calculate a new deviation distance to achieve real-time detection and updating of the deviation distance. Based on the new deviation distance, the operating state of the palletizer is adjusted until the palletizer moves to the position corresponding to the target battery compartment, achieving precise alignment between the palletizer and the target battery compartment. This enables the palletizer to accurately acquire the batteries in the battery compartment or accurately place the batteries in the battery compartment, thereby improving the overall battery transfer efficiency.

[0077] In an alternative implementation, such as Figure 3 As shown, step S3 includes:

[0078] S34. Based on the deviation distance, trigger the palletizer to decelerate and move it to the position corresponding to the target battery compartment.

[0079] When the visual sensor detects the image of the marker within the preset distance range, it indicates that the palletizer has arrived near the target battery compartment and is close to the position corresponding to the target battery compartment. The palletizer and the target battery compartment are roughly aligned. At this time, the palletizer should be controlled to decelerate to prevent it from failing to stop in time at the target battery compartment due to motion inertia.

[0080] The positioning method of the palletizer in this embodiment triggers the palletizer to decelerate and move to the position corresponding to the target battery compartment based on the deviation distance. This achieves control over the operation of the palletizer and prevents the palletizer from missing the target battery compartment due to excessive speed, which would require it to turn around and run to the position corresponding to the target battery compartment, thus reducing the overall battery transfer efficiency.

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

[0082] Infrared reflective sensors can also be installed on palletizers for photoelectric positioning, and visual sensors can perform visual positioning using visual technology. By combining photoelectric positioning and visual positioning, the current position of the palletizer can be obtained more accurately, and thus the deviation distance can be obtained more accurately.

[0083] In an optional implementation, the step of triggering the palletizer to decelerate includes: triggering the palletizer to decelerate at a preset speed gradient based on the deviation distance.

[0084] Based on the specific value of the deviation distance, the palletizer is triggered to decelerate at different preset speed gradients. For example, three gradients are pre-defined: the first gradient is a 30%-40% reduction from the initial operating speed of the palletizer (the speed before deceleration); the second gradient is a 50%-60% reduction from the initial operating speed of the palletizer; and the third gradient is a 70%-80% reduction from the initial operating speed of the palletizer.

[0085] The specific values ​​in this embodiment are merely illustrative and should not be construed as limiting the scope of protection of this disclosure.

[0086] The positioning method of the palletizer in this embodiment triggers the palletizer to decelerate at preset speeds of different gradients based on the deviation distance. As the deviation distance gradually decreases, the operating speed of the palletizer gradually decreases, ensuring the smoothness and safety of the deceleration process and preventing tipping due to excessive inertia during sudden deceleration. At the same time, it accurately positions the palletizer to the location corresponding to the target battery compartment, enabling the palletizer to accurately acquire the batteries in the battery compartment or accurately place the batteries in the battery compartment, thereby improving the overall battery transfer efficiency.

[0087] In an alternative implementation, such as Figure 4 As shown, after step S1, the following steps are included:

[0088] S4 triggers the palletizer to stop.

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

[0090] The positioning method of the palletizer in this embodiment triggers the palletizer to stop when the visual sensor detects a marker image within a preset distance range. Based on the marker image, the deviation distance between the current position of the palletizer and the target battery compartment is calculated to ensure accurate acquisition of the deviation distance. This prevents the accuracy of the acquired deviation distance from decreasing due to the operation of the palletizer. This lays the foundation for adjusting the operating state of the palletizer based on the deviation distance to move the palletizer to the position corresponding to the target battery compartment. Accurately positioning the palletizer to the position corresponding to the target battery compartment enables the palletizer to accurately acquire the batteries in the battery compartment or accurately place the batteries in the battery compartment, thereby improving the overall battery transfer efficiency.

[0091] In one optional implementation, the palletizer operates at a first preset speed outside a preset distance range; and operates at a second preset speed within a preset distance range.

