Visual positioning method for lateral battery replacement of wide-body vehicle

Abstract

The invention discloses a wide-body vehicle lateral battery replacement positioning method which comprises the following steps: S1, photographing a battery pack through a 3D camera mounted on a point replacement robot, and collecting point cloud data; s2, according to the point cloud data, calculating the deviation between the real-time position and the calibrated basic position to obtain X-direction and Y-direction deviation values; s3, according to the deviation value data in the X direction and the Y direction, projection analysis is carried out, a triangle is simulated, and according to a trigonometric function, accurate compensation values in the X direction and the Y direction after angle rotation are obtained through calculation; and S4, through the deviation between the real-time position and the basic position, the grabbing mechanism is guided to conduct deviation rectification and positioning. The problem that light needs to be supplemented when a camera takes a picture due to insufficient light can be avoided, the battery pack is positioned more accurately, and the battery replacement efficiency is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of electrical commissioning identification, and in particular to a wide-body vehicle lateral battery replacement positioning method. BACKGROUND

[0002] From electric vehicles, hybrid electric vehicles, hydrogen energy vehicles, and even solar vehicles that have begun to appear abroad, the development speed is rapid. In addition to people's daily travel and life needs, new energy has opened up a new channel - commercial electric heavy trucks. Compared with traditional fuel heavy trucks, electric heavy trucks have lower use costs, stronger power, and better driving experience. Like passenger cars, the emergence of heavy trucks also brings the problem of charging and battery replacement. Since heavy trucks require large battery capacity, the charging efficiency of domestic standard charging piles cannot quickly meet the use needs of heavy trucks, while battery replacement can solve the problem in a few minutes. At the same time, due to the actual application scene, the current main types are top-hoist battery replacement and lateral battery replacement. The present method mainly aims at the processing of battery pack positioning in the lateral battery replacement scene. SUMMARY

[0003] The present application aims to provide a wide-body vehicle lateral battery replacement positioning method to solve the problems raised in the background.

[0004] To achieve the above-mentioned application purposes, the present application provides a wide-body vehicle lateral battery replacement positioning method, comprising the following steps:

[0005] Step S1: Taking a picture of the battery pack by a 3D camera installed on the battery replacement robot to collect point cloud data;

[0006] Step S2: According to the point cloud data, calculating the deviation of the real-time position and the calibrated basic position to obtain X and Y offset values;

[0007] Step S3: According to the X and Y offset value data, performing projection analysis to simulate a triangle, and calculating the rotation angle to obtain accurate X and Y compensation values according to the trigonometric function;

[0008] Step S4: Guiding the correction and positioning of the grabbing mechanism through the deviation of the real-time position and the basic position.

[0009] Further, the 3D camera adopts multi-line high-precision galvanometer scanning technology to provide 3D point cloud reconstruction function.

[0010] Further, the 3D camera is fixed on the battery replacement robot, and the shooting field of view range meets the near field range: 1200*1400@1500, and the far field range: 2700*3300@3500, unit: mm.

[0011] Further, when the vehicle is left-biased, the compensation value in the X direction = X0-X1-Y1*tanθ; the compensation value in the Y direction = -Y0,

[0012] Wherein X0, Y0 are the vehicle position, X1, Y1 are the offset values in the X, Y directions obtained by the camera shooting, and θ is the axial angle between the battery position and the battery swap robot.

[0013] Further, when the vehicle is right-biased, the compensation value in the X direction = X0-X1+Y1*tanθ; the compensation value in the Y direction = -Y0,

[0014] Wherein X0, Y0 are the vehicle position, X1, Y1 are the offset values in the X, Y directions obtained by the camera shooting, and θ is the axial angle between the battery position and the battery swap robot.

[0015] Compared with the prior art, the system and method have the following advantages:

[0016] 1. The 3D camera calibration process adopted by the present application is more convenient than the 2D camera, and does not need to be calibrated repeatedly; not only can the problem of needing to supplement light for camera shooting due to insufficient light be avoided, but also the battery swap station can be more accurate when positioning the battery pack.

[0017] 2. The camera of the present application shoots the battery pack on the vehicle entering, and accurately calculates the X, Y direction compensation by using trigonometric functions, which can more accurately position the position of the battery pack, and ensure the efficiency of the battery swap. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a schematic diagram of the 3D camera scanning the battery pack.

[0019] Figure 2 It is a diagram of different battery pack states in actual battery swap.

[0020] Figure 3 It is a schematic diagram of the 3D camera positioning when the vehicle angle is left-biased.

[0021] Figure 4 It is a schematic diagram of the 3D camera positioning when the vehicle angle is right-biased. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0023] The embodiment of the application provides a wide-body vehicle lateral battery replacement positioning method. A 3D camera is fixedly installed on a battery replacement robot, the 3D camera adopts multi-line high-precision galvanometer scanning technology, and 3D point cloud reconstruction is realized. According to point cloud data, a template position is established, and then deviation is calculated through real-time position and the template position, so as to guide a grabbing mechanism to correct and position.

[0024] The specific steps are as follows:

[0025] In step S1, a 3D camera fixed on a battery replacement robot is used to take a picture of a battery pack and collect point cloud data; the 3D camera is fixed on the battery replacement robot, and the shooting field of view range meets the near field range: 1200*1400@1500 (unit: mm), and the far field range: 2700*3300@3500 (unit: mm).