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

[0093] The positioning method of the palletizer in this embodiment operates at a first preset speed when the distance is outside the preset range, meaning the palletizer runs at a relatively fast speed when it is far from the target battery compartment; and at a second preset speed when the distance is within the preset range, meaning the palletizer runs at a relatively slow speed when it is close to the target battery compartment. This ensures both the efficiency and safety of the palletizer's operation. Simultaneously, it accurately positions the palletizer to the location corresponding to the target battery compartment, enabling the palletizer to accurately acquire or place batteries within the compartment, thereby improving the overall battery transfer efficiency.

[0094] In an alternative implementation, such as Figure 5 As shown, step S1 includes:

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

[0096] If so, then execute S12.

[0097] S12, The visual sensor detected the image of the marker.

[0098] For example, if a palletizer, under the control of a servo motor, needs to move to a target location 2 meters horizontally, a preset distance range of 2 meters can be set. + The range is 0.05m, which is 1.95m-2.05m. The system starts judging whether the marker has appeared and whether the vision sensor has received the marker image at around 1.95m, and continues until 2.05m. Under the condition that the initial detection range of the vision sensor is determined, the search range of the vision sensor for the marker is indirectly expanded, and the actual detection range of obtaining the marker image is improved.

[0099] The specific values ​​in this embodiment are merely illustrative and should not be construed as limiting the scope of protection of this disclosure.

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

[0101] In an alternative implementation, such as Figure 6 As shown, the positioning methods include:

[0102] S5. Obtain the coordinates of the target battery compartment and the preset error coefficient.

[0103] S6. Determine the preset distance range based on the coordinate position and error coefficient.

[0104] Specifically, a locator is installed in the target battery compartment to determine its coordinate position. When using a vision sensor for marker image detection, the vision sensor itself has a certain detection error. Within this error range, the vision sensor cannot perform effective detection. Simultaneously, the palletizer moves under the control of a servo motor, corresponding to a certain walking and positioning error. Therefore, a preset error coefficient can be obtained by combining the detection error of the vision sensor, the walking and positioning error of the palletizer, and other parameters affecting detection accuracy. Based on the coordinate position of the target battery compartment and the preset error coefficient, a preset distance range can be determined. When the palletizer enters this preset distance range, the vision sensor is activated to detect the marker, indirectly expanding the search range of the vision sensor for markers and improving the actual detection range of the obtained marker image.

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

[0106] The specific values ​​in this embodiment are merely illustrative and should not be construed as limiting the scope of protection of this disclosure.

[0107] The positioning method of the palletizer in this embodiment determines a preset distance range based on the coordinate position and error coefficient, and correlates the preset distance range with the coordinate position and error coefficient. This overcomes the detection limitations of detection devices, including vision sensors, expands the search range of the vision sensor for markers, and improves the actual detection range of the obtained marker images, thereby improving the operating efficiency and utilization of the palletizer. At the same time, it accurately positions the palletizer to the position corresponding to the target battery compartment, so that the palletizer can accurately acquire the batteries in the battery compartment or accurately place the batteries in the battery compartment, thereby improving the overall battery transfer efficiency.

[0108] In an alternative implementation, such as Figure 7 As shown, step S1 includes:

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

[0110] If not, then execute S13.

[0111] S13. Trigger the palletizer to reverse and move to the preset distance range, then return to step S11.

[0112] The positioning method of the palletizer in this embodiment, if the vision sensor does not receive the image of the marker within a preset distance range, triggers the palletizer to reverse and move to the preset distance range, realizing the back-and-forth movement of the palletizer to search for the target battery compartment. This further improves the actual detection range of the marker image obtained by the vision sensor. At the same time, it accurately positions the palletizer to the position corresponding to the target battery compartment, so that the palletizer can accurately obtain the battery in the battery compartment or accurately place the battery in the battery compartment, thereby improving the overall battery transfer efficiency.

[0113] In an alternative implementation, such as Figure 8 As shown, step S13 includes:

[0114] S131, Trigger the palletizer to reverse and move to the preset distance range.

[0115] S132. Determine whether the number of times the palletizer is triggered to reverse to a preset distance range has reached the preset number.

[0116] If yes, proceed to step S133; otherwise, return to step S11.

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

[0118] The positioning method of the palletizer in this embodiment indicates that the palletizer has malfunctioned if it has performed multiple reverse runs, and the number of triggers within the preset distance range has reached the preset number, and the target battery compartment has not been found. The palletizer should be stopped and a fault alarm signal should be sent, thus realizing the monitoring of the palletizer's operating status.

[0119] Example 2

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

[0121] Detection module 1 is used to detect the image of the marker by the visual sensor 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 is used to calculate the deviation distance based on the marker image; the deviation distance is the distance between the current position of the palletizer and the target battery compartment.

[0123] Adjustment module 3 is used to adjust the operating status of the palletizer according to the deviation distance so that the palletizer runs to the position corresponding to the target battery compartment.

[0124] The positioning system of the palletizer in this embodiment uses a vision sensor on the palletizer and a marker on the battery compartment. The vision sensor on the palletizer can detect the image of the marker on the battery compartment within a preset distance range, achieving a rough alignment between the palletizer and the target battery compartment. This allows for the determination of the deviation distance and accurate measurement of the positions of the target battery compartment and the current palletizer. The system then adjusts the operating state of the palletizer to achieve precise alignment between the palletizer and the target battery compartment, accurately positioning the palletizer to the position corresponding to the target battery compartment. This enables the palletizer to accurately acquire batteries from the battery compartment or accurately place batteries in the battery compartment, thereby improving the overall battery transfer efficiency.

[0125] In an optional implementation, the adjustment module 3 is used to adjust the operating state of the palletizer and then acquire a new marker image; 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 acquire a new marker image after adjusting the operating state of the palletizer, until the palletizer runs to the position corresponding to the target battery compartment.

[0126] The positioning system of the palletizer in this embodiment adjusts the operating state of the palletizer according to the deviation distance, then acquires a new marker image, calculates the new deviation distance, realizes real-time detection and updating of the deviation distance, and adjusts the operating state of the palletizer according to the new deviation distance until the palletizer moves to the position corresponding to the target battery compartment, realizing precise alignment between the palletizer and the target battery compartment. This enables the palletizer to accurately acquire the battery in the battery compartment or accurately place the battery in the battery compartment, thereby improving the overall battery transfer efficiency.

[0127] In an optional implementation, the adjustment module 3 is used to trigger the palletizer to decelerate and move the palletizer to the position corresponding to the target battery compartment.

[0128] The positioning system of the palletizer in this embodiment triggers the palletizer to decelerate and move to the position corresponding to the target battery compartment based on the deviation distance. This achieves control over the operation of the palletizer and prevents it from missing the target battery compartment due to excessive speed, which would require it to turn around and run back to the position corresponding to the target battery compartment, thus reducing the overall battery transfer efficiency.

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

[0130] The positioning system of the palletizer in this embodiment triggers the palletizer to stop when the visual sensor detects a marker image within a preset distance range. Based on the marker image, it calculates the deviation distance between the current position of the palletizer and the target battery compartment, ensuring accurate acquisition of the deviation distance. This prevents the accuracy of the acquired deviation distance from decreasing due to the operation of the palletizer. This lays the foundation for adjusting the operating state of the palletizer based on the deviation distance to move the palletizer to the position corresponding to the target battery compartment. Accurately positioning the palletizer to the position corresponding to the target battery compartment allows the palletizer to accurately acquire batteries from the battery compartment or accurately place batteries in the battery compartment, thereby improving the overall battery transfer efficiency.

[0131] In one optional implementation, the palletizer operates at a first preset speed outside a preset distance range; and at a second preset speed within a preset distance range; wherein 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 distance is outside a preset range, meaning the palletizer runs at a relatively fast speed when it is far from the target battery compartment. When the distance is within the preset range, the palletizer operates at a second preset speed, meaning the palletizer runs at a relatively slow speed when it is close to the target battery compartment. This ensures both the efficiency and safety of the palletizer's operation. Simultaneously, it accurately positions the palletizer to the location corresponding to the target battery compartment, enabling the palletizer to accurately acquire or place batteries within the compartment, thereby improving the overall battery transfer efficiency.