[0026] In step S2, according to the point cloud data, deviation is calculated through real-time position and the calibrated basic position, and X and Y offset values are obtained. Figure 1 As shown in the figure, after the vehicle enters the battery replacement station, the battery replacement robot moves to the shooting position, the 3D camera works, the laser covers the entire battery pack, the battery pack is in the middle of the camera scanning range, the scanning photo is clear, and the point cloud data collection is successful.

[0027] In step S3, according to the X and Y offset value data, projection analysis is performed, a triangle is simulated, and accurate X and Y compensation values are obtained after the rotation angle is calculated according to the trigonometric function. According to the point cloud data collection and processing, deviation is calculated through real-time position and the calibrated basic position, X and Y compensation values are obtained, projection analysis is performed according to the X and Y compensation value data, a triangular relationship is simulated, and accurate X and Y compensation values are obtained after the rotation angle is calculated according to the trigonometric function.

[0028] In step S4, the deviation between the real-time position and the basic position is used to guide the grabbing mechanism to correct and position.

[0029] As shown in the figure, different battery pack states that may occur in the actual battery replacement process are shown. Figure 2 As shown in the figure, different battery pack states that may occur in the actual battery replacement process are shown.

[0030] As shown in the figure, different battery pack states that may occur in the actual battery replacement process are shown. Figure 3As shown, in the case where the vehicle's angle is slightly to the left: Assume that after the vehicle enters, the camera takes a picture and obtains a set of offset values, X1, Y1, Z1, θ. The base values ​​after camera calibration (i.e., the vehicle is parked in an ideal state, with no angle, and the battery pack position can be obtained manually by the battery swapping robot) X0, Y0, Z0 are known. Figure 3 For the blue right-angled triangle, the required Y-compensation value is the hypotenuse. It's easy to see that the Y1 provided by the camera is the longer right-angled side of the triangle, and the θ angle provided by the camera is the angle between the longer right-angled side and the hypotenuse. Therefore, we can first obtain the Y-compensation value = -Y0, and Figure 2 The marked X0 –X1 represents the distance the battery pack center point moves in the X direction. It can be seen that the X compensation value is the difference between the X1 offset value after the camera takes a picture and X0, plus the short right-angled side in the blue triangle. Considering that the compensation is a vector calculation, the X compensation value is X0 –X1 –Y1*tanθ.

[0031] like Figure 4 As shown, in the case where the vehicle's angle is slightly to the right: Assume that after the vehicle enters, the camera takes a picture and obtains a set of offset values, X1, Y1, Z1, θ. The base values ​​after camera calibration (i.e., the vehicle is parked in an ideal state with no angle, and the battery pack position can be obtained manually by the battery swapping robot) X0, Y0, Z0 are known. Figure 4 For the blue right-angled triangle, the required Y-compensation value is the hypotenuse. It's easy to see that the Y1 provided by the camera is the longer right-angled side of the triangle, and the θ angle provided by the camera is the angle between the longer right-angled side and the hypotenuse. Therefore, we can first obtain the Y-compensation value = -Y0, and Figure 3 The marked X0 –X1 represents the distance the battery pack center point moves in the X direction. It can be seen that the X compensation value is the difference between the X1 offset value after the camera takes a picture and the basic X0 value, plus the short right-angled side in the blue triangle. Considering that the compensation is a vector calculation, the X compensation value = X0 –X1 + Y1*tanθ.

[0032] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A method for lateral battery swapping positioning of a wide-body vehicle, characterized in that, Includes the following steps: Step S1: Take a picture of the battery pack using a 3D camera installed on the point-changing robot to collect point cloud data; Step S2: Based on the point cloud data, calculate the deviation between the real-time position and the calibrated base position to obtain the X and Y offset values; Step S3: Based on the offset values ​​in the X and Y directions, perform projection analysis to simulate a triangle, and calculate the precise compensation values ​​in the X and Y directions after the rotation angle using trigonometric functions. Step S4: Guide the grasping mechanism to correct its positioning by measuring the deviation between the real-time position and the base position.

2. The lateral battery swapping positioning method for a wide-body vehicle according to claim 1, characterized in that, The 3D camera uses multi-line high-precision galvanometer scanning technology to provide 3D point cloud reconstruction functionality.

3. The method for lateral battery swapping positioning of a wide-body vehicle according to claim 1, characterized in that, The 3D camera is fixed on the battery swapping robot, and its field of view meets the following requirements: near field of view: 1200*1400@1500, far field of view: 2700*3300@3500, in mm.

4. The lateral battery swapping positioning method for a wide-body vehicle according to claim 1, characterized in that, When the vehicle veers to the left, the compensation value in the X direction = X0 – X1 – Y1 * tanθ; the compensation value in the Y direction = -Y0, Where X0 and Y0 are the vehicle positions, X1 and Y1 are the offset values ​​in the X and Y directions obtained from the camera, and θ is the angle between the battery position and the axis of the battery swapping robot.

5. The method for lateral battery swapping positioning of a wide-body vehicle according to claim 1, characterized in that, When the vehicle veers to the right, the compensation value in the X direction = X0 – X1 + Y1 * tanθ; the compensation value in the Y direction = -Y0, Where X0 and Y0 are the vehicle positions, X1 and Y1 are the offset values ​​in the X and Y directions obtained from the camera, and θ is the angle between the battery position and the axis of the battery swapping robot.

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