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

[0134] The positioning system of the palletizer in this embodiment indirectly expands the search range of the visual sensor for the marker by receiving the marker image within a preset distance range, under the condition that the initial detection range of the visual sensor is determined. This improves the actual detection range of the obtained marker image, lays the foundation for subsequent deviation distance calculation, and accurately positions the palletizer to the position corresponding to the target battery compartment. As a result, the palletizer can accurately obtain the battery in the battery compartment or accurately place the battery in the battery compartment, thereby improving the overall battery transfer efficiency.

[0135] In an optional embodiment, the positioning system of the palletizer further includes a range acquisition module 5, which is used to acquire the coordinate position of the target battery compartment and a preset error coefficient; and to determine a preset distance range based on the coordinate position and the error coefficient.

[0136] The positioning system of the palletizer in this embodiment determines a preset distance range based on the coordinate position and error coefficient. By associating the preset distance range with the coordinate position and error coefficient, it overcomes the detection limitations of detection devices, including vision sensors, expands the search range of the vision sensor for markers, and improves the actual detection range of the obtained marker images, thereby improving the operating efficiency and utilization of the palletizer. At the same time, it accurately positions the palletizer to the position corresponding to the target battery compartment, enabling the palletizer to accurately acquire the batteries in the battery compartment or accurately place the batteries in the battery compartment, thereby improving the overall battery transfer efficiency.

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

[0138] In this embodiment, the positioning system of the palletizer triggers the palletizer to reverse and move back to the preset distance range if the vision sensor does not receive an image of the marker within a preset distance range. This enables the palletizer to perform a back-and-forth reversal operation, allowing it to search for the target battery compartment. This further improves the actual detection range of the marker image obtained by the vision sensor. At the same time, it accurately positions the palletizer to the position corresponding to the target battery compartment, enabling the palletizer to accurately acquire the battery in the battery compartment or accurately place the battery in the battery compartment, thereby improving the overall battery transfer 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 reverse to a preset distance range, the counting module 7 is used to determine whether the number of times the palletizer is triggered to reverse to the preset distance range has reached a preset number. If so, the palletizer stops running and sends a fault alarm signal.

[0140] The positioning system of the palletizer in this embodiment indicates that the palletizer has malfunctioned if it has performed multiple reverse runs, and the number of times it has been triggered within a preset distance range has reached a preset number, and the target battery compartment has not been found. The system should then control the palletizer to stop running and send a fault alarm signal, thus realizing the monitoring of the palletizer's operating status.

[0141] Example 3

[0142] This embodiment provides an electronic device. Figure 10 This is a schematic diagram of the structure of the 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, it implements the positioning method of the palletizer in Embodiment 1 above. Figure 10 The electronic device 70 shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments disclosed herein. Figure 10 As shown, the electronic device 70 can be manifested as a general-purpose computing device, such as 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 memory 72 and processor 71).

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

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

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

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

[0147] Electronic device 70 can also communicate with one or more external devices 74. This communication can be performed via input / output (I / O) interface 75. Furthermore, the model-generated electronic device 70 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 76. Figure 10 As shown, network adapter 76 communicates with other modules of electronic device 70 via 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 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.

[0148] It should be noted that although several units / modules or sub-units / modules of the electronic device have been mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, according to embodiments of this 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 and embodied by multiple units / modules.

[0149] Example 4

[0150] This embodiment provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the positioning method of the palletizer in Embodiment 1 above.

[0151] The readable storage medium may be more specifically adopted, including but not limited to: portable disk, hard disk, random access memory, read-only memory, erasable programmable read-only memory, optical storage device, magnetic storage device, or any suitable combination thereof.

[0152] In a possible implementation, this disclosure can also be implemented as a program product comprising program code that, when the program product is run on a terminal device, causes the terminal device to perform the steps in the positioning method of the palletizer in Embodiment 1 described above.

[0153] The program code for executing this disclosure can be written in any combination of one or more programming languages. The program code can be executed entirely on a user device, partially on a user device, as a standalone software package, partially on a user device and partially on a remote device, or entirely on a remote device.

[0154] While specific embodiments of this disclosure have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of this disclosure is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of this disclosure, but all such changes and modifications fall within the scope of protection of this disclosure.

Claims

1. A positioning method of a palletizer, characterized by, The positioning method comprises: a visual sensor detects a marker image within a preset distance range; the marker is arranged on a battery compartment; the visual sensor is arranged on a stacker; a deviation distance is calculated according to the marker image; the deviation distance is the distance between the current position of the stacker and a target battery compartment position; the running state of the stacker is adjusted according to the deviation distance so that the stacker runs to the position corresponding to the target battery compartment position; the step of adjusting the running state of the stacker so that the stacker runs to the position corresponding to the target battery compartment position comprises: a new marker image is acquired after the running state of the stacker is adjusted; a new deviation distance is calculated according to the new marker image; the running state of the stacker is adjusted according to the new deviation distance, and the step of acquiring the new marker image after the running state of the stacker is adjusted is returned until the stacker runs to the position corresponding to the target battery compartment position.

2. The method of positioning a palletizer as claimed in claim 1, wherein, the step of adjusting the running state of the stacker comprises: the stacker is triggered to run at a reduced speed and run to the position corresponding to the target battery compartment position; and / or, after the step of the visual sensor detecting the marker image within the preset distance range, the positioning method comprises: the stacker is triggered to stop; and / or, outside the preset distance range, the stacker runs at a first preset speed; within the preset distance range, the stacker runs at a second preset speed; the first preset speed is greater than the second preset speed.

3. The method of positioning a palletizer as claimed in claim 1, wherein, the step of the visual sensor detecting the marker image within the preset distance range comprises: it is judged whether the visual sensor receives the marker image within the preset distance range, and if yes, the visual sensor detects the marker image.

4. The method of positioning a palletizer as recited in claim 1, wherein, The positioning method comprises: the coordinate position of the target battery compartment position and the preset error coefficient are acquired respectively; the preset distance range is determined according to the coordinate position and the error coefficient.

5. The method of positioning a palletizer as recited in claim 3, wherein, If the visual sensor does not receive the marker image within the preset distance range, the stacker is triggered to run reversely to the preset distance range, and the step of judging whether the visual sensor receives the marker image within the preset distance range is returned.

6. The method of positioning a palletizer as recited in claim 5, wherein, Before the step of returning to the step of judging whether the visual sensor receives the marker image within the preset distance range, the positioning method further comprises: it is judged whether the triggering times of the stacker running reversely to the preset distance range reach a preset number of times, and if yes, the stacker stops running and sends a fault alarm signal.

7. A positioning system for a palletizer, characterized by, The positioning system comprises: a detection module, configured to detect a marker image within a preset distance range by a visual sensor; the marker is arranged on a battery compartment; the visual sensor is arranged on a stacker; a calculation module, configured to calculate a deviation distance according to the marker image; the deviation distance is the distance between the current position of the stacker and a target battery compartment position; an adjustment module, configured to adjust the running state of the stacker according to the deviation distance so that the stacker runs to the position corresponding to the target battery compartment position. The adjusting module is configured to obtain a new marker image after adjusting the running state of the stacking machine; calculate a new deviation distance according to the new marker image; and adjust the running state of the stacking machine according to the new deviation distance and return to the step of obtaining the new marker image after adjusting the running state of the stacking machine until the stacking machine runs to the position corresponding to the target battery compartment.

8. An electronic device comprising a memory, a processor, and a computer program stored on the memory for running on the processor, characterized in that, The processor implements the positioning method of the stacking machine according to any one of claims 1 to 6 when executing the computer program.

9. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the positioning method of the stacking machine according to any one of claims 1 to 6.

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